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Elphel
imagej-elphel
Commits
e156dbea
Commit
e156dbea
authored
May 27, 2022
by
Andrey Filippov
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combining processing, minor debugging and cleaning up
parent
c430b2f4
Changes
10
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10 changed files
with
171 additions
and
34 deletions
+171
-34
EyesisCorrectionParameters.java
...com/elphel/imagej/cameras/EyesisCorrectionParameters.java
+13
-3
GpuQuad.java
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
+4
-0
ImagejJp4Tiff.java
src/main/java/com/elphel/imagej/readers/ImagejJp4Tiff.java
+6
-2
ImageDtt.java
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
+50
-13
IntersceneLma.java
...n/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
+2
-2
IntersceneMatchParameters.java
...lphel/imagej/tileprocessor/IntersceneMatchParameters.java
+34
-0
OpticalFlow.java
...ain/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
+14
-7
QuadCLTCPU.java
...main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
+41
-2
TwoQuadCLT.java
...main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
+5
-5
X3dOutput.java
src/main/java/com/elphel/imagej/x3d/export/X3dOutput.java
+2
-0
No files found.
src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java
View file @
e156dbea
...
...
@@ -138,8 +138,9 @@ public class EyesisCorrectionParameters {
public
String
x3dSubdirSuffix
=
""
;
// CLT 3d batch parameters
public
boolean
process_main_sources
=
false
;
public
boolean
process_aux_sources
=
true
;
public
boolean
process_main_sources
=
false
;
// not yet used
public
boolean
process_aux_sources
=
true
;
// not yet used
public
int
kml_sensors
=
0xffffffff
;
// all sensors
public
int
rig_batch_adjust_main
=
0
;
public
int
rig_batch_adjust_aux
=
0
;
...
...
@@ -305,6 +306,7 @@ public class EyesisCorrectionParameters {
cp
.
process_main_sources
=
this
.
process_main_sources
;
cp
.
process_aux_sources
=
this
.
process_aux_sources
;
cp
.
kml_sensors
=
this
.
kml_sensors
;
cp
.
rig_batch_adjust_main
=
this
.
rig_batch_adjust_main
;
cp
.
rig_batch_adjust_aux
=
this
.
rig_batch_adjust_aux
;
cp
.
rig_batch_adjust_rig
=
this
.
rig_batch_adjust_rig
;
...
...
@@ -508,6 +510,8 @@ public class EyesisCorrectionParameters {
properties
.
setProperty
(
prefix
+
"process_main_sources"
,
this
.
process_main_sources
+
""
);
properties
.
setProperty
(
prefix
+
"process_aux_sources"
,
this
.
process_aux_sources
+
""
);
properties
.
setProperty
(
prefix
+
"kml_sensors"
,
this
.
kml_sensors
+
""
);
properties
.
setProperty
(
prefix
+
"rig_batch_adjust_main"
,
this
.
rig_batch_adjust_main
+
""
);
properties
.
setProperty
(
prefix
+
"rig_batch_adjust_aux"
,
this
.
rig_batch_adjust_aux
+
""
);
properties
.
setProperty
(
prefix
+
"rig_batch_adjust_rig"
,
this
.
rig_batch_adjust_rig
+
""
);
...
...
@@ -693,6 +697,8 @@ public class EyesisCorrectionParameters {
if
(
properties
.
getProperty
(
prefix
+
"process_main_sources"
)!=
null
)
this
.
process_main_sources
=
Boolean
.
parseBoolean
(
properties
.
getProperty
(
prefix
+
"process_main_sources"
));
if
(
properties
.
getProperty
(
prefix
+
"process_aux_sources"
)!=
null
)
this
.
process_aux_sources
=
Boolean
.
parseBoolean
(
properties
.
getProperty
(
prefix
+
"process_aux_sources"
));
if
(
properties
.
getProperty
(
prefix
+
"kml_sensors"
)!=
null
)
this
.
kml_sensors
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"kml_sensors"
));
if
(
properties
.
getProperty
(
prefix
+
"rig_batch_adjust_main"
)!=
null
)
this
.
rig_batch_adjust_main
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"rig_batch_adjust_main"
));
if
(
properties
.
getProperty
(
prefix
+
"rig_batch_adjust_aux"
)!=
null
)
this
.
rig_batch_adjust_aux
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"rig_batch_adjust_aux"
));
if
(
properties
.
getProperty
(
prefix
+
"rig_batch_adjust_rig"
)!=
null
)
this
.
rig_batch_adjust_rig
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"rig_batch_adjust_rig"
));
...
