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imagej-elphel
Commit cc453673 authored by Andrey Filippov's avatar Andrey Filippov
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First run-through 2-border texture cluster generation

parent 164444fe
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Showing with 1186 additions and 19 deletions
src/main/java/com/elphel/imagej/tileprocessor/TexturedModel.java
View file @ cc453673
...@@ -26,6 +26,8 @@ import java.awt.Rectangle; ...@@ -26,6 +26,8 @@ import java.awt.Rectangle;
import java.io.IOException; import java.io.IOException;
import java.util.ArrayList; import java.util.ArrayList;
import java.util.Arrays; import java.util.Arrays;
import java.util.Collections;
import java.util.Comparator;
import java.util.concurrent.atomic.AtomicInteger; import java.util.concurrent.atomic.AtomicInteger;
import org.json.JSONException; import org.json.JSONException;
...@@ -54,14 +56,14 @@ public class TexturedModel { ...@@ -54,14 +56,14 @@ public class TexturedModel {
public static final int TILE_CANDIDATE = 4; // not used public static final int TILE_CANDIDATE = 4; // not used
public static final int CLUSTER_NAN = -2; // disparity is NaN public static final int CLUSTER_NAN = -2; // disparity is NaN
public static final int CLUSTER_UNASSIGNED = -1; // not yet assinged (>=0 - cluster number) public static final int CLUSTER_UNASSIGNED = -1; // not yet assinged (>=0 - cluster number)
public static final int [] NUM_NEIBS_FROM_BITS = new int [512];
public static boolean isBorder(int d) { public static boolean isBorder(int d) {
return (d==TILE_BORDER) || (d==TILE_BORDER_FLOAT); return (d==TILE_BORDER) || (d==TILE_BORDER_FLOAT);
} }
public static TileCluster [] clusterizeFgBg( // public static TileCluster [] clusterizeFgBgOld( //
final int tilesX, final int tilesX,
final double [][] disparities, // may have more layers final double [][] disparities, // may have more layers
final boolean [] blue_sky, // use to expand background by blurring available data? final boolean [] blue_sky, // use to expand background by blurring available data?
...@@ -442,6 +444,8 @@ public class TexturedModel { ...@@ -442,6 +444,8 @@ public class TexturedModel {
bounds, bounds,
cluster_list.size(), // (debug_index? cluster_list.size(): -1), cluster_list.size(), // (debug_index? cluster_list.size(): -1),
border_crop, border_crop,
null, // int [] border_int, // will replace border? Provide on-the-fly?
0, // int border_int_max, // outer border value
disparity_crop, disparity_crop,
sky_cluster)); // boolean is_sky)); sky_cluster)); // boolean is_sky));
cluster_list.add(tileCluster); cluster_list.add(tileCluster);
...@@ -491,6 +495,8 @@ public class TexturedModel { ...@@ -491,6 +495,8 @@ public class TexturedModel {
full_tiles, full_tiles,
(debug_index? 0:-1), (debug_index? 0:-1),
null, null,
null, // int [] border_int, // will replace border? Provide on-the-fly?
0, // int border_int_max, // outer border value
null, null,
false); // boolean is_sky)); false); // boolean is_sky));
} }
...@@ -539,7 +545,1080 @@ public class TexturedModel { ...@@ -539,7 +545,1080 @@ public class TexturedModel {
} }
return consolidated_clusters; return consolidated_clusters;
} }
// generate/update number of neighbors to select clusters' seeds
// public static int [] getSeedTile( // and update num_neibs_dir
public static void updateSeeds( // and update num_neibs_dir
final int [][] num_neibs_dir, // [tile][layer]
final Rectangle bounds, // null - all
final double [][] disparity_layers, // [layer][tile]should not have same tile disparity on multiple layers
final boolean [] blue_sky, // use to expand background by blurring available data?
final int blue_sky_layer,
final double disp_adiffo,
final double disp_rdiffo,
final double disp_adiffd,
final double disp_rdiffd,
final double disp_fof, // enable higher difference (scale) for fried of a friend
final int tilesX,
// final int transform_size,
final int debugLevel) {
final int tiles = disparity_layers[0].length;
final int tiles_wnd = (bounds == null) ? tiles : (bounds.width * bounds.height);
// final Rectanle ext_bounds
final int tilesY = tiles/tilesX;
final int layers = disparity_layers.length;
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
final TileNeibs tn = new TileNeibs(tilesX, tilesY);
final double [][][][] connections = new double [tiles][][][];
if (NUM_NEIBS_FROM_BITS[511] == 0) {
for (int i = 0; i < NUM_NEIBS_FROM_BITS.length; i++) {
for (int d = i; d != 0; d>>=1) {
NUM_NEIBS_FROM_BITS[i]+=(d & 1);
}
}
};
final Rectangle bounds_ext = (bounds != null) ?((new Rectangle(bounds.x-1, bounds.y-1, bounds.width+2, bounds.height + 2)).
intersection(new Rectangle(tilesX, tilesY))) : null;
final Rectangle bounds_ext2 = (bounds != null) ?((new Rectangle(bounds.x-2, bounds.y-2, bounds.width+4, bounds.height + 4)).
intersection(new Rectangle(tilesX, tilesY))) : null;
// calculate "connections - per tile, per layer, per direction (1 of the first 4), per target layer - normalized difference difference
final int dbg_tile = (debugLevel>0)? 1090:-1; // 977 : -1;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile_wnd = ai.getAndIncrement(); tile_wnd < tiles_wnd; tile_wnd = ai.getAndIncrement()) {
int tile = tile_wnd;
if (bounds_ext2 != null) {
int tileX = bounds_ext2.x + tile_wnd % bounds_ext2.width;
int tileY = bounds_ext2.y + tile_wnd / bounds_ext2.width;
tile = tileY * tilesX + tileX;
}
if (tile==dbg_tile) {
System.out.println("updateSeeds().1: tile="+tile);
}
for (int layer = 0; layer < layers; layer++) {
if (!Double.isNaN(disparity_layers[layer][tile])) {
if (connections[tile] == null) {
connections[tile] = new double[layers][][];
}
boolean is_bs = (layer == blue_sky_layer) && blue_sky[tile];
connections[tile][layer] = new double [TileNeibs.DIRS][]; // leave room for future symmetry
for (int dir = 0; dir < TileNeibs.DIRS/2; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
if (tile1 >= 0) {
for (int layer1 = 0; layer1 < layers; layer1++) {
if (!Double.isNaN(disparity_layers[layer1][tile1])) {
if (connections[tile][layer][dir] == null) {
connections[tile][layer][dir] = new double[layers];
Arrays.fill(connections[tile][layer][dir],Double.NaN);
}
double mid_disp = Math.max(0.0, 0.5*(disparity_layers[layer][tile] + disparity_layers[layer1][tile1]));
double max_disp_diff = ((dir & 1) == 0) ?
