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Commit de496a4b authored by Andrey Filippov's avatar Andrey Filippov
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Incorporated blue_sky into dsi as a slice

parent 270fcbc6
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Showing with 369 additions and 667 deletions
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ de496a4b
...@@ -178,7 +178,7 @@ public class OpticalFlow { ...@@ -178,7 +178,7 @@ public class OpticalFlow {
* @param width width of a macrotile in tiles (height is .length/width) * @param width width of a macrotile in tiles (height is .length/width)
*/ */
private void tilesFillNaN( private static void tilesFillNaN(
final double [] neibw, final double [] neibw,
final double [][] slices, final double [][] slices,
final int num_passes, final int num_passes,
...@@ -359,7 +359,7 @@ public class OpticalFlow { ...@@ -359,7 +359,7 @@ public class OpticalFlow {
return flowXYS; return flowXYS;
} }
private int removeOutliers( private static int removeOutliers(
double nsigma, double nsigma,
double [][] flowXYS) double [][] flowXYS)
{ {
...@@ -416,7 +416,7 @@ public class OpticalFlow { ...@@ -416,7 +416,7 @@ public class OpticalFlow {
* @param flowXYS * @param flowXYS
* @param width number of macrotiles in a row * @param width number of macrotiles in a row
*/ */
private void showVectorXYConfidence( private static void showVectorXYConfidence(
String title, String title,
double [][] flowXYS, double [][] flowXYS,
int width) int width)
...@@ -470,7 +470,7 @@ public class OpticalFlow { ...@@ -470,7 +470,7 @@ public class OpticalFlow {
titles); titles);
} }
} }
private void showVectorXYConfidence( private static void showVectorXYConfidence(
String title, String title,
double [][][] flowXYSs, double [][][] flowXYSs,
int width) int width)
...@@ -860,7 +860,7 @@ public class OpticalFlow { ...@@ -860,7 +860,7 @@ public class OpticalFlow {
* @return Updated optical flow vectors in image pixels. May have null-s. * @return Updated optical flow vectors in image pixels. May have null-s.
*/ */
double [][] recalculateFlowXY( static double [][] recalculateFlowXY(
final double [][] currentFlowXY, final double [][] currentFlowXY,
final double [][] corr_vectorsXY, final double [][] corr_vectorsXY,
final double magic_scale) // 0.85 for CM final double magic_scale) // 0.85 for CM
...@@ -1119,7 +1119,7 @@ public class OpticalFlow { ...@@ -1119,7 +1119,7 @@ public class OpticalFlow {
* Strength is a ratio of (max - average)/stdev. There is no interpolation, so strength is influenced by * Strength is a ratio of (max - average)/stdev. There is no interpolation, so strength is influenced by
* a fractional part of argmax. * a fractional part of argmax.
*/ */
private double [] getCorrCenterXYS_CM( private static double [] getCorrCenterXYS_CM(
double [] corr2d_tile, double [] corr2d_tile,
int transform_size, int transform_size,
int iradius, int iradius,
...@@ -1450,7 +1450,7 @@ public class OpticalFlow { ...@@ -1450,7 +1450,7 @@ public class OpticalFlow {
* @param reference_tiles reference tiles prepared with prepareReferenceTiles() * @param reference_tiles reference tiles prepared with prepareReferenceTiles()
* @return Array of [macrotile]{pX, pY, disparity}, some macrotiles may be null * @return Array of [macrotile]{pX, pY, disparity}, some macrotiles may be null
*/ */
public double [][] getMacroPxPyDisp( public static double [][] getMacroPxPyDisp(
final QuadCLT reference_QuadClt, final QuadCLT reference_QuadClt,
final double [][][] reference_tiles // prepared with prepareReferenceTiles() + fillTilesNans(); final double [][][] reference_tiles // prepared with prepareReferenceTiles() + fillTilesNans();
) )
...@@ -2177,7 +2177,7 @@ public class OpticalFlow { ...@@ -2177,7 +2177,7 @@ public class OpticalFlow {
* @param qthis Scene instance to extract dimensions * @param qthis Scene instance to extract dimensions
* @param margin Extra margin around the tiles (not used currently, always 0) * @param margin Extra margin around the tiles (not used currently, always 0)
*/ */
public void showMacroTiles( public static void showMacroTiles(
String title, String title,
double [][][] macro_tiles, double [][][] macro_tiles,
final QuadCLT qthis, final QuadCLT qthis,
...@@ -2235,7 +2235,7 @@ public class OpticalFlow { ...@@ -2235,7 +2235,7 @@ public class OpticalFlow {
* @param scene_QuadCLT scene instance * @param scene_QuadCLT scene instance
* @param iscale upsample for interpolation * @param iscale upsample for interpolation
*/ */
public void compareRefSceneTiles( public static void compareRefSceneTiles(
String suffix, String suffix,
boolean blur_reference, boolean blur_reference,
double [] camera_xyz0, double [] camera_xyz0,
...@@ -2291,7 +2291,7 @@ public class OpticalFlow { ...@@ -2291,7 +2291,7 @@ public class OpticalFlow {
} }
public void compareRefSceneTiles( public static void compareRefSceneTiles(
String suffix, String suffix,
boolean blur_reference, boolean blur_reference,
double [][][] scene_xyzatr, // includeS reference (last) double [][][] scene_xyzatr, // includeS reference (last)
...@@ -2371,7 +2371,7 @@ public class OpticalFlow { ...@@ -2371,7 +2371,7 @@ public class OpticalFlow {
* @param qthis Scene instance to extract dimensions * @param qthis Scene instance to extract dimensions
* @param margin Extra margin around the tiles (not used currently, always 0) * @param margin Extra margin around the tiles (not used currently, always 0)
*/ */
public void showCompareMacroTiles( public static void showCompareMacroTiles(
String title, String title,
double [][][][] source_tiles_sets, double [][][][] source_tiles_sets,
final QuadCLT qthis, final QuadCLT qthis,
...@@ -2435,7 +2435,7 @@ public class OpticalFlow { ...@@ -2435,7 +2435,7 @@ public class OpticalFlow {
* @param tile_width Correlation tile width (typically 15) * @param tile_width Correlation tile width (typically 15)
* @param tile_height Correlation tile height (typically 15) * @param tile_height Correlation tile height (typically 15)
*/ */
public void showCorrTiles( public static void showCorrTiles(
String title, String title,
double [][][] corr_tiles, double [][][] corr_tiles,
int tilesX, int tilesX,
...@@ -3041,45 +3041,6 @@ public class OpticalFlow { ...@@ -3041,45 +3041,6 @@ public class OpticalFlow {
}; };
} }
ImageDtt.startAndJoin(threads); ImageDtt.startAndJoin(threads);
/*
// Maybe remove here from the list tiles that are removed from pXpYD_filtered?
if (pXpYD_cam != null) {
ai.set(0);
// filter by the reference model
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int tindx_fg = ai.getAndIncrement(); tindx_fg < pXpYD_cam.length; tindx_fg = ai.getAndIncrement()) if (pXpYD_cam[tindx_fg] != null) {
double [] txyd_fg = pXpYD[tindx_fg];
double ddisp = min_adisp_cam + txyd_fg[2] * min_rdisp_cam;
int tx = (int)Math.round(txyd_fg[0]/tileSize);
int ty = (int)Math.round(txyd_fg[1]/tileSize);
if ((tx >=0) && (ty >=0) && (tx < tilesX) && (ty < tilesY)) {
int nTile_fg = ty * tilesX + tx;
for (int dy = -offs_range; dy <= offs_range; dy++) {
for (int dx = -offs_range; dx <= offs_range; dx++) {
int nTile_bg = tn.getNeibIndex(nTile_fg, dx, dy);
if (nTile_bg >= 0) for (int tindx_bg: fg_bg_list.get(nTile_bg)){
double [] txyd_bg = pXpYD[tindx_bg];
if ((txyd_fg[2] - txyd_bg[2]) > ddisp) { // FG is significantly closer than BG
double overlapX = Math.max(tileSize2 - Math.abs(txyd_fg[0] - txyd_bg[0]), 0)/tileSize2;
double overlapY = Math.max(tileSize2 - Math.abs(txyd_fg[1] - txyd_bg[1]), 0)/tileSize2;
if ((overlapX * overlapY) > max_overlap) { // remove BG tile
pXpYD_filtered[tindx_bg] = null; // OK that it still remains in the lists
ai_num_removed_cam.getAndIncrement();
}
}
}
}
}
}
}
}
};
}
ImageDtt.startAndJoin(threads);
}
*/
if (debug_level > -1){ if (debug_level > -1){
System.out.println("filterBG(): num_all_tiles = "+ai_num_tiles.get()+ System.out.println("filterBG(): num_all_tiles = "+ai_num_tiles.get()+
", num_removed="+ ai_num_removed.get()+ ", num_removed="+ ai_num_removed.get()+
...@@ -3756,25 +3717,6 @@ public class OpticalFlow { ...@@ -3756,25 +3717,6 @@ public class OpticalFlow {
} }
} }
/*
TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
// processing?
