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Commit d24659c3 authored by Andrey Filippov's avatar Andrey Filippov
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testing different cost functions

parent 1183ecd4
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src/main/java/ConnectionCosts.java
View file @ d24659c3
......@@ -32,7 +32,9 @@ public class ConnectionCosts {
double orthoWeight;
double diagonalWeight;
double starPwr; // Divide cost by number of connections to this power
double starWeightPwr; // Use this power of tile weight when calculating connection cost
double starValPwr; // Raise value of each tile before averaging
int steps;
int [][][] neibs_init;
int [] mod_tiles;
......@@ -48,6 +50,7 @@ public class ConnectionCosts {
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
int steps,
TilePlanes.PlaneData [][] planes,
......@@ -60,6 +63,7 @@ public class ConnectionCosts {
this.orthoWeight = orthoWeight;
this.diagonalWeight = diagonalWeight;
this.starPwr = starPwr; // Divide cost by number of connections to this power
this.starWeightPwr = starWeightPwr;
this.starValPwr = starValPwr; // Raise value of each tile before averaging
this.steps = steps;
}
......@@ -203,7 +207,7 @@ public class ConnectionCosts {
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
// starValPwr, //double starValPwr, // Raise value of each tile before averaging
starWeightPwr,
tnSurface,
preferDisparity,
-1); // debugLevel);
......@@ -268,7 +272,7 @@ public class ConnectionCosts {
}
if (neibs_changed){
vw[isTile][nl] = getStarValueWeight(
vw[isTile][nl] = getStarValueWeight2(
nsTile,
nl,
neibs0,
......@@ -276,7 +280,7 @@ public class ConnectionCosts {
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
// starValPwr, //double starValPwr, // Raise value of each tile before averaging
starWeightPwr, //
tnSurface,
preferDisparity,
-1); // debugLevel);
......@@ -348,7 +352,7 @@ public class ConnectionCosts {
* @param neibs array of 8 neighbors layers (N,NE,...NW), -1 - not connected
* @param orthoWeight multiply contribution of ortho neighbors
* @param diagonalWeight multiply contribution of diagonal neighbors
* @param diagonalWeight divide value by number of connections to this power (if !=0)
* @param starPwr, // Divide cost by number of connections to this power
* @param tnSurface TileNeibs instance to navigate tile index and control array borders
* @param preferDisparity - the first eigenvalue/vector is the most disparity-like
* (false - smallest eigenvalue)
......@@ -362,7 +366,7 @@ public class ConnectionCosts {
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
// double starValPwr, // Raise value of each tile before averaging
double starWeightPwr, // Use this power of tile weight when calculating connection cost
TileSurface.TileNeibs tnSurface,
boolean preferDisparity,
int debugLevel)
......@@ -377,6 +381,7 @@ public class ConnectionCosts {
merged_plane = merged_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
other_weight, // double scale_other,
starWeightPwr, //
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -409,7 +414,7 @@ public class ConnectionCosts {
*/
public double [] getStarValueWeight(
public double [] getStarValueWeight2(
int nsTile,
int nl,
int [] neibs,
......@@ -417,7 +422,7 @@ public class ConnectionCosts {
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
// double starValPwr, // Raise value of each tile before averaging
double starWeightPwr, // Use this power of tile weight when calculating connection cost
TileSurface.TileNeibs tnSurface,
boolean preferDisparity,
int debugLevel)
......@@ -453,6 +458,7 @@ public class ConnectionCosts {
merged_plane = merged_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
entry.getValue(), // double scale_other,
starPwr, // Divide cost by number of connections to this power
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......