...
@@ -1086,6 +1092,8 @@ public class EyesisCorrectionParameters {
gd
.
addCheckbox
(
"Process main camera source images (false - ignore)"
,
this
.
process_main_sources
);
// 20c
gd
.
addCheckbox
(
"Process AUX camera source images (false - ignore)"
,
this
.
process_aux_sources
);
// 20d
gd
.
addNumericField
(
"Bitmask of channels were to look for GPS data"
,
this
.
kml_sensors
,
0
);
gd
.
addNumericField
(
"Repeat main camera field adjustment (early, before rig)"
,
this
.
rig_batch_adjust_main
,
0
);
gd
.
addNumericField
(
"Repeat aux camera field adjustment (early, before rig)"
,
this
.
rig_batch_adjust_aux
,
0
);
gd
.
addNumericField
(
"Repeat 2-quad camera rig field adjustment (early, before late main/aux)"
,
this
.
rig_batch_adjust_rig
,
0
);
...
...
@@ -1226,6 +1234,8 @@ public class EyesisCorrectionParameters {
this
.
process_main_sources
=
gd
.
getNextBoolean
();
// 20c
this
.
process_aux_sources
=
gd
.
getNextBoolean
();
// 20d
this
.
kml_sensors
=
(
int
)
gd
.
getNextNumber
();
this
.
rig_batch_adjust_main
=
(
int
)
gd
.
getNextNumber
();
this
.
rig_batch_adjust_aux
=
(
int
)
gd
.
getNextNumber
();
this
.
rig_batch_adjust_rig
=
(
int
)
gd
.
getNextNumber
();
...
...
@@ -1289,7 +1299,7 @@ public class EyesisCorrectionParameters {
return
(
this
.
sourcePaths
!=
null
)?
this
.
sourcePaths
:
empty
;
}
public
int
getChannelFromTiff
(
String
path
,
String
suffix
){
public
static
int
getChannelFromTiff
(
String
path
,
String
suffix
){
int
indexSuffix
=
path
.
length
()-
suffix
.
length
();
int
indexLastDash
=
indexSuffix
-
1
;
// in jp4 it will be underscore, not dash? Or should we change that?
while
((
indexLastDash
>
0
)
&&
...
...
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @
e156dbea
...
...
@@ -838,6 +838,10 @@ public class GpuQuad{ // quad camera description
}
float
[]
fbayer
=
new
float
[
bayer_data
[
0
][
0
].
length
];
for
(
int
ncam
=
0
;
ncam
<
bayer_data
.
length
;
ncam
++)
{
if
(
bayer_data
[
ncam
][
0
]
==
null
)
{
System
.
out
.
println
(
"BUG!! bayer_data["
+
ncam
+
"][0] == null"
);
continue
;
}
for
(
int
i
=
0
;
i
<
bayer_data
[
ncam
][
0
].
length
;
i
++)
{
fbayer
[
i
]
=
(
float
)
(
bayer_data
[
ncam
][
0
][
i
]);
// + bayer_data[ncam][1][i] + bayer_data[ncam][2][i]);
for
(
int
j
=
1
;
j
<
bayer_data
[
ncam
].
length
;
j
++)
{
...
...
src/main/java/com/elphel/imagej/readers/ImagejJp4Tiff.java
View file @
e156dbea
...
...
@@ -649,19 +649,20 @@ public class ImagejJp4Tiff {
return
center
;
}
System
.
out
.
println
(
"Discontinuities remain, will fix by clusters"
);
fixByClusters
(
boolean
OK
=
fixByClusters
(
width
,
height
,
FIXCH6_BIT
,
// int bad_bit,
idata
,
// int [] data)
(
dbg_img
!=
null
));
// boolean debug)
System
.
out
.
println
(
"FixByClusters -> "
+
OK
);
for
(
int
i
=
0
;
i
<
idata
.
length
;
i
++)
{
pixels
[
i
+
640
]
=
idata
[
i
];
}
return
center
;
}
public
boolean
fixByClusters
(
public
static
boolean
fixByClusters
(
int
width
,
int
height
,
int
bad_bit
,
...