set_name, // String set_name
quadCLT_main, // QuadCLT quadCLT_main,
null, // QuadCLT quadCLT_aux,
clt_parameters, // EyesisCorrectionParameters.DCTParameters dct_parameters,
true, // boolean skip_existing,
true, // false, // boolean search_KML,
debugLevel);
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // will conditionImageSet
set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel-2);
quadCLTs[ref_index].saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
*/
// public static QuadCLT buildRefDSI(
public static void photoEach( public static void photoEach(
CLTParameters clt_parameters, CLTParameters clt_parameters,
ColorProcParameters colorProcParameters, ColorProcParameters colorProcParameters,
...@@ -3786,7 +3728,8 @@ public class OpticalFlow { ...@@ -3786,7 +3728,8 @@ public class OpticalFlow {
final int threadsMax, // int threadsMax, final int threadsMax, // int threadsMax,
final boolean updateStatus, final boolean updateStatus,
final int debugLevel) { final int debugLevel) {
boolean [] blue_sky = quadCLT_ref.getBlueSky(); // boolean [] blue_sky = null; // quadCLT_ref.getBlueSky();
// double [] d_blue_sky = dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX];
if (debugLevel > -3) { if (debugLevel > -3) {
System.out.println("**** Running photometric equalization for "+quadCLT_ref.getImageName()+ System.out.println("**** Running photometric equalization for "+quadCLT_ref.getImageName()+
", current was from scene "+quadCLT_ref.getPhotometricScene()+" ****"); ", current was from scene "+quadCLT_ref.getPhotometricScene()+" ****");
...@@ -3806,6 +3749,7 @@ public class OpticalFlow { ...@@ -3806,6 +3749,7 @@ public class OpticalFlow {
ds_photo[OpticalFlow.COMBO_DSN_INDX_DISP] = dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA]; ds_photo[OpticalFlow.COMBO_DSN_INDX_DISP] = dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA];
ds_photo[OpticalFlow.COMBO_DSN_INDX_DISP_BG_ALL] = dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA]; ds_photo[OpticalFlow.COMBO_DSN_INDX_DISP_BG_ALL] = dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA];
ds_photo[OpticalFlow.COMBO_DSN_INDX_STRENGTH] = dsi[TwoQuadCLT.DSI_STRENGTH_AUX]; ds_photo[OpticalFlow.COMBO_DSN_INDX_STRENGTH] = dsi[TwoQuadCLT.DSI_STRENGTH_AUX];
ds_photo[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY] = dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX];
boolean photo_each_debug = !batch_mode; // false; // true; // false; boolean photo_each_debug = !batch_mode; // false; // true; // false;
boolean photo_each_debug2 = !batch_mode; // false; // true; // false; boolean photo_each_debug2 = !batch_mode; // false; // true; // false;
...@@ -3828,7 +3772,6 @@ public class OpticalFlow { ...@@ -3828,7 +3772,6 @@ public class OpticalFlow {
photo_num_refines, // final int num_refines, // 2 photo_num_refines, // final int num_refines, // 2
photo_min_good, // final int min_good, // minimal number of "good" pixels photo_min_good, // final int min_good, // minimal number of "good" pixels
ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
blue_sky, // final boolean[] blue_sky,
threadsMax, // int threadsMax, threadsMax, // int threadsMax,
photo_each_debug); //final boolean debug) photo_each_debug); //final boolean debug)
if (!ok) { if (!ok) {
...@@ -3851,7 +3794,6 @@ public class OpticalFlow { ...@@ -3851,7 +3794,6 @@ public class OpticalFlow {
photo_num_refines, // final int num_refines, // 2 photo_num_refines, // final int num_refines, // 2
photo_min_good, // final int min_good, // minimal number of "good" pixels photo_min_good, // final int min_good, // minimal number of "good" pixels
ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, ds_photo, // combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
blue_sky, // final boolean[] blue_sky,
threadsMax, // int threadsMax, threadsMax, // int threadsMax,
photo_each_debug); //final boolean debug) photo_each_debug); //final boolean debug)
if (!ok) { if (!ok) {
...@@ -3868,7 +3810,7 @@ public class OpticalFlow { ...@@ -3868,7 +3810,7 @@ public class OpticalFlow {
// Re-read reference and other scenes using new offsets // Re-read reference and other scenes using new offsets
quadCLT_ref.setQuadClt(); // should work even when the data is new for the same scene quadCLT_ref.setQuadClt(); // should work even when the data is new for the same scene
quadCLT_ref.restoreFromModel( quadCLT_ref.restoreFromModel( // resets dsi to null
clt_parameters, clt_parameters,
colorProcParameters, colorProcParameters,
null, // double [] noise_sigma_level, null, // double [] noise_sigma_level,
...@@ -4066,13 +4008,18 @@ public class OpticalFlow { ...@@ -4066,13 +4008,18 @@ public class OpticalFlow {
if (ran_photo_each) { if (ran_photo_each) {
// quadCLT_ref.setBlueSky(null); // Reset blue sky - is it needed? // quadCLT_ref.setBlueSky(null); // Reset blue sky - is it needed?
// see if blue sky was detected - rerun photoEach // see if blue sky was detected - rerun photoEach
boolean [] blue_sky = quadCLT_ref.getBlueSky(); // boolean [] blue_sky = quadCLT_ref.getBlueSky();
double [] blue_sky = quadCLT_ref.getDoubleBlueSky();
boolean has_blue_sky = false; boolean has_blue_sky = false;
for (int i = 0; i < blue_sky.length; i++) if (blue_sky[i]) { for (int i = 0; i < blue_sky.length; i++) if (blue_sky[i] > 0) {
has_blue_sky = true; has_blue_sky = true;
break; break;
} }
if (has_blue_sky) { if (has_blue_sky) {
// dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX] = new double [blue_sky.length];
// for (int i = 0; i < blue_sky.length; i++) {
// dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX][i] = blue_sky[i]? 1.0 : 0.0;
// }
if (debugLevel > -3) { if (debugLevel > -3) {
System.out.println("Detected non-empty Blue Sky after initial DSI in "+quadCLT_ref.getImageName()+ System.out.println("Detected non-empty Blue Sky after initial DSI in "+quadCLT_ref.getImageName()+
", re-running photoEach()"); ", re-running photoEach()");
...@@ -4100,25 +4047,9 @@ public class OpticalFlow { ...@@ -4100,25 +4047,9 @@ public class OpticalFlow {
null, // String path, // full name with extension or w/o path to use x3d directory null, // String path, // full name with extension or w/o path to use x3d directory
// null, // Properties properties, // if null - will only save extrinsics) // null, // Properties properties, // if null - will only save extrinsics)
debugLevel); debugLevel);
// Copy source files to the model directory - they are needed for poses and interscene
/* ***** Already done ! - NOT ****
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
// processing?
set_channels[scene_index].set_name, // String set_name
quadCLT_main, // QuadCLT quadCLT_main,
null, // QuadCLT quadCLT_aux,
clt_parameters, // EyesisCorrectionParameters.DCTParameters dct_parameters,
true, // boolean skip_existing,
true, // false, // boolean search_KML,
debugLevel);
} // split cycles to remove output clutter
*/
quadCLT_ref.set_orient(0); // reset orientations quadCLT_ref.set_orient(0); // reset orientations
quadCLT_ref.set_accum(0); // reset accumulations ("build_interscene") number quadCLT_ref.set_accum(0); // reset accumulations ("build_interscene") number
// earliest_scene = 0; // reset failures, try to use again all scenes
// return quadCLT_ref; // it is now a different instance than input parameter
} }
public static void reuseRefDSI( public static void reuseRefDSI(
...@@ -4156,7 +4087,7 @@ public class OpticalFlow { ...@@ -4156,7 +4087,7 @@ public class OpticalFlow {
// need to read photometric from reference scene -INTERFRAME.corr-xml, and if it exists - set and propagate to main? // need to read photometric from reference scene -INTERFRAME.corr-xml, and if it exists - set and propagate to main?
if (photo_each && !quadCLT_ref.isPhotometricThis()) { if (photo_each && !quadCLT_ref.isPhotometricThis()) {
if (debugLevel > -3) { if (debugLevel > -3) {
System.out.println("Per-sequence photogrammetric calibration is required, but it does not exist"); System.out.println("**** Per-sequence photogrammetric calibration is required, but it does not exist ***");
} }
if (photo_to_main) { if (photo_to_main) {
quadCLT_main.setLwirOffsets(quadCLT_ref.getLwirOffsets()); quadCLT_main.setLwirOffsets(quadCLT_ref.getLwirOffsets());
...@@ -4172,11 +4103,16 @@ public class OpticalFlow { ...@@ -4172,11 +4103,16 @@ public class OpticalFlow {
} }
// read DSI_MAIN // read DSI_MAIN
double [][] dsi = quadCLT_ref.readDsiMain(); double [][] dsi = quadCLT_ref.readDsiMain();
quadCLT_ref.setDSI(dsi); // was not here! (11/26/2022)
if (dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) { if (dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) {
System.out.println("DSI_MAIN file has old format and does not have spread data, will recalculate."); System.out.println("DSI_MAIN file has old format and does not have spread data, will recalculate.");
} else { } else {
boolean [] ref_blue_sky = quadCLT_ref.getBlueSky(); // boolean [] ref_blue_sky = quadCLT_ref.getBlueSky();
double [] ref_blue_sky = dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX];
if (ref_blue_sky == null) { if (ref_blue_sky == null) {
if (debugLevel > -3) {
System.out.println("Blue Sky does not exist calculating and updating photometrics");
}
quadCLT_ref.setBlueSky ( quadCLT_ref.setBlueSky (
sky_seed, // double sky_seed, // = 7.0; // start with product of strength by diff_second below this sky_seed, // double sky_seed, // = 7.0; // start with product of strength by diff_second below this
lma_seed, // 2.0; // seed - disparity_lma limit lma_seed, // 2.0; // seed - disparity_lma limit
...@@ -4202,23 +4138,35 @@ public class OpticalFlow { ...@@ -4202,23 +4138,35 @@ public class OpticalFlow {
dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA], //double [] disp_lma, dsi[TwoQuadCLT.DSI_DISPARITY_AUX_LMA], //double [] disp_lma,
dsi[TwoQuadCLT.DSI_AVGVAL_AUX],// double [] avg_val, dsi[TwoQuadCLT.DSI_AVGVAL_AUX],// double [] avg_val,
debugLevel); // int debugLevel) debugLevel); // int debugLevel)
if (debugLevel > -3) { if (debugLevel > -3) {
System.out.println("Calculated missing Blue Sky in "+quadCLT_ref.getImageName()+ System.out.println("Calculated missing Blue Sky in "+quadCLT_ref.getImageName()+
", re-running photoEach()"); ", re-running photoEach()");
}
/*
boolean [] blue_sky = quadCLT_ref.getBlueSky();
if (dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX] == null) {
dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX] = new double [blue_sky.length];
} }
photoEach( for (int i = 0; i < blue_sky.length; i++) {
clt_parameters, // CLTParameters clt_parameters, dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX][i] = blue_sky[i]? 1.0:0.0;
colorProcParameters, // ColorProcParameters colorProcParameters, }
quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set */
quadCLT_ref, // QuadCLT quadCLT_ref, // tiles should be set photoEach(
dsi, // final double [][] dsi, clt_parameters, // CLTParameters clt_parameters,
// just once? colorProcParameters, // ColorProcParameters colorProcParameters,
clt_parameters.photo_num_full, // int photo_num_full = quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set
batch_mode, // final boolean batch_mode, quadCLT_ref, // QuadCLT quadCLT_ref, // tiles should be set
threadsMax, // final int threadsMax, // int threadsMax, dsi, // final double [][] dsi,
updateStatus, // final boolean updateStatus, // just once?
debugLevel); // final int debugLevel) clt_parameters.photo_num_full, // int photo_num_full =
batch_mode, // final boolean batch_mode,
threadsMax, // final int threadsMax, // int threadsMax,
updateStatus, // final boolean updateStatus,
debugLevel); // final int debugLevel)
} else {
if (debugLevel > -3) {
System.out.println("Blue Sky is available, reusing it, no need for updating photometrics");
}
} }
} }
} }
...@@ -4245,7 +4193,8 @@ public class OpticalFlow { ...@@ -4245,7 +4193,8 @@ public class OpticalFlow {
int photo_offs_set = clt_parameters.photo_offs_set; // 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value int photo_offs_set = clt_parameters.photo_offs_set; // 0; // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
double photo_offs = clt_parameters.photo_offs; // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance) double photo_offs = clt_parameters.photo_offs; // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
boolean photo_debug = clt_parameters.photo_debug; // false; // Generate images and text boolean photo_debug = clt_parameters.photo_debug; // false; // Generate images and text
boolean [] ref_blue_sky = quadCLTs[ref_index].getBlueSky(); // null; // turn off "lma" in the ML output // boolean [] ref_blue_sky = quadCLTs[ref_index].getBlueSky(); // null; // turn off "lma" in the ML output
double [] ref_double_blue_sky = quadCLTs[ref_index].getDoubleBlueSky(); // null; // turn off "lma" in the ML output
for (int nrecalib = 0; nrecalib < photo_num_full; nrecalib++) { for (int nrecalib = 0; nrecalib < photo_num_full; nrecalib++) {
int poly_order = photo_order; int poly_order = photo_order;
...@@ -4265,14 +4214,13 @@ public class OpticalFlow { ...@@ -4265,14 +4214,13 @@ public class OpticalFlow {
photo_num_refines, // final int num_refines, // 2 photo_num_refines, // final int num_refines, // 2
photo_min_good, // final int min_good, // minimal number of "good" pixels photo_min_good, // final int min_good, // minimal number of "good" pixels
combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, combo_dsn_final_filtered, // final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
ref_blue_sky, // final boolean[] blue_sky,
threadsMax, // int threadsMax, threadsMax, // int threadsMax,
photo_debug); //final boolean debug) photo_debug); //final boolean debug)
// copy offsets to the current to be saved with other properties. Is it correct/needed? // copy offsets to the current to be saved with other properties. Is it correct/needed?
