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imagej-elphel
Commit c8e09488 authored by Andrey Filippov's avatar Andrey Filippov
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Added bicubic interpolation

parent 42058891
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Showing with 260 additions and 7 deletions
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ c8e09488
......@@ -493,6 +493,7 @@ public class CLTParameters {
public boolean gmap_render_hdr = true; // generate textures w/o normalization to generate undistorted
public boolean gmap_en = true; // generate ground map from a drone (enables gmap_render_hdr)
public boolean gmap_parallel_proj = true; // Use parallel projection (map)
public boolean gmap_bicubic = true; // Use bicubic interpolation (false - bilinear)
public boolean gmap_update_range = false; // for parallel only
// extracting ground projection plane
......@@ -1674,6 +1675,7 @@ public class CLTParameters {
properties.setProperty(prefix+"gmap_render_hdr", this.gmap_render_hdr+""); // boolean
properties.setProperty(prefix+"gmap_en", this.gmap_en+""); // boolean
properties.setProperty(prefix+"gmap_parallel_proj", this.gmap_parallel_proj+""); // boolean
properties.setProperty(prefix+"gmap_bicubic", this.gmap_bicubic+""); // boolean
properties.setProperty(prefix+"gmap_update_range", this.gmap_update_range+""); // boolean
properties.setProperty(prefix+"gmap_use_lma", this.gmap_use_lma+""); // boolean
......@@ -2726,6 +2728,7 @@ public class CLTParameters {
if (properties.getProperty(prefix+"gmap_render_hdr")!=null) this.gmap_render_hdr=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_render_hdr"));
if (properties.getProperty(prefix+"gmap_en")!=null) this.gmap_en=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_en"));
if (properties.getProperty(prefix+"gmap_parallel_proj")!=null) this.gmap_parallel_proj=Boolean.parseBoolean(properties.getProperty(prefix+"gmap_parallel_proj"));
if (properties.getProperty(prefix+"gmap_bicubic")!=null) this.gmap_bicubic=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_bicubic"));
if (properties.getProperty(prefix+"gmap_update_range")!=null) this.gmap_update_range=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_update_range"));
if (properties.getProperty(prefix+"gmap_use_lma")!=null) this.gmap_use_lma=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_use_lma"));
if (properties.getProperty(prefix+"gmap_discard_low")!=null) this.gmap_discard_low=Double.parseDouble(properties.getProperty(prefix+ "gmap_discard_low"));
......@@ -4031,6 +4034,8 @@ public class CLTParameters {
"Render fixed-scale projection of the 3D model to a ground plane, such as for the UAS-generated imagery.");
gd.addCheckbox ("Parallel (not center) projection (maps)", this.gmap_parallel_proj, // true; // enable change FG pixel to opaque from transparent
"Parallel-project objects to a plane surface. If unchecked - use center (from the camera) projection.");
gd.addCheckbox ("Use bi-cubic texture interpolation", this.gmap_bicubic, // true; // enable change FG pixel to opaque from transparent
"Use bi-cubic texture interpolation. False - old way, is bilinear.");
gd.addCheckbox ("Fit all model (parallel only)", this.gmap_update_range, // true; // enable change FG pixel to opaque from transparent
"Recalculate (increase) image size to fit all model elements. Unchecked - limit by plane intersection with the camera FOV.");
......@@ -5307,6 +5312,7 @@ public class CLTParameters {
this.gmap_render_hdr= gd.getNextBoolean();
this.gmap_en= gd.getNextBoolean();
this.gmap_parallel_proj= gd.getNextBoolean();
this.gmap_bicubic= gd.getNextBoolean();
this.gmap_update_range= gd.getNextBoolean();
this.gmap_use_lma= gd.getNextBoolean();
this.gmap_discard_low= gd.getNextNumber();
......