(disp_adiffo + mid_disp * disp_rdiffo) :
(disp_adiffd + mid_disp * disp_rdiffd);
boolean is_bs1 = (layer1 == blue_sky_layer) && blue_sky[tile1];
if (is_bs1 == is_bs) { // do not mix bs/no bs
connections[tile][layer][dir][layer1] = Math.abs(disparity_layers[layer][tile] - disparity_layers[layer1][tile1])/max_disp_diff;
}
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
ai.set(0);
// Fill in opposite connections by combining opposite directions
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile_wnd = ai.getAndIncrement(); tile_wnd < tiles_wnd; tile_wnd = ai.getAndIncrement()) {
int tile = tile_wnd;
if (bounds != null) {
int tileX = bounds_ext.x + tile_wnd % bounds_ext.width;
int tileY = bounds_ext.y + tile_wnd / bounds_ext.width;
tile = tileY * tilesX + tileX;
}
if (tile==dbg_tile) {
System.out.println("clusterizeFgBg().2: tile="+tile);
}
/*
if (connections[tile] != null) {
for (int dir0 = 0; dir0 < TileNeibs.DIRS/2; dir0++) {
int tile1 = tn.getNeibIndex(tile, dir0);
if ((tile1 >= 0) && (connections[tile1] != null)) {
int dir = TileNeibs.reverseDir(dir0);
for (int layer = 0; layer < layers; layer++) if (connections[tile1][layer] != null){
if (connections[tile1][layer][dir] == null) {
connections[tile1][layer][dir] = new double[layers];
Arrays.fill(connections[tile1][layer][dir],Double.NaN);
}
for (int layer1 = 0; layer1 < layers; layer1++) {
if ( (connections[tile][layer1] != null) &&
(connections[tile][layer1][dir0] != null)) {
connections[tile1][layer][dir][layer1] = connections[tile][layer1][dir0][layer];
}
}
}
}
}
}
*/
for (int layer = 0; layer < layers; layer++) if (!Double.isNaN(disparity_layers[layer][tile])) {
if ((connections[tile] != null) && (connections[tile][layer] != null)) {
for (int dir0 = 0; dir0 < TileNeibs.DIRS/2; dir0++) {
int dir = TileNeibs.reverseDir(dir0);
int tile1 = tn.getNeibIndex(tile, dir);
if ((tile1 >= 0) && (connections[tile1] != null)) {
if (connections[tile][layer][dir] == null) {
connections[tile][layer][dir] = new double[layers];
Arrays.fill(connections[tile][layer][dir],Double.NaN);
}
for (int layer1 = 0; layer1 < layers; layer1++) {
if ( (connections[tile1][layer1] != null) &&
(connections[tile1][layer1][dir0] != null)) {
connections[tile][layer][dir][layer1] = connections[tile1][layer1][dir0][layer];
}
}
}
}
}
} // for (int layer = 0; layer < layers; layer++) if (!Double.isNaN(disparity_layers[layer][tile])) {
}
}
};
}
ImageDtt.startAndJoin(threads);
// extend bounds by 1 each side
ai.set(0);
// calculate total number of connections (w/o fof) with value < 1.0, increment once
// per direction even if there are multiple connected layers
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile_wnd = ai.getAndIncrement(); tile_wnd < tiles_wnd; tile_wnd = ai.getAndIncrement()) {
int tile = tile_wnd;
if (bounds_ext != null) {
int tileX = bounds_ext.x + tile_wnd % bounds_ext.width;
int tileY = bounds_ext.y + tile_wnd / bounds_ext.width;
tile = tileY * tilesX + tileX;
}
Arrays.fill(num_neibs_dir[tile], 0);
if (connections[tile] != null) {
if (tile==dbg_tile) {
System.out.println("updateSeeds().3: tile="+tile);
}
for (int layer = 0; layer < layers; layer++) if (connections[tile][layer] != null){
num_neibs_dir[tile][layer] = 1; // center tile
for (int dir = 0; dir < TileNeibs.DIRS; dir++) {
if (connections[tile][layer][dir] != null) {
for (int layer1 = 0; layer1 < layers; layer1++) {
if (connections[tile][layer][dir][layer1] <= 1.0) { // Double.NaN - OK
num_neibs_dir[tile][layer] |= 2 << dir; // 9 bits
break; // increment once per dir
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
return;
}
/**
*
* @param disparity_layers
* @param num_neibs_dir
* @param tile_start
* @param tilesX
* @return {tile, layer} or null
*/
public static int [] getNextSeed(
final double [][] disparity_layers, //
final int [][] num_neibs_dir, // [tile][layer]
final int tile_start,
final int tilesX)
{
final int tiles = num_neibs_dir.length;
final int tilesY = tiles/tilesX;
final int layers =disparity_layers.length;
final TileNeibs tn = new TileNeibs(tilesX, tilesY);
int best_tile = -1, best_layer = -1, nn=0;
find_start:
{
int tile_end = tile_start + tiles;
for (int tile1=tile_start; tile1 < tile_end; tile1++) {
int tile = (tile1 >= tiles) ? (tile1 - tiles) : tile1;
if (!tn.isBorder(tile)) { // do not start on the border
for (int layer = 0; layer < layers; layer++) {
int n_neibs = NUM_NEIBS_FROM_BITS[num_neibs_dir[tile][layer]];
// if ((ncluster[tile][layer] == CLUSTER_UNASSIGNED) && (n_neibs > nn)) { // not yet assigned and >=0 neibs
if (!Double.isNaN(disparity_layers[layer][tile]) && (n_neibs > nn)) { // not yet assigned and >=0 neibs
nn = n_neibs;
best_tile = tile;
best_layer = layer;
if (nn == (TileNeibs.DIRS + 1)) { // No sense to look more - it can not be > 9
break find_start;
}
}
}
}
}
}
if (best_tile < 0) {
return null;
}
return new int [] {best_tile, best_layer};
}
public static double[] buildInitialCluster(
final double [][] disparity_layers, // should not have same tile disparity on multiple layers
final int start_layer,
final int start_tile,
final boolean [] blue_sky, // Do not mix bs/no_bs in the same cluster
final int blue_sky_layer,
final double disp_adiffo,
final double disp_rdiffo,
final double disp_adiffd,
final double disp_rdiffd,
final double disp_fof, // enable higher difference (scale) for friend of a friend
final int jump_r, // jump over alien/NaN disparities
final double disp_adiffj,
final double disp_rdiffj,
final int tilesX,
final int debugLevel)
{
final boolean is_sky_cluster = (start_layer == blue_sky_layer) && blue_sky[start_tile];
final int num_layers = disparity_layers.length;
final int tiles = disparity_layers[0].length;
final int tilesY = tiles/tilesX;
double disparity[] = new double[tiles]; // current cluster disparities
Arrays.fill(disparity, Double.NaN);
final TileNeibs tn = new TileNeibs(tilesX, tilesY);
ArrayList<Integer> tile_layer_list = new ArrayList<Integer>(); // pair of int x tile, int y - layer
tile_layer_list.add(start_tile);
disparity[start_tile] = disparity_layers[start_layer][start_tile];
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger alayer_tile = new AtomicInteger(-1);
while (true) {
while (!tile_layer_list.isEmpty()) {
int tile = tile_layer_list.remove(0);
double disp = disparity[tile];
double delta_disp_ortho = (disp_adiffo + disp * disp_rdiffo) * disp_fof;
double delta_disp_diag = (disp_adiffd + disp * disp_rdiffd) * disp_fof;
for (int dir = 0; dir < TileNeibs.DIRS; dir++) {
int tile1 = tn.getNeibIndex(tile, dir); // should always be > 0 here
if (tile1 >= 0) {
double delta_disp = ((dir & 1) == 0)? delta_disp_ortho : delta_disp_diag;
// see if it already has a tile of the same cluster in this direction
if (!Double.isNaN(disparity[tile1])) { // already assigned to this cluster
if (Math.abs(disparity[tile1] - disp) < (disp_fof * delta_disp)) {
continue; // many neighbors fall here - already assigned at fit
}
}
// find best fit (then reconsider previous assignment)
int blayer = -1;
double bdisp = Double.NaN;
for (int layer1 = 0; layer1 < num_layers; layer1++) {
double disp1 = disparity_layers[layer1][tile1];
boolean is_bs1 = (layer1 == blue_sky_layer) && blue_sky[tile1];
if (!Double.isNaN(disp1) && (is_bs1 == is_sky_cluster)) {
if ((blayer < 0) || ((Math.abs(disp1 - disp) < Math.abs(bdisp - disp)))) {
blayer = layer1;
bdisp = disp1;
}
}
}
if (blayer >= 0) {
double mid_disp = Math.max(0.0, 0.5*(disp + bdisp));
double max_disp_diff = ((dir & 1) == 0) ?