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...) quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
null, // String path, // full name with extension or w/o path to use x3d directory null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1); debugLevel+1);
quadCLTs[ref_index].setBlueSky(ref_blue_sky); quadCLTs[ref_index].setBlueSky(ref_double_blue_sky); // ref_blue_sky); Is it needed??????
quadCLTs[ref_index].setDSRBG( quadCLTs[ref_index].setDSRBG(
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
threadsMax, // int threadsMax, // maximal number of threads to launch threadsMax, // int threadsMax, // maximal number of threads to launch
...@@ -4304,11 +4252,185 @@ public class OpticalFlow { ...@@ -4304,11 +4252,185 @@ public class OpticalFlow {
} }
} }
public static boolean setInitialOrientations(
final CLTParameters clt_parameters,
final ColorProcParameters colorProcParameters,
final QuadCLT[] quadCLTs, //
final int ref_index,
final QuadCLT.SetChannels [] set_channels,
final boolean batch_mode,
int earliest_scene,
int [] start_ref_pointers, // [0] - earliest valid scene, [1] ref_index
final int threadsMax, // int threadsMax,
final boolean updateStatus,
final int debugLevel) {
double maximal_series_rms = 0.0;
double min_ref_str = clt_parameters.imp.min_ref_str;
int min_num_scenes = clt_parameters.imp.min_num_scenes; // abandon series if there are less than this number of scenes in it
double [] lma_rms = new double[2];
double [] use_atr = null;
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
// to include ref scene photometric calibration
quadCLTs[scene_index] = quadCLTs[ref_index].spawnNoModelQuadCLT(
set_channels[scene_index].set_name,
clt_parameters,
colorProcParameters, //
threadsMax,
debugLevel-2);
} // split cycles to remove output clutter
ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
int debug_scene = -15;
boolean debug2 = !batch_mode; // false; // true;
boolean [] reliable_ref = null;
if (min_ref_str > 0.0) {
reliable_ref = quadCLTs[ref_index].getReliableTiles( // will be null if does not exist.
min_ref_str, // double min_strength,
true); // boolean needs_lma);
if (debug2) {
double [] dbg_img = new double [reliable_ref.length];
for (int i = 0; i < dbg_img.length; i++) {
dbg_img[i] = reliable_ref[i]?1:0;
}
ShowDoubleFloatArrays.showArrays(
dbg_img,
quadCLTs[ref_index].getTileProcessor().getTilesX(),
quadCLTs[ref_index].getTileProcessor().getTilesY(),
"reliable_ref");
}
}
double [][][] scenes_xyzatr = new double [quadCLTs.length][][]; // previous scene relative to the next one
scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
if (scene_index == debug_scene) {
System.out.println("scene_index = "+scene_index);
System.out.println("scene_index = "+scene_index);
}
QuadCLT scene_QuadClt = quadCLTs[scene_index];
// get initial xyzatr:
if (scene_index == ref_index - 1) { // search around for the best fit
use_atr = spiralSearchATR(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // QuadCLT reference_QuadClt,
scene_QuadClt, // QuadCLT scene_QuadClt,
reliable_ref, // ********* boolean [] reliable_ref,
debugLevel);
if (use_atr == null) {
earliest_scene = scene_index + 1;
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" spiralSearchATR() FAILED. Setting earliest_scene to "+earliest_scene);
}
// set this and all previous to null
for (; scene_index >= 0 ; scene_index--) {
ers_reference.addScene(quadCLTs[scene_index].getImageName(), null);
}
break; // failed with even first before reference
}
scenes_xyzatr[scene_index] = new double [][] {new double[3], use_atr};
} else { // assume linear motion
if (scene_index == debug_scene) {
System.out.println("adjusting orientation, scene_index="+scene_index);
System.out.println("adjusting orientation, scene_index="+scene_index);
}
int num_avg = 1; // 3;
double scale_xyz = 0.0; // 0.5;
int na = num_avg;
if ((scene_index + 1 + na) > ref_index) {
na = ref_index - (scene_index + 1);
}
double [][] last_diff = ErsCorrection.combineXYZATR(
scenes_xyzatr[scene_index + 1],
ErsCorrection.invertXYZATR(scenes_xyzatr[scene_index+1 + na]));
for (int i = 0; i < 3; i++) {
last_diff[0][i] /= na;
last_diff[1][i] /= na;
}
for (int i = 0; i < 3; i++) {
last_diff[0][i] *= scale_xyz;
}
scenes_xyzatr[scene_index] = ErsCorrection.combineXYZATR(
scenes_xyzatr[scene_index+1],
last_diff);
}
// Refine with LMA
scenes_xyzatr[scene_index] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
scene_QuadClt, // QuadCLT scene_QuadCLT,
scenes_xyzatr[scene_index][0], // xyz
scenes_xyzatr[scene_index][1], // atr
clt_parameters.ilp.ilma_lma_select, // final boolean[] param_select,
clt_parameters.ilp.ilma_regularization_weights, // final double [] param_regweights,
lma_rms, // double [] rms, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
if (scenes_xyzatr[scene_index] == null) {
earliest_scene = scene_index + 1;
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" FAILED. Setting earliest_scene to "+earliest_scene);
}
// set this and all previous to null
for (; scene_index >= 0 ; scene_index--) {
ers_reference.addScene(quadCLTs[scene_index].getImageName(), null);
}
break;
}
// TODO: Maybe after testing high-ers scenes - restore velocities from before/after scenes
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[scene_index][0],
scenes_xyzatr[scene_index][1],
ZERO3, // ers_scene.getErsXYZ_dt(),
ZERO3 // ers_scene.getErsATR_dt()
);
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = lma_rms[0];
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
} // for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--)
if ((ref_index - earliest_scene + 1) < min_num_scenes) {
System.out.println("Total number of useful scenes = "+(ref_index - earliest_scene + 1)+
" < "+min_num_scenes+". Scrapping this series.");
if (start_ref_pointers != null) {
start_ref_pointers[0] = earliest_scene;
}
return false;
}
if (earliest_scene > 0) {
System.out.println("Not all scenes matched, earliest useful scene = "+earliest_scene+
" (total number of scenes = "+(ref_index - earliest_scene + 1)+
").Maximal RMSE was "+maximal_series_rms);
} else if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
}
quadCLTs[ref_index].set_orient(1); // first orientation
quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...) // null pointer
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1);
return true;
}
/** /**
* Build series of poses from just a single (reference) scene. * Build series of poses from just a single (reference) scene.
* @param quadCLT_main * @param quadCLT_main
* @param ref_index * @param ref_index
* @param ref_step
* @param clt_parameters * @param clt_parameters
* @param debayerParameters * @param debayerParameters
* @param colorProcParameters * @param colorProcParameters
...@@ -4327,7 +4449,6 @@ public class OpticalFlow { ...@@ -4327,7 +4449,6 @@ public class OpticalFlow {
boolean batch_mode, boolean batch_mode,
QuadCLT quadCLT_main, // tiles should be set QuadCLT quadCLT_main, // tiles should be set
int ref_index, // -1 - last int ref_index, // -1 - last
// int start_index,
CLTParameters clt_parameters, CLTParameters clt_parameters,
EyesisCorrectionParameters.DebayerParameters debayerParameters, EyesisCorrectionParameters.DebayerParameters debayerParameters,
ColorProcParameters colorProcParameters, ColorProcParameters colorProcParameters,
...@@ -4434,7 +4555,7 @@ public class OpticalFlow { ...@@ -4434,7 +4555,7 @@ public class OpticalFlow {
int test_ers1 = clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index int test_ers1 = clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index
test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0); test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0);
double min_ref_str = clt_parameters.imp.min_ref_str; double min_ref_str = clt_parameters.imp.min_ref_str;
boolean [] ref_blue_sky = null; // turn off "lma" in the ML output double [] ref_blue_sky = null; // turn off "lma" in the ML output
if (reuse_video) { // disable all other options if (reuse_video) { // disable all other options
generate_mapped = false; generate_mapped = false;
export_images = false; export_images = false;
...@@ -4492,7 +4613,9 @@ public class OpticalFlow { ...@@ -4492,7 +4613,9 @@ public class OpticalFlow {
quadCLTs[ref_index].restoreInterProperties(null, false, debugLevel); //null quadCLTs[ref_index].restoreInterProperties(null, false, debugLevel); //null
} }
// 1. Reference scene DSI // 1. Reference scene DSI
while ((quadCLTs[ref_index] == null) || (quadCLTs[ref_index].getBlueSky() == null)) { // null // while ((quadCLTs[ref_index] == null) || (quadCLTs[ref_index].getBlueSky() == null)) { // null
while ((quadCLTs[ref_index] == null) || !quadCLTs[ref_index].hasBlueSky()) { // null
//hasBlueSky()
if (build_ref_dsi) { if (build_ref_dsi) {
TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
// processing? // processing?