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ c8e09488
......@@ -2458,9 +2458,9 @@ public class TexturedModel {
{
final boolean map_en = clt_parameters.gmap_en;
final boolean render_hdr = clt_parameters.gmap_render_hdr || map_en;// true; //false; // true; // generate textures w/o normalization to generate undistorted
final boolean use_parallel_proj = clt_parameters.gmap_parallel_proj; // Use parallel projection (map)
final boolean use_parallel_proj = clt_parameters.gmap_parallel_proj; // Use parallel projection (map)\
final boolean bicubic = clt_parameters.gmap_bicubic; // Use bicubic interpolation (false - bilinear)
final boolean update_range = clt_parameters.gmap_update_range; // for parallel only
final boolean use_lma = clt_parameters.gmap_use_lma ; // true; // ;
final double discard_low = clt_parameters.gmap_discard_low ; //0.01; // fraction of all pixels
final double discard_high = clt_parameters.gmap_discard_high ; //0.5; // fraction of all pixels
......@@ -3178,11 +3178,17 @@ public class TexturedModel {
boolean last_is_alpha = true; // last channel in textures slices is alpha
double [][] full_render_z;
if (use_parallel_proj) {
full_render_z =render3D.render3dPlaneParallelProj(
tri_meshes, // final ArrayList<TriMesh> tri_meshes,
last_is_alpha, // final boolean last_is_alpha,
// scenes[ref_index], //final QuadCLT ref_scene, // all coordinates relative to this scene
debugLevel); //int debugLevel)
if (bicubic) {
full_render_z =render3D.render3dPlaneParallelProjBiCubic(
tri_meshes, // final ArrayList<TriMesh> tri_meshes,
last_is_alpha, // final boolean last_is_alpha,
debugLevel); //int debugLevel)
} else {
full_render_z =render3D.render3dPlaneParallelProj(
tri_meshes, // final ArrayList<TriMesh> tri_meshes,
last_is_alpha, // final boolean last_is_alpha,
debugLevel); //int debugLevel)
}
} else {
full_render_z =render3D.render3dPlaneCenterProj(
tri_meshes, // final ArrayList<TriMesh> tri_meshes,
......@@ -3193,6 +3199,7 @@ public class TexturedModel {
// String model_name = ref_scene.correctionsParameters.getModelName(ref_scene.getImageName());
String suffix ="-RECT";
suffix +="-PIX"+pix_size * hdr_whs[2];
suffix += bicubic ? "-BC":"-BL";
if (gsmth_enable) {
suffix +=mixed_flat ? "-FLAT_MIX":"-FLAT_CLN"; // flattened ground - mixed or clean
}
......
src/main/java/com/elphel/imagej/x3d/export/Render3D.java
View file @ c8e09488
......@@ -26,6 +26,7 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.concurrent.atomic.AtomicInteger;
import org.apache.commons.math3.analysis.interpolation.PiecewiseBicubicSplineInterpolatingFunction;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
import org.apache.commons.math3.util.FastMath;
......@@ -446,6 +447,245 @@ public class Render3D {
ImageDtt.startAndJoin(threads);
return full_rendered;
}
//https://commons.apache.org/proper/commons-math/javadocs/api-3.6.1/org/apache/commons/math3/analysis/interpolation/PiecewiseBicubicSplineInterpolatingFunction.html
public double [][] render3dPlaneParallelProjBiCubic(
final ArrayList<TriMesh> tri_meshes,
final boolean last_is_alpha,
int debugLevel){ // debug level
// TODO: add crop - add to the caller
if ((tri_meshes == null) || tri_meshes.isEmpty() || (tri_meshes.get(0).getTexturePixels() == null)) {
return null;
}
final boolean export_z = true;
final int dbg_ipix=1673752;
// get total number of triangles
int num_tri=0;
for (TriMesh tri: tri_meshes) {
num_tri += tri.getTriangles().length;
}
int indx=0;
int num_mesh = 0;
final int z_index = tri_meshes.get(0).getTexturePixels().length;
final int [][] tri_index = new int[num_tri][2];
for (TriMesh tri: tri_meshes) {
int num_tri_mesh = tri.getTriangles().length;
for (int i = 0; i < num_tri_mesh; i++)
{
tri_index[indx][0] = num_mesh;
tri_index[indx++][1] = i;
}
num_mesh++;
}
final PiecewiseBicubicSplineInterpolatingFunction [][] pbsif =
new PiecewiseBicubicSplineInterpolatingFunction[tri_meshes.size()][z_index];