(disp_adiffo + mid_disp * disp_rdiffo) :
(disp_adiffd + mid_disp * disp_rdiffd);
if ((Math.abs(disp - bdisp)/max_disp_diff) <= 1.0){ // fits
if (!Double.isNaN(disparity[tile1])) { // already assigned to this cluster
if (bdisp > disparity[tile1]) { // new found is FG (higher disparity than the old one) -> replace old
disparity[tile1] = bdisp;
}
// replaced assignment - do not increase number of tiles
} else {
disparity[tile1] = bdisp;
}
tile_layer_list.add(tile1);
}
}
}
}
} // while (!tile_layer_list.isEmpty()) {
// Try jumping over;
ai.set(0);
alayer_tile.set(-1);
// calculate total number of connections (w/o fof) by combining opposite directions
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) {
if (alayer_tile.get() >= 0) {
break;
}
double disp = disparity[tile];
if (!Double.isNaN(disp)) {
double delta_disp = disp_adiffj + Math.max(0, disp) * disp_rdiffj;
int best_r2 = 0, best_tile = -1, best_layer = -1;
for (int dy = -jump_r; dy <= jump_r; dy++) {
boolean good_col = Math.abs(dy) > 1;
for (int dx = -jump_r; dx <= jump_r; dx++) {
// do not use 8 neighbors - they should be used during wave
if (good_col || (Math.abs(dx) > 1)) {
int tile1 = tn.getNeibIndex(tile, dx, dy);
if ((tile1 >=0) && Double.isNaN(disparity[tile1])) {
double disp_min = disp - delta_disp;
double disp_max = disp + delta_disp;
for (int layer = 0; layer < num_layers; layer++) {
boolean is_bs1 = (layer == blue_sky_layer) && blue_sky[tile1];
if (is_bs1 == is_sky_cluster) {
double disp1 = disparity_layers[layer][tile1];
if (!Double.isNaN(disp1) && (disp1 >= disp_min) && (disp1 <= disp_max)) {
int r2 = dy*dy+dx*dx;
if ((best_tile < 0) || (r2 < best_r2)) {
// check that new tile does not have selected neighbors already
boolean no_sel_neibs = true;
for (int dir1 = 0; dir1 < 8; dir1++) {
int tile2 = tn.getNeibIndex(tile1, dir1);
if ((tile2 >= 0) && !Double.isNaN(disparity[tile2])) {
no_sel_neibs=false;
break;
}
}
if (no_sel_neibs) {
best_r2 = r2;
best_tile = tile1;
best_layer = layer;
}
}
}
}
}
}
}
}
}
if (best_tile >= 0) {
alayer_tile.getAndSet(best_layer * tiles + best_tile);
break;
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
int slt = alayer_tile.get();
if (slt < 0) {
break;
}
int sl = slt / tiles;
int st = slt % tiles;
//alayer_tile.getAndSet(best_layer * tiles + best_tile);
tile_layer_list.add(st);
disparity[st] = disparity_layers[sl][st];
} // while (true) {
return disparity;
}
public static TileCluster buildTileCluster(
// used disparity_layers will be set to Double.NaN
// make it in a separate method?
final ArrayList <TileCluster> cluster_list,
final boolean is_sky_cluster, // this is a blue sky cluster, mark as such and extend bounds
final int blue_sky_below, // extend bounds down from the blue sky lower
final double [][] disparity_layers, // should not have same tile disparity on multiple layers
final double [] source_disparity, // should not have same tile disparity on multiple layers
final int max_neib_lev,
final double disp_adiff, // should already include disp_fof,
final double disp_rdiff,
final int tilesX,
final int debugLevel)
{
// final int num_layers = disparity_layers.length;
final int tiles = source_disparity.length;
final int tilesY = tiles/tilesX;
final int [] neib_lev = new int [tiles];
final double [] disparity = new double[tiles]; // current cluster disparities
final double [] max_neib = new double[tiles]; // maximal disparity of neibs
Arrays.fill(neib_lev, -1);
System.arraycopy(source_disparity, 0, disparity, 0, tiles);
final TileNeibs tn = new TileNeibs(tilesX, tilesY);
ArrayList<Integer> loc_list = new ArrayList<Integer>();
ArrayList<Integer> lor_list = new ArrayList<Integer>();
final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger ati = new AtomicInteger(0);
ai.set(0);
ati.set(0);
// create list of conflicts and 1 tile around defined, mark known disparity in neib_lev[]
final ArrayList<ArrayList<Integer>> loc_multi = new ArrayList<ArrayList<Integer>>(threads.length);
for (int ithread = 0; ithread < threads.length; ithread++) {
loc_multi.add(new ArrayList<Integer>());
threads[ithread] = new Thread() {
public void run() {
ArrayList<Integer> loc_this = loc_multi.get(ati.getAndIncrement());
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) {
double max_n = Double.NaN;
for (int dir = 0; dir < 8; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
if (tile1 >= 0) { // has defined neighbor
double disp1 = disparity[tile1];
if (!Double.isNaN(disp1)) {
if (!(max_n >= disp1)) { // handles initial max_n==NaN too
max_n = disp1;
}
}
}
}
double disp = disparity[tile];
if (!Double.isNaN(disp)) {
neib_lev[tile] = 0;
}
if (!Double.isNaN(max_n)) { // got at least 1 neighbor
if (Double.isNaN(disp)) {
max_neib[tile] = max_n; // is it needed? Yes, for ordering
loc_this.add(tile);
} else { // disparity defined, is it a conflict?