...@@ -4554,7 +4677,8 @@ public class OpticalFlow { ...@@ -4554,7 +4677,8 @@ public class OpticalFlow {
} // while (blue_sky == null) } // while (blue_sky == null)
ref_blue_sky = quadCLTs[ref_index].getBlueSky(); // ref_blue_sky = quadCLTs[ref_index].getBlueSky();
ref_blue_sky = quadCLTs[ref_index].getDoubleBlueSky();
quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN" quadCLTs[ref_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
set_channels[ref_index].set_name, set_channels[ref_index].set_name,
...@@ -4563,7 +4687,7 @@ public class OpticalFlow { ...@@ -4563,7 +4687,7 @@ public class OpticalFlow {
threadsMax, threadsMax,
debugLevel); debugLevel);
quadCLTs[ref_index].setQuadClt(); // just in case ? quadCLTs[ref_index].setQuadClt(); // just in case ?
quadCLTs[ref_index].setBlueSky(ref_blue_sky); quadCLTs[ref_index].setBlueSky(ref_blue_sky); //quadCLTs[ref_index].dsi has it
quadCLTs[ref_index].setDSRBG( quadCLTs[ref_index].setDSRBG(
clt_parameters, // CLTParameters clt_parameters, clt_parameters, // CLTParameters clt_parameters,
...@@ -4580,162 +4704,24 @@ public class OpticalFlow { ...@@ -4580,162 +4704,24 @@ public class OpticalFlow {
force_initial_orientations = true; force_initial_orientations = true;
} }
} }
// Build initial orientations // Build initial orientations
if (force_initial_orientations && !reuse_video) { if (force_initial_orientations && !reuse_video) {
double maximal_series_rms = 0.0; boolean OK = setInitialOrientations(
double [] lma_rms = new double[2]; clt_parameters, // final CLTParameters clt_parameters,
double [] use_atr = null; colorProcParameters, // final ColorProcParameters colorProcParameters,
for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) { quadCLTs, // final QuadCLT[] quadCLTs, //
// to include ref scene photometric calibration ref_index, // final int ref_index,
quadCLTs[scene_index] = quadCLTs[ref_index].spawnNoModelQuadCLT( set_channels, // final QuadCLT.SetChannels [] set_channels,
set_channels[scene_index].set_name, batch_mode, // final boolean batch_mode,
clt_parameters, earliest_scene, // int earliest_scene,
colorProcParameters, // start_ref_pointers, // int [] start_ref_pointers, // [0] - earliest valid scene, [1] ref_index
threadsMax, threadsMax, // final int threadsMax,
debugLevel-2); updateStatus, // final boolean updateStatus,
} // split cycles to remove output clutter debugLevel); // final int debugLevel)
int debug_scene = -15; if (!OK) {
boolean debug2 = !batch_mode; // false; // true;
boolean [] reliable_ref = null;
if (min_ref_str > 0.0) {
reliable_ref = quadCLTs[ref_index].getReliableTiles( // will be null if does not exist.
min_ref_str, // double min_strength,
true); // boolean needs_lma);
if (debug2) {
double [] dbg_img = new double [reliable_ref.length];
for (int i = 0; i < dbg_img.length; i++) {
dbg_img[i] = reliable_ref[i]?1:0;
}
ShowDoubleFloatArrays.showArrays(
dbg_img,
quadCLTs[ref_index].getTileProcessor().getTilesX(),
quadCLTs[ref_index].getTileProcessor().getTilesY(),
"reliable_ref");
}
}
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
if (scene_index == debug_scene) {
System.out.println("scene_index = "+scene_index);
System.out.println("scene_index = "+scene_index);
}
QuadCLT scene_QuadClt = quadCLTs[scene_index];
// get initial xyzatr:
if (scene_index == ref_index - 1) { // search around for the best fit
use_atr = spiralSearchATR(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // QuadCLT reference_QuadClt,
scene_QuadClt, // QuadCLT scene_QuadClt,
reliable_ref, // ********* boolean [] reliable_ref,
debugLevel);
if (use_atr == null) {
earliest_scene = scene_index + 1;
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" spiralSearchATR() FAILED. Setting earliest_scene to "+earliest_scene);
}
// set this and all previous to null
for (; scene_index >= 0 ; scene_index--) {
ers_reference.addScene(quadCLTs[scene_index].getImageName(), null);
}
break; // failed with even first before reference
}
scenes_xyzatr[scene_index] = new double [][] {new double[3], use_atr};
} else { // assume linear motion
if (scene_index == debug_scene) {
System.out.println("adjusting orientation, scene_index="+scene_index);
System.out.println("adjusting orientation, scene_index="+scene_index);
}
int num_avg = 1; // 3;
double scale_xyz = 0.0; // 0.5;
int na = num_avg;
if ((scene_index + 1 + na) > ref_index) {
na = ref_index - (scene_index + 1);
}
double [][] last_diff = ErsCorrection.combineXYZATR(
scenes_xyzatr[scene_index + 1],
ErsCorrection.invertXYZATR(scenes_xyzatr[scene_index+1 + na]));
for (int i = 0; i < 3; i++) {
last_diff[0][i] /= na;
last_diff[1][i] /= na;
}
for (int i = 0; i < 3; i++) {
last_diff[0][i] *= scale_xyz;
}
scenes_xyzatr[scene_index] = ErsCorrection.combineXYZATR(
scenes_xyzatr[scene_index+1],
last_diff);
}
// Refine with LMA
scenes_xyzatr[scene_index] = adjustPairsLMAInterscene(
clt_parameters, // CLTParameters clt_parameters,
quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
null, // double [] ref_disparity, // null or alternative reference disparity
reliable_ref, // boolean [] reliable_ref, // null or bitmask of reliable reference tiles
scene_QuadClt, // QuadCLT scene_QuadCLT,
scenes_xyzatr[scene_index][0], // xyz
scenes_xyzatr[scene_index][1], // atr
clt_parameters.ilp.ilma_lma_select, // final boolean[] param_select,
clt_parameters.ilp.ilma_regularization_weights, // final double [] param_regweights,
lma_rms, // double [] rms, // null or double [2]
clt_parameters.imp.max_rms, // double max_rms,
clt_parameters.imp.debug_level); // 1); // -1); // int debug_level);
if (scenes_xyzatr[scene_index] == null) {
earliest_scene = scene_index + 1;
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" FAILED. Setting earliest_scene to "+earliest_scene);
}
// set this and all previous to null
for (; scene_index >= 0 ; scene_index--) {
ers_reference.addScene(quadCLTs[scene_index].getImageName(), null);
}
break;
}
// TODO: Maybe after testing high-ers scenes - restore velocities from before/after scenes
ers_reference.addScene(scene_QuadClt.getImageName(),
scenes_xyzatr[scene_index][0],
scenes_xyzatr[scene_index][1],
ZERO3, // ers_scene.getErsXYZ_dt(),
ZERO3 // ers_scene.getErsATR_dt()
);
if (lma_rms[0] > maximal_series_rms) {
maximal_series_rms = lma_rms[0];
}
if (debugLevel > -3) {
System.out.println("Pass multi scene "+scene_index+" (of "+ quadCLTs.length+") "+
quadCLTs[ref_index].getImageName() + "/" + scene_QuadClt.getImageName()+
" Done. RMS="+lma_rms[0]+", maximal so far was "+maximal_series_rms);
}
} // for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--)
if ((ref_index - earliest_scene + 1) < min_num_scenes) {
System.out.println("Total number of useful scenes = "+(ref_index - earliest_scene + 1)+
" < "+min_num_scenes+". Scrapping this series.");
if (start_ref_pointers != null) {
start_ref_pointers[0] = earliest_scene;
}
return null; return null;
} }
if (earliest_scene > 0) {
System.out.println("Not all scenes matched, earliest useful scene = "+earliest_scene+
" (total number of scenes = "+(ref_index - earliest_scene + 1)+
").Maximal RMSE was "+maximal_series_rms);
} else if (debugLevel > -4) {
System.out.println("All multi scene passes are Done. Maximal RMSE was "+maximal_series_rms);
}
quadCLTs[ref_index].set_orient(1); // first orientation
quadCLTs[ref_index].set_accum(0); // reset accumulations ("build_interscene") number
quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...) // null pointer
null, // String path, // full name with extension or w/o path to use x3d directory
debugLevel+1);
} else {// if (build_orientations) { } else {// if (build_orientations) {
if (!reuse_video) { // reuse_video only uses reference scene if (!reuse_video) { // reuse_video only uses reference scene
for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) { for (int scene_index = ref_index - 1; scene_index >= earliest_scene ; scene_index--) {
...@@ -4761,7 +4747,6 @@ public class OpticalFlow { ...@@ -4761,7 +4747,6 @@ public class OpticalFlow {
} }
return null; return null;
} }
} }
// just in case that orientations were calculated before: // just in case that orientations were calculated before:
// earliest_scene = getEarliestScene(quadCLTs); // earliest_scene = getEarliestScene(quadCLTs);
...@@ -5687,7 +5672,7 @@ public class OpticalFlow { ...@@ -5687,7 +5672,7 @@ public class OpticalFlow {
return quadCLTs[ref_index].getX3dTopDirectory(); return quadCLTs[ref_index].getX3dTopDirectory();
} }
public void testERS( public static void testERS(
CLTParameters clt_parameters, CLTParameters clt_parameters,
int indx0, // reference scene in a pair int indx0, // reference scene in a pair
int indx1, // other scene in a pair int indx1, // other scene in a pair
...@@ -6027,55 +6012,6 @@ public class OpticalFlow { ...@@ -6027,55 +6012,6 @@ public class OpticalFlow {
return min_max_xyzatr; return min_max_xyzatr;
} }
/**
* Calculate linear and angular velocities for the scene if positions and orientations
* are already known relative to the reference scene
* @param quadCLTs array of scenes, last one is the reference
* @param nscene index of the current scene
* @return [2][3] array of {{dx/dt, dy/dt, dz/dt}, {dazimuth/dt, dtilt/dt, droll/dt}}
*/
@Deprecated // should get from HashMap at reference scene from timestamp , not re-calculate.
