Working on smooth ground surface (deb75ee0) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+63 −2

Original line number	Diff line number	Diff line
		@@ -468,6 +468,17 @@ public class CLTParameters {
		public boolean gltf_alpha_blend = false; // true; // Use alpha blend (false - opaque)

		// parameters for ground maps generation
		// discard vegetation (tall objects), LPF ground surface. Especially needed for low quality depth map (no SfM)
		public boolean gsmth_use_lma = true; // use only LMA-generated depth tiles
		public double gsmth_discard_low = 0.2; // discard % of the lowest tiles (holes?)
		public double gsmth_discard_high = 0.3; // discard % of the tallest tiles (high objects)
		public int gsmth_stile_hstep = 4; // use supertiles twice larger
		public double gsmth_stile_radius = 8.0; // fit planes to the data within this radius of the supertile center
		public double gsmth_sigma = 4.0; // Additionally LPF after fitting planes
		public int gsmth_radius_levels = 4; // increase radius twice multiple time if there are no enough tiles
		public int gsmth_min_non_empty = 10; // minimal number of non-empty tiles for fitting planes
		public int gsmth_border_level = 1; // 1 - start with twice larger radius for forder supertiles

		public boolean gmap_render_hdr = true; // generate textures w/o normalization to generate undistorted
		public boolean gmap_en = true; // generate ground map from a drone (enables gmap_render_hdr)
		public boolean gmap_parallel_proj = true; // Use parallel projection (map)
		@@ -1626,6 +1637,16 @@ public class CLTParameters {
		properties.setProperty(prefix+"gltf_emissive", this.gltf_emissive+"");
		properties.setProperty(prefix+"gltf_alpha_blend", this.gltf_alpha_blend+"");

		properties.setProperty(prefix+"gsmth_use_lma", this.gsmth_use_lma+ ""); // boolean
		properties.setProperty(prefix+"gsmth_discard_low", this.gsmth_discard_low+ ""); // double
		properties.setProperty(prefix+"gsmth_discard_high", this.gsmth_discard_high+ ""); // double
		properties.setProperty(prefix+"gsmth_stile_hstep", this.gsmth_stile_hstep+ ""); // int
		properties.setProperty(prefix+"gsmth_stile_radius", this.gsmth_stile_radius+ ""); // double
		properties.setProperty(prefix+"gsmth_sigma", this.gsmth_sigma+ ""); // double
		properties.setProperty(prefix+"gsmth_radius_levels", this.gsmth_radius_levels+""); // int
		properties.setProperty(prefix+"gsmth_min_non_empty", this.gsmth_min_non_empty+""); // int
		properties.setProperty(prefix+"gsmth_border_level", this.gsmth_border_level+ ""); // int

		properties.setProperty(prefix+"gmap_render_hdr", this.gmap_render_hdr+""); // boolean
		properties.setProperty(prefix+"gmap_en", this.gmap_en+""); // boolean
		properties.setProperty(prefix+"gmap_parallel_proj", this.gmap_parallel_proj+""); // boolean
		@@ -2659,6 +2680,16 @@ public class CLTParameters {
		if (properties.getProperty(prefix+"gltf_emissive")!=null) this.gltf_emissive=Boolean.parseBoolean(properties.getProperty(prefix+"gltf_emissive"));
		if (properties.getProperty(prefix+"gltf_alpha_blend")!=null) this.gltf_alpha_blend=Boolean.parseBoolean(properties.getProperty(prefix+"gltf_alpha_blend"));