...
@@ -733,6 +734,9 @@ public class ImagejJp4Tiff {
}
if
(
ndir
==
1
)
{
indx
++;
if
(
indx
>=
clusters
.
length
)
{
// start from the beginning
indx
-=
clusters
.
length
;
}
}
}
if
(
ntry
>=
(
2
*
clusters
.
length
))
{
...
...
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @
e156dbea
...
...
@@ -2467,6 +2467,9 @@ public class ImageDtt extends ImageDttCPU {
final
boolean
use_partial
,
// find motion vectors for individual pairs, false - for sum only
final
double
centroid_radius
,
// 0 - use all tile, >0 - cosine window around local max
final
int
n_recenter
,
// when cosine window, re-center window this many times
final
double
td_weight
,
// mix correlations accumulated in TD with
final
double
pd_weight
,
// correlations (post) accumulated in PD
final
boolean
td_nopd_only
,
// only use TD accumulated data if no safe PD is available for the tile.
final
double
min_str
,
// = 0.25;
final
double
min_str_sum
,
// = 0.8; // 5;
final
int
min_neibs
,
// 2; // minimal number of strong neighbors (> min_str)
...
...
@@ -2658,26 +2661,60 @@ public class ImageDtt extends ImageDttCPU {
}
}
// now calculate only for composite
double
[]
mv
=
Correlation2d
.
getMaxXYCm
(
double
[]
mv_pd
=
new
double
[
3
];
double
[]
mv_td
=
new
double
[
3
];
if
(
pd_weight
>
0.0
)
{
mv_pd
=
Correlation2d
.
getMaxXYCm
(
corrs
[
corrs
.
length
-
1
],
// double [] data,
corr_size
,
// int data_width, // = 2 * transform_size - 1;
centroid_radius
,
// double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
n_recenter
,
// int refine, // re-center window around new maximum. 0 -no refines (single-pass)
false
);
// boolean debug)
if
(
mv
!=
null
)
{
if
(
mv
[
2
]
<
min_str
)
{
mv
=
null
;
}
else
{
mv
[
2
]
-=
min_str
;
if
(
mv_pd
!=
null
)
{
if
(
mv_pd
[
2
]
<
min_str
)
{
mv_pd
=
null
;
}
else
{
mv_pd
[
2
]
-=
min_str
;
}
}
}
if
(
mv
!=
null
)
{
if
(
pXpYD
==
null
)
{
coord_motion
[
0
][
nTile
]
=
mv
;
}
else
{
if
(
pXpYD
[
nTile
]
!=
null
)
{
// seems always
coord_motion
[
0
][
nTile
]
=
pXpYD
[
nTile
].
clone
();
coord_motion
[
1
][
nTile
]
=
mv
;
if
(
td_weight
>
0.0
)
{
mv_td
=
Correlation2d
.
getMaxXYCm
(
corrs
[
corrs
.
length
-
2
],
// double [] data,
corr_size
,
// int data_width, // = 2 * transform_size - 1;
centroid_radius
,
// double radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)
n_recenter
,
// int refine, // re-center window around new maximum. 0 -no refines (single-pass)
false
);
// boolean debug)
if
(
mv_td
!=
null
)
{
if
(
mv_td
[
2
]
<
min_str_sum
)
{
mv_td
=
null
;
}
else
{
mv_td
[
2
]
-=
min_str_sum
;
}
}
}
if
((
mv_td
!=
null
)
||
(
mv_pd
!=
null
))
{
double
[]
mv
=
new
double
[
3
];
if
(
mv_pd
!=
null
)
{
mv
=
mv_pd
;
mv
[
2
]
*=
pd_weight
;
if
((
mv_td
!=
null
)
&&
!