public static double [][] getVelocities(
QuadCLT [] quadCLTs,
int nscene){
int ref_index = quadCLTs.length -1;
ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
int nscene0 = nscene - 1;
if ((nscene0 < 0) ||
(quadCLTs[nscene0]== null)||
(ers_reference.getSceneXYZ(quadCLTs[nscene0].getImageName())== null) ||
(ers_reference.getSceneATR(quadCLTs[nscene0].getImageName())== null)) {
nscene0 = nscene;
}
int nscene1 = nscene + 1;
if ((nscene1 > ref_index) || (quadCLTs[nscene1]== null)) {
nscene1 = nscene;
}
if (nscene1 == nscene0) {
System.out.println("**** Isoloated scene!!! skipping... now may only happen for a ref_scene****");
return null;
}
double dt = quadCLTs[nscene1].getTimeStamp() - quadCLTs[nscene0].getTimeStamp();
String ts0 = quadCLTs[nscene0].getImageName();
String ts1 = quadCLTs[nscene1].getImageName();
double [] scene_xyz0 = ers_reference.getSceneXYZ(ts0);
double [] scene_atr0 = ers_reference.getSceneATR(ts0);
if (scene_xyz0 == null) {
System.out.println ("BUG: No egomotion data for timestamp "+ts0);
return null;
}
double [] scene_xyz1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneXYZ(ts1);
double [] scene_atr1 = (nscene1== ref_index)? ZERO3:ers_reference.getSceneATR(ts1);
double [][] dxyzatr_dt = new double[2][3];
for (int i = 0; i < 3; i++) {
dxyzatr_dt[0][i] = (scene_xyz1[i]-scene_xyz0[i])/dt;
dxyzatr_dt[1][i] = (scene_atr1[i]-scene_atr0[i])/dt;
}
return dxyzatr_dt;
}
public static ImagePlus renderSceneSequence( public static ImagePlus renderSceneSequence(
CLTParameters clt_parameters, CLTParameters clt_parameters,
Rectangle fov_tiles, Rectangle fov_tiles,
...@@ -6276,21 +6212,21 @@ public class OpticalFlow { ...@@ -6276,21 +6212,21 @@ public class OpticalFlow {
public static double [][] getSceneSZXY( public static double [][] getSceneSZXY(
QuadCLT scene, QuadCLT scene,
double disparity_offset, double disparity_offset,
double min_strength, double min_strength,
double max_range, double max_range,
double [] disparity0, double [] disparity0,
double [] strength){ // may be null double [] strength){ // may be null
double [] disparity = disparity0.clone(); double [] disparity = disparity0.clone();
for (int i = 0; i < disparity.length; i++) { for (int i = 0; i < disparity.length; i++) {
disparity[i] -= disparity_offset; disparity[i] -= disparity_offset;
} }
double [][] xyz = transformToWorldXYZ( double [][] xyz = transformToWorldXYZ(
disparity, // [final double [] disparity_ref, // invalid tiles - NaN in disparity disparity, // [final double [] disparity_ref, // invalid tiles - NaN in disparity
scene, // final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref scene, // final QuadCLT quadClt, // now - may be null - for testing if scene is rotated ref
THREADS_MAX); // int threadsMax); THREADS_MAX); // int threadsMax);
double [][] szxy = new double [4][disparity.length]; double [][] szxy = new double [4][disparity.length];
szxy[0] = strength; szxy[0] = strength;
for (int i = 1; i < szxy.length; i++) { for (int i = 1; i < szxy.length; i++) {
...@@ -6305,9 +6241,9 @@ public class OpticalFlow { ...@@ -6305,9 +6241,9 @@ public class OpticalFlow {
} }
return szxy; return szxy;
} }
public double [] spiralSearchATR(
public static double [] spiralSearchATR(
CLTParameters clt_parameters, CLTParameters clt_parameters,
QuadCLT reference_QuadClt, QuadCLT reference_QuadClt,
QuadCLT scene_QuadClt, QuadCLT scene_QuadClt,
...@@ -8087,6 +8023,7 @@ public class OpticalFlow { ...@@ -8087,6 +8023,7 @@ public class OpticalFlow {
} }
} }
// add blue sky slice // add blue sky slice
/*
boolean [] blue_sky = ref_scene.getBlueSky(); boolean [] blue_sky = ref_scene.getBlueSky();
double [] payload_blue_sky = combo_dsn_final[combo_dsn_final.length-1]; // last slice, length by titles double [] payload_blue_sky = combo_dsn_final[combo_dsn_final.length-1]; // last slice, length by titles
Arrays.fill(payload_blue_sky,Double.NaN); Arrays.fill(payload_blue_sky,Double.NaN);
...@@ -8095,7 +8032,14 @@ public class OpticalFlow { ...@@ -8095,7 +8032,14 @@ public class OpticalFlow {
payload_blue_sky[i] = blue_sky[i] ? 1.0 : 0.0; payload_blue_sky[i] = blue_sky[i] ? 1.0 : 0.0;
} }
} }
*/
double [] payload_blue_sky; // = combo_dsn_final[combo_dsn_final.length-1]; // last slice, length by titles
if (ref_scene.hasBlueSky()) {
payload_blue_sky = ref_scene.getDoubleBlueSky().clone();
} else {
payload_blue_sky = new double[tiles];
Arrays.fill(payload_blue_sky,Double.NaN);
}
// restore modified parameters // restore modified parameters
...@@ -8167,11 +8111,6 @@ public class OpticalFlow { ...@@ -8167,11 +8111,6 @@ public class OpticalFlow {
tilesX, // int width, tilesX, // int width,
tilesY); // int height) tilesY); // int height)
// save combo_dsn_change to model directory
// if (debug_level >-100) {
// return;
// }
// System.out.println("IntersceneAccumulate(), got previous scenes: "+sts.length); // System.out.println("IntersceneAccumulate(), got previous scenes: "+sts.length);
if (debug_level > 1) { // tested OK if (debug_level > 1) { // tested OK
System.out.println("IntersceneAccumulate(): preparing image set..."); System.out.println("IntersceneAccumulate(): preparing image set...");
...@@ -8197,273 +8136,7 @@ public class OpticalFlow { ...@@ -8197,273 +8136,7 @@ public class OpticalFlow {
scenes, // QuadCLT [] scenes, scenes, // QuadCLT [] scenes,
8); // int iscale) // 8 8); // int iscale) // 8
} }
// create initial disparity map for the reference scene
// Moved to intersceneMlExport() // Moved to intersceneMlExport()
/*
boolean add_combo = clt_parameters.rig.mll_add_combo; //true; add 121-st slice with combined pairs correlation
boolean save_accum = clt_parameters.rig.mll_save_accum; //true; // save accumulated 0-offset correlation
boolean randomize_offsets = clt_parameters.rig.mll_randomize_offsets; // true;
double disparity_low = clt_parameters.rig.mll_disparity_low; // -5.0;
double disparity_high = clt_parameters.rig.mll_disparity_high; // 5.0;
double disparity_pwr = clt_parameters.rig.mll_disparity_pwr; // 2.0;
int disparity_steps = clt_parameters.rig.mll_disparity_steps; // 20;
double tileMetaScale = clt_parameters.rig.mll_tileMetaScale; // 0.001;
int tileMetaSlice = clt_parameters.rig.mll_tileMetaSlice; // -1; // all slices
int tileStepX = clt_parameters.rig.mll_tileStepX; // 16;
int tileStepY = clt_parameters.rig.mll_tileStepY; // 16;
String suffix = clt_parameters.rig.mll_suffix; // "-ML";
double disp_ampl = Math.max(Math.abs(disparity_low),Math.abs(disparity_high));
// String suffix =ref_scene.correctionsParameters.mlDirectory; // now "ML32
double fat_zero_single = clt_parameters.getGpuFatZero(ref_scene.isMonochrome()); // for single scene
ImageDtt image_dtt;
image_dtt = new ImageDtt(
numSens,
clt_parameters.transform_size,
clt_parameters.img_dtt,
ref_scene.isAux(),
ref_scene.isMonochrome(),
ref_scene.isLwir(),
clt_parameters.getScaleStrength(ref_scene.isAux()),
ref_scene.getGPU());
image_dtt.getCorrelation2d(); // initiate image_dtt.correlation2d, needed if disparity_map != null
if (save_accum) {
int mcorr_sel = Correlation2d.corrSelEncodeAll(0); // all sensors
float [][][] facc_2d_img = new float [1][][];
// FIXME: null, // final boolean [] selection, // may be null, if not null do not process unselected tiles
correlateInterscene(
clt_parameters, // final CLTParameters clt_parameters,
scenes, // final QuadCLT [] scenes,
indx_ref, // final int indx_ref,
combo_dsn_change[0], // final double [] disparity_ref, // disparity in the reference view tiles (Double.NaN - invalid)
null, // final boolean [] selection, // may be null, if not null do not process unselected tiles
margin, // final int margin,
-1, // final int nrefine, // just for debug title
false, // final boolean show_2d_corr,
mcorr_sel, // final int mcorr_sel, // =
facc_2d_img, // final float [][][] accum_2d_corr, // if [1][][] - return accumulated 2d correlations (all pairs)
true, // final boolean no_map, // do not generate disparity_map (time-consuming LMA)
debug_level-8); // final int debug_level)
float [][] corr_2d_img = facc_2d_img[0];
// double []
target_disparity = combo_dsn_change[0].clone();
double [][] payload = {
target_disparity,
combo_dsn_final[0], // GT disparity
combo_dsn_final[1], // GT confidence
combo_dsn_final[2], // disparity_lma
combo_dsn_final[3], // frac_valid
combo_dsn_final[4] // last_diff
};
for (int i = 0; i < payload.length; i++) {
add_tile_meta(
corr_2d_img, // final float [][] fimg,
tilesX, // final int tilesX,
tilesY, // final int tilesY,
tileStepX, // final int stepX,
tileStepY, // final int stepY,
tileMetaScale, //final double payload_scale,
payload[i], // final double [] payload,
tileMetaSlice, // final int slice,
i, // final int offsX,
tileStepY-1); // final int offsY)
}
String [] titles = new String [corr_2d_img.length]; // dcorr_tiles[0].length];
int ind_length = image_dtt.getCorrelation2d().getCorrTitles().length;
System.arraycopy(image_dtt.getCorrelation2d().getCorrTitles(), 0, titles, 0, ind_length);
for (int i = ind_length; i < titles.length; i++) {
titles[i] = "combo-"+(i - ind_length);
}
ImageStack ml_stack = ShowDoubleFloatArrays.makeStack(
corr_2d_img, // float[][] pixels,
tilesX*(2*image_dtt.transform_size), // int width,
tilesY*(2*image_dtt.transform_size), // int height,
titles, // String [] titles,
false); // boolean noNaN)
String x3d_path = ref_scene.getX3dDirectory();
String title = ref_scene.getImageName() + suffix+
(ref_scene.isAux()?"-AUX":"-MAIN")+"-ACCUM";
String mldir=ref_scene.correctionsParameters.mlDirectory;
String aMldir=x3d_path + Prefs.getFileSeparator() + mldir;
String file_path = aMldir + Prefs.getFileSeparator() + title + ".tiff";
File dir = (new File(file_path)).getParentFile();
if (!dir.exists()){
dir.mkdirs();
}
ImagePlus imp_ml = new ImagePlus(title, ml_stack);
imp_ml.setProperty("VERSION", "2.0");
// imp_ml.setProperty("tileWidth", ""+ml_width);
imp_ml.setProperty("numScenes", ""+num_scenes);
imp_ml.setProperty("indexReference", ""+indx_ref);
imp_ml.setProperty("fatZero", ""+fat_zero_single);
imp_ml.setProperty("dispOffset", ""+0);
imp_ml.setProperty("tileMetaScale", ""+tileMetaScale);
imp_ml.setProperty("tileMetaSlice", ""+tileMetaSlice);
imp_ml.setProperty("tileStepX", ""+tileStepX);
imp_ml.setProperty("tileStepY", ""+tileStepY);
imp_ml.setProperty("metaTargetDisparity", ""+0);
imp_ml.setProperty("metaGTDisparity", ""+1);
imp_ml.setProperty("metaGTConfidence", ""+2);
imp_ml.setProperty("metaGTDisparityLMA", ""+3);
imp_ml.setProperty("metaFracValid", ""+4);
imp_ml.setProperty("metaLastDiff", ""+5);
(new JP46_Reader_camera(false)).encodeProperiesToInfo(imp_ml);
FileSaver fs=new FileSaver(imp_ml);
fs.saveAsTiff(file_path);
System.out.println("intersceneExport(): saved "+file_path);
}
if ( clt_parameters.ofp.pattern_mode) {
return combo_dsn_final;
}
double [][] all_offsets = new double [disparity_steps][];
String [] soffset_centers = new String [disparity_steps];
for (int nstep = 0; nstep < disparity_steps; nstep++) {
double [] disparity_offsets_rel = { // below, center, above
(disparity_low + (disparity_high - disparity_low) * (nstep - 1) / (disparity_steps-1))/disp_ampl,
(disparity_low + (disparity_high - disparity_low) * (nstep + 0) / (disparity_steps-1))/disp_ampl,
(disparity_low + (disparity_high - disparity_low) * (nstep + 1) / (disparity_steps-1))/disp_ampl
};
double [] disparity_offset3 = new double [disparity_offsets_rel.length];
for (int i = 0; i < disparity_offsets_rel.length; i++) {
double dsgn = (disparity_offsets_rel[i] > 0.0) ? 1.0 : ((disparity_offsets_rel[i] < 0.0)? -1.0 : 0.0);
disparity_offset3[i] = Math.pow(Math.abs(disparity_offsets_rel[i]), disparity_pwr) * dsgn * disp_ampl ;
}
if (disparity_offset3[0] > disparity_offset3[2]) { // can that happen?
