working on tile processing (e2689c1b) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+133 −9

Original line number	Diff line number	Diff line
		@@ -2039,8 +2039,31 @@ public class EyesisCorrectionParameters {
		public int ortho_half_length = 4; // convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features
		public double ortho_mix = 0.5; // Fraction ovf convolved ortho in a mix with raw



		public int max_clusters = 10; // Maximal number of clusters to generate for one run
		public boolean correct_distortions = false; // Correct lens geometric distortions in a model (will need backdrop to be corrected too)
		public boolean show_triangles = true; // Show generated triangles
		public boolean avg_cluster_disp = false; // Weight-average disparity for the whole cluster
		public double maxDispTriangle = 0.2; // Maximal disparity difference in a triangle face to show

		// Thin ice parameters
		public double tiRigidVertical = 3.0; // relative disparity rigidity in vertical direction
		public double tiRigidHorizontal = 1.0; // relative disparity rigidity in horizontal direction
		public double tiRigidDiagonal = 0.5; // relative disparity rigidity in diagonal direction
		public double tiStrengthOffset = 0.1; // strength "floor" - subtract (limit 0) before applying
		public double tiDispScale = 0.5; // divide actual (disparity*eff_Strength) by this before Math.pow and applying to T.I.
		public double tiDispPow = 0.0; // apply pow to disparity (restore sign) for disparity difference pressure on ice
		public double tiDispPull = .1; // tiDispPull: multiply strength*disparity difference to pull force
		public double tiDispPullPreFinal= .1; // Scale tiDispPull for pre-final pass
		public double tiDispPullFinal = .01; // Scale tiDispPull for final pass
		public double tiBreak3 = 0.6; // TI break value of abs(d0-3d1+3d2-d3)
		public double tiBreak31 = 0.1; // TI break value of (d0-3d1+3d2-d3) * (d1 - d2)
		public double tiBreak21 = 0.1; // TI break value of (-d0+d1+d2-d3) * abs(d1 - d2)
		public int tiBreakMode = 0; // TI break mode: 0: abs(3-rd derivative), 1: -(3-rd * 1-st), 2: -(2-nd * abs(1-st))
		public double tiBreakSame = 0.5; // Amplify colinear breaks in neighbor tiles
		public double tiBreakTurn = 0.125; // Amplify 90-degree turnintg breaks in neighbor tiles
		public int tiIterations = 1000; // maximal number of TI iterations for each step
		public int tiPrecision = 6; // iteration maximal error (1/power of 10)
		public int tiNumCycles = 5; // Number of cycles break-smooth (after the first smooth)

		public CLTParameters(){}
		public void setProperties(String prefix,Properties properties){
		@@ -2152,7 +2175,6 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"ortho_min_hor", this.ortho_min_hor +"");
		properties.setProperty(prefix+"ortho_min_vert", this.ortho_min_vert +"");
		properties.setProperty(prefix+"ortho_asym", this.ortho_asym +"");

		properties.setProperty(prefix+"ortho_sustain", this.ortho_sustain +"");
		properties.setProperty(prefix+"ortho_run", this.ortho_run+"");
		properties.setProperty(prefix+"ortho_minmax", this.ortho_minmax +"");
		@@ -2160,6 +2182,32 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"ortho_rms", this.ortho_rms +"");
		properties.setProperty(prefix+"ortho_half_length",this.ortho_half_length+"");
		properties.setProperty(prefix+"ortho_mix", this.ortho_mix +"");

		properties.setProperty(prefix+"max_clusters", this.max_clusters+"");
		properties.setProperty(prefix+"correct_distortions",this.correct_distortions+"");
		properties.setProperty(prefix+"show_triangles", this.show_triangles+"");
		properties.setProperty(prefix+"avg_cluster_disp", this.avg_cluster_disp+"");
		properties.setProperty(prefix+"maxDispTriangle", this.maxDispTriangle +"");