// is it a conflict?
if (disp < max_n) {
double max_diff = disp_adiff + disp_rdiff * Math.max(0.0, max_n);
if (disp < (max_n - max_diff)) {
loc_this.add(tile);
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
// Combine lists from multithreaded output to a common one
int loc_len = 0;
for (ArrayList<Integer> part_loc: loc_multi) {
loc_len+= part_loc.size();
}
loc_list.clear();
loc_list.ensureCapacity(loc_len);
for (ArrayList<Integer> part_loc: loc_multi) {
loc_list.addAll(part_loc);
}
while (!loc_list.isEmpty()) {
// Sort list by decreasing max_neib;
Collections.sort(loc_list, new Comparator<Integer>() {
@Override
public int compare(Integer lhs, Integer rhs) { // descending
return (max_neib[rhs] > max_neib[lhs]) ? 1 : ((max_neib[rhs] < max_neib[lhs]) ? -1 : 0) ; // lhs.compareTo(rhs);
}
});
// go through list, if still has conflict - replace disparity and neib_lev[], put into lor_list
// max_neib_lev
lor_list.clear();
lor_list.ensureCapacity(loc_list.size());
while (!loc_list.isEmpty()) {
int tile = loc_list.remove(0);
if (((tile >= 4028) && (tile <= 4032)) || ((tile >= 4108) && (tile <= 4112))) {
System.out.println("buildTileCluster().11: tile="+tile);
System.out.println();
}
// find highest neighbor of neib_lev < max_neib_lev
// double max_n = Double.NaN;
// int source_neib_level = 0; // maybe find max separately for each neib_level, and assign
// lower disparity but lower neib_level if both conflict?
double [] max_n = new double [max_neib_lev];
Arrays.fill(max_n, Double.NaN);
for (int dir = 0; dir < 8; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
if (tile1 >= 0) { // && (neib_lev[tile1] >= 0) && (neib_lev[tile1] < max_neib_lev)){ // has defined neighbor
int nlev1 = neib_lev[tile1];
double disp1 = disparity[tile1];
if (!Double.isNaN(disp1) && (nlev1 >=0) && (nlev1 < max_neib_lev)) {
if (!Double.isNaN(disp1)) {
if (!(max_n[nlev1] >= disp1)) { // handles initial max_n==NaN too
max_n[nlev1] = disp1;
}
}
}
}
}
if (Double.isNaN(disparity[tile])) { // add previously undefined
for (int i = 0; i < max_n.length; i ++) if (!Double.isNaN(max_n[i])) {
disparity[tile] = max_n[i];
neib_lev[tile] = i + 1; // was -1
lor_list.add(tile);
break;
}
} else { // old one, find the lowest neighbor conflict
for (int i = 0; i < max_n.length; i ++) if (!Double.isNaN(max_n[i]) && (disparity[tile] < max_n[i])) {
double max_diff = disp_adiff + disp_rdiff * Math.max(0.0, max_n[i]);
if (disparity[tile] < (max_n[i] - max_diff)) { // it is a conflict
disparity[tile] = max_n[i];
neib_lev[tile] = i + 1; // was -1
lor_list.add(tile);
break;
}
}
}
} // while (!loc_list.isEmpty()) { finished with loc_list, created lor_list
loc_list.clear(); // restarting building new list of conflicts
while (!lor_list.isEmpty()) { // may be already empty
int tile0 = lor_list.remove(0);
// look around, for conflicts, add if was not already there (consider using additional array?)
for (int dir0 = 0; dir0 < 8; dir0++) {
int tile = tn.getNeibIndex(tile0, dir0);
if (((tile >= 4028) && (tile <= 4032)) || ((tile >= 4108) && (tile <= 4112))) {
System.out.println("buildTileCluster().12: tile="+tile+", tile0="+tile0);
System.out.println();
}
// tries many times as it does not qualify to be added
if ((tile >= 0) && !loc_list.contains(tile)) { // Do not check+add same tile
double disp = disparity[tile];
// See if there is a conflict
double max_n = Double.NaN;
for (int dir = 0; dir < 8; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
if (tile1 >= 0) { // has defined neighbor
double disp1 = disparity[tile1];
int nlev1 = neib_lev[tile1];
if (!Double.isNaN(disp1) && (nlev1 >= 0) && (nlev1 < max_neib_lev)) {
if (!(max_n >= disp1)) { // handles initial max_n==NaN too
max_n = disp1;
}
}
}
}
//
if (!Double.isNaN(max_n)) { // got at least 1 neighbor
if (((tile >= 4028) && (tile <= 4032)) || ((tile >= 4108) && (tile <= 4112))) {
System.out.println("buildTileCluster().13: tile="+tile+", tile0="+tile0);
System.out.println();
}
if (Double.isNaN(disparity[tile])) {
max_neib[tile] = max_n; // is it needed? Yes, for ordering
loc_list.add(tile);
} else { // disparity defined, is it a conflict?
// is it a conflict?
if (disparity[tile] < max_n) {
double max_diff = disp_adiff + disp_rdiff * Math.max(0.0, max_n);
if (disparity[tile] < (max_n - max_diff)) {
loc_list.add(tile);
}
}
}
}
}
}
} // while (!lor_list.isEmpty()) { // may be already empty
} // while (!loc_list.isEmpty()) { - no conflicts left, finalize
final int [] dbg_neib_lev_preorph = (debugLevel > 0)? neib_lev.clone() : null;
final double [] dbg_disparity1 = (debugLevel > 0)? disparity.clone() : null;
// if (debugLevel > 0)
// mark selected tiles that conflict with max_neib_lev
ai.set(0);
ati.set(0);
// re-create list of conflicts of defined tiles with neib_lev[] < max_neib_lev
loc_multi.clear();
for (int ithread = 0; ithread < threads.length; ithread++) {
loc_multi.add(new ArrayList<Integer>());
threads[ithread] = new Thread() {
public void run() {
ArrayList<Integer> loc_this = loc_multi.get(ati.getAndIncrement());
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement())
if ((neib_lev[tile] >= 0) && (neib_lev[tile] < max_neib_lev)) {
double max_n = Double.NaN;
for (int dir = 0; dir < 8; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
if ((tile1 >= 0) && (neib_lev[tile1] == max_neib_lev)) { // only conflicts with max_neib_lev
double disp1 = disparity[tile1];
if (!Double.isNaN(disp1)) {
if (!(max_n >= disp1)) { // handles initial max_n==NaN too
max_n = disp1;
}
}
}
}
if (disparity[tile] < max_n) { // works with Double.isNaN(max_n)
double max_diff = disp_adiff + disp_rdiff * Math.max(0.0, max_n);
if (disparity[tile] < (max_n - max_diff)) {
loc_this.add(tile);
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
// Combine lists from multithreaded output to a common one
loc_list.clear();
for (ArrayList<Integer> part_loc: loc_multi) {
loc_list.addAll(part_loc);
}
// Temporarily mark loc_list with max_neib_lev+1 to remove them from averaging
for (int tile:loc_list) {
neib_lev[tile] = max_neib_lev+1;
}
// there may be some orphans left neib_lev >0 that do not have neighbors with neib_lev one less
// Recalculate replaced disparities. For now - just averaging, maybe use 5x5 plane best fit?