double d = disparity_offset3[0];
disparity_offset3[0] =disparity_offset3[2];
disparity_offset3[2] = d;
}
double disparity_offset = disparity_offset3[1];
if (debug_level > -2) {
System.out.println("dispatity offset #"+(nstep + 1)+" (of "+disparity_steps+") = "+disparity_offset);
}
double [] disparity_offsets;
if (randomize_offsets) {
disparity_offsets = getLappedRandom(
disparity_offset3[0], // double min_exclusive,
disparity_offset3[2], // double max_exclusive,
tiles); // int nSamples);
} else {
disparity_offsets = new double[tiles];
Arrays.fill(disparity_offsets, disparity_offset3[0]);
}
all_offsets[nstep] = disparity_offsets;
float [][] corr_2d_img = generateOffset2DCorrelations(
clt_parameters, // final CLTParameters clt_parameters,
scenes[indx_ref], // final QuadCLT ref_scene,
combo_dsn_change[0], // final double [] disparity_ref_in, // disparity in the reference view tiles (Double.NaN - invalid)
disparity_offsets, // disparity_offset, // final double disparity_offset,
margin, // final int margin,
add_combo, // final boolean add_combo,
debug_level-9); // final int debug_level);
// double []
target_disparity = combo_dsn_change[0].clone();
for (int i = 0; i < target_disparity.length; i++) {
target_disparity[i]+= disparity_offsets[i];
}
double [][] payload = {
target_disparity,
combo_dsn_final[0], // GT disparity
combo_dsn_final[1], // GT confidence - wrong
combo_dsn_final[2], // disparity_lma - Wrong !
combo_dsn_final[3], // frac_valid
combo_dsn_final[4] // last_diff
};
for (int i = 0; i < payload.length; i++) {
add_tile_meta(
corr_2d_img, // final float [][] fimg,
tilesX, // final int tilesX,
tilesY, // final int tilesY,
tileStepX, // final int stepX,
tileStepY, // final int stepY,
tileMetaScale, //final double payload_scale,
payload[i], // final double [] payload,
tileMetaSlice, // final int slice,
i, // final int offsX,
tileStepY-1); // final int offsY)
}
String [] titles = new String [corr_2d_img.length]; // dcorr_tiles[0].length];
int ind_length = image_dtt.getCorrelation2d().getCorrTitles().length;
System.arraycopy(image_dtt.getCorrelation2d().getCorrTitles(), 0, titles, 0, ind_length);
for (int i = ind_length; i < titles.length; i++) {
titles[i] = "combo-"+(i - ind_length);
}
ImageStack ml_stack = ShowDoubleFloatArrays.makeStack(
corr_2d_img, // float[][] pixels,
tilesX*(2*image_dtt.transform_size), // int width,
tilesY*(2*image_dtt.transform_size), // int height,
titles, // String [] titles,
false); // boolean noNaN)
String x3d_path = ref_scene.getX3dDirectory();
String sdisparity_offset = String.format("%8.3f", disparity_offset).trim();
soffset_centers[nstep] = sdisparity_offset;
String title = ref_scene.getImageName() + suffix+
(ref_scene.isAux()?"-AUX":"-MAIN");
if (randomize_offsets) {
title+="-RND";
}
title+="-DOFFS"+ sdisparity_offset;
String mldir=ref_scene.correctionsParameters.mlDirectory;
String aMldir=x3d_path + Prefs.getFileSeparator() + mldir;
String file_path = aMldir + Prefs.getFileSeparator() + title + ".tiff";
File dir = (new File(file_path)).getParentFile();
if (!dir.exists()){
dir.mkdirs();
}
ImagePlus imp_ml = new ImagePlus(title, ml_stack);
imp_ml.setProperty("VERSION", "2.0");
imp_ml.setProperty("numScenes", ""+num_scenes);
imp_ml.setProperty("indexReference", ""+indx_ref);
imp_ml.setProperty("fatZero", ""+fat_zero_single);
imp_ml.setProperty("dispOffset", ""+disparity_offset3[1]);
imp_ml.setProperty("randomize_offsets", ""+randomize_offsets);
if (randomize_offsets) {
imp_ml.setProperty("dispOffsetLow", ""+disparity_offset3[0]);
imp_ml.setProperty("dispOffsetHigh", ""+disparity_offset3[2]);
}
imp_ml.setProperty("disparity_low", ""+disparity_low);
imp_ml.setProperty("disparity_high", ""+disparity_high);
imp_ml.setProperty("disparity_pwr", ""+disparity_pwr);
imp_ml.setProperty("disparity_steps", ""+disparity_steps);
imp_ml.setProperty("tileMetaScale", ""+tileMetaScale);
imp_ml.setProperty("tileMetaSlice", ""+tileMetaSlice);
imp_ml.setProperty("tileStepX", ""+tileStepX);
imp_ml.setProperty("tileStepY", ""+tileStepY);
imp_ml.setProperty("metaTargetDisparity", ""+0);
imp_ml.setProperty("metaGTDisparity", ""+1);
imp_ml.setProperty("metaGTConfidence", ""+2);
imp_ml.setProperty("metaFracValid", ""+3);
imp_ml.setProperty("metaLastDiff", ""+4);
(new JP46_Reader_camera(false)).encodeProperiesToInfo(imp_ml);
FileSaver fs=new FileSaver(imp_ml);
fs.saveAsTiff(file_path);
System.out.println("intersceneExport(): saved "+file_path);
}
if (disparity_steps > 0) {
String offsets_suffix = "-DISP_OFFSETS";
if (randomize_offsets) {
offsets_suffix+="-RND";
}
ref_scene.saveDoubleArrayInModelDirectory(
offsets_suffix, // String suffix,
soffset_centers, // null, // String [] labels, // or null
all_offsets, // dbg_data, // double [][] data,
tilesX, // int width,
tilesY); // int height)
}
*/
return combo_dsn_final; return combo_dsn_final;
} }
...@@ -8513,12 +8186,19 @@ public class OpticalFlow { ...@@ -8513,12 +8186,19 @@ public class OpticalFlow {
combo_dsn_final[i] = new double[tiles]; combo_dsn_final[i] = new double[tiles];
Arrays.fill(combo_dsn_final[i],Double.NaN); Arrays.fill(combo_dsn_final[i],Double.NaN);
} }
/*
boolean [] blue_sky = ref_scene.getBlueSky(); boolean [] blue_sky = ref_scene.getBlueSky();
if (blue_sky != null) { if (blue_sky != null) {
for (int i = 0; i < tiles; i++) { for (int i = 0; i < tiles; i++) {
combo_dsn_final[COMBO_DSN_INDX_BLUE_SKY][i] = blue_sky[i] ? 1.0 : 0.0; combo_dsn_final[COMBO_DSN_INDX_BLUE_SKY][i] = blue_sky[i] ? 1.0 : 0.0;
} }
} }
*/
if (ref_scene.hasBlueSky()) {
combo_dsn_final[COMBO_DSN_INDX_BLUE_SKY] = ref_scene.getDoubleBlueSky();
}
} }
double fat_zero_single = clt_parameters.getGpuFatZero(ref_scene.isMonochrome()); // for single scene double fat_zero_single = clt_parameters.getGpuFatZero(ref_scene.isMonochrome()); // for single scene
ImageDtt image_dtt; ImageDtt image_dtt;
...@@ -10454,7 +10134,8 @@ public class OpticalFlow { ...@@ -10454,7 +10134,8 @@ public class OpticalFlow {
double [][] dls = { double [][] dls = {
combo_dsn_final[COMBO_DSN_INDX_DISP], combo_dsn_final[COMBO_DSN_INDX_DISP],
combo_dsn_final[COMBO_DSN_INDX_LMA], combo_dsn_final[COMBO_DSN_INDX_LMA],
combo_dsn_final[COMBO_DSN_INDX_STRENGTH] combo_dsn_final[COMBO_DSN_INDX_STRENGTH],
combo_dsn_final[COMBO_DSN_INDX_BLUE_SKY]
}; };
double [][] ds = conditionInitialDS( double [][] ds = conditionInitialDS(
...@@ -10673,7 +10354,7 @@ public class OpticalFlow { ...@@ -10673,7 +10354,7 @@ public class OpticalFlow {
final double strong_strength, final double strong_strength,
final double weak_strength) final double weak_strength)
{ {
// TODO:dls[3] if not null - blue sky - use for filtering.
final int tilesX = scene.getTileProcessor().getTilesX(); final int tilesX = scene.getTileProcessor().getTilesX();
final int tilesY = scene.getTileProcessor().getTilesY(); final int tilesY = scene.getTileProcessor().getTilesY();
final int transform_size = scene.getTileProcessor().getTileSize(); final int transform_size = scene.getTileProcessor().getTileSize();
...@@ -10688,7 +10369,7 @@ public class OpticalFlow { ...@@ -10688,7 +10369,7 @@ public class OpticalFlow {
clean_lma[i] = Double.NaN; clean_lma[i] = Double.NaN;
} }
} }
boolean [] blue_sky = scene.getBlueSky(); boolean [] blue_sky = scene.getBooleanBlueSky();
if (blue_sky != null) { if (blue_sky != null) {
for (int i = 0; i < clean_lma.length; i++) if (blue_sky[i]){ for (int i = 0; i < clean_lma.length; i++) if (blue_sky[i]){
clean_lma[i] = Double.NaN; clean_lma[i] = Double.NaN;
...@@ -10704,8 +10385,6 @@ public class OpticalFlow { ...@@ -10704,8 +10385,6 @@ public class OpticalFlow {
dbg_img[4] = clean_disparity.clone(); dbg_img[4] = clean_disparity.clone();
double [] disp_outliers = QuadCLT.removeDisparityLMAOutliers( // nothing removed (trying to remove bad LMA) double [] disp_outliers = QuadCLT.removeDisparityLMAOutliers( // nothing removed (trying to remove bad LMA)
false, // final boolean non_ma, false, // final boolean non_ma,
// dls, //final double [][] dls,
// new double[][] {dls[0], clean_lma, dls[2]}, //final double [][] dls,
new double[][] {clean_disparity, clean_lma, dls[2]}, //final double [][] dls, new double[][] {clean_disparity, clean_lma, dls[2]}, //final double [][] dls,
outliers_lma_max_strength, // final double max_strength, // do not touch stronger outliers_lma_max_strength, // final double max_strength, // do not touch stronger
outliers_lma_nth_fromextrem, // final int nth_fromextrem, // 0 - compare to max/min. 1 - second max/min, ... outliers_lma_nth_fromextrem, // final int nth_fromextrem, // 0 - compare to max/min. 1 - second max/min, ...
