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Elphel
imagej-elphel
Commits
cc453673
Commit
cc453673
authored
Dec 07, 2022
by
Andrey Filippov
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First run-through 2-border texture cluster generation
parent
164444fe
Changes
3
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Showing
3 changed files
with
1186 additions
and
19 deletions
+1186
-19
TexturedModel.java
...n/java/com/elphel/imagej/tileprocessor/TexturedModel.java
+1119
-2
TileCluster.java
...ain/java/com/elphel/imagej/tileprocessor/TileCluster.java
+61
-17
TileNeibs.java
src/main/java/com/elphel/imagej/tileprocessor/TileNeibs.java
+6
-0
No files found.
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
[]
clusterizeFgBg
Old
(
//
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));
}
}
...
@@ -540,112 +546,1223 @@ public class TexturedModel {
...
@@ -540,112 +546,1223 @@ public class TexturedModel {
return
consolidated_clusters
;
return
consolidated_clusters
;
}
}
// generate/update number of neighbors to select clusters' seeds
public
static
boolean
output3d
(
// USED in lwir
// public static int [] getSeedTile( // and update num_neibs_dir
CLTParameters
clt_parameters
,
public
static
void
updateSeeds
(
// and update num_neibs_dir
ColorProcParameters
colorProcParameters
,
final
int
[][]
num_neibs_dir
,
// [tile][layer]
EyesisCorrectionParameters
.
RGBParameters
rgbParameters
,
final
Rectangle
bounds
,
// null - all
final
QuadCLT
parameter_scene
,
// to use for rendering parameters in multi-series sequences
final
double
[][]
disparity_layers
,
// [layer][tile]should not have same tile disparity on multiple layers
// if null - use reference scene
final
boolean
[]
blue_sky
,
// use to expand background by blurring available data?
QuadCLT
[]
scenes
,
final
int
blue_sky_layer
,
double
[][]
combo_dsn_final
,
// null OK, will read file
final
double
disp_adiffo
,
final
boolean
updateStatus
,
final
double
disp_rdiffo
,
final
int
debugLevel
)
final
double
disp_adiffd
,
{
final
double
disp_rdiffd
,
final
boolean
batch_mode
=
clt_parameters
.
batch_run
;
final
double
disp_fof
,
// enable higher difference (scale) for fried of a friend
final
boolean
gltf_emissive
=
clt_parameters
.
gltf_emissive
;
final
int
tilesX
,
final
int
ref_index
=
scenes
.
length
-
1
;
// final int transform_size,
final
QuadCLT
ref_scene
=
scenes
[
ref_index
];
final
int
debugLevel
)
{
final
TileProcessor
tp
=
ref_scene
.
getTileProcessor
();
final
int
tiles
=
disparity_layers
[
0
].
length
;
final
boolean
debug_disp_tri
=
!
batch_mode
&&
(
debugLevel
>
0
);
// TODO: use clt_parameters
final
int
tiles_wnd
=
(
bounds
==
null
)
?
tiles
:
(
bounds
.
width
*
bounds
.
height
);
// final Rectanle ext_bounds
if
(
ref_scene
.
image_data
==
null
){
final
int
tilesY
=
tiles
/
tilesX
;
return
false
;
// not used in lwir
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
;
}
}
}
}
}
}
}
}
double
infinity_disparity
=
ref_scene
.
getGeometryCorrection
().
getDisparityFromZ
(
clt_parameters
.
infinityDistance
);
X3dOutput
x3dOutput
=
null
;
WavefrontExport
wfOutput
=
null
;
ArrayList
<
TriMesh
>
tri_meshes
=
null
;
long
startStepTime
=
System
.
nanoTime
();
final
int
tilesX
=
tp
.
getTilesX
();
final
int
transform_size
=
tp
.
getTileSize
();
final
double
tex_disp_adiffo
=
clt_parameters
.
tex_disp_adiffo
;
// 0.35; // 0.3; disparity absolute tolerance to connect in ortho directions
final
double
tex_disp_rdiffo
=
clt_parameters
.
tex_disp_rdiffo
;
// 0.12; // 0.1; disparity relative tolerance to connect in ortho 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_fof
=
clt_parameters
.
tex_disp_fof
;
// 1.5; // Increase tolerance for friend of a friend
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
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
min_trim_disparity
=
2.0
;
// do not try to trim texture outlines with lower disparities
final
int
width
=
tilesX
*
transform_size
;
// for debug only
final
int
height
=
tp
.
getTilesY
()
*
transform_size
;
// get multi-scene disparity map for FG and BG and filter it
if
(
combo_dsn_final
==
null
)
{
combo_dsn_final
=
scenes
[
ref_index
].
readDoubleArrayFromModelDirectory
(
"-INTER-INTRA-LMA"
,
// String suffix,
0
,
// int num_slices, // (0 - all)
null
);
// int [] wh);
}
}
boolean
[]
sky_tiles
=
new
boolean
[
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_BLUE_SKY
].
