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Commit d7ef934d authored by Andrey Filippov's avatar Andrey Filippov
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Fixed display of the ground planes

parent d786d9fe
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Showing with 178 additions and 71 deletions
src/main/java/com/elphel/imagej/cuas/Cuas.java
View file @ d7ef934d
...@@ -1311,7 +1311,70 @@ public class Cuas { ...@@ -1311,7 +1311,70 @@ public class Cuas {
return ref_pXpYD; return ref_pXpYD;
} }
/**
* Re-sample disparity map to match uniform grid on the virtual view, such as
* the view orthogonal to the terrain tangent/average surface
* @param clt_parameters configuration parameters
* @param disparity_ref known disparity for the camera reference frame
* @param scene_xyzatr virtual view center position and orientation relative to the reference frame
* @param reference_QuadClt scene instance for the reference frame
* @param around number of tiles to look around when interpolating using average planes
* @param sigma reduce weight of far samples e-times at this distance
* @param num_refines number of refine passes
* @param debugSuffix image name suffix to generate debug images
* @return array of per-tile disparity (NaN for undefined tiles)
*/
public static double [] getDisparityVirtual(
CLTParameters clt_parameters,
double [] disparity_ref,
final double [][] scene_xyzatr, // camera center and orientation in world (reference frame) coordinates
final QuadCLT reference_QuadClt,
final int around, // 2 search around for interpolation
final double sigma,
final int num_refines,
final String debugSuffix){
double [][] reference_pXpYD =
transformFromVirtual(
clt_parameters, // CLTParameters clt_parameters,
disparity_ref, // double [] disparity_ref,
scene_xyzatr[0], // final double [] scene_xyz, // camera center in world (reference) coordinates
scene_xyzatr[1], // final double [] scene_atr, // camera orientation relative to world (reference) frame
reference_QuadClt, // final QuadCLT reference_QuadClt,
around, // final int around, // 2 search around for interpolation
sigma, // final double sigma,
num_refines, // final int num_refines,
debugSuffix); // final String debugSuffix)
// get scene pXpYD corresponding to reference_pXpYD
double [][] scene_pXpYD = OpticalFlow.transformToScenePxPyD(
reference_pXpYD, // final double [][] reference_pXpYD,// invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity
scene_xyzatr[0], // final double [] scene_xyz, // camera center in world (reference) coordinates
scene_xyzatr[1], // final double [] scene_atr, // camera orientation relative to world (reference) frame
reference_QuadClt, // final QuadCLT reference_QuadClt) //
null); // final QuadCLT scene_QuadClt) //
double [] scene_disparity = new double [scene_pXpYD.length];
Arrays.fill(scene_disparity, Double.NaN);
for (int ntile = 0; ntile < scene_disparity.length; ntile++) if (scene_pXpYD[ntile] != null) {
scene_disparity[ntile] = scene_pXpYD[ntile][2];
}
return scene_disparity;
}
/**
* Re-sample disparity map to match uniform grid on the virtual view, producing a non-uniform
* coordinates+disparity in the reference scene that corresponds to the uniform grid in the virtual view.