...@@ -10884,6 +10563,7 @@ public class OpticalFlow { ...@@ -10884,6 +10563,7 @@ public class OpticalFlow {
"ref_fill_dispatity_gaps-"+scene.getImageName(), "ref_fill_dispatity_gaps-"+scene.getImageName(),
dbg_titles); // dsrbg_titles); dbg_titles); // dsrbg_titles);
} }
// double dls_out = new double[][] {ds_filled[0],ds_filled[0],ds_filled[0],
return ds_filled; return ds_filled;
} }
...@@ -10937,12 +10617,14 @@ public class OpticalFlow { ...@@ -10937,12 +10617,14 @@ public class OpticalFlow {
watr_delta[2] = -watr_delta[2]; /// TESTING! watr_delta[2] = -watr_delta[2]; /// TESTING!
return new double [][] {wxyz_delta, watr_delta}; return new double [][] {wxyz_delta, watr_delta};
} }
float [][] getInterCorrOffsetsDebug( static float [][] getInterCorrOffsetsDebug(
final TpTask[] tp_tasks_ref, final TpTask[] tp_tasks_ref,
final TpTask[] tp_tasks, final TpTask[] tp_tasks,
final int numSens,
final int tilesX, final int tilesX,
final int tilesY final int tilesY
){ ){
final int tiles = tilesX * tilesY; final int tiles = tilesX * tilesY;
final float [][] offsets = new float [2*numSens+2][tiles]; final float [][] offsets = new float [2*numSens+2][tiles];
final int [] num_inp = new int[tiles]; final int [] num_inp = new int[tiles];
...@@ -11001,15 +10683,17 @@ public class OpticalFlow { ...@@ -11001,15 +10683,17 @@ public class OpticalFlow {
* actual X,Y for each sensor * actual X,Y for each sensor
* @param tp_tasks scene correlated to the reference, should also have * @param tp_tasks scene correlated to the reference, should also have
* per-sensor coordinates * per-sensor coordinates
* @param numSens number of sensors
* @param tilesX number of tile columns * @param tilesX number of tile columns
* @param tilesY number of tile rows. * @param tilesY number of tile rows.
* @return array of X, Y pairs ([tilesX*tilesY][2]), each may be null if * @return array of X, Y pairs ([tilesX*tilesY][2]), each may be null if
* not defined or out of tile. Returns null if no tiles contain a valid offset * not defined or out of tile. Returns null if no tiles contain a valid offset
*/ */
double [][] getInterCorrOffsets( static double [][] getInterCorrOffsets(
final double max_offset, final double max_offset,
final TpTask[] tp_tasks_ref, final TpTask[] tp_tasks_ref,
final TpTask[] tp_tasks, final TpTask[] tp_tasks,
final int numSens,
final int tilesX, final int tilesX,
final int tilesY final int tilesY
){ ){
...@@ -11196,7 +10880,7 @@ public class OpticalFlow { ...@@ -11196,7 +10880,7 @@ public class OpticalFlow {
return tp_tasks_ref; return tp_tasks_ref;
} }
public double [][][] interCorrPair( // return [tilesX*telesY]{ref_pXpYD, dXdYS} public static double [][][] interCorrPair( // return [tilesX*telesY]{ref_pXpYD, dXdYS}
CLTParameters clt_parameters, CLTParameters clt_parameters,
double mb_max_gain, double mb_max_gain,
QuadCLT ref_scene, QuadCLT ref_scene,
...@@ -11275,7 +10959,7 @@ public class OpticalFlow { ...@@ -11275,7 +10959,7 @@ public class OpticalFlow {
} }
ImageDtt image_dtt; ImageDtt image_dtt;
image_dtt = new ImageDtt( image_dtt = new ImageDtt(
numSens, ref_scene.getNumSensors(), // ,
clt_parameters.transform_size, clt_parameters.transform_size,
clt_parameters.img_dtt, clt_parameters.img_dtt,
ref_scene.isAux(), ref_scene.isAux(),
...@@ -11444,6 +11128,7 @@ public class OpticalFlow { ...@@ -11444,6 +11128,7 @@ public class OpticalFlow {
float [][] foffsets = getInterCorrOffsetsDebug( float [][] foffsets = getInterCorrOffsetsDebug(
tp_tasks_ref, // final TpTask[] tp_tasks_ref, tp_tasks_ref, // final TpTask[] tp_tasks_ref,
tp_tasks[0], // final TpTask[] tp_tasks, tp_tasks[0], // final TpTask[] tp_tasks,
ref_scene.getNumSensors(),
tilesX, // final int tilesX, tilesX, // final int tilesX,
tilesY); // final int tilesY tilesY); // final int tilesY
for (int i = 0; (i < dbg_corr_fpn.length) && (i < foffsets.length); i++) { for (int i = 0; (i < dbg_corr_fpn.length) && (i < foffsets.length); i++) {
...@@ -11457,6 +11142,7 @@ public class OpticalFlow { ...@@ -11457,6 +11142,7 @@ public class OpticalFlow {
fpn_max_offset, // final double max_offset, fpn_max_offset, // final double max_offset,
tp_tasks_ref, // final TpTask[] tp_tasks_ref, tp_tasks_ref, // final TpTask[] tp_tasks_ref,
tp_tasks[0], // final TpTask[] tp_tasks, tp_tasks[0], // final TpTask[] tp_tasks,
ref_scene.getNumSensors(), // final int numSens,
tilesX, // final int tilesX, tilesX, // final int tilesX,
tilesY); // final int tilesY); tilesY); // final int tilesY);
} }
...@@ -11743,7 +11429,7 @@ public class OpticalFlow { ...@@ -11743,7 +11429,7 @@ public class OpticalFlow {
* that are discarded by the disparity filter. Multiply result by the the window and * that are discarded by the disparity filter. Multiply result by the the window and
* accumulate (in 4 passes to prevent contentions for the same destination array * accumulate (in 4 passes to prevent contentions for the same destination array
*/ */
public void equalizeMotionVectorsWeights( public static void equalizeMotionVectorsWeights(
final double [][][] coord_motion, final double [][][] coord_motion,
final int tilesX, final int tilesX,
final int stride_hor, final int stride_hor,
...@@ -12518,7 +12204,7 @@ public class OpticalFlow { ...@@ -12518,7 +12204,7 @@ public class OpticalFlow {
return new double [][] {camera_xyz0, camera_atr0}; return new double [][] {camera_xyz0, camera_atr0};
} }
public int reAdjustPairsLMAInterscene( // after combo dgi is available and preliminary poses are known public static int reAdjustPairsLMAInterscene( // after combo dgi is available and preliminary poses are known
CLTParameters clt_parameters, CLTParameters clt_parameters,
double mb_max_gain, double mb_max_gain,
boolean [] reliable_ref, // null or bitmask of reliable reference tiles boolean [] reliable_ref, // null or bitmask of reliable reference tiles
...@@ -13121,7 +12807,7 @@ public class OpticalFlow { ...@@ -13121,7 +12807,7 @@ public class OpticalFlow {
return data_out; return data_out;
} }
public double[][] adjustPairsLMAInterscene( public static double[][] adjustPairsLMAInterscene(
CLTParameters clt_parameters, CLTParameters clt_parameters,
QuadCLT reference_QuadClt, QuadCLT reference_QuadClt,
double [] ref_disparity, // null or alternative reference disparity double [] ref_disparity, // null or alternative reference disparity
...@@ -13183,7 +12869,7 @@ public class OpticalFlow { ...@@ -13183,7 +12869,7 @@ public class OpticalFlow {
debug_level); // int debug_level) debug_level); // int debug_level)
} }
public double[][] adjustPairsLMAInterscene( // assumes reference scene already set in GPU. public static double[][] adjustPairsLMAInterscene( // assumes reference scene already set in GPU.