		if (properties.getProperty(prefix+"gsmth_use_lma")!=null) this.gsmth_use_lma =Boolean.parseBoolean(properties.getProperty(prefix+ "gsmth_use_lma" ));
		if (properties.getProperty(prefix+"gsmth_discard_low")!=null) this.gsmth_discard_low =Double.parseDouble(properties.getProperty(prefix+ "gsmth_discard_low" ));
		if (properties.getProperty(prefix+"gsmth_discard_high")!=null) this.gsmth_discard_high =Double.parseDouble(properties.getProperty(prefix+ "gsmth_discard_high" ));
		if (properties.getProperty(prefix+"gsmth_stile_hstep")!=null) this.gsmth_stile_hstep =Integer.parseInt(properties.getProperty(prefix+ "gsmth_stile_hstep" ));
		if (properties.getProperty(prefix+"gsmth_stile_radius")!=null) this.gsmth_stile_radius =Double.parseDouble(properties.getProperty(prefix+ "gsmth_stile_radius" ));
		if (properties.getProperty(prefix+"gsmth_sigma")!=null) this.gsmth_sigma =Double.parseDouble(properties.getProperty(prefix+ "gsmth_sigma" ));
		if (properties.getProperty(prefix+"gsmth_radius_levels")!=null) this.gsmth_radius_levels=Integer.parseInt(properties.getProperty(prefix+ "gsmth_radius_levels"));
		if (properties.getProperty(prefix+"gsmth_min_non_empty")!=null) this.gsmth_min_non_empty=Integer.parseInt(properties.getProperty(prefix+ "gsmth_min_non_empty"));
		if (properties.getProperty(prefix+"gsmth_border_level")!=null) this.gsmth_border_level =Integer.parseInt(properties.getProperty(prefix+ "gsmth_border_level" ));

		if (properties.getProperty(prefix+"gmap_render_hdr")!=null) this.gmap_render_hdr=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_render_hdr"));
		if (properties.getProperty(prefix+"gmap_en")!=null) this.gmap_en=Boolean.parseBoolean(properties.getProperty(prefix+ "gmap_en"));
		if (properties.getProperty(prefix+"gmap_parallel_proj")!=null) this.gmap_parallel_proj=Boolean.parseBoolean(properties.getProperty(prefix+"gmap_parallel_proj"));
		@@ -3921,6 +3952,26 @@ public class CLTParameters {
		gd.addMessage ("glTF export");
		gd.addCheckbox ("glTF use emissive textures", this.gltf_emissive);
		gd.addCheckbox ("glTF use alpha blend", this.gltf_alpha_blend);
		gd.addMessage ("Extract smooth ground surface");

		gd.addCheckbox ("Use only LMA disparity for ground", this.gsmth_use_lma,
		"Use only LMA-generated disparity to find the ground plane to project the map.");
		gd.addNumericField("Discard low fraction", this.gmap_discard_low, 4,6,"",
		"Discard lowest tiles (ditches) up to this fraction of all available tiles when finding the ground plane for the map projection.");
		gd.addNumericField("Discard high fraction", this.gsmth_discard_high, 4,6,"",
		"Discard highest tiles (vegetation, structure) up to this fraction of all available tiles when finding the ground plane for the map projection.");
		gd.addNumericField("Half-pitch of the supertiles", this.gsmth_stile_hstep, 0,3,"tiles",
		"Supertiles centers will be at 1x, 3x, 5x, ... this value in each of the ortho directions.");
		gd.addNumericField("Plane-fitting radius", this.gsmth_stile_radius, 4,6,"tiles",
		"Fit a plane to each supertile using tiles within this radius around the center.");
		gd.addNumericField("LPF sigma", this.gsmth_sigma, 4,6,"tiles",
		"Use Gaussian blur to additionally blur the surface of the fitted planes.");
		gd.addNumericField("Number of radius levels", this.gsmth_radius_levels, 0,3,"pix",
		"Number of times to double fitting radius when there are insufficient tiles for plane fitting.");
		gd.addNumericField("Minimal tiles for fitting", this.gsmth_min_non_empty, 0,3,"pix",
		"Minimal number of tiles needed for plane fitting.");
		gd.addNumericField("Border radius level", this.gsmth_border_level, 0,3,"pix",
		"Start with higher radius level for border supertiles (1 - use twice larger radius.");

		gd.addMessage ("Ground map export");
		gd.addMessage ("Use of IMS/GNSS data is "+(imp.ims_use? "ENABLED":"DISABLED")+" (see 'IMS' configuration tab)");
		@@ -5184,6 +5235,16 @@ public class CLTParameters {
		this.gltf_emissive= gd.getNextBoolean();
		this.gltf_alpha_blend= gd.getNextBoolean();

		this.gsmth_use_lma= gd.getNextBoolean();
		this.gsmth_discard_low= gd.getNextNumber();
		this.gsmth_discard_high= gd.getNextNumber();
		this.gsmth_stile_hstep= (int) gd.getNextNumber();
		this.gsmth_stile_radius= gd.getNextNumber();
		this.gsmth_sigma= gd.getNextNumber();
		this.gsmth_radius_levels= (int) gd.getNextNumber();
		this.gsmth_min_non_empty= (int) gd.getNextNumber();
		this.gsmth_border_level= (int) gd.getNextNumber();

		this.gmap_render_hdr= gd.getNextBoolean();
		this.gmap_en= gd.getNextBoolean();
		this.gmap_parallel_proj= gd.getNextBoolean();