* @param clt_parameters configuration parameters
* @param disparity_ref known disparity for the camera reference frame
* @param scene_xyzatr virtual view center position and orientation relative to the reference frame
* @param reference_QuadClt scene instance for the reference frame
* @param around number of tiles to look around when interpolating using average planes
* @param sigma reduce weight of far samples e-times at this distance
* @param num_refines number of refine passes
* @param debugSuffix image name suffix to generate debug images
* @return array of non-uniform grid triplets of pixel X, pixel Y and disparity for the reference scene
* corresponding to the uniform grid in a virtual camera view
*/
public static double [][] transformFromVirtual( public static double [][] transformFromVirtual(
CLTParameters clt_parameters, CLTParameters clt_parameters,
double [] disparity_ref, double [] disparity_ref,
...@@ -1322,7 +1385,7 @@ public class Cuas { ...@@ -1322,7 +1385,7 @@ public class Cuas {
final double sigma, final double sigma,
final int num_refines, final int num_refines,
final String debugSuffix){ final String debugSuffix){
final boolean debug = (debugSuffix != null) && !clt_parameters.batch_run; final boolean debug = (debugSuffix != null); // && !clt_parameters.batch_run;
final double sigma2 = 2*sigma*sigma; final double sigma2 = 2*sigma*sigma;
final double normal_damping = 0.001; // pull to horizontal if not enough data final double normal_damping = 0.001; // pull to horizontal if not enough data
final double [] damping = new double [] {normal_damping, normal_damping}; final double [] damping = new double [] {normal_damping, normal_damping};
...@@ -1363,9 +1426,6 @@ public class Cuas { ...@@ -1363,9 +1426,6 @@ public class Cuas {
System.arraycopy(disparity_ref1, 0, disparity_ref, 0, disparity_ref.length); System.arraycopy(disparity_ref1, 0, disparity_ref, 0, disparity_ref.length);
} }
final String debugTitle=debug?reference_QuadClt.getImageName()+"-"+debugSuffix : null; final String debugTitle=debug?reference_QuadClt.getImageName()+"-"+debugSuffix : null;
String [] debug_frame_titles = {"X", "Y", "D"}; String [] debug_frame_titles = {"X", "Y", "D"};
String [] debug_titles = new String[num_refines+1]; String [] debug_titles = new String[num_refines+1];
...@@ -1385,10 +1445,16 @@ public class Cuas { ...@@ -1385,10 +1445,16 @@ public class Cuas {
for (int nTile = 0; nTile < tiles_around; nTile++) { for (int nTile = 0; nTile < tiles_around; nTile++) {
interp_list.add(new ArrayList<Integer>(initial_capacity)); interp_list.add(new ArrayList<Integer>(initial_capacity));
} }
// create uniform grid for initial interpolations /*
* create uniform grid for initial interpolations
*/
final double [][] reference_pXpYD = new double [tiles][]; final double [][] reference_pXpYD = new double [tiles][];
for (int nrefine = 0; nrefine <= num_refines; nrefine++) { for (int nrefine = 0; nrefine <= num_refines; nrefine++) {
if (nrefine == 0) { if (nrefine == 0) {
/*
* The first iteration of the reference_pXpYD is just a uniform grid with
* reference disparity
*/
ai.set(0); ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
...@@ -1408,18 +1474,26 @@ public class Cuas { ...@@ -1408,18 +1474,26 @@ public class Cuas {
}; };
} }
ImageDtt.startAndJoin(threads); ImageDtt.startAndJoin(threads);
} else {
} else { /*
// get scene pXpYD corresponding to reference_pXpYD * Next iterations create uniform grid on the virtual scene by the bi-linear
final double [][] scene_pXpYD = OpticalFlow.transformToScenePxPyD( * interpolation using small patches around the grid points
* Start with creatring non-iniform grid scene_pXpYD, corresponding to the
* current reference_pXpYD (also non-uniform for all but the very first iteration)
*
* tiles_around - larger grid
*/
final double [][] scene_pXpYD = OpticalFlow.transformToScenePxPyD(
reference_pXpYD, // final double [][] reference_pXpYD,// invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity reference_pXpYD, // final double [][] reference_pXpYD,// invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity
scene_xyz, // final double [] scene_xyz, // camera center in world (reference) coordinates scene_xyz, // final double [] scene_xyz, // camera center in world (reference) coordinates
scene_atr, // final double [] scene_atr, // camera orientation relative to world (reference) frame scene_atr, // final double [] scene_atr, // camera orientation relative to world (reference) frame
reference_QuadClt, // final QuadCLT reference_QuadClt) // reference_QuadClt, // final QuadCLT reference_QuadClt) //
null); // final QuadCLT scene_QuadClt) // null); // final QuadCLT scene_QuadClt) //
// deep clone reference_pXpYD
final double [][] reference_pXpYD_next = new double [tiles][]; final double [][] reference_pXpYD_next = new double [tiles][];
/*
* Initialize lists of the scene tiles containing converted reference tiles in the vicinity
* of scene uniform grid
*/
ai.set(0); ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
...@@ -1431,7 +1505,11 @@ public class Cuas { ...@@ -1431,7 +1505,11 @@ public class Cuas {
}; };
} }
ImageDtt.startAndJoin(threads); ImageDtt.startAndJoin(threads);
// not multithreaded /*
* Populate lists in a single thread. Each reference_pXpYD tile projection scene_pXpYD
* gets to some uniform-grit tile. Some of the uniform grid tiles gets multiple reference
* sources, others - none.
