added multi-cluster backdrop (df789de8) · Commits · Elphel / imagej-elphel

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

+11 −4

Original line number	Diff line number	Diff line
		@@ -520,6 +520,7 @@ public class CLTParameters {
		public boolean lre_show_textures_slice = false; //true;
		public boolean lre_show_textures_combo = false; //true;
		public boolean lre_show_textures_tiles = false; //true;
		public boolean lre_show_sky_textures = false; //true;

		public double pt_super_trust = 1.6; // If strength exceeds ex_strength * super_trust, do not apply ex_nstrength and plate_ds
		public boolean pt_keep_raw_fg = true; // Do not replace raw tiles by the plates, if raw is closer (like poles)
		@@ -1626,6 +1627,8 @@ public class CLTParameters {
		properties.setProperty(prefix+"lre_show_textures_combo", this.lre_show_textures_combo+""); // boolean
		properties.setProperty(prefix+"lre_show_textures_tiles", this.lre_show_textures_tiles+""); // boolean

		properties.setProperty(prefix+"lre_show_sky_textures", this.lre_show_sky_textures+""); // boolean

		properties.setProperty(prefix+"pt_super_trust", this.pt_super_trust +"");
		properties.setProperty(prefix+"pt_keep_raw_fg", this.pt_keep_raw_fg+"");
		properties.setProperty(prefix+"pt_scale_pre", this.pt_scale_pre +"");
		@@ -2607,6 +2610,7 @@ public class CLTParameters {
		if (properties.getProperty(prefix+"lre_show_textures_combo")!=null) this.lre_show_textures_combo=Boolean.parseBoolean(properties.getProperty(prefix+"lre_show_textures_combo"));// boolean
		if (properties.getProperty(prefix+"lre_show_textures_tiles")!=null) this.lre_show_textures_tiles=Boolean.parseBoolean(properties.getProperty(prefix+"lre_show_textures_tiles"));// boolean

		if (properties.getProperty(prefix+"lre_show_sky_textures")!=null) this.lre_show_sky_textures=Boolean.parseBoolean(properties.getProperty(prefix+"lre_show_sky_textures"));// boolean

		if (properties.getProperty(prefix+"pt_super_trust")!=null) this.pt_super_trust=Double.parseDouble(properties.getProperty(prefix+"pt_super_trust"));
		if (properties.getProperty(prefix+"pt_keep_raw_fg")!=null) this.pt_keep_raw_fg=Boolean.parseBoolean(properties.getProperty(prefix+"pt_keep_raw_fg"));
		@@ -3857,6 +3861,8 @@ public class CLTParameters {
		"Show all-slice combined images for textures calculation.");
		gd.addCheckbox ("Show tile-resolution images", this.lre_show_textures_tiles, // false;
		"Show all-slices texture debug images with tile resolution (80x64 for Boson 640).");
		gd.addCheckbox ("Show sky/backdrop texture expanding", this.lre_show_sky_textures, // false;
		"Show how sky/backdrop texture is cut and extrapolated.");

		gd.addTab ("Plates", "Plates filtering when building initial z-map");
		gd.addMessage ("******* Plates filtering when building initial z-map *******");
		@@ -4971,8 +4977,9 @@ public class CLTParameters {
		this.lre_show_textures_slice= gd.getNextBoolean(); // boolean
		this.lre_show_textures_combo= gd.getNextBoolean(); // boolean
		this.lre_show_textures_tiles= gd.getNextBoolean(); // boolean
		// end of gd.addtab ("Lateral resolution enhancement");
		this.lre_show_sky_textures= gd.getNextBoolean(); // boolean

		// end of gd.addtab ("Lateral resolution enhancement");

		this.pt_super_trust= gd.getNextNumber();
		this.pt_keep_raw_fg= gd.getNextBoolean();

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

+251 −18

Original line number	Diff line number	Diff line
		@@ -326,6 +326,143 @@ public class TexturedModel {
		return new int [] {best_tile, best_layer};
		}