src/main/java/EyesisCorrectionParameters.java
View file @ d24659c3
......@@ -2172,6 +2172,8 @@ public class EyesisCorrectionParameters {
public boolean plDbgMerge = true; // Combine 'other' plane with current
public double plWorstWorsening = 2.0; // Worst case worsening after merge
public double plWorstWorsening2 = 5.0; // Worst case worsening for thin planes
public double plWorstEq = 1.0; // Worst case worsening after merge with equal weights
public double plWorstEq2 = 2.0; // Worst case worsening for thin planes with equal weights
public double plOKMergeEigen = 0.03; // If result of the merged planes is below, OK to use thin planes (higher) threshold
public double plMaxWorldSin2 = 0.1; // Maximal sine squared of the world angle between planes to merge. Set to >= 1.0 to disable
public double plWeakWorsening = 1.0; // Relax merge requirements for weaker planes
......@@ -2185,6 +2187,7 @@ public class EyesisCorrectionParameters {
public double plStarOrtho = 0.5; // When calculating cost for the connections scale 4 ortho neighbors
public double plStarDiag = 0.25; // When calculating cost for the connections scale 4 diagonal neighbors
public double plStarPwr = 0.5; // Divide cost by number of connections to this power
public double plStarWeightPwr = 0.5; // use this power of tile weight when calculating connection cost
public double plStarValPwr = 1.0; // Raise value of each tile before averaging
public double plDblTriLoss = 0.0001; // When resolving double triangles allow minor degradation (0.0 - strict)
public boolean plNewConfl = false; // Allow more conflicts if overall cost is reduced
......@@ -2535,6 +2538,8 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plDbgMerge", this.plDbgMerge+"");
properties.setProperty(prefix+"plWorstWorsening", this.plWorstWorsening +"");
properties.setProperty(prefix+"plWorstWorsening2",this.plWorstWorsening2 +"");
properties.setProperty(prefix+"plWorstEq", this.plWorstEq +"");
properties.setProperty(prefix+"plWorstEq2", this.plWorstEq2 +"");
properties.setProperty(prefix+"plOKMergeEigen", this.plOKMergeEigen +"");
properties.setProperty(prefix+"plMaxWorldSin2", this.plMaxWorldSin2 +"");
properties.setProperty(prefix+"plWeakWorsening", this.plWeakWorsening +"");
......@@ -2547,6 +2552,7 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"plStarOrtho", this.plStarOrtho +"");
properties.setProperty(prefix+"plStarDiag", this.plStarDiag +"");
properties.setProperty(prefix+"plStarPwr", this.plStarPwr +"");
properties.setProperty(prefix+"plStarWeightPwr", this.plStarWeightPwr +"");
properties.setProperty(prefix+"plStarValPwr", this.plStarValPwr +"");
properties.setProperty(prefix+"plDblTriLoss", this.plDblTriLoss +"");
properties.setProperty(prefix+"plNewConfl", this.plNewConfl+"");
......@@ -2877,6 +2883,8 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plDbgMerge")!=null) this.plDbgMerge=Boolean.parseBoolean(properties.getProperty(prefix+"plDbgMerge"));
if (properties.getProperty(prefix+"plWorstWorsening")!=null) this.plWorstWorsening=Double.parseDouble(properties.getProperty(prefix+"plWorstWorsening"));
if (properties.getProperty(prefix+"plWorstWorsening2")!=null) this.plWorstWorsening2=Double.parseDouble(properties.getProperty(prefix+"plWorstWorsening2"));
if (properties.getProperty(prefix+"plWorstEq")!=null) this.plWorstEq=Double.parseDouble(properties.getProperty(prefix+"plWorstEq"));
if (properties.getProperty(prefix+"plWorstEq2")!=null) this.plWorstEq2=Double.parseDouble(properties.getProperty(prefix+"plWorstEq2"));
if (properties.getProperty(prefix+"plOKMergeEigen")!=null) this.plOKMergeEigen=Double.parseDouble(properties.getProperty(prefix+"plOKMergeEigen"));
if (properties.getProperty(prefix+"plMaxWorldSin2")!=null) this.plMaxWorldSin2=Double.parseDouble(properties.getProperty(prefix+"plMaxWorldSin2"));
if (properties.getProperty(prefix+"plWeakWorsening")!=null) this.plWeakWorsening=Double.parseDouble(properties.getProperty(prefix+"plWeakWorsening"));
......@@ -2889,6 +2897,7 @@ public class EyesisCorrectionParameters {
if (properties.getProperty(prefix+"plStarOrtho")!=null) this.plStarOrtho=Double.parseDouble(properties.getProperty(prefix+"plStarOrtho"));
if (properties.getProperty(prefix+"plStarDiag")!=null) this.plStarDiag=Double.parseDouble(properties.getProperty(prefix+"plStarDiag"));
if (properties.getProperty(prefix+"plStarPwr")!=null) this.plStarPwr=Double.parseDouble(properties.getProperty(prefix+"plStarPwr"));