*/
for (int nTile = 0; nTile < tiles; nTile++) if (scene_pXpYD[nTile] != null) { for (int nTile = 0; nTile < tiles; nTile++) if (scene_pXpYD[nTile] != null) {
int tileX = (int) Math.floor (scene_pXpYD[nTile][0]/transform_size); int tileX = (int) Math.floor (scene_pXpYD[nTile][0]/transform_size);
int tileY = (int) Math.floor (scene_pXpYD[nTile][1]/transform_size); int tileY = (int) Math.floor (scene_pXpYD[nTile][1]/transform_size);
...@@ -1442,7 +1520,9 @@ public class Cuas { ...@@ -1442,7 +1520,9 @@ public class Cuas {
interp_list.get(tile_around).add(nTile); interp_list.get(tile_around).add(nTile);
} }
} }
// interpolate reference_pXpYD_next /*
* interpolate reference_pXpYD_next
*/
ai.set(0); ai.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) { for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() { threads[ithread] = new Thread() {
...@@ -1464,7 +1544,9 @@ public class Cuas { ...@@ -1464,7 +1544,9 @@ public class Cuas {
} }
int mindx = 0; int mindx = 0;
if (num_samples >= min_samples) { if (num_samples >= min_samples) {
// inter/extrapolate with regularization (for few samples) and weights /*
* inter/extrapolate with regularization (for few samples) and weights
*/
double [][][] mdata = new double [num_samples][3][]; double [][][] mdata = new double [num_samples][3][];
for (int dy = -around; dy <= around; dy++) { for (int dy = -around; dy <= around; dy++) {
for (int dx = -around; dx <= around; dx++) { for (int dx = -around; dx <= around; dx++) {
...@@ -1552,14 +1634,15 @@ public class Cuas { ...@@ -1552,14 +1634,15 @@ public class Cuas {
} }
} }
if (debug) { if (debug) {
ShowDoubleFloatArrays.showArraysHyperstack( ImagePlus img_debug = ShowDoubleFloatArrays.showArraysHyperstack(
debug_data, // double[][][] pixels, debug_data, // double[][][] pixels,
tilesX, // int width, tilesX, // int width,
debugTitle, // String title, "time_derivs-rt"+diff_time_rt+"-rxy"+diff_time_rxy, debugTitle, // String title, "time_derivs-rt"+diff_time_rt+"-rxy"+diff_time_rxy,
debug_titles, // String [] titles, // all slices*frames titles or just slice titles or null debug_titles, // String [] titles, // all slices*frames titles or just slice titles or null
debug_frame_titles, // String [] frame_titles, // frame titles or null debug_frame_titles, // String [] frame_titles, // frame titles or null
true); // boolean show) false); // true); // boolean show)
reference_QuadClt.saveImagePlusInModelDirectory(img_debug);
} }
return reference_pXpYD; // ref_pXpYD_0; // return reference_pXpYD; // ref_pXpYD_0; //
......
src/main/java/com/elphel/imagej/tileprocessor/GroundPlane.java
View file @ d7ef934d
...@@ -16,6 +16,7 @@ import com.elphel.imagej.cameras.ColorProcParameters; ...@@ -16,6 +16,7 @@ import com.elphel.imagej.cameras.ColorProcParameters;
import com.elphel.imagej.common.DoubleGaussianBlur; import com.elphel.imagej.common.DoubleGaussianBlur;
import com.elphel.imagej.common.PolynomialApproximation; import com.elphel.imagej.common.PolynomialApproximation;
import com.elphel.imagej.common.ShowDoubleFloatArrays; import com.elphel.imagej.common.ShowDoubleFloatArrays;
import com.elphel.imagej.cuas.Cuas;
import com.elphel.imagej.ims.Imx5; import com.elphel.imagej.ims.Imx5;
import ij.text.TextWindow; import ij.text.TextWindow;
...@@ -226,11 +227,13 @@ public class GroundPlane { ...@@ -226,11 +227,13 @@ public class GroundPlane {
final boolean [] good_tiles = new boolean[ref_scene.getTilesX()*ref_scene.getTilesY()]; final boolean [] good_tiles = new boolean[ref_scene.getTilesX()*ref_scene.getTilesY()];
// String dbg_title =ref_scene.getImageName()+"-ground_tilts"; // String dbg_title =ref_scene.getImageName()+"-ground_tilts";
String dbg_title ="-ground_tilts"; String dbg_title = clt_parameters.imp.fgnd_debug ? (clt_parameters.imp.fgnd_debug_prefix+ "_tilts"): null; // "-ground_tilts";
String dbg_title_virt = clt_parameters.imp.fgnd_debug ? clt_parameters.imp.fgnd_debug_prefix: null; // "-ground_tilts";