final double [][] x = new double [tri_meshes.size()][];
final double [][] y = new double [tri_meshes.size()][];
final double [][][][] f = new double [tri_meshes.size()][z_index][][];
for (int nm =0; nm < pbsif.length; nm++) {
TriMesh tri = tri_meshes.get(nm);
int texture_width= tri.getTextureWidth();
int texture_height= tri.getTextureHeight();
double [][] texture = tri.getTexturePixels();
x[nm] = new double[texture_width];
y[nm] = new double[texture_height];
for (int i = 0; i < x[nm].length; i++) {
x[nm][i] = i; // add 0.5? Linear does not
}
for (int i = 0; i < y[nm].length; i++) {
y[nm][i] = i; // add 0.5? Linear does not
}
for (int chn = 0; chn < z_index; chn++) {
f[nm][chn] = new double [texture_width][texture_height];
for (int row = 0; row < texture_height; row++) {
for (int col = 0; col < texture_width; col++) {
f[nm][chn][col][row] = texture[chn][col + row * texture_width];
}
/*
System.arraycopy(
texture[chn],
row * texture_width,
f[nm][chn][row],
0,
texture_width);
*/
}
// clones x,y,f (but not f[]). f is in columns, not rows! f[width][height]
pbsif[nm][chn] = new PiecewiseBicubicSplineInterpolatingFunction(x[nm],y[nm],f[nm][chn]);
}
}
if (debugLevel > -2) {
System.out.println("Prepare to render "+num_tri+" triangles in "+num_mesh+" meshes");
}
final double [][] full_rendered = new double[z_index+ (export_z? 1:0)][out_width * out_height];
int alpha_index = last_is_alpha ? (z_index - 1) : z_index;
for (int chn = 0; chn < alpha_index; chn++) {
Arrays.fill(full_rendered[chn], Double.NaN);
}
// create z-buffer array per each thread, in the end - merge them
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger ati = new AtomicInteger(0);
final double [][][] rendered = new double [threads.length][full_rendered[0].length][];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
int ti = ati.getAndIncrement();
double [][] rend = rendered[ti]; // this thread rendered results
for (int indx = ai.getAndIncrement(); indx < tri_index.length; indx = ai.getAndIncrement()) {
TriMesh tri=tri_meshes.get(tri_index[indx][0]); // mesh to process;
int tri_indx = tri_index[indx][1]; // triangle index in a mesh
double [][] texture = tri.getTexturePixels();
int texture_width= tri.getTextureWidth();
int texture_height= tri.getTextureHeight();
double[][] mesh_coord = tri.getCoordinates();
double[][] mesh_tex_coord = tri.getTexCoord();
int [] triangle = tri.getTriangles()[tri_indx];
double [][] tri_out2= new double[3][];
double [][] tri_text2= new double[3][];
double [][] min_max_xyz = new double[3][2];
for (int i = 0; i < 3; i++) {
double [] gxyz=ErsCorrection.applyXYZATR(toground, mesh_coord[triangle[i]]);
tri_out2[i] = new double [] {
pixel_per_m * (gxyz[0] - x0_y0[0]),
pixel_per_m * (gxyz[1] - x0_y0[1]),
-pixel_per_m * gxyz[2] // make it positive?
};
//[2] - distance from the camera in "pixels" - same linear scale as on the ground. lower values obscure higher.
tri_text2[i] = mesh_tex_coord[triangle[i]];
for (int j = 0; j < 3; j++) {
if ((i==0) || (tri_out2[i][j] < min_max_xyz[j][0])) min_max_xyz[j][0] = tri_out2[i][j];
if ((i==0) || (tri_out2[i][j] > min_max_xyz[j][1])) min_max_xyz[j][1] = tri_out2[i][j];
}
}
// Check plane direction
double [] d01 = new double [] {tri_out2[1][0]-tri_out2[0][0], tri_out2[1][1]-tri_out2[0][1]};
double [] d02 = new double [] {tri_out2[2][0]-tri_out2[0][0], tri_out2[2][1]-tri_out2[0][1]};
if (!cross2ccw(d02,d01)) {
continue;
}
// PiecewiseBicubicSplineInterpolatingFunction pbs = pbsf[tri_index[indx][0]]
int ipx_min = (int) Math.floor(min_max_xyz[0][0]);
int ipx_max = (int) Math.ceil (min_max_xyz[0][1]);
int ipy_min = (int) Math.floor(min_max_xyz[1][0]);
int ipy_max = (int) Math.ceil (min_max_xyz[1][1]);
// apply bounds
if (ipx_min < 0) ipx_min = 0;
if (ipy_min < 0) ipy_min = 0;
if (ipx_max >= out_width) ipx_max = out_width - 1;
if (ipy_max >= out_height) ipy_max = out_height - 1;