		/**
		* Create a "blue sky" tile cluster with flaps, may be disconnected. Should be ran before
		* all other clusters are created
		* @param disparity_layers [layers][tiles] multi-layer disparity array with NaN
		* for non-existing tiles
		* @param blue_sky per-tile array of the "blue sky" boolean array
		* @param blue_sky_layer layer for the "blue sky" data (should be on a single layer)
		* @param blue_sky_below (only if is_sky_cluster) if >=0 - extend bounds, if <0 treat blue_sky bounds
		* same as regular ones.
		* @param max_neib_lev maximal neighbor level of borders used to generate internal int [] neib_lev
		* array. Neighbor level 0 corresponds to internal tiles that uses original
		* disparity, level 1 - neighbors of level 0 on the border or in conflict with
		* level 0. Level 2 - neighbors of 1 or in conflict with level 0, and so all.
		* @param tilesX horizontal array dimension
		* @param debugLevel debug level - controls generation of images
		* @return TileCluster instance generated from the initial source_disparity[] array.
		*/
		public static TileCluster buildSkyCluster(
		final double [][] disparity_layers, // should not have same tile disparity on multiple layers
		final boolean [] blue_sky, // Do not mix bs/no_bs in the same cluster
		final int blue_sky_layer,
		final int blue_sky_below,
		final int max_neib_lev,
		final int tilesX,
		final int debugLevel){
		final int tiles = disparity_layers[0].length;
		final int tilesY = tiles/tilesX;
		final int [] borders_int = new int[tiles];
		Arrays.fill(borders_int, -1);
		final TileNeibs tn = new TileNeibs(tilesX, tilesY);
		final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
		final AtomicInteger ai = new AtomicInteger(0);
		final AtomicInteger anum = new AtomicInteger(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) {
		if (blue_sky[tile]) {
		int tileX = tile % tilesX;
		int tileY = tile / tilesX;
		anum.getAndIncrement();
		borders_int[tile] = 0;
		disparity_layers[blue_sky_layer][tile] = Double.NaN;
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		if (anum.get() == 0) {
		return null; // no blue sky tiles exist
		}
		final boolean [] selection = blue_sky.clone();
		for (int nlev = 1; nlev <= max_neib_lev; nlev++) {
		final int fnlev = nlev;
		tn.growSelection(
		2, // int grow, // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
		selection, // final boolean [] tiles,
		null); // null); // final boolean [] prohibit)
		ai.set(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) {
		if (selection[tile] && (borders_int[tile] < 0)) {
		borders_int[tile] = fnlev;
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		}

		AtomicInteger min_y = new AtomicInteger(tilesY);
		AtomicInteger max_y = new AtomicInteger(0);
		AtomicInteger min_x = new AtomicInteger(tilesX);
		AtomicInteger max_x = new AtomicInteger(0);
		ai.set(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int tile = ai.getAndIncrement(); tile < tiles; tile = ai.getAndIncrement()) {
		if (selection[tile]) {
		int tileY = tile / tilesX;
		int tileX = tile % tilesX;
		min_y.getAndAccumulate(tileY, Math::min);
		max_y.getAndAccumulate(tileY, Math::max);
		min_x.getAndAccumulate(tileX, Math::min);
		max_x.getAndAccumulate(tileX, Math::max);
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);

		if (blue_sky_below >= 0) { // increase bounding box for sky cluster
		min_y.set(0);
		max_y.addAndGet(blue_sky_below);
		if (max_y.get() >= tilesY) {
		max_y.set(tilesY-1);
		}
		min_x.set(0);
		max_x.set(tilesX -1);
		}
		final int width = max_x.get() - min_x.get() + 1;
		final int height = max_y.get() - min_y.get() + 1;
		final Rectangle bounds = new Rectangle(min_x.get(), min_y.get(), width, height);
		final double [] disparity_crop = new double [width * height]; //
		final int [] border_int_crop = new int [disparity_crop.length];
		ai.set(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int tile_crop = ai.getAndIncrement(); tile_crop < disparity_crop.length; tile_crop = ai.getAndIncrement()) {
		int tileY = tile_crop / width + bounds.y ;
		int tileX = tile_crop % width + bounds.x;
		int tile = tileX + tileY * tilesX;
		disparity_crop[tile_crop] = (borders_int[tile] >=0) ? 0.0 : Double.NaN;
		border_int_crop[tile_crop] = borders_int[tile];
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		TileCluster tileCluster = (new TileCluster(
		bounds,
		0, // (debug_index? cluster_list.size(): -1),
		null, // border_crop, // will create from border_int_crop
		border_int_crop, // int [] border_int, // will replace border? Provide on-the-fly?
		max_neib_lev, // int border_int_max, // outer border value
		disparity_crop,
		true)); // boolean is_sky));
		return tileCluster;
		}