String dbg_title_disp = null; // clt_parameters.imp.fgnd_debug ? (clt_parameters.imp.fgnd_debug_prefix + "_disp"): null; // "-ground_tilts";
double [][] to_ground_xyzatr_frac= getPlaneDualPassMetric( // returns to_ground_xyzatr (rotated around the ground point nadir of teh drone) double [][] to_ground_xyzatr_frac= getPlaneDualPassMetric( // returns to_ground_xyzatr (rotated around the ground point nadir of teh drone)
clt_parameters, // final CLTParameters clt_parameters, clt_parameters, // final CLTParameters clt_parameters,
ref_scene, // final QuadCLT ref_Clt, ref_scene, // final QuadCLT ref_Clt,
ref_scene.getTilesX(),// final int width, ref_scene.getTilesX(), // final int width,
good_tiles, // final boolean [] good_tiles, // null or boolean[data.length] // should all be false good_tiles, // final boolean [] good_tiles, // null or boolean[data.length] // should all be false
gnd_disp, // final double [] gnd_disp, // if not null gnd_disp, // final double [] gnd_disp, // if not null
dbg_title, // final String dbg_title, dbg_title, // final String dbg_title,
...@@ -249,9 +252,9 @@ public class GroundPlane { ...@@ -249,9 +252,9 @@ public class GroundPlane {
double [] disparity_plane = getDisparityPlaneSinglePass( // returns to_ground_xyzatr (rotated around the ground point nadir of the drone) double [] disparity_plane = getDisparityPlaneSinglePass( // returns to_ground_xyzatr (rotated around the ground point nadir of the drone)
clt_parameters, // final CLTParameters clt_parameters, clt_parameters, // final CLTParameters clt_parameters,
ref_scene, // final QuadCLT ref_Clt, ref_scene, // final QuadCLT ref_Clt,
ref_scene.getTilesX(),// final int width, ref_scene.getTilesX(), // final int width,
good_tiles, // final boolean [] good_tiles, // null or boolean[data.length] // should all be false good_tiles, // final boolean [] good_tiles, // null or boolean[data.length] // should all be false
dbg_title+"-disp", // final String dbg_title, dbg_title_disp, // final String dbg_title,
debugLevel); // final int debugLevel) debugLevel); // final int debugLevel)
return new GroundPlane( return new GroundPlane(
...@@ -466,7 +469,8 @@ public class GroundPlane { ...@@ -466,7 +469,8 @@ public class GroundPlane {
ref_disparity, // final double [] disparity_ref, // invalid tiles - NaN in disparity ref_disparity, // final double [] disparity_ref, // invalid tiles - NaN in disparity
ref_Clt, // final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref ref_Clt, // final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
ImageDtt.THREADS_MAX); // int threadsMax) ImageDtt.THREADS_MAX); // int threadsMax)
boolean use_parallel_proj = false; // true; // maybe make false to get z-offset to the ground to avoid moving boolean use_parallel_proj = false; // true; // maybe make false to get z-offset to the ground to avoid moving
String dbg_title_metric = (dbg_title != null) ?(dbg_title+"-metric"):null;
double [][] to_ground_xyzatr = getPlane( // from the camera coordinates to in-plane coordinates double [][] to_ground_xyzatr = getPlane( // from the camera coordinates to in-plane coordinates
wxyz, // final double [][] wxyz, wxyz, // final double [][] wxyz,
use_parallel_proj, // final boolean use_parallel_proj, // for parallel xyz is 0, otherwise - point on the ground under the camera use_parallel_proj, // final boolean use_parallel_proj, // for parallel xyz is 0, otherwise - point on the ground under the camera
...@@ -474,13 +478,14 @@ public class GroundPlane { ...@@ -474,13 +478,14 @@ public class GroundPlane {
weights, // final double [] weight, weights, // final double [] weight,
width, // final int width, width, // final int width,
normal_damping, // final double normal_damping, normal_damping, // final double normal_damping,
dbg_title+"-metric", // final String dbg_title, dbg_title_metric, // final String dbg_title,
debugLevel); // final int debugLevel) { debugLevel); // final int debugLevel) {