if (properties.getProperty(prefix+"plStarWeightPwr")!=null) this.plStarWeightPwr=Double.parseDouble(properties.getProperty(prefix+"plStarWeightPwr"));
if (properties.getProperty(prefix+"plStarValPwr")!=null) this.plStarValPwr=Double.parseDouble(properties.getProperty(prefix+"plStarValPwr"));
if (properties.getProperty(prefix+"plDblTriLoss")!=null) this.plDblTriLoss=Double.parseDouble(properties.getProperty(prefix+"plDblTriLoss"));
if (properties.getProperty(prefix+"plNewConfl")!=null) this.plNewConfl=Boolean.parseBoolean(properties.getProperty(prefix+"plNewConfl"));
......@@ -3247,6 +3256,8 @@ public class EyesisCorrectionParameters {
gd.addCheckbox ("Combine 'other' plane with the current (unused)", this.plDbgMerge);
gd.addNumericField("Worst case worsening after merge", this.plWorstWorsening, 6);
gd.addNumericField("Worst case worsening for thin planes", this.plWorstWorsening2, 6);
gd.addNumericField("Worst case worsening after merge with equal weights", this.plWorstEq, 6);
gd.addNumericField("Worst case worsening for thin planes with equal weights", this.plWorstEq2, 6);
gd.addNumericField("If result of the merged planes is below, OK to use thin planes (higher) threshold ",this.plOKMergeEigen, 6);
gd.addNumericField("Maximal sine squared of the world angle between planes to merge. Set to >= 1.0 to disable", this.plMaxWorldSin2, 6);
gd.addNumericField("Relax merge requirements for weaker planes", this.plWeakWorsening, 6);
......@@ -3259,6 +3270,7 @@ public class EyesisCorrectionParameters {
gd.addNumericField("When calculating cost for the connections scale 4 ortho neighbors", this.plStarOrtho, 6);
gd.addNumericField("When calculating cost for the connections scale 4 diagonal neighbors", this.plStarDiag, 6);
gd.addNumericField("Divide cost by number of connections to this power", this.plStarPwr, 6);
gd.addNumericField("Use this power of tile weight when calculating connection cost", this.plStarWeightPwr, 6);
gd.addNumericField("Raise value of each tile before averaging", this.plStarValPwr, 6);
gd.addNumericField("When resolving double triangles allow minor degradation (0.0 - strict)", this.plDblTriLoss, 6);
gd.addCheckbox ("Allow more conflicts if overall cost is reduced", this.plNewConfl);
......@@ -3602,6 +3614,8 @@ public class EyesisCorrectionParameters {
this.plDbgMerge= gd.getNextBoolean();
this.plWorstWorsening= gd.getNextNumber();
this.plWorstWorsening2= gd.getNextNumber();
this.plWorstEq= gd.getNextNumber();
this.plWorstEq2= gd.getNextNumber();
this.plOKMergeEigen= gd.getNextNumber();
this.plMaxWorldSin2= gd.getNextNumber();
this.plWeakWorsening= gd.getNextNumber();
......@@ -3614,6 +3628,7 @@ public class EyesisCorrectionParameters {
this.plStarOrtho= gd.getNextNumber();
this.plStarDiag= gd.getNextNumber();
this.plStarPwr= gd.getNextNumber();
this.plStarWeightPwr= gd.getNextNumber();
this.plStarValPwr= gd.getNextNumber();
this.plDblTriLoss= gd.getNextNumber();
this.plNewConfl= gd.getNextBoolean();
......
src/main/java/SuperTiles.java
View file @ d24659c3
......@@ -3178,6 +3178,7 @@ public class SuperTiles{
TilePlanes.PlaneData this_this_pd = planes[nsTile0][indx].mergePlaneToThis(
planes[nsTile0][indx], // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
true, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -3186,6 +3187,7 @@ public class SuperTiles{
TilePlanes.PlaneData other_other_pd = other_pd.mergePlaneToThis(
other_pd, // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
true, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -3195,6 +3197,7 @@ public class SuperTiles{
TilePlanes.PlaneData merged_pd = planes[nsTile0][indx].mergePlaneToThis(
other_pd, // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
true, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -3212,6 +3215,7 @@ public class SuperTiles{
TilePlanes.PlaneData merged_pd = planes[nsTile0][best_index].mergePlaneToThis(
other_pd, // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -3321,6 +3325,7 @@ public class SuperTiles{
TilePlanes.PlaneData merged_pd = this_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -3330,6 +3335,22 @@ public class SuperTiles{
/// merged_pd.scaleWeight(0.5);
this_plane.setNeibMatch(dir, np, merged_pd.getValue()); // smallest eigenValue
}
merged_pd = this_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
true, // false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
dl-1); // int debugLevel)
if (merged_pd !=null) { // now always, but may add later
/// merged_pd.scaleWeight(0.5);
this_plane.setNeibMatchEq(dir, np, merged_pd.getValue()); // smallest eigenValue
