Matching image pairs

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

@@ -1347,7 +1347,38 @@ public class EyesisCorrectionParameters {
     		return true;
     	}
 
+// get list of source files in a directory
+    	public String[]  selectSourceFileInSet(String setdir, int debugLevel) {
+    		int num_chn_main = numSubCameras;
+    		int num_chn_aux =  ((aux_camera != null)? aux_camera.numSubCameras : 0);
+    		int num_chn_files = num_chn_main + num_chn_aux;
+    		String [] extensions = getSourceSuffixes();//    		={this.sourceSuffix};
+    		String [] prefixes = getSourcePrefixes();
+    		extensions[0] = sourceSuffix;
+    		prefixes[0] =   sourcePrefix;
+			MultipleExtensionsFileFilter setFilter = new MultipleExtensionsFileFilter(prefixes,extensions,"Image sets");
+	    	File fsetdir = new File(setdir);
+	    	ArrayList<File>  setFilesList = new ArrayList<File>(); // list of set files
+	    	File [] setChnFiles = fsetdir.listFiles(setFilter);
+	    	int num_match = setChnFiles.length;
+	    	if (    (num_match == num_chn_files) || // all files for main and aux
+	    			(num_match == num_chn_main) || // only main camera files
+	    			(num_match == num_chn_aux))   // only aux camera files
+	    	{ // only use sets of exact number of files
+	    		for (File f: setChnFiles) {
+	    			setFilesList.add(f);
+	    		}
+	    	}
 
+	    	String [] sourcePaths = new String[setFilesList.size()];
+	    	for (int nFile = 0; nFile < sourcePaths.length; nFile++) {
+	    		sourcePaths[nFile]= setFilesList.get(nFile).getPath();
+	    	}
+    		return sourcePaths;
+    	}
+    	
+    	
+    	
 
     	public boolean selectSourceFiles(boolean allFiles) {
     		return selectSourceFiles(allFiles, 1); // debug level 1 - modify here

src/main/java/com/elphel/imagej/correction/EyesisCorrections.java

@@ -294,6 +294,11 @@ public class EyesisCorrections {
 	// FIXME: Use only this PixelMappings's channels, do not mix exposures from main/aux!
 	public double [] calcReferenceExposures(int debugLevel){
 		String [] paths=this.correctionsParameters.getSourcePaths();
+		return calcReferenceExposures(paths, debugLevel);
+	}
+
+	public double [] calcReferenceExposures(String [] paths,int debugLevel){
+//		String [] paths=this.correctionsParameters.getSourcePaths();
 		double [] exposures=new double [paths.length];
 		if (this.correctionsParameters.exposureCorrectionMode<2){
 			for (int nFile=0;nFile<paths.length;nFile++) {

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -699,6 +699,7 @@ private Panel panel1,
 			addButton("LIST extrinsics",            panelClt5, color_report);
 			addButton("DSI histogram",              panelClt5, color_report);
 			addButton("ML recalc",                  panelClt5, color_process);
+			addButton("Inter Test",                  panelClt5, color_stop);
 			plugInFrame.add(panelClt5);
 		}
 
@@ -5099,7 +5100,14 @@ private Panel panel1,
         CLT_PARAMETERS.batch_run = true;
     	batchLwir();
     	return;
-
+/* ======================================================================== */
+    } else if (label.equals("Inter Test")) {
+        DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
+    	EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
+        CLT_PARAMETERS.batch_run = true;
+        testInterScene();
+    	return;
+    	
 /* ======================================================================== */
     } else if (label.equals("CLT rig edit")) {
         DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
@@ -5700,6 +5708,9 @@ private Panel panel1,
         return true;
 	}
 
+	
+	
+	
 	public boolean getPairImages2() {
 		if (!prepareRigImages()) return false;
 		String configPath=getSaveCongigPath();
@@ -6378,7 +6389,96 @@ private Panel panel1,
 	}
 