		/**
		* Create initial cluster of connected tiles without provisions for overlap resolution
		* @param disparity_layers [layers][tiles] multi-layer disparity array with NaN
		@@ -573,7 +710,7 @@ public class TexturedModel {
		int debugLevel_in)
		{
		if ((debugLevel_in > -2) && is_sky_cluster) {
		System.out.println("buildTileCluster(): processing sky clusterm cluster_list.size()="+cluster_list.size());
		System.out.println("buildTileCluster(): processing sky cluster, cluster_list.size()="+cluster_list.size());
		}

		final int dbg_tile = -2410; // 858; // -3868; // 28+48*80;
		@@ -1368,6 +1505,24 @@ public class TexturedModel {
		}
		// maybe ncluster[][] will not be used at all - disparity_layers will be modified to NaN used tiles

		// Before initial updateSeeds() - may be simplified as BS is already processed
		final ArrayList <TileCluster> cluster_list = new ArrayList<TileCluster>();
		// build blue sky first
		TileCluster blueSkyCluster = buildSkyCluster(
		disparity_layers, // final double [][] disparity_layers, // should not have same tile disparity on multiple layers
		blue_sky, // final boolean [] blue_sky, // use to expand background by blurring available data?
		blue_sky_layer, // final int blue_sky_layer,
		blue_sky_below, // final int blue_sky_below, // >=0 this is a blue sky cluster, mark as such and extend bounds
		max_neib_lev, // final int max_neib_lev,
		tilesX, // final int tilesX,
		debugLevel); // final int debugLevel)
		if (blueSkyCluster != null) {
		cluster_list.add(blueSkyCluster);
		if (debugLevel > -2) {
		System.out.println("clusterizeFgBg(): processed sky cluster");
		}
		}

		// calculate initial num_neibs_dir
		updateSeeds( // and update num_neibs_dir
		num_neibs_dir, // final int [][] num_neibs_dir, // [tile][layer]
		@@ -1384,8 +1539,9 @@ public class TexturedModel {
		debugLevel); // final int debugLevel)

		if (debugLevel > -1) { // was > 0
		String [] dbg_titles = {"FG","BG"};
		String [] dbg_titles0 = {"FG","BG"};
		double [][] dbg_img = new double[layers][tiles];

		for (int i = 0; i < tiles;i++) {
		for (int j = 0; j < dbg_img.length; j++) {
		dbg_img[j][i] = NUM_NEIBS_FROM_BITS[num_neibs_dir[i][j]];
		@@ -1397,19 +1553,26 @@ public class TexturedModel {
		tilesY,
		true,
		"num_neibs",
		dbg_titles);
		dbg_titles0);
		String [] dbg_titles1 = {"FG","BG", "sky"};
		double [][] dbg_disp = new double [dbg_titles1.length][];
		dbg_disp[0] = disparity_layers[0];
		dbg_disp[1] = disparity_layers[1];
		dbg_disp[2] = new double[tiles];
		for (int i = 0; i < tiles;i++) {
		dbg_disp[2][i] = blue_sky[i] ? 20:0;
		}
		ShowDoubleFloatArrays.showArrays(
		disparity_layers,
		dbg_disp, // disparity_layers,
		tilesX,
		tilesY,
		true,
		"disparity_layers",
		dbg_titles);
		dbg_titles1);
		}

		final ArrayList <TileCluster> cluster_list = new ArrayList<TileCluster>();
		// build all clusters
		int tile_start = 2820; // 0; // change to debug tile to start with the largest one
		int tile_start = 0; // 2820; // 0; // change to debug tile to start with the largest one
		while (true) {
		int [] next_seed_tile_layer = getNextSeed(
		disparity_layers, // final double [][] disparity_layers, //
		@@ -1422,7 +1585,7 @@ public class TexturedModel {
		// next_seed_tile_layer is now {tile, layer}
		final boolean is_sky_cluster = (next_seed_tile_layer[1] == blue_sky_layer) && blue_sky[next_seed_tile_layer[0]];
		if ((debugLevel > -2) && is_sky_cluster) {
		System.out.println("clusterizeFgBg(): processing sky clusterm cluster_list.size()="+cluster_list.size());
		System.out.println("clusterizeFgBg(): processing sky cluster, cluster_list.size()="+cluster_list.size());
		}
		double [] cluster_initial_disparity = buildInitialCluster(
		disparity_layers, // final double [][] disparity_layers, // should not have same tile disparity on multiple layers
		@@ -1663,7 +1826,7 @@ public class TexturedModel {
		final boolean disp_hires_tri = !batch_mode && clt_parameters.tex_disp_hires_tri;
		final int dbg_scale_mesh = clt_parameters.tex_dbg_scale_mesh; // 4; // <=0 - do not show
		/// final double min_non_inf = 0.01; // relative to infinity disparity

		final boolean show_bs_debug = !batch_mode && clt_parameters.lre_show_sky_textures; // add parameter

		final int sky_layer = 0; // source disparity layer that contains "blue sky"