}
}
}
}
......@@ -3380,6 +3401,10 @@ public class SuperTiles{
if (nm != null) {
this_plane.setNeibMatch(dir,np, nm[np0]); //
}
nm = other_planes[np].getMergedValueEq(dir-4);
if (nm != null) {
this_plane.setNeibMatchEq(dir,np, nm[np0]); //
}
}
}
......@@ -3691,6 +3716,7 @@ public class SuperTiles{
double weakWorsening,
double okMergeEigen,
double maxWorldSin2,
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double dispNorm,
double maxEigen, // maximal eigenvalue of planes to consider
boolean preferDisparity,
......@@ -3728,6 +3754,7 @@ public class SuperTiles{
weakWorsening,
okMergeEigen,
maxWorldSin2,
starWeightPwr, // Use this power of tile weight when calculating connection cost
dispNorm,
maxEigen, // maximal eigenvalue of planes to consider
tnSurface,
......@@ -3755,6 +3782,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean preferDisparity,
......@@ -3795,6 +3823,7 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
preferDisparity, // boolean preferDisparity,
......@@ -3823,6 +3852,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean preferDisparity,
......@@ -3884,6 +3914,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps,
this.planes,
......@@ -3904,6 +3935,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel);
......@@ -3984,6 +4016,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel);
......@@ -4078,6 +4111,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean preferDisparity,
......@@ -4139,6 +4173,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps,
this.planes,
......@@ -4158,6 +4193,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel);
......@@ -4228,6 +4264,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel);
......@@ -4345,6 +4382,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean preferDisparity,
......@@ -4378,6 +4416,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
preferDisparity,
......@@ -4398,6 +4437,7 @@ public class SuperTiles{
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starValPwr, // Raise value of each tile before averaging
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean newConfl, // Allow more conflicts if overall cost is reduced
int maxChanges, // Maximal number of simultaneous connection changes around one tile (0 - any)
......@@ -4430,6 +4470,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
newConfl, // boolean newConfl, // Allow more conflicts if overall cost is reduced
......@@ -4455,6 +4496,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean newConfl, // Allow more conflicts if overall cost is reduced
......@@ -4538,6 +4580,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps,
this.planes,
......@@ -4748,6 +4791,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean newConfl, // Allow more conflicts if overall cost is reduced
......@@ -4834,6 +4878,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps,
this.planes,
......@@ -5049,6 +5094,7 @@ public class SuperTiles{
orthoWeight, // final double orthoWeight,
diagonalWeight, // final double diagonalWeight,
starPwr, // final double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps, // final int steps,
planes, // final TilePlanes.PlaneData [][] planes,
......@@ -5062,6 +5108,7 @@ public class SuperTiles{
final double orthoWeight,
final double diagonalWeight,
final double starPwr, // Divide cost by number of connections to this power
final double starWeightPwr, // Use this power of tile weight when calculating connection cost
final double starValPwr, // Raise value of each tile before averaging
final int steps,
final TilePlanes.PlaneData [][] planes,
......@@ -5084,7 +5131,8 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starWeightPwr, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
steps, // int steps,
planes, // TilePlanes.PlaneData [][] planes,
tnSurface, // TileSurface.TileNeibs tnSurface,
......@@ -5113,6 +5161,7 @@ public class SuperTiles{
final double orthoWeight,
final double diagonalWeight,
final double starPwr, // Divide cost by number of connections to this power
final double starWeightPwr, // Use this power of tile weight when calculating connection cost
final double starValPwr, // Raise value of each tile before averaging
final int steps,
final TilePlanes.PlaneData [][] planes,
......@@ -5134,6 +5183,7 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
steps, // int steps,
planes, // TilePlanes.PlaneData [][] planes,
......@@ -5418,6 +5468,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean newConfl, // Allow more conflicts if overall cost is reduced