 
+	public boolean testInterScene() {
+		long startTime=System.nanoTime();
+		// load needed sensor and kernels files
+		if (!prepareRigImages()) return false;
+		String configPath=getSaveCongigPath();
+		if (configPath.equals("ABORT")) return false;
+		setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated, others should be set here
+		if (DEBUG_LEVEL > -2){
+			System.out.println("++++++++++++++ Testing Interscene processing ++++++++++++++");
+		}
+		
+		if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used
+			if (GPU_TILE_PROCESSOR == null) {
+				try {
+					GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);
+				} catch (Exception e) {
+					System.out.println("Failed to initialize GPU class");
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+					return false;
+				} //final int        debugLevel);
+			}
+			if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed
+				try {
+					GPU_QUAD = GPU_TILE_PROCESSOR.new GpuQuad(
+							QUAD_CLT,
+							4,
+							3);
+				} catch (Exception e) {
+					System.out.println("Failed to initialize GpuQuad class");
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+					return false;
+				} //final int        debugLevel);
+				QUAD_CLT.setGPU(GPU_QUAD);
+			}
+			/*
+			if (CLT_PARAMETERS.useGPU(true) && (QUAD_CLT_AUX != null) && (GPU_QUAD_AUX == null)) { // if GPU AUX is needed
+				try {
+					GPU_QUAD_AUX = GPU_TILE_PROCESSOR. new GpuQuad(//
+							QUAD_CLT_AUX,
+							4,
+							3);
+				} catch (Exception e) {
+					System.out.println("Failed to initialize GpuQuad class");
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+					return false;
+				} //final int        debugLevel);
+				QUAD_CLT_AUX.setGPU(GPU_QUAD_AUX);
+			}*/
+		}
+		
+		try {
+			TWO_QUAD_CLT.TestInterScene(
+					QUAD_CLT, // QuadCLT quadCLT_main,
+//					QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
+					CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,
+					DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,
+					COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
+					COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,
+					CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters     channelGainParameters,
+					RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters             rgbParameters,
+					EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
+					PROPERTIES,  // Properties                                           properties,
+					THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch
+					UPDATE_STATUS, //final boolean    updateStatus,
+					DEBUG_LEVEL);
+		} catch (Exception e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		} //final int        debugLevel);
+		if (configPath!=null) {
+			saveTimestampedProperties( // save config again
+					configPath,      // full path or null
+					null, // use as default directory if path==null
+					true,
+					PROPERTIES);
+		}
+		System.out.println("batchRig(): Processing finished at "+
+				IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
+				Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
+		return true;
+	}
 
+	
+	
+	
+	
+	
 
 	public boolean exportMLData() {
 		long startTime=System.nanoTime();

src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java

@@ -590,7 +590,7 @@ public class GPUTileProcessor {
     }
 
    public class GpuQuad{ // quad camera description
-        public final QuadCLT quadCLT;
+        public           QuadCLT quadCLT;
     	public final int img_width;
     	public final int img_height;
     	public final int kernels_hor;        // int                kernels_hor,
@@ -657,6 +657,16 @@ public class GPUTileProcessor {
         private boolean geometry_correction_set = false;
         private boolean geometry_correction_vector_set = false;
         public  int gpu_debug_level = 1;
+        // should only be updated with the same cameras instance
+        public void updateQuadCLT(final QuadCLT quadCLT) {
+        	this.quadCLT =      quadCLT;
+    		resetGeometryCorrection();
+    		resetGeometryCorrectionVector();
+    		bayer_set =        false;
+        }
+        public QuadCLT getQuadCLT( ) {
+        	return this.quadCLT;
+        }
     	public GpuQuad(
         	final QuadCLT quadCLT,    			
 //   			final int img_width,

src/main/java/com/elphel/imagej/tileprocessor/CLTPass3d.java

@@ -614,6 +614,15 @@ public class CLTPass3d{
 			}
 			calc_disparity_combo = calc_disparity.clone(); // for now - just clone, can be modified separately and combined with hor/vert
 		}
+		
+		// bypassing calculations
+		public void setCalcDisparityStrength(
+				double [] disparity,
+				double [] strength) {
+			this.calc_disparity = disparity;
+			this.strength =       strength;
+			calc_disparity_combo = calc_disparity.clone();
+		}
 
 		/**
 		 * Replaces current combo disparity for tiles that are weak and do not have any neighbor within disparity range from this one

src/main/java/com/elphel/imagej/tileprocessor/TileProcessor.java

@@ -80,30 +80,22 @@ public class TileProcessor {
 	public boolean []  rig_post_poles_sel =      null; // Rig tile selection after processing poles
 	public double [][] main_ds_ml =              null; // main camera DSI restored from the COMBO-DSI file to generate ML test files
 