length
];
boolean
[]
sky_invert
=
new
boolean
[
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_BLUE_SKY
].
length
];
for
(
int
i
=
0
;
i
<
sky_tiles
.
length
;
i
++)
{
sky_tiles
[
i
]
=
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_BLUE_SKY
][
i
]
>
0.0
;
sky_invert
[
i
]
=
!
sky_tiles
[
i
];
// not used
}
}
// re-load , should create quadCLTs[ref_index].dsi
double
[][]
dls_fg
=
{
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP
],
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_LMA
],
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_STRENGTH
]
};
};
}
ImageDtt
.
startAndJoin
(
threads
);
// currently conditionInitialDS() zeroes disparity for blue_sky. TODO: allow some FG over blue_sky?
ai
.
set
(
0
);
double
[][]
ds_fg
=
OpticalFlow
.
conditionInitialDS
(
// Fill in opposite connections by combining opposite directions
true
,
// boolean use_conf, // use configuration parameters, false - use following
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
clt_parameters
,
// CLTParameters clt_parameters,
threads
[
ithread
]
=
new
Thread
()
{
dls_fg
,
// double [][] dls
public
void
run
()
{
scenes
[
ref_index
],
// QuadCLT scene,
for
(
int
tile_wnd
=
ai
.
getAndIncrement
();
tile_wnd
<
tiles_wnd
;
tile_wnd
=
ai
.
getAndIncrement
())
{
debugLevel
);
// int debug_level)
int
tile
=
tile_wnd
;
double
[][]
dls_bg
=
{
if
(
bounds
!=
null
)
{
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP_BG
].
clone
(),
int
tileX
=
bounds_ext
.
x
+
tile_wnd
%
bounds_ext
.
width
;
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_LMA_BG
].
clone
(),
int
tileY
=
bounds_ext
.
y
+
tile_wnd
/
bounds_ext
.
width
;
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_STRENGTH_BG
].
clone
()
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])) {
}
}
};
};
for
(
int
i
=
0
;
i
<
sky_tiles
.
length
;
i
++)
if
(
Double
.
isNaN
(
dls_bg
[
0
][
i
])){
dls_bg
[
0
][
i
]
=
dls_fg
[
0
][
i
];
dls_bg
[
1
][
i
]
=
dls_fg
[
1
][
i
];
dls_bg
[
2
][
i
]
=
dls_fg
[
2
][
i
];
}
}
double
[][]
ds_bg
=
OpticalFlow
.
conditionInitialDS
(
ImageDtt
.
startAndJoin
(
threads
);
true
,
// boolean use_conf, // use configuration parameters, false - use following
// extend bounds by 1 each side
clt_parameters
,
// CLTParameters clt_parameters,
ai
.
set
(
0
);
dls_bg
,
// double [][] dls
// calculate total number of connections (w/o fof) with value < 1.0, increment once
scenes
[
ref_index
],
// QuadCLT scene,
// per direction even if there are multiple connected layers
debugLevel
);
// int debug_level)
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
double
[][]
ds_fg_bg
=
{
ds_fg
[
0
],
ds_bg
[
0
].
clone
()};
threads
[
ithread
]
=
new
Thread
()
{
for
(
int
i
=
0
;
i
<
sky_tiles
.
length
;
i
++)
{
public
void
run
()
{
if
(
Math
.
abs
(
ds_fg_bg
[
1
][
i
]-
ds_fg_bg
[
0
][
i
])
<
tex_fg_bg
)
{
for
(
int
tile_wnd
=
ai
.
getAndIncrement
();
tile_wnd
<
tiles_wnd
;
tile_wnd
=
ai
.
getAndIncrement
())
{
ds_fg_bg
[
1
][
i
]
=
Double
.
NaN
;
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
}
}
int
sky_layer
=
0
;
}
int
sky_below
=
10
;
// extend sky these tile rows below lowest
}
// 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?)
ImageDtt
.
startAndJoin
(
threads
);
tex_disp_adiffo
,
// final double disp_adiffo,
return
;
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
*
tex_cluster_gap
,
// final int cluster_gap, // gap between clusters
* @param disparity_layers
debugLevel
);
//1); // 2); // final int debugLevel)
* @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
CLTParameters
clt_parameters
,
ColorProcParameters
colorProcParameters
,
EyesisCorrectionParameters
.