......@@ -5432,6 +5483,7 @@ public class SuperTiles{
orthoWeight, // final double orthoWeight,
diagonalWeight, // final double diagonalWeight,
starPwr, // final double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // final double starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps, // final int steps,
this.planes, // final TilePlanes.PlaneData [][] planes,
......@@ -5459,6 +5511,7 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // double diagonalWeight,
preferDisparity,
......@@ -5475,6 +5528,7 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // double diagonalWeight,
preferDisparity,
......@@ -5491,6 +5545,7 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // double diagonalWeight,
preferDisparity,
......@@ -5507,6 +5562,7 @@ public class SuperTiles{
orthoWeight, // double orthoWeight,
diagonalWeight, // double diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
dblTriLoss, // double diagonalWeight,
newConfl, // Allow more conflicts if overall cost is reduced
......@@ -5575,6 +5631,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double starValPwr, // Raise value of each tile before averaging
double dblTriLoss, // When resolving double triangles allow minor degradation (0.0 - strict)
boolean preferDisparity,
......@@ -5617,6 +5674,7 @@ public class SuperTiles{
conflicts[nsTile][nConfl][1],
dir4,
maxEigen, // maximal eigenvalue of planes to consider
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel + ((nsTile == dbgTile)? 1 : 0));
......@@ -5650,6 +5708,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
starValPwr, //double starValPwr, // Raise value of each tile before averaging
starSteps,
this.planes,
......@@ -5667,6 +5726,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel);
......@@ -5735,6 +5795,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
debugLevel);
......@@ -5873,6 +5934,7 @@ public class SuperTiles{
int nl2,
int dir4,
double maxEigen, // maximal eigenvalue of planes to consider
double starWeightPwr, // Use this power of tile weight when calculating connection cost
TileSurface.TileNeibs tnSurface,
boolean preferDisparity,
int debugLevel)
......@@ -5911,6 +5973,7 @@ public class SuperTiles{
tri_plane = tri_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -5964,6 +6027,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
TileSurface.TileNeibs tnSurface,
boolean preferDisparity,
int debugLevel)
......@@ -5978,6 +6042,7 @@ public class SuperTiles{
merged_plane = merged_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
other_weight, // double scale_other,
starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -6052,6 +6117,7 @@ public class SuperTiles{
double orthoWeight,
double diagonalWeight,
double starPwr, // Divide cost by number of connections to this power
double starWeightPwr, // Use this power of tile weight when calculating connection cost
TileSurface.TileNeibs tnSurface,
boolean preferDisparity,
int debugLevel)
......@@ -6106,6 +6172,7 @@ public class SuperTiles{
orthoWeight,
diagonalWeight,
starPwr, // double starPwr, // Divide cost by number of connections to this power
starWeightPwr, // Use this power of tile weight when calculating connection cost
tnSurface,
preferDisparity,
-1); // debugLevel);
......@@ -6167,6 +6234,7 @@ public class SuperTiles{
double weakWorsening,
double okMergeEigen,
double maxWorldSin2,
double starWeightPwr, // Use this power of tile weight when calculating connection cost
double dispNorm,
double maxEigen, // maximal eigenvalue of planes to consider
TileSurface.TileNeibs tnSurface,
......@@ -6204,6 +6272,7 @@ public class SuperTiles{
merged_plane = merged_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -6220,6 +6289,7 @@ public class SuperTiles{
merged[np] = these[np].mergePlaneToThis(
merged_plane, // PlaneData otherPd,
1.0, // double scale_other,
starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -6297,7 +6367,9 @@ public class SuperTiles{
*/
public void filterNeighborPlanes(
final double rquality,
final double worstWorsening2,// final double worst_worsening2 Worst case worsening for thin planes,
final double worstWorsening2,// Worst case worsening for thin planes,
final double worstEq, // Worst case worsening after merge with equal weights
final double worstEq2, // Worst case worsening for thin planes with equal weights
final double weakWorsening,
final double okMergeEigen,
final double maxWorldSin2,
......@@ -6347,7 +6419,9 @@ public class SuperTiles{