-	public boolean   monochrome =                false;   // these are monochrome images
-	public boolean   lwir =                      false;   // all monochrome are lwir
-	private boolean  is_aux =                    false;   // this camera is aux
-	public int       clt_3d_passes_size =     0; //clt_3d_passes size after initial processing
-	public int       clt_3d_passes_rig_size = 0; //clt_3d_passes size after initial processing and rig processing
-	private int      tilesX;
-	private int      tilesY;
-	private double   corr_magic_scale =    0.85;  // reported correlation offset vs. actual one (not yet understood)
-	private double   trustedCorrelation =  4.0;   // trusted measured disparity difference (before scaling)
-	private double   maxOverexposure =     0.5;
-	private int      tileSize =            8; // number of linear pixels in a tile (tile is  square tileSize*tileSize)
-	int              superTileSize =      8; // number of linear tiles in a super-tile (supertile is  square superTileSize*superTileSize tiles
-	                                        // or (superTileSize*tileSize) * (superTileSize*tileSize) pixels, currently 64x64 pixels)
-    double [][]      periodics = null;
-
-	public int       threadsMax =       100; // maximal number of frames to run
-	public int       globalDebugLevel = 0;
-
+	public boolean     monochrome =                false;   // these are monochrome images
+	public boolean     lwir =                      false;   // all monochrome are lwir
+	private boolean    is_aux =                    false;   // this camera is aux
+	public int         clt_3d_passes_size =     0; //clt_3d_passes size after initial processing
+	public int         clt_3d_passes_rig_size = 0; //clt_3d_passes size after initial processing and rig processing
+	private int        tilesX;
+	private int        tilesY;
+	private double     corr_magic_scale =    0.85;  // reported correlation offset vs. actual one (not yet understood)
+	private double     trustedCorrelation =  4.0;   // trusted measured disparity difference (before scaling)
+	private double     maxOverexposure =     0.5;
+	private int        tileSize =            8; // number of linear pixels in a tile (tile is  square tileSize*tileSize)
+	int                superTileSize =      8; // number of linear tiles in a super-tile (supertile is  square superTileSize*superTileSize tiles
+    double [][]        periodics = null;
+	public int         threadsMax =       100; // maximal number of frames to run
+	public int         globalDebugLevel = 0;
 	public double [][] dbg_filtered_disp_strength;
-
-	public double [][] getPeriodcs(){
-		// todo: add calculation (if null) and reset
-		return this.periodics;
-	}
 	// All parameters are set only once, during instantiation
 
 	public TileProcessor(
@@ -131,6 +123,43 @@ public class TileProcessor {
 		this.maxOverexposure =      maxOverexposure;
 		this.threadsMax = threadsMax;
 	}
+	public TileProcessor(TileProcessor tp) {
+		this.tilesX =             tp.tilesX;
+		this.tilesY =             tp.tilesY;
+		this.tileSize =           tp.tileSize;
+		this.superTileSize =      tp.superTileSize;
+		this.monochrome =         tp.monochrome;
+		this.lwir =               tp.lwir;
+		this.is_aux =             tp.is_aux;
+		this.corr_magic_scale =   tp.corr_magic_scale;
+		this.trustedCorrelation = tp.trustedCorrelation;
+		this.maxOverexposure =    tp.maxOverexposure;
+		this.threadsMax =         tp.threadsMax;
+		this.globalDebugLevel =   tp.globalDebugLevel;
+		
+		// next should not be needed for new instance
+		/*
+		this.periodics =                  ErsCorrection.clone2d(tp.periodics); not needed
+		this.dbg_filtered_disp_strength = tp.dbg_filtered_disp_strength;
+	public ArrayList <CLTPass3d> clt_3d_passes = null;
+	public double [][] rig_disparity_strength =  null; // Disparity and strength created by a two-camera rig, with disparity scale and distortions of the main camera
+	public double [][] rig_pre_poles_ds =        null; // Rig disparity and strength before processing poles
+	public double [][] rig_post_poles_ds =       null; // Rig disparity and strength after processing poles
+	public boolean []  rig_pre_poles_sel =       null; // Rig tile selection before processing poles
+	public boolean []  rig_post_poles_sel =      null; // Rig tile selection after processing poles
+	public double [][] main_ds_ml =              null; // main camera DSI restored from the COMBO-DSI file to generate ML test files
+		
+	public int         clt_3d_passes_size =     0; //clt_3d_passes size after initial processing
+	public int         clt_3d_passes_rig_size = 0; //clt_3d_passes size after initial processing and rig processing
+		
+		*/
+	}
+	
+	public double [][] getPeriodcs(){
+		// todo: add calculation (if null) and reset
+		return this.periodics;
+	}
+	
 	public boolean isMonochrome() {return monochrome;}
 	public boolean isLwir()       {return lwir;}
 	public boolean isAux()        {return is_aux;}
@@ -8697,6 +8726,151 @@ ImageDtt.startAndJoin(threads);
 				titles);
 	}
 