// Some of the actual tiles (that conflict with max_neib_lev) are temporarily marked with max_neib_lev+1
// to prevent them from being averaged
final double [] wdir = {1.0, 0.7, 1.0, 0.7, 1.0, 0.7, 1.0, 0.7};
for (int nlev = 1; nlev <= max_neib_lev; nlev++) {
final int fnlev = nlev;
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) if (neib_lev[tile] == fnlev){
double swd = 0, sw = 0;
for (int dir = 0; dir < 8; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
if ((tile1 >= 0) && (neib_lev[tile1] >= 0) && (neib_lev[tile1] < fnlev)) {
double w = wdir[dir];
sw += w;
swd += w * disparity[tile1];
}
}
if (sw > 0.0) {
disparity[tile] = swd/sw;
} else {
neib_lev[tile] = (fnlev < max_neib_lev) ? (fnlev + 1) : -1;
if (debugLevel > 0) {
System.out.println("buildTileCluster() removed orphan tile "+tile+", fnlev="+fnlev);
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
}
final int [] dbg_neib_lev_predefined = (debugLevel > 0)? neib_lev.clone() : null;
// Recreate border tiles by selecting existing one touching last detected conflicts
// current loc_list is marked with max_neib_lev+1, will change to max_neib_lev.
if (!loc_list.isEmpty()) {
for (int nlev = max_neib_lev; nlev > 0; nlev--) {
if (loc_list.isEmpty()) {
break;
}
for (int tile:loc_list) {
neib_lev[tile] = nlev;
}
if (nlev == 1) { // just mark, do not create a new list
break;
}
int llen = loc_list.size();
// int max_neib_lev_m1 = max_neib_lev-1;
for (int i = 0; i < llen; i++) {
int tile = loc_list.remove(0);
for (int dir = 0; dir < 8; dir++) {
int tile1 = tn.getNeibIndex(tile, dir);
// if ((tile1 >= 0) && (neib_lev[tile1] >=0 ) && (neib_lev[tile1] < max_neib_lev_m1)) {
if ((tile1 >= 0) && (neib_lev[tile1] >=0 ) && (neib_lev[tile1] < (nlev -1))) {
if (!loc_list.contains(tile1)) {
loc_list.add(tile1);
}
}
}
}
}
}
// Remove selected inner tiles from disparity_layers
ai.set(0);
final AtomicInteger num_removed = new AtomicInteger(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) if (neib_lev[tile] == 0) {
for (int layer = 0; layer < disparity_layers.length; layer++) {
if (disparity_layers[layer][tile] == disparity[tile]) {
disparity_layers[layer][tile] = Double.NaN;
num_removed.getAndIncrement();
break;
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
if (num_removed.get() == 0) {
System.out.println("buildTileCluster() BUG - no tiles removed from disparity_layers[]");
}
// find bounds
AtomicInteger min_y = new AtomicInteger(tilesY);
AtomicInteger max_y = new AtomicInteger(0);
AtomicInteger min_x = new AtomicInteger(tilesX);
AtomicInteger max_x = new AtomicInteger(0);
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) if (neib_lev[tile] >= 0) {
int tileY = tile / tilesX;
int tileX = tile % tilesX;
min_y.getAndAccumulate(tileY, Math::min);
max_y.getAndAccumulate(tileY, Math::max);
min_x.getAndAccumulate(tileX, Math::min);
max_x.getAndAccumulate(tileX, Math::max);
}
}
};
}
ImageDtt.startAndJoin(threads);
// final boolean sky_cluster = blue_sky_below >=0;
if (is_sky_cluster) { // increase bounding box for sky cluster
min_y.set(0);
max_y.addAndGet(blue_sky_below);
min_x.set(0);
max_x.set(tilesX -1);
}
final int width = max_x.get() - min_x.get() + 1;
final int height = max_y.get() - min_y.get() + 1;
final Rectangle bounds = new Rectangle(min_x.get(), min_y.get(), width, height);
final double [] disparity_crop = new double [width * height];
// final boolean [] border_crop = new boolean [disparity_crop.length];
final int [] border_int_crop = new int [disparity_crop.length];
ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tile_crop = ai.getAndIncrement(); tile_crop < disparity_crop.length; tile_crop = ai.getAndIncrement()) {
int tileY = tile_crop / width + bounds.y ;
int tileX = tile_crop % width + bounds.x;
int tile = tileX + tileY * tilesX;
disparity_crop[tile_crop] = disparity[tile];
border_int_crop[tile_crop] = neib_lev[tile];
}
}
};
}
ImageDtt.startAndJoin(threads);
// Create new TileCluster
TileCluster tileCluster = (new TileCluster(
bounds,
cluster_list.size(), // (debug_index? cluster_list.size(): -1),
null, // border_crop, // will create from border_int_crop
border_int_crop, // int [] border_int, // will replace border? Provide on-the-fly?
max_neib_lev, // int border_int_max, // outer border value
disparity_crop,
is_sky_cluster)); // boolean is_sky));
cluster_list.add(tileCluster);
if (debugLevel > 0) {
String [] dbg_titles = {"Source","Intermediate","Final", "neib_lev0", "neib_lev1", "neib_lev2"};
double [][] dbg_neib_lev = new double [3][tiles];
// final int [] dbg_neib_lev_preorph = (debugLevel > 0)? neib_lev.clone() : null;
// final int [] dbg_neib_lev_predefined = (debugLevel > 0)? neib_lev.clone() : null;
for (int i = 0; i < tiles; i++) {
dbg_neib_lev[0][i] = 10*dbg_neib_lev_preorph[i];
dbg_neib_lev[1][i] = 10*dbg_neib_lev_predefined[i];
dbg_neib_lev[2][i] = 10*neib_lev[i];
}
double [][] dbg_img = {
source_disparity,
dbg_disparity1,
disparity,
dbg_neib_lev[0],
dbg_neib_lev[1],
dbg_neib_lev[2]};
ShowDoubleFloatArrays.showArrays(
dbg_img,
tilesX,
tilesY,
true,
"source_final_disparity-"+String.format("%02d", cluster_list.size()-1),
dbg_titles);
}
return tileCluster;
}
public static TileCluster [] clusterizeFgBg( //
final int tilesX,
final double [][] disparity_layers_src, // may have more layers
final boolean [] blue_sky, // use to expand background by blurring available data?
final int blue_sky_layer,
final int blue_sky_below,
// final boolean [] selected, // to remove sky (pre-filter by caller, like for ML?)
final int max_neib_lev,
final double disp_adiffo,
final double disp_rdiffo,
final double disp_adiffd,
final double disp_rdiffd,
final double disp_fof, // enable higher difference (scale) for friend of a friend
final int jump_r,
final double disp_adiffj,
final double disp_rdiffj,
final int debugLevel) {
final int tiles = disparity_layers_src[0].length;
final int tilesY = tiles/tilesX;
final int layers = disparity_layers_src.length;
final int [][] num_neibs_dir = new int[tiles][layers]; // -1 - none, otherwise - bitmask
//copy original disparity_layers_src to disparity_layers - they will be modified
final double [][] disparity_layers = new double [disparity_layers_src.length][];
for (int i = 0 ; i < disparity_layers.length; i++) {
disparity_layers[i] = disparity_layers_src[i].clone();
}
// maybe ncluster[][] will not be used at all - disparity_layers will be modified to NaN used tiles
// calculate initial num_neibs_dir
updateSeeds( // and update num_neibs_dir
num_neibs_dir, // final int [][] num_neibs_dir, // [tile][layer]
null, // final Rectangle bounds, // null - all
disparity_layers, // final double [][] disparity_layers, // [layer][tile]should not have same tile disparity on multiple layers
blue_sky, // final boolean [] blue_sky, // use to expand background by blurring available data?