for (int np0 = np0_min; np0 < planes[nsTile0].length; np0++){
if ((planes[nsTile0][np0] != null) && (planes[nsTile0][np0].getMergedValue(dir) != null)){
double [] merge_ev = planes[nsTile0][np0].getMergedValue(dir);
double [] merge_ev_eq = planes[nsTile0][np0].getMergedValueEq(dir);
if ( (merge_ev != null) &&
(merge_ev_eq != null) &&
((maxEigen == 0.0) ||
(planes[nsTile0][np0].getValue() < corrMaxEigen(
maxEigen,
......@@ -6373,13 +6447,33 @@ public class SuperTiles{
w1, // double w1,
w2); // double w2)
double this_rq_norm = this_rq;
if ((w1 + w2) < weakWorsening) this_rq_norm *= (w1 + w2) / weakWorsening; // forgive more for weak planes
if ((w1 + w2) < weakWorsening) this_rq_norm *= (w1 + w2) / weakWorsening; // forgive more for weak planes
double this_rq_eq = mergeRQuality(
planes[nsTile0][np0].getValue(), // double L1,
planes[nsTile][np].getValue(), // double L2,
merge_ev[np], // double L,
1.0, // double w1,
1.0); // double w2)
double this_rq_eq_norm = this_rq_eq;
if ((w1 + w2) < weakWorsening) this_rq_eq_norm *= (w1 + w2) / weakWorsening; // forgive more for weak planes
if ((this_rq_norm <= rquality) ||
((merge_ev[np] <= okMergeEigen) && (this_rq_norm <= worstWorsening2)) // use higher threshold
((merge_ev[np] <= okMergeEigen) && (this_rq_norm <= worstWorsening2)) || // use higher threshold
(this_rq_eq_norm <= worstEq) ||
((merge_ev_eq[np] <= okMergeEigen) && (this_rq_eq_norm <= worstEq2)) // use higher threshold
) {
if ((maxWorldSin2 >= 1.0) || (planes[nsTile0][np0].getWorldSin2(planes[nsTile][np]) <=maxWorldSin2)) {
if (dl > 0){
System.out.println("filterNeighborPlanes : nsTile0="+nsTile0+":"+np0+", nsTile="+nsTile+":"+np+" dir="+dir+" is VALID");
System.out.print("filterNeighborPlanes : nsTile0="+nsTile0+":"+np0+", nsTile="+nsTile+":"+np+" dir="+dir+" is VALID, because ");
if (this_rq_norm <= rquality)
System.out.print(" (this_rq_norm="+this_rq_norm+" <= rquality)");
if ((merge_ev[np] <= okMergeEigen) && (this_rq_norm <= worstWorsening2))
System.out.print(" merge_ev[np]="+merge_ev[np]+" <= okMergeEigen) && (this_rq_norm="+this_rq_norm+" <= worstWorsening2)");
if (this_rq_eq_norm <= worstEq)
System.out.print(" this_rq_eq_norm="+this_rq_eq_norm+" <= worstEq");
if ((merge_ev_eq[np] <= okMergeEigen) && (this_rq_eq_norm <= worstEq2))
System.out.print(" ((merge_ev_eq[np]="+merge_ev_eq[np]+" <= okMergeEigen) && (this_rq_eq_norm="+this_rq_eq_norm+" <= worstEq2)");
System.out.println();
}
planes[nsTile0][np0].setMergedValid(dir, np, true, planes[nsTile].length);
planes[nsTile][np].setMergedValid((dir + 4) %8, np0, true, planes[nsTile0].length);
......@@ -6393,10 +6487,12 @@ public class SuperTiles{
" L1="+planes[nsTile0][np0].getValue()+" L2="+planes[nsTile][np].getValue()+" L="+merge_ev[np]);
}
}
if (dl >0) {
if (dl > 3) {
System.out.println("nsTile0="+nsTile0+":"+np0+", nsTile="+nsTile+":"+np+", this_rq="+this_rq+
", this_rq_eq="+this_rq_eq+
" w1="+w1+" w2="+w2+
" L1="+planes[nsTile0][np0].getValue()+" L2="+planes[nsTile][np].getValue()+" L="+merge_ev[np]);
" L1="+planes[nsTile0][np0].getValue()+" L2="+planes[nsTile][np].getValue()+
" L="+merge_ev[np]+" L_eq="+merge_ev_eq[np]);
System.out.println("nsTile0="+nsTile0+":"+np0+", nsTile="+nsTile+":"+np+", world sin2 ="+
planes[nsTile0][np0].getWorldSin2(planes[nsTile][np]));
System.out.println("nsTile0="+nsTile0+":"+np0+", nsTile="+nsTile+":"+np+
......@@ -7482,6 +7578,8 @@ public class SuperTiles{
this_new_plane = this_new_plane.mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
// here it should be no power function for the weights
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -7523,6 +7621,7 @@ public class SuperTiles{
this_new_plane = this_new_plane.mergePlaneToThis(
measured_planes[nsTile0][np0], // PlaneData otherPd,
meas_pull, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -8195,6 +8294,7 @@ public class SuperTiles{
plane_triads[nSplit][nis] = plane_triads[nSplit][nis].mergePlaneToThis(
other_plane, // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -8218,6 +8318,7 @@ public class SuperTiles{
plane_triads[nSplit][2] = plane_triads[nSplit][0].clone().mergePlaneToThis(
plane_triads[nSplit][1], // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......@@ -8244,6 +8345,7 @@ public class SuperTiles{
plane_triads[best_index][2] = plane_triads[best_index][0].clone().mergePlaneToThis(
plane_triads[best_index][1], // PlaneData otherPd,
1.0, // double scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
false, // boolean ignore_weights,
true, // boolean sum_weights,
preferDisparity,
......