+	
+	public double [] fillNaNs(
+			final double [] data,
+			int       width,
+			final int grow,
+			double    diagonal_weight, // relative to ortho
+			int       num_passes,
+			final int threadsMax)      // maximal number of threads to launch                         
+	{
+		final int scan0 = ( 3* grow) / 2;
+		int height = data.length/width;
+		double wdiag = 0.25 *diagonal_weight / (diagonal_weight + 1.0);
+		double wortho = 0.25 / (diagonal_weight + 1.0);
+		final double [] neibw = {wortho, wdiag, wortho, wdiag, wortho, wdiag, wortho, wdiag}; 
+		final int tiles = width * height;
+		final boolean [] fixed = new boolean [tiles];
+		int num_fixed = 0;
+		double davg = 0.0;
+		for (int i = 0; i < tiles; i++)	{
+			if (!Double.isNaN(data[i])) {
+				fixed[i] = true;
+				num_fixed ++;
+				davg+= data[i];
+			}
+		}
+		if (num_fixed > 0) {
+			davg /= num_fixed;
+		} else {
+			return null;
+		}
+		final double fdavg = davg;
+		final boolean [] grown = fixed.clone();
+		final TileNeibs tn = new TileNeibs(width, height);
+		
+		growTiles(
+				grow,           // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
+				grown,
+				null,
+				width,
+				height);
+		int num_active = 0;
+		for (int i = 0; i < tiles; i++) {
+			if (grown[i] && !fixed[i]) num_active++;
+		}
+		if (num_active == 0) {
+			return data.clone();
+		}
+		final int [] active = new int [num_active];
+		final double [] data_in = data.clone();
+		final double [] data_out = new double [tiles];
+				
+		num_active = 0;
+		for (int i = 0; i < tiles; i++) {
+			if (grown[i] && !fixed[i]) {
+				active [num_active++] = i;
+				data_in[i] = davg; // initial value
+			}
+		}
+		final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
+//		final int numThreads = threads.length;
+		final AtomicInteger ai = new AtomicInteger(0);
+//Set initial values		
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					for (int iTile = ai.getAndIncrement(); iTile < active.length; iTile = ai.getAndIncrement()) {
+						int nt = active[iTile];
+						double s = 0.0;
+						int n = 0;
+						for (int dy = -scan0; dy <= scan0; dy++) {
+							for (int dx = -scan0; dx <= scan0; dx++) {
+								int nt1 = tn.getNeibIndex(nt, dx, dy);
+								if ((nt1 >=0) && fixed[nt1]) {
+									s += data[nt1];
+									n++;
+								}
+							}
+						}
+						if (n > 0) {
+							data_in[nt] = s/n;
+						} else {
+							data_in[nt] = fdavg;
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+
+		for (int pass = 0; pass < num_passes; pass ++) {
+			ai.set(0);
+			for (int ithread = 0; ithread < threads.length; ithread++) {
+				threads[ithread] = new Thread() {
+					public void run() {
+						for (int iTile = ai.getAndIncrement(); iTile < active.length; iTile = ai.getAndIncrement()) {
+							int nt = active[iTile];
+							double s = 0.0;
+							double sw = 0.0;
+							for (int dir = 0; dir < 8; dir++) {
+								int nt1 = tn.getNeibIndex(nt, dir);
+								if ((nt1 >=0) && grown[nt1]) {
+									if (fixed[nt1]) {
+										s += data[nt1] * neibw[dir];
+									} else {
+										s += data_in[nt1] * neibw[dir];
+									}
+									sw += neibw[dir];
+								}
+							}
+							// sw should never be 0;
+							s /= sw;
+							data_out[nt] = s;
+						}
+					}
+				};
+			}		      
+			ImageDtt.startAndJoin(threads);
+			if (pass < (num_passes - 1)) {
+				System.arraycopy(data_out,0,data_in,0,tiles);
+			}
+		}
+		for (int i = 0; i < tiles; i++) if (fixed[i]) {
+			data_out[i] = data[i];
+		}
+/*		
+		double [][] dbg_img = new double [4][tiles];
+		String [] titles = {"data", "data_out", "fixed", "grown"};
+		dbg_img[0] = data;
+		dbg_img[1] = data_out;
+		for (int i = 0; i < tiles; i++) {
+			dbg_img[2][i] = fixed[i] ? 1.0 : 0.0;
+			dbg_img[3][i] = grown[i] ? 1.0 : 0.0;
+		}
+		(new ShowDoubleFloatArrays()).showArrays(
+				dbg_img,
+				tilesX,
+				tilesY,
+				true,
+				"filled_NaNs",
+				titles);
+*/
+		return data_out;
+	}
+
+	
 
 
 	/* Create a Thread[] array as large as the number of processors available.