blue_sky_layer, // final int blue_sky_layer,
disp_adiffo, // final double disp_adiffo,
disp_rdiffo, // final double disp_rdiffo,
disp_adiffd, // final double disp_adiffd,
disp_rdiffd, // final double disp_rdiffd,
disp_fof, // final double disp_fof, // enable higher difference (scale) for fried of a friend
tilesX, // final int tilesX,
debugLevel); // final int debugLevel)
if (debugLevel > -2) { // was > 0
String [] dbg_titles = {"FG","BG"};
double [][] dbg_img = new double[layers][tiles];
for (int i = 0; i < tiles;i++) {
for (int j = 0; j < dbg_img.length; j++) {
dbg_img[j][i] = NUM_NEIBS_FROM_BITS[num_neibs_dir[i][j]];
}
}
ShowDoubleFloatArrays.showArrays(
dbg_img,
tilesX,
tilesY,
true,
"num_neibs",
dbg_titles);
ShowDoubleFloatArrays.showArrays(
disparity_layers,
tilesX,
tilesY,
true,
"disparity_layers",
dbg_titles);
}
final ArrayList <TileCluster> cluster_list = new ArrayList<TileCluster>();
// build all clusters
int tile_start = 2820; // 0; // change to debug tile to start with the largest one
while (true) {
int [] next_seed_tile_layer = getNextSeed(
disparity_layers, // final double [][] disparity_layers, //
num_neibs_dir, // final int [][] num_neibs_dir, // [tile][layer]
tile_start, // final int tile_start,
tilesX) ; // final int tilesX)
if (next_seed_tile_layer == null) {
break;
}
// next_seed_tile_layer is now {tile, layer}
final boolean is_sky_cluster = (next_seed_tile_layer[1] == blue_sky_layer) && blue_sky[next_seed_tile_layer[0]];
double [] cluster_initial_disparity = buildInitialCluster(
disparity_layers, // final double [][] disparity_layers, // should not have same tile disparity on multiple layers
next_seed_tile_layer[1], // final int start_layer,
next_seed_tile_layer[0], // final int start_tile,
blue_sky, // final boolean [] blue_sky, // use to expand background by blurring available data?
blue_sky_layer, // final int blue_sky_layer,
disp_adiffo, // final double disp_adiffo,
disp_rdiffo, // final double disp_rdiffo,
disp_adiffd, // final double disp_adiffd,
disp_rdiffd, // final double disp_rdiffd,
disp_fof, // final double disp_fof, // enable higher difference (scale) for friend of a friend
jump_r, // final int jump_r,
disp_adiffj, // final double disp_adiffj,
disp_rdiffj, // final double disp_rdiffj,
tilesX, // final int tilesX,
debugLevel); // final int debugLevel)
final double disp_adiff = disp_fof * disp_adiffd; // should already include disp_fof,
final double disp_rdiff = disp_fof * disp_rdiffd; // should already include disp_fof,
TileCluster tileCluster = buildTileCluster(
// used disparity_layers will be set to Double.NaN
// make it in a separate method?
cluster_list, // final ArrayList <TileCluster> cluster_list,
is_sky_cluster, // is_sky_cluster, // this is a blue sky cluster, mark as such and extend bounds
blue_sky_below, // final int blue_sky_below, // >=0 this is a blue sky cluster, mark as such and extend bounds
disparity_layers, // final double [][] disparity_layers, // should not have same tile disparity on multiple layers
cluster_initial_disparity, // final double [] source_disparity, // should not have same tile disparity on multiple layers
max_neib_lev, // final int max_neib_lev,
disp_adiff, // final double disp_adiff, // should already include disp_fof,
disp_rdiff, // final double disp_rdiff,
tilesX, // final int tilesX,
debugLevel); // final int debugLevel)
// if (debugLevel > -1000) {
// return null;
// }
updateSeeds( // and update num_neibs_dir
num_neibs_dir, // final int [][] num_neibs_dir, // [tile][layer]
tileCluster.getBounds(), // final Rectangle bounds, // null - all
disparity_layers, // final double [][] disparity_layers, // [layer][tile]should not have same tile disparity on multiple layers
blue_sky, // final boolean [] blue_sky, // use to expand background by blurring available data?
blue_sky_layer, // final int blue_sky_layer,
disp_adiffo, // final double disp_adiffo,
disp_rdiffo, // final double disp_rdiffo,
disp_adiffd, // final double disp_adiffd,
disp_rdiffd, // final double disp_rdiffd,
disp_fof, // final double disp_fof, // enable higher difference (scale) for fried of a friend
tilesX, // final int tilesX,
debugLevel); // final int debugLevel)
if (debugLevel > 1) {
String [] dbg_titles = {"FG","BG"};
double [][] dbg_img = new double[layers][tiles];
for (int i = 0; i < tiles;i++) {
for (int j = 0; j < dbg_img.length; j++) {
dbg_img[j][i] = NUM_NEIBS_FROM_BITS[num_neibs_dir[i][j]];
}
}
ShowDoubleFloatArrays.showArrays(
dbg_img,
tilesX,
tilesY,
true,
"num_neibs-"+String.format("%02d", cluster_list.size()),
dbg_titles);
ShowDoubleFloatArrays.showArrays(
disparity_layers,
tilesX,
tilesY,
true,
"disparity_layers-"+String.format("%02d", cluster_list.size()),
dbg_titles);
}
tile_start = next_seed_tile_layer[0];
} // while (true) {
// int [] tile_stat = new int [tiles];
// int [] tile_layer = new int [tiles]; // just to know which layer was used for assigned tiles
// consolidate clusters "good enough", use bounding box intersections, add cluster_gap to grow extra tiles by Gaussian
// cluster_gap
int [] comb_clusters = new int [cluster_list.size()];
Arrays.fill(comb_clusters,-1);
int this_combo = 0;
for (; ; this_combo++) {
// find first unassigned cluster
int index_first = -1;
for (int i = 0; i < comb_clusters.length; i++) {
if (comb_clusters[i] < 0) {
index_first = i;
break;
}
}
if (index_first < 0) {
break; // all clusters assigned
}
comb_clusters[index_first] = this_combo;
for (int index_other = index_first; index_other < comb_clusters.length; index_other++) if (comb_clusters[index_other] < 0) {
// check to intersection with all prior clusters in this combo
candidate_cluster:
{
// Rectangle new_bounds = cluster_list.get(index_other).getBounds(cluster_gap); // cluster_gap should be 2x
Rectangle new_bounds = cluster_list.get(index_other).getBounds(); // cluster_gap should be 2x
for (int index_already = index_first; index_already < index_other; index_already++) if (comb_clusters[index_already] == this_combo) {
if (cluster_list.get(index_already).getBounds().intersects(new_bounds)) {
break candidate_cluster; // intersects - skip it
}
}
comb_clusters[index_other] = this_combo;
}
}
}
TileCluster [] consolidated_clusters = new TileCluster[this_combo];
Rectangle full_tiles = new Rectangle(0, 0, tilesX, tilesY);
final boolean debug_index = debugLevel > -2; // 0;
for (int i = 0; i < this_combo; i++) {
consolidated_clusters[i] = new TileCluster(
full_tiles,
(debug_index? 0:-1),
null,
null, // int [] border_int, // will replace border? Provide on-the-fly?