src/main/java/TilePlanes.java
View file @ d24659c3
......@@ -2033,9 +2033,27 @@ public class TilePlanes {
* @return PlaneData object representing merged planes with combined weight (scale_other*otherPd.weight + this.weight),
* recalculated center, eigenvalues and eigenvectors
*/
public PlaneData mergePlaneToThis1(
PlaneData otherPd,
double scale_other,
boolean ignore_weights,
boolean sum_weights,
boolean preferDisparity, // Always start with disparity-most axis (false - lowest eigenvalue)
int debugLevel)
{
return mergePlaneToThis(
otherPd,
scale_other,
1.0, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
ignore_weights,
sum_weights,
preferDisparity, // Always start with disparity-most axis (false - lowest eigenvalue)
debugLevel);
}
public PlaneData mergePlaneToThis(
PlaneData otherPd,
double scale_other,
double starWeightPwr, // Use this power of tile weight when calculating connection cost
boolean ignore_weights,
boolean sum_weights,
boolean preferDisparity, // Always start with disparity-most axis (false - lowest eigenvalue)
......@@ -2058,8 +2076,17 @@ public class TilePlanes {
Matrix this_eig_vectors = new Matrix(this.vectors).transpose(); // vectors are saved as rows
Matrix this_center = new Matrix(this.getZxy(),3);
Matrix other_center = new Matrix(otherPd.getZxy(),3); // should already be relative to this supertile center
double sum_weight = scale_other * otherPd.weight + this.weight;
double other_fraction = ignore_weights? (scale_other/(scale_other + 1.0)): ((scale_other * otherPd.weight) / sum_weight);
double this_weight = this.weight;
double other_weight = otherPd.weight;
if (starWeightPwr == 0){
ignore_weights = true;
} else if (starWeightPwr != 1.0){
this_weight = Math.pow(this_weight, starWeightPwr);
other_weight = Math.pow(other_weight,starWeightPwr);
}
double sum_weight = scale_other * other_weight + this_weight;// should be the same for
double other_fraction = ignore_weights? (scale_other/(scale_other + 1.0)): ((scale_other * other_weight) / sum_weight);
Matrix common_center = this_center.times(1.0 - other_fraction).plus(other_center.times(other_fraction));
Matrix other_offset = other_center.minus(this_center); // other center from this center
if ((this.values[0] == 0.0) || (otherPd.values[0] == 0.0)) {
......@@ -2189,12 +2216,23 @@ public class TilePlanes {
pd.setZxy(common_center.getColumnPackedCopy()); // set new center
// what weight to use? cloned is original weight for this supertile
// or use weighted average like below?
double new_weight;
if (sum_weights) {
new_weight = sum_weight; // normalize while averaging by the caller
} else { // how it was before
new_weight = other_fraction * other_weight + (1.0 - other_fraction) * this_weight;
}
if (!ignore_weights && ((starWeightPwr != 1.0))){
new_weight = Math.pow(new_weight,1.0/starWeightPwr);
}
pd.setWeight(new_weight);
/*
if (sum_weights) {
pd.setWeight(sum_weight); // normalize while averaging by the caller
} else { // how it was before
pd.setWeight(other_fraction * otherPd.weight + (1.0 - other_fraction) * this.weight);
pd.setWeight(other_fraction * other_weight + (1.0 - other_fraction) * this_weight);
}
*/
return pd;
}
......