td_nopd_only
)
{
// mix
mv
[
0
]
=
(
mv
[
0
]
*
pd_weight
+
mv_td
[
0
]
*
td_weight
)/
(
pd_weight
+
td_weight
);
mv
[
1
]
=
(
mv
[
1
]
*
pd_weight
+
mv_td
[
1
]
*
td_weight
)/
(
pd_weight
+
td_weight
);
mv
[
2
]
+=
mv_td
[
2
]
*
td_weight
;
}
// mix
}
else
{
// (mv_pd == null) && (mv_td != null) below
mv
=
mv_td
;
mv
[
2
]
*=
td_weight
;
}
if
(
mv
!=
null
)
{
if
(
pXpYD
==
null
)
{
coord_motion
[
0
][
nTile
]
=
mv
;
}
else
{
if
(
pXpYD
[
nTile
]
!=
null
)
{
// seems always
coord_motion
[
0
][
nTile
]
=
pXpYD
[
nTile
].
clone
();
coord_motion
[
1
][
nTile
]
=
mv
;
}
}
}
}
...
...
src/main/java/com/elphel/imagej/tileprocessor/IntersceneLma.java
View file @
e156dbea
...
...
@@ -620,7 +620,7 @@ public class IntersceneLma {
pure_weight
=
s_pure
/
full_weight
;
final
double
s
=
1.0
/
asum_weight
.
sum
();
if
(
Double
.
isNaN
(
s
))
{
System
.
out
.
println
(
"normalizeWeights(): s == NaN"
);
System
.
out
.
println
(
"normalizeWeights(): s == NaN
: 1
"
);
}
ai
.
set
(
0
);
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
...
...
@@ -673,7 +673,7 @@ public class IntersceneLma {
pure_weight
=
sum_weight_pure
/
full_weight
;
final
double
s
=
1.0
/
full_weight
;
if
(
Double
.
isNaN
(
s
))
{
System
.
out
.
println
(
"normalizeWeights(): s == NaN"
);
System
.
out
.
println
(
"normalizeWeights(): s == NaN
: 2
"
);
}
ai
.
set
(
0
);
for
(
int
ithread
=
0
;
ithread
<
threads
.
length
;
ithread
++)
{
...
...
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @
e156dbea
...
...
@@ -50,6 +50,12 @@ public class IntersceneMatchParameters {
public
double
centroid_radius
=
4.0
;
//
public
int
n_recenter
=
2
;
// when cosine window, re-center window this many times
// filtering motion vectors
// TD accumulation of the inter-scene correlations demonstrated artifacts (horizontally offset by 8 pixels
// false maximum that is sharper than the real one. Still not understood - maybe float precision related.
public
double
td_weight
=
0.5
;
// mix correlations accumulated in TD with
public
double
pd_weight
=
0.5
;
// correlations (post) accumulated in PD
public
boolean
td_nopd_only
=
true
;
// only use TD accumulated data if no safe PD is available for the tile.
public
double
min_str
=
0.25
;
// minimal correlation strength for all but TD-accumulated layer
public
double
min_str_sum
=
0.8
;
// minimal correlation strength for TD-accumulated layer
public
int
min_neibs
=
2
;
// minimal number of strong neighbors (> min_str)
...
...
@@ -131,6 +137,14 @@ public class IntersceneMatchParameters {
"Calculate centroids after multiplication by a half-cosine window. All correlation data farther than this value from the center is ignored"
);
gd
.
addNumericField
(
"Refine centroids"
,
this
.
n_recenter
,
0
,
5
,
""
,
"Repeat centroids after moving the window center to the new centroid location this many times (0 - calculate once)"
);
gd
.
addMessage
(
"Mixing TD and PD accumulation of 2d correlations"
);
gd
.
addNumericField
(
"TD-accumulated weight"
,
this
.
td_weight
,
5
,
7
,
""
,
"Mix argmax from TD-accumulated correlation."
);
gd
.
addNumericField
(
"PD-accumulated weight"
,
this
.
pd_weight
,
5
,
7
,
""
,
"Mix argmax from PD-accumulated correlation."