if (to_ground_xyzatr == null) { if (to_ground_xyzatr == null) {
return new double [][] {{0,0,0},{0,0,0},{0}}; return new double [][] {{0,0,0},{0,0,0},{0}};
} }
String dbg_title_macro = (dbg_title != null) ?(dbg_title+"-macroplanes"):null;
double [][] macroplanes = getMacroPlanes( // no weights double [][] macroplanes = getMacroPlanes( // no weights
wxyz, // final double [][] wxyz, wxyz, // final double [][] wxyz,
mask3, // final boolean [] mask, mask3, // final boolean [] mask,
...@@ -489,7 +494,7 @@ public class GroundPlane { ...@@ -489,7 +494,7 @@ public class GroundPlane {
width, // final int tilesX, width, // final int tilesX,
mtile_size, // final int mtile_size, mtile_size, // final int mtile_size,
normal_damping, // final double normal_damping, normal_damping, // final double normal_damping,
dbg_title+"-macroplanes", // final String dbg_title, dbg_title_macro, // final String dbg_title,
debugLevel); // final int debugLevel) { debugLevel); // final int debugLevel) {
boolean [] macro_mask = getMaskFromMacro( boolean [] macro_mask = getMaskFromMacro(
mask3, // boolean [] mask_in, mask3, // boolean [] mask_in,
...@@ -510,7 +515,7 @@ public class GroundPlane { ...@@ -510,7 +515,7 @@ public class GroundPlane {
weights, // final double [] weight, weights, // final double [] weight,
width, // final int width, width, // final int width,
normal_damping, // final double normal_damping, normal_damping, // final double normal_damping,
dbg_title+"-metric", // final String dbg_title, dbg_title_metric, // final String dbg_title,
debugLevel); // final int debugLevel) { debugLevel); // final int debugLevel) {
if (to_ground_xyzatr == null) { if (to_ground_xyzatr == null) {
return new double [][] {{0,0,0},{0,0,0},{0}}; return new double [][] {{0,0,0},{0,0,0},{0}};
...@@ -525,7 +530,7 @@ public class GroundPlane { ...@@ -525,7 +530,7 @@ public class GroundPlane {
width, // final int tilesX, width, // final int tilesX,
mtile_size, // final int mtile_size, mtile_size, // final int mtile_size,
normal_damping, // final double normal_damping, normal_damping, // final double normal_damping,
dbg_title+"-macroplanes", // final String dbg_title, dbg_title_macro, // final String dbg_title,
debugLevel); // final int debugLevel) { debugLevel); // final int debugLevel) {
double [][] ground_xyzatr = ErsCorrection.invertXYZATR(to_ground_xyzatr); // straight down from the camera, then rotated double [][] ground_xyzatr = ErsCorrection.invertXYZATR(to_ground_xyzatr); // straight down from the camera, then rotated
...@@ -533,51 +538,30 @@ public class GroundPlane { ...@@ -533,51 +538,30 @@ public class GroundPlane {
double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz); double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz);
// FIXME: Next is correct (at least approximately, "-"/invert, order,), find out why // FIXME: Next is correct (at least approximately, "-"/invert, order,), find out why
System.out.println("FIXME: Inverted X, Y, kept Z, and ATR. Find out why."); System.out.println("FIXME: Inverted X, Y, kept Z, and ATR. Find out why.");
// double [][] vcfs_test = { /*
// {-virtual_camera_from_camera[0][0], -virtual_camera_from_camera[0][1], virtual_camera_from_camera[0][2]},
// { virtual_camera_from_camera[1][0], virtual_camera_from_camera[1][1], virtual_camera_from_camera[1][2]}};
double [][] vcfs_test = { double [][] vcfs_test = {
{virtual_camera_from_camera[0][0], virtual_camera_from_camera[0][1], virtual_camera_from_camera[0][2]}, {virtual_camera_from_camera[0][0], virtual_camera_from_camera[0][1], virtual_camera_from_camera[0][2]},
{ to_ground_xyzatr[1][0], to_ground_xyzatr[1][1], to_ground_xyzatr[1][2]}}; { to_ground_xyzatr[1][0], to_ground_xyzatr[1][1], to_ground_xyzatr[1][2]}};
double [][] ivcfs_test =ErsCorrection.invertXYZATR(vcfs_test);
*/
double [][] virtual_camera_from_camera_mod = {
{-virtual_camera_from_camera[0][0], -virtual_camera_from_camera[0][1], virtual_camera_from_camera[0][2]},