src/main/java/TileProcessor.java
View file @ d24659c3
......@@ -3419,6 +3419,8 @@ public class TileProcessor {
st.filterNeighborPlanes(
clt_parameters.plWorstWorsening, // final double worst_worsening,
clt_parameters.plWorstWorsening2,// final double worst_worsening2 Worst case worsening for thin planes,
clt_parameters.plWorstEq, // final double worstEq, // Worst case worsening after merge with equal weights
clt_parameters.plWorstEq2, // final double worstEq2, // Worst case worsening for thin planes with equal weights
clt_parameters.plWeakWorsening, // final double worst_worsening,
clt_parameters.plOKMergeEigen, // final double okMergeEigen, f result of the merged planes is below, OK to use thin planes (higher) threshold
clt_parameters.plMaxWorldSin2, // final double maxWorldSin2,
......@@ -3458,6 +3460,7 @@ public class TileProcessor {
clt_parameters.plStarOrtho, // double orthoWeight,
clt_parameters.plStarDiag, // double diagonalWeight,
clt_parameters.plStarPwr, // double starPwr, // Divide cost by number of connections to this power
clt_parameters.plStarWeightPwr,// double starWeightPwr, // Use this power of tile weight when calculating connection cost
clt_parameters.plStarValPwr, // double starValPwr, // Raise value of each tile before averaging
clt_parameters.plDblTriLoss, // double diagonalWeight,
clt_parameters.plNewConfl, // boolean preferDisparity, // Allow more conflicts if overall cost is reduced
......@@ -3568,6 +3571,8 @@ public class TileProcessor {
st.filterNeighborPlanes(
clt_parameters.plWorstWorsening, // final double worst_worsening,
clt_parameters.plWorstWorsening2,// final double worst_worsening2 Worst case worsening for thin planes,
clt_parameters.plWorstEq, // ffinal double worstEq, // Worst case worsening after merge with equal weights
clt_parameters.plWorstEq2, // ffinal double worstEq2, // Worst case worsening for thin planes with equal weights
clt_parameters.plWeakWorsening, // final double worst_worsening,
clt_parameters.plOKMergeEigen, // final double okMergeEigen,
clt_parameters.plMaxWorldSin2, // final double maxWorldSin2,
......@@ -3586,23 +3591,23 @@ public class TileProcessor {
st.resolveConflicts(
clt_parameters.plMaxEigen,
clt_parameters.plConflDualTri, // boolean conflDualTri, // Resolve dual triangles conflict (odoodo)
clt_parameters.plConflMulti, // boolean conflMulti, // Resolve multiple odo triangles conflicts
clt_parameters.plConflDiag, // boolean conflDiag, // Resolve diagonal (ood) conflicts
clt_parameters.plConflStar, // boolean conflStar, // Resolve all conflicts around a supertile
clt_parameters.plStarSteps, // int starSteps, // How far to look around when calculationg connection cost
clt_parameters.plStarOrtho, // double orthoWeight,
clt_parameters.plStarDiag, // double diagonalWeight,
clt_parameters.plStarPwr, // double starPwr, // Divide cost by number of connections to this power
clt_parameters.plStarValPwr, // double starValPwr, // Raise value of each tile before averaging
clt_parameters.plDblTriLoss, // double diagonalWeight,
clt_parameters.plNewConfl, // boolean preferDisparity, // Allow more conflicts if overall cost is reduced
clt_parameters.plMaxChanges, // int maxChanges, // Maximal number of simultaneous connection changes around one tile (0 - any)
clt_parameters.plConflDualTri, // boolean conflDualTri, // Resolve dual triangles conflict (odoodo)
clt_parameters.plConflMulti, // boolean conflMulti, // Resolve multiple odo triangles conflicts
clt_parameters.plConflDiag, // boolean conflDiag, // Resolve diagonal (ood) conflicts
clt_parameters.plConflStar, // boolean conflStar, // Resolve all conflicts around a supertile
clt_parameters.plStarSteps, // int starSteps, // How far to look around when calculationg connection cost
clt_parameters.plStarOrtho, // double orthoWeight,
clt_parameters.plStarDiag, // double diagonalWeight,
clt_parameters.plStarPwr, // double starPwr, // Divide cost by number of connections to this power
clt_parameters.plStarWeightPwr, // double starWeightPwr, // Use this power of tile weight when calculating connection cost
clt_parameters.plStarValPwr, // double starValPwr, // Raise value of each tile before averaging
clt_parameters.plDblTriLoss, // double diagonalWeight,
clt_parameters.plNewConfl, // boolean preferDisparity, // Allow more conflicts if overall cost is reduced
clt_parameters.plMaxChanges, // int maxChanges, // Maximal number of simultaneous connection changes around one tile (0 - any)
clt_parameters.plPreferDisparity,
1, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
}
while (true) {
......
src/main/java/TwoLayerNeighbors.java
View file @ d24659c3
......@@ -399,6 +399,17 @@ public class TwoLayerNeighbors {
{
ArrayList<NeibVariant> variant_list = new ArrayList<NeibVariant>();
while (nextSelection()){
if (debugLevel > 0) {
System.out.print("trying variant: [");
for (int i = 0; i < selection_star.length; i++){
System.out.print(selection_star[i]);
}
System.out.print("] [");
for (int i = 0; i < selection_conns.length; i++){
System.out.print(selection_conns[i]);
}
System.out.print("]: ");
}
NeibVariant variant = generateVariant(debugLevel);
if (variant != null){
int num_changes = variant.diffToOther(neibs_init, 0);
......
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