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

+1 −1

Original line number	Diff line number	Diff line
		@@ -5429,7 +5429,7 @@ public class OpticalFlow {
		}
		}

		// quadCLTs[ref_index].getSmoothGround(clt_parameters);
		quadCLTs[ref_index].getSmoothGround(clt_parameters, debugLevel);

		// later move to the right place
		if (adjust_imu_orient) { // (quadCLTs[ref_index].getNumOrient() >= clt_parameters.imp.mb_all_index)) {

src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java

+86 −67

Original line number	Diff line number	Diff line
		@@ -1682,18 +1682,19 @@ public class QuadCLTCPU {
		debug_level);
		}
		}
		public double [] getSmoothGround(final CLTParameters clt_parameters) {
		final boolean use_lma = true; // false, or there will be too many gaps?
		final double discard_low = 0.1; // fraction of all pixels
		final double discard_high = 0.5; // fraction of all pixels
		// final double discard_adisp, // discard above/below this fraction of average height
		// final double discard_rdisp, // discard above/below this fraction of average height
		final int stile_hstep = 4;
		final double stile_radius = 8.0; //
		final double sigma = 2.0;
		final int radius_levels = 4;
		final int min_non_empty = 10; // minimal number of non-empty tiles for fitting planes
		final int debugLevel = 3;
		public double [] getSmoothGround(
		CLTParameters clt_parameters,
		int debugLevel) {
		boolean use_lma = clt_parameters.gsmth_use_lma;
		double discard_low = clt_parameters.gsmth_discard_low;
		double discard_high = clt_parameters.gsmth_discard_high;
		int stile_hstep = clt_parameters.gsmth_stile_hstep;
		double stile_radius = clt_parameters.gsmth_stile_radius;
		double sigma = clt_parameters.gsmth_sigma;
		int radius_levels = clt_parameters.gsmth_radius_levels;
		int min_non_empty = clt_parameters.gsmth_min_non_empty;
		int border_start_lev= clt_parameters.gsmth_border_level;
		debugLevel = 3;
		return getSmoothGround(
		clt_parameters, // final CLTParameters clt_parameters,
		use_lma, // final boolean use_lma, // false, or there will be too many gaps?
		@@ -1704,24 +1705,26 @@ public class QuadCLTCPU {
		sigma, // final double sigma,
		radius_levels, // final int radius_levels,
		min_non_empty, // final int min_non_empty, // minimal number of non-empty tiles for fitting planes
		border_start_lev, // final int border_start_lev0,
		debugLevel); // final int debugLevel);
		}

		public double [] getSmoothGround(
		final CLTParameters clt_parameters,
		final boolean use_lma, // false, or there will be too many gaps?
		final double discard_low, // fraction of all pixels
		final double discard_high, // fraction of all pixels
		// final double discard_adisp, // discard above/below this fraction of average height
		// final double discard_rdisp, // discard above/below this fraction of average height
		final int stile_hstep,
		final double stile_radius,
		final double sigma,
		final int radius_levels,
		final int min_non_empty, // minimal number of non-empty tiles for fitting planes
		final int border_start_lev0,
		final int debugLevel) {
		final int border_start_lev = Math.min(border_start_lev0,radius_levels-1);
		final int stile_step = 2 * stile_hstep;
		final int num_bins = 1000;
		final double normal_damping = 0.001; // pull to horizontal if not enough data
		final double normal_damping = 0.000001; // 0.001; // pull to horizontal if not enough data
		final double hist_rlow = 0.5;
		final double hist_rhigh = 2.0;
		// allow strong/high, but not near the edges
		@@ -1734,6 +1737,8 @@ public class QuadCLTCPU {
		final double [][][] wnd= new double[radius_levels][][]; // ][irad][irad];
		final double [] rad = new double [radius_levels];
		final int [] irada = new int [radius_levels];