		@@ -1754,9 +1917,12 @@ public class TexturedModel {
		}
		}

		if (debugLevel > -2) { // was > 0
		if (show_bs_debug) {
		String [] dbg_titles = {"FG","BG","BS"};
		double [][] dbg_img = {ds_fg_bg[0], ds_fg_bg[1],combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY]};
		double [][] dbg_img = {ds_fg_bg[0], ds_fg_bg[1],combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_BLUE_SKY].clone()};
		for (int i = 0; i < dbg_img.length; i++) {
		dbg_img[2][i] *= 20;
		}
		ShowDoubleFloatArrays.showArrays(
		dbg_img,
		tilesX,
		@@ -3615,13 +3781,15 @@ public class TexturedModel {
		* undefined pixels
		* @param width image width (640 for Flir Boson)
		* @param transform_size CLT transform size (==8)
		* @param dbg_prefix null or debug image name prefix
		*/
		public static void extendBlueSKy(
		final TileCluster [] tileClusters,
		final double [][][] faded_textures,
		final int shrink_sky_tiles,
		final int width,
		final int transform_size) {
		final int transform_size,
		final String dbg_prefix) {
		final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
		final AtomicInteger ai = new AtomicInteger(0);
		int sky_slice = -1;
		@@ -3641,7 +3809,7 @@ public class TexturedModel {
		sky_tiles_bounds.width * transform_size,
		sky_tiles_bounds.height * transform_size
		);
		final double [] sky_disparity = tileClusters[sky_slice].getSubDisparity(sky_subindex);
		final double [] sky_disparity = tileClusters[sky_slice].getSubDisparity(sky_subindex); // window
		final int num_sky_tiles = sky_disparity.length;
		final TileNeibs tn_sky_tiles = new TileNeibs(sky_tiles_bounds.width, sky_tiles_bounds.height);
		final boolean [] sky_sel = new boolean [sky_disparity.length];
		@@ -3653,6 +3821,11 @@ public class TexturedModel {
		sky_pixels_bounds, // Rectangle window,
		faded_textures[sky_slice][0], // double [] data,
		width); // int data_width)
		final String [] dbg_titles = {"source","shrank", "hinted", "filled"};
		final String [] dbg_tile_titles = {"start", "filled"};
		final double [][] dbg_img = (dbg_prefix != null) ? new double [dbg_titles.length][]:null;
		final double [][] dbg_timg = (dbg_prefix != null) ? new double [dbg_tile_titles.length][]:null;
		if (dbg_img != null) dbg_img[0] = sky_pixels.clone();
		if (shrink_sky_tiles > 0) {
		tn_sky_tiles.shrinkSelection(
		shrink_sky_tiles,
		@@ -3688,6 +3861,8 @@ public class TexturedModel {
		}
		ImageDtt.startAndJoin(threads);
		}
		if (dbg_img != null) dbg_img[1] = sky_pixels.clone();

		// now fill gaps in disparity and pixels
		double []sky_disparity_filled = TileProcessor.fillNaNs( // multithreaded
		sky_disparity, // final double [] data,
		@@ -3699,17 +3874,60 @@ public class TexturedModel {
		0.01, // final double max_rchange, // = 0.01
		THREADS_MAX); // final int threadsMax) // maximal number of threads to launch
		tileClusters[sky_slice].setSubDisparity(sky_subindex,sky_disparity_filled);
		// downscale texture
		int tile_size = transform_size * 1;
		int lores_width = width / tile_size;
		double [] sky_lores = TileProcessor.fillNaNsScaleDown(
		sky_pixels, // final double [] data,
		null, // final boolean [] prohibit,
		tile_size, // final int tile_size,
		width, // int width,
		THREADS_MAX); // final int threadsMax) // maximal number of threads to launch
		if (dbg_timg != null) dbg_timg[0] = sky_lores;
		double [] sky_lores_filled = TileProcessor.fillNaNs( // multithreaded
		sky_lores, // final double [] data,
		null, // final boolean [] prohibit,
		lores_width, // int width,
		2 * Math.max(sky_tiles_bounds.width, sky_tiles_bounds.height), // 16, // final int grow,
		0.7, // double diagonal_weight, // relative to ortho
		100, // int num_passes,
		0.001, // final double max_rchange, // = 0.01
		THREADS_MAX); // final int threadsMax) // maximal number of threads to launch
		if (dbg_timg != null) dbg_timg[1] = sky_lores_filled;