CLTParameters clt_parameters, CLTParameters clt_parameters,
QuadCLT reference_QuadClt, QuadCLT reference_QuadClt,
double [] ref_disparity, // null or alternative reference disparity double [] ref_disparity, // null or alternative reference disparity
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ de496a4b
...@@ -847,7 +847,6 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -847,7 +847,6 @@ public class QuadCLT extends QuadCLTCPU {
final int num_refines, // 2 final int num_refines, // 2
final int min_good, // minimal number of "good" pixels final int min_good, // minimal number of "good" pixels
final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls, final double [][] combo_dsn_final, // double [][] combo_dsn_final, // dls,
final boolean[] blue_sky,
int threadsMax, int threadsMax,
final boolean debug) final boolean debug)
{ {
...@@ -862,8 +861,8 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -862,8 +861,8 @@ public class QuadCLT extends QuadCLTCPU {
disparity_ref[i] = Double.NaN; disparity_ref[i] = Double.NaN;
} }
} }
if (blue_sky != null) { if (combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY] != null) {
for (int i = 0; i < blue_sky.length; i++) if (blue_sky[i]) { for (int i = 0; i < disparity_ref.length; i++) if (combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY][i] > 0.0) {
disparity_ref[i] = 0.0; disparity_ref[i] = 0.0;
} }
} }
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ de496a4b
...@@ -167,7 +167,9 @@ public class QuadCLTCPU { ...@@ -167,7 +167,9 @@ public class QuadCLTCPU {
public int num_orient = 0; public int num_orient = 0;
//number of times scenes are accumulated: 0 - none, 1 - after first orientation, 2 - after second orientation //number of times scenes are accumulated: 0 - none, 1 - after first orientation, 2 - after second orientation
public int num_accum = 0; public int num_accum = 0;
public boolean[] blue_sky = null; // TODO: Use dsi[] instead
// @Deprecated
// public boolean[] blue_sky = null;
public void inc_orient() {num_orient++;} public void inc_orient() {num_orient++;}
public void inc_accum() {num_accum++;} public void inc_accum() {num_accum++;}
public void set_orient(int num) {num_orient = num;} public void set_orient(int num) {num_orient = num;}
...@@ -720,15 +722,53 @@ public class QuadCLTCPU { ...@@ -720,15 +722,53 @@ public class QuadCLTCPU {
} }
return sky_tiles; return sky_tiles;
} }
// @Deprecated
// public boolean [] getBlueSky () {
// return this.blue_sky;
// }
public double [] getDoubleBlueSky() {
if (this.dsi == null) {
return null;
}
return this.dsi[is_aux?TwoQuadCLT.DSI_BLUE_SKY_AUX:TwoQuadCLT.DSI_BLUE_SKY_MAIN];
}
public boolean[] getBooleanBlueSky() {
double [] double_blue_sky = getDoubleBlueSky();
if (double_blue_sky == null) {
return null;
}
boolean [] blue_sky = new boolean[double_blue_sky.length];
for (int i = 0; i < blue_sky.length; i++) {
blue_sky[i] = double_blue_sky[i] > 0;
}
return blue_sky;
}
public boolean [] getBlueSky () { public boolean hasBlueSky() {
return this.blue_sky; return (getDoubleBlueSky() != null);
} }
// @Deprecated
public void setBlueSky (boolean [] blue_sky) { public void setBlueSky (boolean [] blue_sky) {
this.blue_sky = blue_sky; double [] double_blue_sky = new double [blue_sky.length];
for (int i = 0; i < blue_sky.length; i++) {
double_blue_sky[i] = blue_sky[i]? 1.0 : 0.0;
}
setBlueSky (double_blue_sky);
}
public void setBlueSky (double [] double_blue_sky) {
if (dsi == null) {
dsi = new double [TwoQuadCLT.DSI_SLICES.length][]; // will not have DSI_SPREAD_AUX
}
int bs_index = is_aux?TwoQuadCLT.DSI_BLUE_SKY_AUX:TwoQuadCLT.DSI_BLUE_SKY_MAIN;
dsi[bs_index] = double_blue_sky;
} }
public void setBlueSky ( public void setBlueSky (
double sky_seed, // = 7.0; // start with product of strength by diff_second below this double sky_seed, // = 7.0; // start with product of strength by diff_second below this
double lma_seed, // 2.0; // seed - disparity_lma limit double lma_seed, // 2.0; // seed - disparity_lma limit
...@@ -755,7 +795,8 @@ public class QuadCLTCPU { ...@@ -755,7 +795,8 @@ public class QuadCLTCPU {
double [] avg_val, double [] avg_val,
int debugLevel) { int debugLevel) {
int width = tp.getTilesX(); int width = tp.getTilesX();
this.blue_sky = getBlueSky ( // this.blue_sky = getBlueSky (
setBlueSky(getBlueSky (
sky_seed, // = 7.0; // start with product of strength by diff_second below this sky_seed, // = 7.0; // start with product of strength by diff_second below this
lma_seed, // 2.0; // seed - disparity_lma limit lma_seed, // 2.0; // seed - disparity_lma limit
sky_lim, // = 15.0; // then expand to product of strength by diff_second below this sky_lim, // = 15.0; // then expand to product of strength by diff_second below this
...@@ -780,13 +821,10 @@ public class QuadCLTCPU { ...@@ -780,13 +821,10 @@ public class QuadCLTCPU {
spread, spread,
disp_lma, disp_lma,
avg_val, avg_val,
debugLevel); debugLevel));
} }
public void setDSI( double [][] dsi) {
this.dsi = dsi; // make sure available blue sky is not erased
public void setDSI(
double [][] dsi) {
this.dsi = dsi;
} }
public void setDSIFromCombo( public void setDSIFromCombo(
...@@ -798,6 +836,8 @@ public class QuadCLTCPU { ...@@ -798,6 +836,8 @@ public class QuadCLTCPU {
combo_dsi[OpticalFlow.COMBO_DSN_INDX_STRENGTH]; combo_dsi[OpticalFlow.COMBO_DSN_INDX_STRENGTH];
this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA] = this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_LMA]; combo_dsi[OpticalFlow.COMBO_DSN_INDX_LMA];
this.dsi[is_aux?TwoQuadCLT.DSI_BLUE_SKY_AUX:TwoQuadCLT.DSI_BLUE_SKY_MAIN] =
combo_dsi[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY];
} }
...@@ -852,7 +892,7 @@ public class QuadCLTCPU { ...@@ -852,7 +892,7 @@ public class QuadCLTCPU {
reliable[i] = (strength[i] >= min_strength) && reliable[i] = (strength[i] >= min_strength) &&
(!needs_lma || !Double.isNaN(disparity_lma[i])); (!needs_lma || !Double.isNaN(disparity_lma[i]));
} }
boolean [] blue_sky = getBlueSky(); boolean [] blue_sky = getBooleanBlueSky();
if (blue_sky != null) { if (blue_sky != null) {
for (int i = 0; i < reliable.length; i++) { for (int i = 0; i < reliable.length; i++) {
reliable[i] &= !blue_sky[i]; reliable[i] &= !blue_sky[i];
...@@ -1246,31 +1286,6 @@ public class QuadCLTCPU { ...@@ -1246,31 +1286,6 @@ public class QuadCLTCPU {
referenceExposures = eyesisCorrections.calcReferenceExposures(sourceFiles, debugLevel); referenceExposures = eyesisCorrections.calcReferenceExposures(sourceFiles, debugLevel);
} }
// move after restoring properties // move after restoring properties
/*
int [] channelFiles = set_channels[0].fileNumber();
boolean [][] saturation_imp = (clt_parameters.sat_level > 0.0)? new boolean[channelFiles.length][] : null;
double [] scaleExposures = new double[channelFiles.length];
conditionImageSet(
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
colorProcParameters, // ColorProcParameters colorProcParameters, //
sourceFiles, // String [] sourceFiles,
this.image_name, // String set_name,
referenceExposures, // double [] referenceExposures,
channelFiles, // int [] channelFiles,
scaleExposures, // output // double [] scaleExposures
saturation_imp, // output // boolean [][] saturation_imp,
threadsMax, // int threadsMax,
debugLevelInner); // int debugLevel);
if (noise_sigma_level != null) {
generateAddNoise(
"-NOISE",
ref_scene, // final QuadCLTCPU ref_scene, // may be null if scale_fpn <= 0
noise_sigma_level,
noise_variant, //final int noise_variant, // <0 - no-variants, compatible with old code
threadsMax,
1); // debugLevel); // final int debug_level)
}
*/
// try to restore DSI generated from interscene if available, if not use single-scene -DSI_MAIN // try to restore DSI generated from interscene if available, if not use single-scene -DSI_MAIN
int dsi_result = -1; int dsi_result = -1;
int max_length=OpticalFlow.COMBO_DSN_TITLES.length; int max_length=OpticalFlow.COMBO_DSN_TITLES.length;
...@@ -1297,7 +1312,7 @@ public class QuadCLTCPU { ...@@ -1297,7 +1312,7 @@ public class QuadCLTCPU {
System.out.println("No DSI data for the scene "+this.getImageName()+", setting this.dsi=null"); System.out.println("No DSI data for the scene "+this.getImageName()+", setting this.dsi=null");
setDSI(null); setDSI(null);
} }
// WAS: resore only if (dsi_result < 0)... else // WAS: restore only if (dsi_result < 0)... else
restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98) restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
null, // String path, // full name with extension or null to use x3d directory null, // String path, // full name with extension or null to use x3d directory
false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics) false, // boolean all_properties,// null, // Properties properties, // if null - will only save extrinsics)
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ de496a4b
...@@ -78,7 +78,9 @@ public class TwoQuadCLT { ...@@ -78,7 +78,9 @@ public class TwoQuadCLT {
public static int DSI_SPREAD_AUX = 10; public static int DSI_SPREAD_AUX = 10;
public static int DSI_AVGVAL_MAIN = 11; public static int DSI_AVGVAL_MAIN = 11;
public static int DSI_AVGVAL_AUX = 12; public static int DSI_AVGVAL_AUX = 12;
public static int DSI_LENGTH = DSI_AVGVAL_AUX+1; public static int DSI_BLUE_SKY_MAIN = 13;
public static int DSI_BLUE_SKY_AUX = 14;
public static int DSI_LENGTH = DSI_BLUE_SKY_AUX+1;
public static String DSI_COMBO_SUFFIX = "-DSI_COMBO"; public static String DSI_COMBO_SUFFIX = "-DSI_COMBO";
public static String DSI_MAIN_SUFFIX = "-DSI_MAIN"; public static String DSI_MAIN_SUFFIX = "-DSI_MAIN";
...@@ -96,7 +98,9 @@ public class TwoQuadCLT { ...@@ -96,7 +98,9 @@ public class TwoQuadCLT {
"spread_main", "spread_main",
"spread_aux", "spread_aux",
"avgval_main", "avgval_main",
"avgval_aux"}; "avgval_aux",
"blue_sky_main",
"blue_sky_aux"};
public long startTime; // start of batch processing public long startTime; // start of batch processing
public long startSetTime; // start of set processing public long startSetTime; // start of set processing
......
src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwirWorld.java
View file @ de496a4b
...@@ -280,7 +280,7 @@ public class LwirWorld { ...@@ -280,7 +280,7 @@ public class LwirWorld {
/* */ /* */
while ((quadCLTs[ref_index] == null) || (quadCLTs[ref_index].getBlueSky() == null)) { // null while ((quadCLTs[ref_index] == null) || !quadCLTs[ref_index].hasBlueSky()) { // null
if (build_ref_dsi) { if (build_ref_dsi) {
TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
// processing? // processing?
...@@ -392,11 +392,9 @@ public class LwirWorld { ...@@ -392,11 +392,9 @@ public class LwirWorld {
dsi[TwoQuadCLT.DSI_AVGVAL_AUX],// double [] avg_val, dsi[TwoQuadCLT.DSI_AVGVAL_AUX],// double [] avg_val,
batch_mode? -1: 1); /// debugLevel); // int debugLevel) batch_mode? -1: 1); /// debugLevel); // int debugLevel)
if (ran_photo_each) { if (ran_photo_each) {
quadCLTs[ref_index].setBlueSky(null); // Reset blue sky - is it needed? double [] blue_sky = quadCLTs[ref_index].getDoubleBlueSky();
// see if blue sky was detected - rerun photoEach
boolean [] blue_sky = quadCLTs[ref_index].getBlueSky();
boolean has_blue_sky = false; boolean has_blue_sky = false;
for (int i = 0; i < blue_sky.length; i++) if (blue_sky[i]) { for (int i = 0; i < blue_sky.length; i++) if (blue_sky[i] > 0) {
has_blue_sky = true; has_blue_sky = true;
break; break;
} }
......
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