RGBParameters
rgbParameters
,
final
QuadCLT
parameter_scene
,
// to use for rendering parameters in multi-series sequences
// if null - use reference scene
QuadCLT
[]
scenes
,
double
[][]
combo_dsn_final
,
// null OK, will read file
final
boolean
updateStatus
,
final
int
debugLevel
)
{
final
boolean
batch_mode
=
clt_parameters
.
batch_run
;
final
boolean
gltf_emissive
=
clt_parameters
.
gltf_emissive
;
final
int
ref_index
=
scenes
.
length
-
1
;
final
QuadCLT
ref_scene
=
scenes
[
ref_index
];
final
TileProcessor
tp
=
ref_scene
.
getTileProcessor
();
final
boolean
debug_disp_tri
=
!
batch_mode
&&
(
debugLevel
>
0
);
// TODO: use clt_parameters
if
(
ref_scene
.
image_data
==
null
){
return
false
;
// not used in lwir
}
double
infinity_disparity
=
ref_scene
.
getGeometryCorrection
().
getDisparityFromZ
(
clt_parameters
.
infinityDistance
);
X3dOutput
x3dOutput
=
null
;
WavefrontExport
wfOutput
=
null
;
ArrayList
<
TriMesh
>
tri_meshes
=
null
;
long
startStepTime
=
System
.
nanoTime
();
final
int
tilesX
=
tp
.
getTilesX
();
final
int
transform_size
=
tp
.
getTileSize
();
final
double
tex_disp_adiffo
=
clt_parameters
.
tex_disp_adiffo
;
// 0.35; // 0.3; disparity absolute tolerance to connect in ortho directions
final
double
tex_disp_rdiffo
=
clt_parameters
.
tex_disp_rdiffo
;
// 0.12; // 0.1; disparity relative tolerance to connect in ortho 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_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
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
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
int
width
=
tilesX
*
transform_size
;
// for debug only
final
int
height
=
tp
.
getTilesY
()
*
transform_size
;
// get multi-scene disparity map for FG and BG and filter it
if
(
combo_dsn_final
==
null
)
{
combo_dsn_final
=
scenes
[
ref_index
].
readDoubleArrayFromModelDirectory
(
"-INTER-INTRA-LMA"
,
// String suffix,
0
,
// int num_slices, // (0 - all)
null
);
// int [] wh);
}
boolean
[]
sky_tiles
=
new
boolean
[
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_BLUE_SKY
].
length
];
boolean
[]
sky_invert
=
new
boolean
[
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_BLUE_SKY
].
length
];
for
(
int
i
=
0
;
i
<
sky_tiles
.
length
;
i
++)
{
sky_tiles
[
i
]
=
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_BLUE_SKY
][
i
]
>
0.0
;
sky_invert
[
i
]
=
!
sky_tiles
[
i
];
// not used
}
// re-load , should create quadCLTs[ref_index].dsi
double
[][]
dls_fg
=
{
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP
],
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_LMA
],
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_STRENGTH
]
};
// currently conditionInitialDS() zeroes disparity for blue_sky. TODO: allow some FG over blue_sky?
double
[][]
ds_fg
=
OpticalFlow
.
conditionInitialDS
(
true
,
// boolean use_conf, // use configuration parameters, false - use following
clt_parameters
,
// CLTParameters clt_parameters,
dls_fg
,
// double [][] dls
scenes
[
ref_index
],
// QuadCLT scene,
debugLevel
);
// int debug_level)
double
[][]
dls_bg
=
{
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_DISP_BG
].
clone
(),
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_LMA_BG
].
clone
(),
combo_dsn_final
[
OpticalFlow
.
COMBO_DSN_INDX_STRENGTH_BG
].
clone
()
};
for
(
int
i
=
0
;
i
<
sky_tiles
.
length
;
i
++)
if
(
Double
.
isNaN
(
dls_bg
[
0
][
i
])){
dls_bg
[
0
][
i
]
=
dls_fg
[
0
][
i
];
dls_bg
[
1
][
i
]
=
dls_fg
[
1
][
i
];
dls_bg
[
2
][
i
]
=
dls_fg
[
2
][
i
];
}
double
[][]
ds_bg
=
OpticalFlow
.
conditionInitialDS
(
true
,
// boolean use_conf, // use configuration parameters, false - use following
clt_parameters
,
// CLTParameters clt_parameters,
dls_bg
,
// double [][] dls
scenes
[
ref_index
],
// QuadCLT scene,
debugLevel
);
// int debug_level)
double
[][]
ds_fg_bg
=
{
ds_fg
[
0
],
ds_bg
[
0
].
clone
()};
for
(
int
i
=
0
;
i
<
sky_tiles
.
length
;
i
++)
{
if
(
Math
.
abs
(
ds_fg_bg
[
1
][
i
]-
ds_fg_bg
[
0
][
i
])
<
tex_fg_bg
)
{
ds_fg_bg
[
1
][
i
]
=
Double
.
NaN
;
}
}
int
sky_layer
=
0
;
int
sky_below
=
10
;
// extend sky these tile rows below lowest
// 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
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?)
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
tex_cluster_gap, // final int cluster_gap, // gap between clusters
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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