virtual_camera_from_camera[1] };
if ((dbg_title != null) || (gnd_disp != null)) { if ((dbg_title != null) || (gnd_disp != null)) {
// expand macrotiles results to match tiles int around = clt_parameters.imp.fgnd_virt_around; // 2;
// rotate ref_disparity and show double around_sigma = clt_parameters.imp.fgnd_virt_sigma; // 4.0;
/* int num_virtual_refines = clt_parameters.imp.fgnd_virt_refine; // 4;
double [][] pXpYD_ground = OpticalFlow.transformToScenePxPyD( String debugSuffix= (dbg_title != null) ? (dbg_title+"_virtual") : null; // "virtual_gnd"; // null
null, // final Rectangle full_woi_in, // show larger than sensor WOI (or null) IN TILES double [] gnd_disparity = Cuas.getDisparityVirtual(
ref_disparity, // final double [] disparity_ref, // invalid tiles - NaN in disparity clt_parameters, // CLTParameters clt_parameters,
vcfs_test, // virtual_camera_from_camera,// final double [][] scene_xyzatr, // camera center in world coordinates, camera orientation relative to world frame ref_disparity, // double [] disparity_ref,
ref_Clt); // final QuadCLT scene_QuadClt) virtual_camera_from_camera_mod, // ivcfs_test, // final double [] scene_xyz, // camera center in world (reference) coordinates
*/ ref_Clt, // final QuadCLT reference_QuadClt,
double [][] fgnd_pXpYD = OpticalFlow.refDisparityFromGroundDisparity( around, // final int around, // 2 search around for interpolation
ref_disparity, // final double [] ground_disparity, around_sigma, // final double sigma,
vcfs_test, // final double [][] ground_xyzatr, num_virtual_refines, // final int num_refines,
ref_Clt); //final QuadCLT ref_scene) debugSuffix); // final String debugSuffix)
double [][] pXpYD_ground = OpticalFlow.transformToScenePxPyD(
fgnd_pXpYD, // final double [][] reference_pXpYD,// invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity
ground_xyzatr[0], // final double [] scene_xyz, // camera center in world (reference) coordinates
ground_xyzatr[1], // final double [] scene_atr, // camera orientation relative to world (reference) frame
ref_Clt, // final QuadCLT reference_QuadClt) //
null); // final QuadCLT scene_QuadClt) //
/*
ref_pXpYD = OpticalFlow.transformToScenePxPyD(
fgnd_pXpYD, // final double [][] reference_pXpYD,// invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity
ground_xyzatr[0], // final double [] scene_xyz, // camera center in world (reference) coordinates
ground_xyzatr[1], // final double [] scene_atr, // camera orientation relative to world (reference) frame
ref_scene, // final QuadCLT reference_QuadClt) //
null); // final QuadCLT scene_QuadClt) //
*/
double [] gnd_disparity = (gnd_disp != null) ? gnd_disp.clone() : new double [ref_disparity.length];
Arrays.fill(gnd_disparity, Double.NaN);
for (int i = 0; i <ref_disparity.length; i++) {
double [] xyd = pXpYD_ground[i];
if (xyd != null) {
gnd_disparity[i] = xyd[2];
}
}
if (dbg_title != null) { if (dbg_title != null) {
int tilesX = width; int tilesX = width;
int tilesY = wxyz.length/width; int tilesY = wxyz.length/width;
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ d7ef934d
...@@ -1080,6 +1080,11 @@ min_str_neib_fpn 0.35 ...@@ -1080,6 +1080,11 @@ min_str_neib_fpn 0.35
public double fgnd_ct_high = 1.0; // highest CT level relative to the ground public double fgnd_ct_high = 1.0; // highest CT level relative to the ground
public double fgnd_ct_step = 0.2; // CT step public double fgnd_ct_step = 0.2; // CT step
public int fgnd_virt_around = 2; // virtual views interpolate around
public double fgnd_virt_sigma = 4.0; // virtual views sigma
public int fgnd_virt_refine = 4; // virtual views number of refines
public boolean fgnd_debug = true; // generate ground planes debug images
public String fgnd_debug_prefix = "-ground"; // ground planes debug prefix (will add -tilts, -virtual
// TODO: move next parameters elsewhere - they are not the motion blur ones. // TODO: move next parameters elsewhere - they are not the motion blur ones.