if ((ipx_min > ipx_max) || (ipy_min > ipy_max)) {
continue; // triangle completely outside rendering are
}
//pbsif[nm][chn]
// vector from 1 to 2
double [] t01 = new double [] {tri_text2[1][0]-tri_text2[0][0], tri_text2[1][1]-tri_text2[0][1]};
double [] t02 = new double [] {tri_text2[2][0]-tri_text2[0][0], tri_text2[2][1]-tri_text2[0][1]};
double [][] orto2 = orthonorm2(d01, d02);
double [] d12 = new double [] {tri_out2[2][0]-tri_out2[1][0], tri_out2[2][1]-tri_out2[1][1]};
for (int ipy = ipy_min; ipy <= ipy_max; ipy++) {
for (int ipx = ipx_min; ipx <= ipx_max; ipx++) {
// check it is inside triangle
double [] d0p = new double[] {ipx-tri_out2[0][0],ipy-tri_out2[0][1]};
if (!cross2ccw(d0p,d01)) continue;
if (!cross2ccw(d02,d0p)) continue;
double [] d1p = new double[] {ipx-tri_out2[1][0],ipy-tri_out2[1][1]};
if (!cross2ccw(d1p,d12)) continue;
int ipix = ipx +(out_height - 1 -ipy) * out_width; // Y goes down
if (ipix== dbg_ipix) {
System.out.println("ipix="+ipix);
}
// See if the rendered pixel is closer than the closest of the corners
if ((rend[ipix] != null ) && (rend[ipix][z_index] < min_max_xyz[2][0])) {
continue;
}
double kx = dot2(d0p, orto2[0]);
double ky = dot2(d0p, orto2[1]);
// interpolate z
double z_interp = tri_out2[0][2] +
kx * (tri_out2[1][2]-tri_out2[0][2]) +
ky * (tri_out2[2][2]-tri_out2[0][2]);
if ((rend[ipix] != null ) && (rend[ipix][z_index] < z_interp)) {
continue;
}
// Get corresponding texture coordinates
double text_x = tri_text2[0][0] + kx * t01[0] + ky*t02[0]; // texture relative coordinates (0,1)
double text_y = tri_text2[0][1] + kx * t01[1] + ky*t02[1]; // y - up!
double px = text_x * texture_width - 0.5; // (0.0,0.0) - center of top-left texture pixel
double py = (1.0-text_y) * texture_height -0.5;
int ipx0 = (int) Math.floor(px);
int ipy0 = (int) Math.floor(py);
double fx = px - ipx0;
double fy = py - ipy0;
int ipx1 = ipx0+1;
int ipy1 = ipy0+1;
if ((ipx1 < 0) || (ipy1 < 0) || (ipx0 >= texture_width) || (ipy0 >= texture_width)) {
continue; // outside bounds
}
// limit if just on the edge
if (ipx0 < 0) ipx0=ipx1;
if (ipy0 < 0) ipy0=ipy1;
if (ipx1 >= texture_width) ipx1=ipx0;
if (ipy1 >= texture_height) ipy1=ipy0;
int indx00 = ipx0+texture_width*ipy0;
int indx10 = ipx1+texture_width*ipy0;
int indx01 = ipx0+texture_width*ipy1;
int indx11 = ipx1+texture_width*ipy1;
double [] pix_val = new double[z_index+1];
pix_val[z_index] = z_interp;
for (int chn = 0; chn < z_index; chn++) { // just for testing - use bilinear first
pix_val[chn] =
(1.0 - fy) * (1.0 - fx) * texture[chn][indx00] +
(1.0 - fy) * ( fx) * texture[chn][indx10] +
( fy) * (1.0 - fx) * texture[chn][indx01] +
( fy) * ( fx) * texture[chn][indx11];
if (pbsif[tri_index[indx][0]][chn].isValidPoint(px, py)) { // tghen overwrite with bicubic
pix_val[chn] = pbsif[tri_index[indx][0]][chn].value(px,py);
}
}
// handle alpha
if (last_is_alpha && (pix_val[z_index-1] < 0.5)) {
continue; // low alpha -> transparent
}
rend[ipix] = pix_val;
}
}
// min_max_xyz[2]
//num_col_chn
// projectToPlanePixels
// getCoordinates()
//getTexCoord()
}
}
};
}
ImageDtt.startAndJoin(threads);
// merge partial renders:
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int indx = ai.getAndIncrement(); indx < full_rendered[0].length; indx = ai.getAndIncrement()) {
double z = Double.NaN;
for (int sub_render = 0; sub_render < rendered.length; sub_render++) if (rendered[sub_render][indx] != null){
if (!(rendered[sub_render][indx][z_index] <= z)) { // OK previous NaN
z = rendered[sub_render][indx][z_index];
for (int chn = 0; chn < full_rendered.length; chn++) { // z_index; chn++) {
full_rendered[chn][indx] = rendered[sub_render][indx][chn];
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return full_rendered;
}
public double [][] render3dPlaneCenterProj(
final ArrayList<TriMesh> tri_meshes,
......
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