);
gd
.
addCheckbox
(
"TD when no PD only"
,
this
.
td_nopd_only
,
"Use argmax from TD only if PD data is not available for this tile."
);
gd
.
addMessage
(
"Filtering motion vectors"
);
gd
.
addNumericField
(
"Minimal correlation strength (non-sum)"
,
this
.
min_str
,
5
,
7
,
""
,
...
...
@@ -223,6 +237,11 @@ public class IntersceneMatchParameters {
this
.
run_poly
=
gd
.
getNextBoolean
();
this
.
centroid_radius
=
gd
.
getNextNumber
();
this
.
n_recenter
=
(
int
)
gd
.
getNextNumber
();
this
.
td_weight
=
gd
.
getNextNumber
();
this
.
pd_weight
=
gd
.
getNextNumber
();
this
.
td_nopd_only
=
gd
.
getNextBoolean
();
this
.
min_str
=
gd
.
getNextNumber
();
this
.
min_str_sum
=
gd
.
getNextNumber
();
this
.
min_neibs
=
(
int
)
gd
.
getNextNumber
();
...
...
@@ -275,6 +294,11 @@ public class IntersceneMatchParameters {
properties
.
setProperty
(
prefix
+
"run_poly"
,
this
.
run_poly
+
""
);
// boolean
properties
.
setProperty
(
prefix
+
"centroid_radius"
,
this
.
centroid_radius
+
""
);
// double
properties
.
setProperty
(
prefix
+
"n_recenter"
,
this
.
n_recenter
+
""
);
// int
properties
.
setProperty
(
prefix
+
"td_weight"
,
this
.
td_weight
+
""
);
// double
properties
.
setProperty
(
prefix
+
"pd_weight"
,
this
.
pd_weight
+
""
);
// double
properties
.
setProperty
(
prefix
+
"td_nopd_only"
,
this
.
td_nopd_only
+
""
);
// boolean
properties
.
setProperty
(
prefix
+
"min_str"
,
this
.
min_str
+
""
);
// double
properties
.
setProperty
(
prefix
+
"min_str_sum"
,
this
.
min_str_sum
+
""
);
// double
properties
.
setProperty
(
prefix
+
"min_neibs"
,
this
.
min_neibs
+
""
);
// int
...
...
@@ -323,6 +347,11 @@ public class IntersceneMatchParameters {
if
(
properties
.
getProperty
(
prefix
+
"run_poly"
)!=
null
)
this
.
run_poly
=
Boolean
.
parseBoolean
(
properties
.
getProperty
(
prefix
+
"run_poly"
));
if
(
properties
.
getProperty
(
prefix
+
"centroid_radius"
)!=
null
)
this
.
centroid_radius
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"centroid_radius"
));
if
(
properties
.
getProperty
(
prefix
+
"n_recenter"
)!=
null
)
this
.
n_recenter
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"n_recenter"
));
if
(
properties
.
getProperty
(
prefix
+
"td_weight"
)!=
null
)
this
.
td_weight
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"td_weight"
));
if
(
properties
.
getProperty
(
prefix
+
"pd_weight"
)!=
null
)
this
.
pd_weight
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"pd_weight"
));
if
(
properties
.
getProperty
(
prefix
+
"td_nopd_only"
)!=
null
)
this
.
td_nopd_only
=
Boolean
.
parseBoolean
(
properties
.
getProperty
(
prefix
+
"td_nopd_only"
));
if
(
properties
.
getProperty
(
prefix
+
"min_str"
)!=
null
)
this
.
min_str
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"min_str"
));
if
(
properties
.
getProperty
(
prefix
+
"min_str_sum"
)!=
null
)
this
.
min_str_sum
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"min_str_sum"
));
if
(
properties
.
getProperty
(
prefix
+
"min_neibs"
)!=
null
)
this
.
min_neibs
=
Integer
.
parseInt
(
properties
.
getProperty
(
prefix
+
"min_neibs"
));
...
...