...@@ -3179,6 +3184,19 @@ min_str_neib_fpn 0.35 ...@@ -3179,6 +3184,19 @@ min_str_neib_fpn 0.35
"Highest scan level relative to the ground plane."); "Highest scan level relative to the ground plane.");
gd.addNumericField("CT scan step", this.fgnd_ct_step, 5,7,"m", gd.addNumericField("CT scan step", this.fgnd_ct_step, 5,7,"m",
"CT scan step."); "CT scan step.");
gd.addMessage("Calculate disparty for the virtual views orthogonal to the ground plane surface");
gd.addNumericField("Virtual views interpolate around", this.fgnd_virt_around, 0,3,"pix",
"Interpolate using this number of tiles around.");
gd.addNumericField("Virtual views sigma", this.fgnd_virt_sigma, 5,7,"pix",
"Exponentially reduce weight of the far tiles (radius).");
gd.addNumericField("Virtual views number of refines", this.fgnd_virt_refine, 0,3,"",
"Iterate conversion from the known reference frame this number of times.");
gd.addMessage("Ground planes debug images");
gd.addCheckbox ("Generate ground planes debug images", this.fgnd_debug,
"Always adjust Z (altitude) when running interscene LMA. False - same as X and Y.");
gd.addStringField("Ground planes debug images prefix", this.fgnd_debug_prefix, 40,
"Ground planes debug imaghes prefix (Will add -tilts, -virtual).");
gd.addTab("LMA sequence","Interscene LMA sequence control"); gd.addTab("LMA sequence","Interscene LMA sequence control");
gd.addMessage("Parameters for control of the LMA pose adjustment sequence"); gd.addMessage("Parameters for control of the LMA pose adjustment sequence");
...@@ -4507,6 +4525,12 @@ min_str_neib_fpn 0.35 ...@@ -4507,6 +4525,12 @@ min_str_neib_fpn 0.35
this.fgnd_ct_high = gd.getNextNumber(); this.fgnd_ct_high = gd.getNextNumber();
this.fgnd_ct_step = gd.getNextNumber(); this.fgnd_ct_step = gd.getNextNumber();
this.fgnd_virt_around = (int) gd.getNextNumber();
this.fgnd_virt_sigma = gd.getNextNumber();
this.fgnd_virt_refine = (int) gd.getNextNumber();
this.fgnd_debug = gd.getNextBoolean();
this.fgnd_debug_prefix = gd.getNextString();
this.mb_gain_index_pose = (int) gd.getNextNumber(); this.mb_gain_index_pose = (int) gd.getNextNumber();
this.mb_gain_index_depth =(int) gd.getNextNumber(); this.mb_gain_index_depth =(int) gd.getNextNumber();
...@@ -5722,6 +5746,12 @@ min_str_neib_fpn 0.35 ...@@ -5722,6 +5746,12 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"fgnd_ct_low", this.fgnd_ct_low+""); // double properties.setProperty(prefix+"fgnd_ct_low", this.fgnd_ct_low+""); // double
properties.setProperty(prefix+"fgnd_ct_high", this.fgnd_ct_high+""); // double properties.setProperty(prefix+"fgnd_ct_high", this.fgnd_ct_high+""); // double
properties.setProperty(prefix+"fgnd_ct_step", this.fgnd_ct_step+""); // double properties.setProperty(prefix+"fgnd_ct_step", this.fgnd_ct_step+""); // double
properties.setProperty(prefix+"fgnd_virt_around", this.fgnd_virt_around+""); // int
properties.setProperty(prefix+"fgnd_virt_sigma", this.fgnd_virt_sigma+""); // double
properties.setProperty(prefix+"fgnd_virt_refine", this.fgnd_virt_refine+""); // int
properties.setProperty(prefix+"fgnd_debug", this.fgnd_debug+""); // boolean
properties.setProperty(prefix+"fgnd_debug_prefix", this.fgnd_debug_prefix+""); // String
properties.setProperty(prefix+"mb_gain_index_pose", this.mb_gain_index_pose+""); // int properties.setProperty(prefix+"mb_gain_index_pose", this.mb_gain_index_pose+""); // int
properties.setProperty(prefix+"mb_gain_index_depth", this.mb_gain_index_depth+""); // int properties.setProperty(prefix+"mb_gain_index_depth", this.mb_gain_index_depth+""); // int