0, // int border_int_max, // outer border value
null,
false); // boolean is_sky));
}
for (int i = 0; i < comb_clusters.length; i++) {
consolidated_clusters[comb_clusters[i]].add(cluster_list.get(i));
}
if (debugLevel > 0) {
double [][] dbg_img = new double[this_combo][tiles];
double [][] dbg_borders = new double[this_combo][tiles];
double [][] dbg_borders_int = new double[this_combo][tiles];
double [][] dbg_index = null;
if (debug_index) {
dbg_index = new double[this_combo][tiles];
}
for (int n = 0; n < dbg_img.length; n++) {
for (int i = 0; i < tiles;i++) {
dbg_img[n][i] = consolidated_clusters[n].getDisparity()[i];
dbg_borders[n][i] = consolidated_clusters[n].getBorder()[i]? 1.0:0.0;
dbg_borders_int[n][i] = consolidated_clusters[n].getBorderInt()[i];
if (dbg_index != null) {
double d = consolidated_clusters[n].getClusterIndex()[i];
dbg_index[n][i] = (d >=0)? d : Double.NaN;
}
}
}
ShowDoubleFloatArrays.showArrays(
dbg_img,
tilesX,
tilesY,
true,
"cluster_disparity");
ShowDoubleFloatArrays.showArrays(
dbg_borders,
tilesX,
tilesY,
true,
"cluster_borders");
ShowDoubleFloatArrays.showArrays(
dbg_borders_int,
tilesX,
tilesY,
true,
"cluster_borders_int");
if (dbg_index != null) {
ShowDoubleFloatArrays.showArrays(
dbg_index,
tilesX,
tilesY,
true,
"cluster_indices");
}
}
return consolidated_clusters;
}
public static boolean output3d( // USED in lwir public static boolean output3d( // USED in lwir
CLTParameters clt_parameters, CLTParameters clt_parameters,
...@@ -574,7 +1653,15 @@ public class TexturedModel { ...@@ -574,7 +1653,15 @@ public class TexturedModel {
final double tex_disp_adiffd = clt_parameters.tex_disp_adiffd; // 0.6; // 0.4; disparity absolute tolerance to connect in diagonal directions final double tex_disp_adiffd = clt_parameters.tex_disp_adiffd; // 0.6; // 0.4; disparity absolute tolerance to connect in diagonal directions
final double tex_disp_rdiffd = clt_parameters.tex_disp_rdiffd; // 0.18; // 0.12; disparity relative tolerance to connect in diagonal directions final double tex_disp_rdiffd = clt_parameters.tex_disp_rdiffd; // 0.18; // 0.12; disparity relative tolerance to connect in diagonal directions
final double tex_disp_fof = clt_parameters.tex_disp_fof; // 1.5; // Increase tolerance for friend of a friend final double tex_disp_fof = clt_parameters.tex_disp_fof; // 1.5; // Increase tolerance for friend of a friend
final int jump_r = 2; // FIXME
final double disp_adiffj = clt_parameters.tex_disp_adiffo; // FIXME
final double disp_rdiffj = clt_parameters.tex_disp_rdiffo; // FIXME
final double tex_fg_bg = clt_parameters.tex_fg_bg; // 0.1; // Minimal FG/BG disparity difference (NaN bg if difference from FG < this) final double tex_fg_bg = clt_parameters.tex_fg_bg; // 0.1; // Minimal FG/BG disparity difference (NaN bg if difference from FG < this)
final int max_neib_lev = 2; // 1 - single tiles layer around, 2 - two layers
final int tex_cluster_gap= 2; // gap between clusters Make clt_parameters final int tex_cluster_gap= 2; // gap between clusters Make clt_parameters
final double max_disparity_lim = 100.0; // do not allow stray disparities above this final double max_disparity_lim = 100.0; // do not allow stray disparities above this
final double min_trim_disparity = 2.0; // do not try to trim texture outlines with lower disparities final double min_trim_disparity = 2.0; // do not try to trim texture outlines with lower disparities
...@@ -632,6 +1719,25 @@ public class TexturedModel { ...@@ -632,6 +1719,25 @@ public class TexturedModel {
int sky_layer = 0; int sky_layer = 0;
int sky_below = 10; // extend sky these tile rows below lowest int sky_below = 10; // extend sky these tile rows below lowest
// Create data for consolidated textures (multiple texture segments combined in same "passes" // Create data for consolidated textures (multiple texture segments combined in same "passes"
TileCluster [] tileClusters = clusterizeFgBg( // wrong result type, not decided
tilesX, // final int tilesX,
ds_fg_bg, // final double [][] disparities, // may have more layers
sky_tiles, // final boolean blue_sky, // use to expand background by blurring available data?
sky_layer, // final int sky_layer,
sky_below, // final int blue_sky_below,
// null, // sky_invert, // final boolean [] selected, // to remove sky (pre-filter by caller, like for ML?)
max_neib_lev, // final int max_neib_lev,
tex_disp_adiffo, // final double disp_adiffo,
tex_disp_rdiffo, // final double disp_rdiffo,
tex_disp_adiffd, // final double disp_adiffd,
tex_disp_rdiffd, // final double disp_rdiffd,
tex_disp_fof, // final double disp_fof, // enable higher difference (scale) for friend of a friend
jump_r, // final int jump_r,
disp_adiffj, // final double disp_adiffj,
disp_rdiffj, // final double disp_rdiffj,
// tex_cluster_gap, // final int cluster_gap, // gap between clusters
debugLevel); //1); // 2); // final int debugLevel)
/*
TileCluster [] tileClusters = clusterizeFgBg( // wrong result type, not decided TileCluster [] tileClusters = clusterizeFgBg( // wrong result type, not decided
tilesX, // final int tilesX, tilesX, // final int tilesX,
ds_fg_bg, // final double [][] disparities, // may have more layers ds_fg_bg, // final double [][] disparities, // may have more layers
...@@ -646,6 +1752,17 @@ public class TexturedModel { ...@@ -646,6 +1752,17 @@ public class TexturedModel {
tex_disp_fof, // final double disp_fof, // enable higher difference (scale) for friend of a friend tex_disp_fof, // final double disp_fof, // enable higher difference (scale) for friend of a friend
tex_cluster_gap, // final int cluster_gap, // gap between clusters tex_cluster_gap, // final int cluster_gap, // gap between clusters
debugLevel); //1); // 2); // final int debugLevel) debugLevel); //1); // 2); // final int debugLevel)
*/
// Debugging up to here:
// if (debugLevel > -1000) {
// return false;
// }
if (tileClusters == null) {
System.out.println("Temporary exit after clusterizeFgBg()");
return false;
}
boolean [] scenes_sel = new boolean[scenes.length]; boolean [] scenes_sel = new boolean[scenes.length];
// for (int i = scenes.length - 10; i < scenes.length; i++) { // start with just one (reference) scene // for (int i = scenes.length - 10; i < scenes.length; i++) { // start with just one (reference) scene
for (int i = 0; i < scenes.length; i++) { // start with just one (reference) scene for (int i = 0; i < scenes.length; i++) { // start with just one (reference) scene
......
src/main/java/com/elphel/imagej/tileprocessor/TileCluster.java
View file @ cc453673
...@@ -29,6 +29,9 @@ import java.util.Arrays; ...@@ -29,6 +29,9 @@ import java.util.Arrays;
class TileCluster{ class TileCluster{
Rectangle bounds; Rectangle bounds;
boolean [] border; boolean [] border;
// <0 - outside, 0 - inner /true disparity, border_int_max - outer border layer, ...
int [] border_int; // will replace border? Provide on-the-fly?