		final double [][] dbg2_img= (debugLevel > 0) ? new double [2][tilesX*tilesY]: null;
		for (int nlev = 0; nlev < radius_levels; nlev++ ) {
		if (nlev==0) {
		rad[nlev] = stile_radius;
		@@ -1779,16 +1784,23 @@ public class QuadCLTCPU {
		int stileX = nstile % stilesX;
		int stileY = nstile / stilesX;
		int nlev = 0;
		if ((stileX == 0) \|\| (stileY==0) \|\| (stileX == (stilesX-1)) \|\| (stileY == (stilesY-1))) {
		nlev = border_start_lev; // start from the second level
		}
		int num_non_empty; // fill data arrays and the histogram
		int tileXC = stile_hstep + stile_step * stileX; // center tiles
		int tileYC = stile_hstep + stile_step * stileY;
		int ntileC = tileXC + tilesX * tileYC;

		int numgood = 0;
		int irad=0;
		int idia=0;
		double [] stile_d=null;
		double [] stile_w=null;
		for (; nlev < radius_levels; nlev++) {
		int irad = irada[nlev];
		int idia = 2 * irad - 1;
		double [] stile_d = new double [idia*idia];
		double [] stile_w = new double [idia*idia];
		irad = irada[nlev];
		idia = 2 * irad - 1;
		stile_d = new double [idia*idia];
		stile_w = new double [idia*idia];
		// Arrays.fill(stile_w, 0.0); // not all elements may be filled
		Arrays.fill(hist, 0.0);
		double sw=0; // , swd=0;
		@@ -1842,7 +1854,7 @@ public class QuadCLTCPU {
		}
		shp = sh- hist[indx];
		double thr_high = hist_low+ (indx + (sh - dh)/(sh-shp))/num_bins *(hist_high-hist_low);
		int numgood = 0;
		numgood = 0;
		// boolean [] good = new boolean[ds[0].length];
		sw = 0.0;
		// swd = 0.0;
		@@ -1860,8 +1872,13 @@ public class QuadCLTCPU {
		}
		}

		if (numgood < min_non_empty) {
		continue; // go to the next radius level
		if (numgood >= min_non_empty) {
		break; // go to the next radius level
		}
		}
		if (dbg2_img != null) {
		dbg2_img[0][ntileC] = nlev;
		dbg2_img[1][ntileC] = numgood;
		}
		// fit plane
		double [][][] mdata = new double [numgood][][];
		@@ -1893,7 +1910,7 @@ public class QuadCLTCPU {
		stiles_coeff[nstile][0] = approx2d[0][2]; // offset
		stiles_coeff[nstile][1] = approx2d[0][0]; // tiltX
		stiles_coeff[nstile][2] = approx2d[0][1]; // tiltY
		}

		}
		}
		};
		@@ -1929,12 +1946,14 @@ public class QuadCLTCPU {
		ImageDtt.startAndJoin(threads);
		// Maybe use Gaussian? to additionally smooth "seams"
		double [][] dbg_img = null;
		if (debugLevel > 0 ) {
		dbg_img = new double[5][];
		if (dbg2_img !=null ) {
		dbg_img = new double[7][];
		dbg_img[0] = dls[2]; // strt
		dbg_img[1] = dls[0]; // disp
		dbg_img[2] = dls[1]; // lma
		dbg_img[3] = smooth_disparity.clone();
		dbg_img[5] = dbg2_img[0]; // nlev
		dbg_img[6] = dbg2_img[1]; // numgood
		}

		if (sigma > 0) {
		@@ -1942,7 +1961,7 @@ public class QuadCLTCPU {
		}
		if (dbg_img != null) {
		dbg_img[4] = smooth_disparity;
		String [] dbg_titles = {"str", "disp", "lma", "smooth", "blur"};
		String [] dbg_titles = {"str", "disp", "lma", "smooth", "blur", "nlev","numgood"};
		ShowDoubleFloatArrays.showArrays(
		dbg_img,
		tp.getTilesX(),

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