@@ -373,6 +402,11 @@ public class IntersceneMatchParameters {
imp
.
run_poly
=
this
.
run_poly
;
imp
.
centroid_radius
=
this
.
centroid_radius
;
imp
.
n_recenter
=
this
.
n_recenter
;
imp
.
td_weight
=
this
.
td_weight
;
imp
.
pd_weight
=
this
.
pd_weight
;
imp
.
td_nopd_only
=
this
.
td_nopd_only
;
imp
.
min_str
=
this
.
min_str
;
imp
.
min_str_sum
=
this
.
min_str_sum
;
imp
.
min_neibs
=
this
.
min_neibs
;
...
...
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @
e156dbea
...
...
@@ -3907,7 +3907,7 @@ public class OpticalFlow {
null
,
// QuadCLT quadCLT_aux,
clt_parameters
,
// EyesisCorrectionParameters.DCTParameters dct_parameters,
true
,
// boolean skip_existing,
false
,
// boolean search_KML,
true
,
//
false, // boolean search_KML,
debugLevel
);
quadCLTs
[
ref_index
]
=
(
QuadCLT
)
quadCLT_main
.
spawnNoModelQuadCLT
(
// will conditionImageSet
set_channels
[
ref_index
].
set_name
,
...
...
@@ -3971,7 +3971,7 @@ public class OpticalFlow {
null
,
// QuadCLT quadCLT_aux,
clt_parameters
,
// EyesisCorrectionParameters.DCTParameters dct_parameters,
true
,
// boolean skip_existing,
false
,
// boolean search_KML,
true
,
//
false, // boolean search_KML,
debugLevel
);
}
// split cycles to remove output clutter
}
// if (build_ref_dsi) {
...
...
@@ -4061,6 +4061,9 @@ public class OpticalFlow {
quadCLTs
[
ref_index
].
getImageName
()
+
"/"
+
scene_QuadClt
.
getImageName
()+
" Done. RMS="
+
lma_rms
[
0
]+
", maximal so far was "
+
maximal_series_rms
);
}
if
(
scene_index
==
25
)
{
System
.
out
.
println
(
"scene_index == 25"
);
}
/*
if (delete_scene_asap) {
scenes[i+1] = null;
...
...
@@ -9666,7 +9669,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
final
float
[][][]
fclt_corr
=
((
accum_2d_corr
!=
null
)
||
show_2d_correlations
)
?
(
new
float
[
tilesX
*
tilesY
][][])
:
null
;
if
(
debug_level
>
1
)
{
System
.
out
.
println
(
"interCorrPair(): "
+
IntersceneLma
.
printNameV3
(
"ATR"
,
scene_atr
)+
System
.
out
.
println
(
"interCorrPair():
"
+
IntersceneLma
.
printNameV3
(
"ATR"
,
scene_atr
)+
" "
+
IntersceneLma
.
printNameV3
(
"XYZ"
,
scene_xyz
));
}
ImageDtt
image_dtt
;
...
...
@@ -9682,10 +9685,11 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
if
(
ref_scene
.
getGPU
()
!=
null
)
{
ref_scene
.
getGPU
().
setGpu_debug_level
(
debug_level
-
4
);
// monitor GPU ops >=-1
}
final
double
disparity_corr
=
0.00
;
// (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
double
[][]
dsrbg_ref
=
ref_scene
.
getDSRBG
();
final
double
disparity_corr
=
0.0
;
// (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
// double [][] dsrbg_ref= ref_scene.getDSRBG();
double
[][]
dls
=
ref_scene
.
getDLS
();
double
[][]
ref_pXpYD
=
transformToScenePxPyD
(
// full size - [tilesX*tilesY], some nulls
d
srbg_ref
[
0
],
// final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
d
ls
[
0
],
// final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
ZERO3
,
// final double [] scene_xyz, // camera center in world coordinates
ZERO3
,
// final double [] scene_atr, // camera orientation relative to world frame
ref_scene
,
// final QuadCLT scene_QuadClt,
...
...
@@ -9713,7 +9717,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
//setupERS() will be inside transformToScenePxPyD()
*/
double
[][]
scene_pXpYD
=
transformToScenePxPyD
(
// will be null for disparity == NaN, total size - tilesX*tilesY
d
srbg_ref
[
0
],
// final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
d
ls
[
0
],
// final double [] disparity_ref, // invalid tiles - NaN in disparity (maybe it should not be masked by margins?)
scene_xyz
,
// final double [] scene_xyz, // camera center in world coordinates
scene_atr
,
// final double [] scene_atr, // camera orientation relative to world frame
scene
,
// final QuadCLT scene_QuadClt,
...