int border_int_max; // outer border value
double [] disparity; // all and only unused - NaN double [] disparity; // all and only unused - NaN
int [] cluster_index = null; // for debug purposes, index of the source cluster int [] cluster_index = null; // for debug purposes, index of the source cluster
int index = -1; int index = -1;
...@@ -52,31 +55,43 @@ class TileCluster{ ...@@ -52,31 +55,43 @@ class TileCluster{
Rectangle bounds, Rectangle bounds,
int index, // <0 to skip int index, // <0 to skip
boolean [] border, boolean [] border,
int [] border_int, // will replace border? Provide on-the-fly?
int border_int_max, // outer border value
double [] disparity, double [] disparity,
boolean is_sky){ boolean is_sky){
this.bounds = bounds; this.bounds = bounds;
this.index = index; this.index = index;
this.is_sky = is_sky; this.is_sky = is_sky;
/** if (disparity == null) {
if (index >= 0) { disparity = new double[bounds.width * bounds.height];
this.cluster_index = new int [bounds.width * bounds.height]; Arrays.fill(disparity, Double.NaN);
Arrays.fill(cluster_index, -1);
if (disparity != null) {
for (int i = 0; i < cluster_index.length; i++) if (!Double.isNaN(disparity[i])){
cluster_index[i] = index;
}
}
} }
*/ this.disparity = disparity;
if (border == null) { if (border == null) {
border = new boolean[bounds.width * bounds.height]; border = new boolean[bounds.width * bounds.height];
if (border_int != null) {
for (int i = 0; i < border_int.length; i++) {
border[i] = border_int[i] == border_int_max;
}
}
} }
this.border = border; this.border = border;
if (disparity == null) { // for back compatibility
disparity = new double[bounds.width * bounds.height]; if (border_int == null) {
Arrays.fill(disparity, Double.NaN); border_int = new int [bounds.width * bounds.height];
border_int_max = 1;
for (int i = 0; i < border_int.length; i++) {
if (Double.isNaN(disparity[i])) {
border_int[i] = -1;
} else {
border_int[i] = border[i] ? border_int_max : 0;
}
}
} }
this.disparity = disparity; this.border_int = border_int;
this.border_int_max = border_int_max;
} }
public boolean isSky() { public boolean isSky() {
return is_sky; return is_sky;
...@@ -100,7 +115,9 @@ class TileCluster{ ...@@ -100,7 +115,9 @@ class TileCluster{
public Rectangle getBounds(int gap) { public Rectangle getBounds(int gap) {
return new Rectangle (bounds.x - gap, bounds.y - gap, bounds.width + 2* gap, bounds.height + 2* gap); return new Rectangle (bounds.x - gap, bounds.y - gap, bounds.width + 2* gap, bounds.height + 2* gap);
} }
public boolean [] getBorder() {return border;} public boolean [] getBorder() {return border;} // Modify to use border_int (==border_int_max)?
public int [] getBorderInt() {return border_int;}
public int getBorderIntMax() {return border_int_max;}
public double [] getDisparity() {return disparity;} public double [] getDisparity() {return disparity;}
public void setDisparity(double [] disparity) {this.disparity = disparity;} public void setDisparity(double [] disparity) {this.disparity = disparity;}
public double [] getSubDisparity(int indx) { // disparity should be NaN for unused ! public double [] getSubDisparity(int indx) { // disparity should be NaN for unused !
...@@ -148,7 +165,7 @@ class TileCluster{ ...@@ -148,7 +165,7 @@ class TileCluster{
return clust_list.get(indx).is_sky; return clust_list.get(indx).is_sky;
} }
public boolean [] getSubBorder(int indx) { // disparity should be NaN for unused ! public boolean [] getSubBorder(int indx) {
if (clust_list == null) { if (clust_list == null) {
return null; return null;
} }
...@@ -166,6 +183,27 @@ class TileCluster{ ...@@ -166,6 +183,27 @@ class TileCluster{
} }
return sub_border; return sub_border;
} }
public int [] getSubBorderInt(int indx) {
if (clust_list == null) {
return null;
}
Rectangle sub_bounds = clust_list.get(indx).bounds;
int [] sub_border_int = new int [sub_bounds.width * sub_bounds.height];
int src_x = sub_bounds.x - bounds.x;
for (int dst_y = 0; dst_y < sub_bounds.height; dst_y++) {
int src_y = dst_y + sub_bounds.y - bounds.y;
System.arraycopy(
border_int,
src_y * bounds.width + src_x,
sub_border_int,
dst_y * sub_bounds.width,
sub_bounds.width);
}
return sub_border_int;
}
// returns selected for all non-NAN, so it is possible to use NEGATIVE_INFINITY for non-NaN // returns selected for all non-NAN, so it is possible to use NEGATIVE_INFINITY for non-NaN
public boolean [] getSubSelected(int indx) { // disparity should be NaN for unused ! public boolean [] getSubSelected(int indx) { // disparity should be NaN for unused !
if (clust_list == null) { if (clust_list == null) {
...@@ -290,7 +328,7 @@ class TileCluster{ ...@@ -290,7 +328,7 @@ class TileCluster{
clust_list = new ArrayList<IndexedRectanle>(); clust_list = new ArrayList<IndexedRectanle>();
} }
clust_list.add(new IndexedRectanle(tileCluster.index, tileCluster.bounds, tileCluster.isSky())); clust_list.add(new IndexedRectanle(tileCluster.index, tileCluster.bounds, tileCluster.isSky()));
border_int_max = tileCluster.border_int_max; // all clusters should have the same border_int_max
int dst_x = tileCluster.bounds.x - bounds.x; int dst_x = tileCluster.bounds.x - bounds.x;
for (int src_y = 0; src_y < tileCluster.bounds.height; src_y++) { for (int src_y = 0; src_y < tileCluster.bounds.height; src_y++) {
int dst_y = src_y + tileCluster.bounds.y - bounds.y; int dst_y = src_y + tileCluster.bounds.y - bounds.y;
...@@ -300,6 +338,12 @@ class TileCluster{ ...@@ -300,6 +338,12 @@ class TileCluster{
border, border,
dst_y * bounds.width + dst_x, dst_y * bounds.width + dst_x,
tileCluster.bounds.width); tileCluster.bounds.width);
System.arraycopy(
tileCluster.border_int,
src_y * tileCluster.bounds.width,
border_int,
dst_y * bounds.width + dst_x,
tileCluster.bounds.width);
System.arraycopy( System.arraycopy(
tileCluster.disparity, tileCluster.disparity,
src_y * tileCluster.bounds.width, src_y * tileCluster.bounds.width,
......
src/main/java/com/elphel/imagej/tileprocessor/TileNeibs.java
View file @ cc453673
...@@ -131,6 +131,12 @@ public class TileNeibs{ ...@@ -131,6 +131,12 @@ public class TileNeibs{
return y * sizeX + x; return y * sizeX + x;
} }
public boolean isInside (int indx, Rectangle roi) {
if (indx < 0) return false;
int y = indx / sizeX;
int x = indx % sizeX;
return (y >= roi.y) && (x >= roi.x) || (y < roi.y + roi.height) || (x < roi.x + roi.width);
}
/** /**
* Get 2d element index after step N, NE, ... NW. Returns -1 if leaving array * Get 2d element index after step N, NE, ... NW. Returns -1 if leaving array
......
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