		if ((dbg_prefix != null) && (dbg_timg != null)) {
		ShowDoubleFloatArrays.showArrays(
		dbg_timg,
		sky_tiles_bounds.width,
		sky_tiles_bounds.height,
		true,
		dbg_prefix+"-extended-sky-lowres",
		dbg_tile_titles);
		}


		double [] sky_pixels_nan = sky_pixels.clone(); // original data with NaN to be replaced
		TileProcessor.fillNaNsScaleUp( // replace gaps with low-res data
		sky_pixels, // final double [] data, // will be replaced
		sky_lores_filled, // final double [] data_scaled,
		null, // final boolean [] prohibit,
		tile_size, // final int tile_size,
		width, // int width,
		THREADS_MAX); // final int threadsMax) // maximal number of threads to launch

		if (dbg_img != null) dbg_img[2] = sky_pixels.clone();

		double[] sky_pixels_filled = TileProcessor.fillNaNs( // multithreaded
		sky_pixels, // final double [] data,
		sky_pixels, // final double [] data, hinted (NaN replaced from low-res )
		sky_pixels_nan, // final double [] data_nan, origina with NaN
		null, // final boolean [] prohibit,
		sky_pixels_bounds.width, // int width,
		// 3 * Math.min(sky_pixels_bounds.width,sky_pixels_bounds.height) / 2, // 16, // final int grow,
		2 * Math.max(sky_pixels_bounds.width,sky_pixels_bounds.height), // 16, // final int grow,
		0.7, // double diagonal_weight, // relative to ortho
		100, // int num_passes,
		0.01, // final double max_rchange, // = 0.01
		THREADS_MAX); // final int threadsMax) // maximal number of threads to launch
		if (dbg_img != null) dbg_img[3] = sky_pixels_filled.clone();

		TileNeibs.setDoubleWindow(
		sky_pixels_bounds, // Rectangle window,
		@@ -3723,6 +3941,16 @@ public class TexturedModel {
		sky_alpha, // double [] window_data,
		faded_textures[sky_slice][1], // double [] data,
		width); // int data_width)
		if ((dbg_prefix != null) && (dbg_img != null)) {
		ShowDoubleFloatArrays.showArrays(
		dbg_img,
		sky_pixels_bounds.width,
		sky_pixels_bounds.height,
		true,
		dbg_prefix+"-extended-sky",
		dbg_titles);
		//dbg_tile_titles
		}
		}
		return;
		}
		@@ -5734,6 +5962,8 @@ public class TexturedModel {
		final double tex_hist_amount = clt_parameters.tex_hist_amount; // clt_parameters. 0.7;
		final int tex_hist_bins = clt_parameters.tex_hist_bins; // 1024 ;
		final int tex_hist_segments = clt_parameters.tex_hist_segments; // 32 ;

		final boolean show_sky_textures = clt_parameters.lre_show_sky_textures && !clt_parameters.multiseq_run;
		final int shrink_sky_tiles = 4; // 2; sum of 2 +bg extend
		final boolean grow_sky = true;
		final boolean alphaOverlapFix = true; // if multiple tiles have the same (+/-?) disparity, make alpha max of them
		@@ -6021,12 +6251,15 @@ public class TexturedModel {
		}
		// Grow sky
		if (grow_sky) {
		String dbg_prefix = show_sky_textures ? ref_scene.getImageName() : null;

		extendBlueSKy(
		tileClusters, // final TileCluster [] tileClusters,
		faded_textures, // final double [][][] faded_textures,
		shrink_sky_tiles, // final int shrink_sky_tiles,
		width, // final int width,
		transform_size); // final int transform_size);
		transform_size, // final int transform_size);
		dbg_prefix); // dbg_prefix); // final String dbg_prefix)
		}
		// fix alpha
		if (alphaOverlapFix) {

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

+225 −43

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