...
@@ -9804,6 +9808,9 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
clt_parameters
.
imp
.
use_partial
,
// final boolean use_partial, // find motion vectors for individual pairs, false - for sum only
clt_parameters
.
imp
.
centroid_radius
,
// final double centroid_radius, // 0 - use all tile, >0 - cosine window around local max
clt_parameters
.
imp
.
n_recenter
,
// final int n_recenter, // when cosine window, re-center window this many times
clt_parameters
.
imp
.
td_weight
,
// final double td_weight, // mix correlations accumulated in TD with
clt_parameters
.
imp
.
pd_weight
,
// final double pd_weight, // correlations (post) accumulated in PD
clt_parameters
.
imp
.
td_nopd_only
,
// final boolean td_nopd_only, // only use TD accumulated data if no safe PD is available for the tile.
clt_parameters
.
imp
.
min_str
,
// final double min_str, // = 0.25;
clt_parameters
.
imp
.
min_str_sum
,
// final double min_str_sum, // = 0.8; // 5;
clt_parameters
.
imp
.
min_neibs
,
// final int min_neibs, // 2; // minimal number of strong neighbors (> min_str)
...
...
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @
e156dbea
...
...
@@ -14214,9 +14214,42 @@ public class QuadCLTCPU {
if
(
imp
.
getProperty
(
"ALTITUDE"
)
!=
null
)
gps_lla
[
2
]
=
Double
.
parseDouble
((
String
)
imp
.
getProperty
(
"ALTITUDE"
));
return
true
;
}
if
(
imp
.
getProperty
(
"STD_GPS_Latitude"
)
!=
null
)
{
gps_lla
=
new
double
[
3
];
for
(
int
i
=
0
;
i
<
3
;
i
++)
{
gps_lla
[
i
]
=
Double
.
NaN
;
}
if
(
imp
.
getProperty
(
"STD_GPS_Latitude"
)
!=
null
)
gps_lla
[
0
]
=
parseDegreeMinSec
((
String
)
imp
.
getProperty
(
"STD_GPS_Latitude"
));
if
(
imp
.
getProperty
(
"STD_GPS_Longitude"
)
!=
null
)
gps_lla
[
1
]
=
parseDegreeMinSec
((
String
)
imp
.
getProperty
(
"STD_GPS_Longitude"
));
if
(
imp
.
getProperty
(
"STD_GPS_Altitude"
)
!=
null
)
gps_lla
[
2
]
=
parseStringToEndString
((
String
)
imp
.
getProperty
(
"STD_GPS_Altitude"
),
"m"
);
return
true
;
}
return
false
;
// not used in lwir
}
static
double
parseDegreeMinSec
(
String
s
)
{
int
indx_degree
=
s
.
indexOf
(
"\u00B0"
);
int
indx_minute
=
s
.
indexOf
(
"\u2032"
);
if
(
indx_minute
<
0
)
{
indx_minute
=
s
.
indexOf
(
"'"
);
}
int
indx_second
=
s
.
indexOf
(
"\u2033"
);
if
(
indx_second
<
0
)
{
indx_second
=
s
.
indexOf
(
"\""
);
}
double
degrees
=
Double
.
parseDouble
(
s
.
substring
(
0
,
indx_degree
));
double
min_sec
=
Double
.
parseDouble
(
s
.
substring
(
indx_degree
+
1
,
indx_minute
))/
60.0
+
Double
.
parseDouble
(
s
.
substring
(
indx_minute
+
1
,
indx_second
))/
3600.0
;
if
(
degrees
<
0
)
{
return
degrees
-
min_sec
;
}
else
{
return
degrees
+
min_sec
;
}
}
static
double
parseStringToEndString
(
String
s
,
String
end_string
)
{
int
indx_end
=
s
.
indexOf
(
end_string
);
return
Double
.
parseDouble
(
s
.
substring
(
0
,
indx_end
));
}
public
boolean
writeKml
(
// USED in lwir
String
image_name
,
...