...@@ -6923,6 +6953,12 @@ min_str_neib_fpn 0.35 ...@@ -6923,6 +6953,12 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"fgnd_ct_high")!=null) this.fgnd_ct_high=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_high")); if (properties.getProperty(prefix+"fgnd_ct_high")!=null) this.fgnd_ct_high=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_high"));
if (properties.getProperty(prefix+"fgnd_ct_step")!=null) this.fgnd_ct_step=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_step")); if (properties.getProperty(prefix+"fgnd_ct_step")!=null) this.fgnd_ct_step=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_step"));
if (properties.getProperty(prefix+"fgnd_virt_around")!=null) this.fgnd_virt_around=Integer.parseInt(properties.getProperty(prefix+"fgnd_virt_around"));
if (properties.getProperty(prefix+"fgnd_virt_sigma")!=null) this.fgnd_virt_sigma=Double.parseDouble(properties.getProperty(prefix+"fgnd_virt_sigma"));
if (properties.getProperty(prefix+"fgnd_virt_refine")!=null) this.fgnd_virt_refine=Integer.parseInt(properties.getProperty(prefix+"fgnd_virt_refine"));
if (properties.getProperty(prefix+"fgnd_debug")!=null) this.fgnd_debug=Boolean.parseBoolean(properties.getProperty(prefix+"fgnd_debug"));
if (properties.getProperty(prefix+"fgnd_debug_prefix")!= null) fgnd_debug_prefix=(String) properties.getProperty(prefix+"fgnd_debug_prefix");
if (properties.getProperty(prefix+"mb_gain_index_pose")!=null) this.mb_gain_index_pose=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_pose")); if (properties.getProperty(prefix+"mb_gain_index_pose")!=null) this.mb_gain_index_pose=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_pose"));
if (properties.getProperty(prefix+"mb_ers_index")!=null) this.mb_ers_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_index")); if (properties.getProperty(prefix+"mb_ers_index")!=null) this.mb_ers_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_index"));
if (properties.getProperty(prefix+"mb_ers_y_index")!=null) this.mb_ers_y_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_y_index")); if (properties.getProperty(prefix+"mb_ers_y_index")!=null) this.mb_ers_y_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_y_index"));
...@@ -8100,7 +8136,13 @@ min_str_neib_fpn 0.35 ...@@ -8100,7 +8136,13 @@ min_str_neib_fpn 0.35
imp.fgnd_gen_scan = this.fgnd_gen_scan; imp.fgnd_gen_scan = this.fgnd_gen_scan;
imp.fgnd_ct_low = this.fgnd_ct_low; imp.fgnd_ct_low = this.fgnd_ct_low;
imp.fgnd_ct_high = this.fgnd_ct_high; imp.fgnd_ct_high = this.fgnd_ct_high;
imp.fgnd_ct_step = this.fgnd_ct_step; imp.fgnd_ct_step = this.fgnd_ct_step;
imp.fgnd_virt_around = this.fgnd_virt_around;
imp.fgnd_virt_sigma = this.fgnd_virt_sigma;
imp.fgnd_virt_refine = this.fgnd_virt_refine;
imp.fgnd_debug = this.fgnd_debug;
imp.fgnd_debug_prefix = this.fgnd_debug_prefix;
imp.mb_gain_index_pose = this.mb_gain_index_pose; imp.mb_gain_index_pose = this.mb_gain_index_pose;
imp.mb_gain_index_depth = this.mb_gain_index_depth; imp.mb_gain_index_depth = this.mb_gain_index_depth;
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ d7ef934d
...@@ -3058,9 +3058,7 @@ public class OpticalFlow { ...@@ -3058,9 +3058,7 @@ public class OpticalFlow {
ImageDtt.startAndJoin(threads); ImageDtt.startAndJoin(threads);
return pXpYD; return pXpYD;
} }
//TODO: refine inter-scene pose to accommodate refined disparity map //TODO: refine inter-scene pose to accommodate refined disparity map
/** /**
* Removing BG tiles that are not visible because of the FG ones * Removing BG tiles that are not visible because of the FG ones
......
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