...
@@ -14227,12 +14260,18 @@ public class QuadCLTCPU {
}
String
[]
sourceFiles_main
=
correctionsParameters
.
getSourcePaths
();
SetChannels
[]
set_channels
=
setChannels
(
image_name
,
debugLevel
);
// only for specified image timestamp
int
kml_sensors
=
correctionsParameters
.
kml_sensors
;
ArrayList
<
String
>
path_list
=
new
ArrayList
<
String
>();
for
(
int
i
=
0
;
i
<
set_channels
.
length
;
i
++)
{
for
(
int
fn:
set_channels
[
i
].
file_number
)
{
path_list
.
add
(
sourceFiles_main
[
fn
]);
for
(
int
nchn
=
0
;
nchn
<
set_channels
[
i
].
file_number
.
length
;
nchn
++)
{
if
((
kml_sensors
&
(
1
<<
nchn
))
!=
0
)
{
path_list
.
add
(
sourceFiles_main
[
set_channels
[
i
].
file_number
[
nchn
]]);
}
}
/// for (int fn:set_channels[i].file_number) {
/// path_list.add(sourceFiles_main[fn]);
/// }
}
for
(
String
fname:
path_list
)
{
System
.
out
.
println
(
"writeKml(): "
+
fname
);
...
...
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @
e156dbea
...
...
@@ -3137,6 +3137,11 @@ if (debugLevel > -100) return true; // temporarily !
return
;
}
}
if
(
search_KML
&&
(
set_channels_main
!=
null
))
{
// TODO: make it look in both MAIN and AUX. Look in only the same scene?
quadCLT_main
.
writeKml
(
set_name
,
debugLevel
);
// also generated with x3d model
}
for
(
String
fname:
path_list
)
{
if
(
fname
.
contains
(
set_name
))
{
// only files containing set name // TODO:improve
File
file
=
new
File
(
fname
);
...
...
@@ -3152,11 +3157,6 @@ if (debugLevel > -100) return true; // temporarily !
}
}
}
if
(
search_KML
&&
(
set_channels_main
!=
null
))
{
// TODO: make it look in both MAIN and AUX. Look in only the same scene?
quadCLT_main
.
writeKml
(
set_name
,
debugLevel
);
// also generated with x3d model
}
System
.
out
.
println
(
"jp4_copy_path = "
+
jp4_copy_path
);
// System.out.println("Do something useful here");
}
...
...
src/main/java/com/elphel/imagej/x3d/export/X3dOutput.java
View file @
e156dbea
...
...
@@ -284,6 +284,7 @@ public class X3dOutput {
addTextElement
(
kmlDoc
,
el_Camera
,
"heading"
,
String
.
format
(
"%f"
,
0.0
));
addTextElement
(
kmlDoc
,
el_Camera
,
"tilt"
,
String
.
format
(
"%f"
,
90.0
));
addTextElement
(
kmlDoc
,
el_Camera
,
"roll"
,
String
.
format
(
"%f"
,
0.0
));
addTextElement
(
kmlDoc
,
el_Camera
,
"altitudeMode"
,
"clampToGround"
);
if
(
icon_path
!=
null
)
{
Element
el_Icon
=
addElement
(
kmlDoc
,
el_PhotoOverlay
,
"Icon"
);
addTextElement
(
kmlDoc
,
el_Icon
,
"href"
,
icon_path
);
...
...
@@ -296,6 +297,7 @@ public class X3dOutput {
addTextElement
(
kmlDoc
,
el_OriginalData
,
"heading"
,
String
.
format
(
"%f"
,
0.0
));
addTextElement
(
kmlDoc
,
el_OriginalData
,
"tilt"
,
String
.
format
(
"%f"
,
90.0
));
addTextElement
(
kmlDoc
,
el_OriginalData
,
"roll"
,
String
.
format
(
"%f"
,
0.0
));
addTextElement
(
kmlDoc
,
el_OriginalData
,
"altitudeMode"
,
"clampToGround"
);
try
{
// write the content into xml file
...
...
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