		properties.setProperty(prefix+"tiRigidVertical", this.tiRigidVertical +"");
		properties.setProperty(prefix+"tiRigidHorizontal",this.tiRigidHorizontal +"");
		properties.setProperty(prefix+"tiRigidDiagonal", this.tiRigidDiagonal +"");
		properties.setProperty(prefix+"tiStrengthOffset", this.tiStrengthOffset +"");
		properties.setProperty(prefix+"tiDispScale", this.tiDispScale +"");
		properties.setProperty(prefix+"tiDispPow", this.tiDispPow +"");
		properties.setProperty(prefix+"tiDispPull", this.tiDispPull +"");
		properties.setProperty(prefix+"tiDispPullPreFinal",this.tiDispPullPreFinal +"");
		properties.setProperty(prefix+"tiDispPullFinal", this.tiDispPullFinal +"");
		properties.setProperty(prefix+"tiBreak3", this.tiBreak3 +"");
		properties.setProperty(prefix+"tiBreak31", this.tiBreak31 +"");
		properties.setProperty(prefix+"tiBreak21", this.tiBreak21 +"");
		properties.setProperty(prefix+"tiBreakMode", this.tiBreakMode +"");
		properties.setProperty(prefix+"tiBreakSame", this.tiBreakSame +"");
		properties.setProperty(prefix+"tiBreakTurn", this.tiBreakTurn +"");
		properties.setProperty(prefix+"tiIterations", this.tiIterations+"");
		properties.setProperty(prefix+"tiPrecision", this.tiPrecision+"");
		properties.setProperty(prefix+"tiNumCycles", this.tiNumCycles+"");

		}
		public void getProperties(String prefix,Properties properties){
		if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));
		@@ -2266,7 +2314,6 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"ortho_min_hor")!=null) this.ortho_min_hor=Double.parseDouble(properties.getProperty(prefix+"ortho_min_hor"));
		if (properties.getProperty(prefix+"ortho_min_vert")!=null) this.ortho_min_vert=Double.parseDouble(properties.getProperty(prefix+"ortho_min_vert"));
		if (properties.getProperty(prefix+"ortho_asym")!=null) this.ortho_asym=Double.parseDouble(properties.getProperty(prefix+"ortho_asym"));

		if (properties.getProperty(prefix+"ortho_sustain")!=null) this.ortho_sustain=Double.parseDouble(properties.getProperty(prefix+"ortho_sustain"));
		if (properties.getProperty(prefix+"ortho_run")!=null) this.ortho_run=Integer.parseInt(properties.getProperty(prefix+"ortho_run"));
		if (properties.getProperty(prefix+"ortho_minmax")!=null) this.ortho_minmax=Double.parseDouble(properties.getProperty(prefix+"ortho_minmax"));
		@@ -2274,6 +2321,32 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"ortho_rms")!=null) this.ortho_rms=Double.parseDouble(properties.getProperty(prefix+"ortho_rms"));
		if (properties.getProperty(prefix+"ortho_half_length")!=null) this.ortho_half_length=Integer.parseInt(properties.getProperty(prefix+"ortho_half_length"));
		if (properties.getProperty(prefix+"ortho_mix")!=null) this.ortho_mix=Double.parseDouble(properties.getProperty(prefix+"ortho_mix"));

		if (properties.getProperty(prefix+"max_clusters")!=null) this.max_clusters=Integer.parseInt(properties.getProperty(prefix+"max_clusters"));
		if (properties.getProperty(prefix+"correct_distortions")!=null) this.correct_distortions=Boolean.parseBoolean(properties.getProperty(prefix+"correct_distortions"));
		if (properties.getProperty(prefix+"show_triangles")!=null) this.show_triangles=Boolean.parseBoolean(properties.getProperty(prefix+"show_triangles"));
		if (properties.getProperty(prefix+"avg_cluster_disp")!=null) this.avg_cluster_disp=Boolean.parseBoolean(properties.getProperty(prefix+"avg_cluster_disp"));
		if (properties.getProperty(prefix+"maxDispTriangle")!=null) this.maxDispTriangle=Double.parseDouble(properties.getProperty(prefix+"maxDispTriangle"));

		if (properties.getProperty(prefix+"tiRigidVertical")!=null) this.tiRigidVertical=Double.parseDouble(properties.getProperty(prefix+"tiRigidVertical"));
		if (properties.getProperty(prefix+"tiRigidHorizontal")!=null) this.tiRigidHorizontal=Double.parseDouble(properties.getProperty(prefix+"tiRigidHorizontal"));
		if (properties.getProperty(prefix+"tiRigidDiagonal")!=null) this.tiRigidDiagonal=Double.parseDouble(properties.getProperty(prefix+"tiRigidDiagonal"));
		if (properties.getProperty(prefix+"tiStrengthOffset")!=null) this.tiStrengthOffset=Double.parseDouble(properties.getProperty(prefix+"tiStrengthOffset"));
		if (properties.getProperty(prefix+"tiDispScale")!=null) this.tiDispScale=Double.parseDouble(properties.getProperty(prefix+"tiDispScale"));
		if (properties.getProperty(prefix+"tiDispPow")!=null) this.tiDispPow=Double.parseDouble(properties.getProperty(prefix+"tiDispPow"));
		if (properties.getProperty(prefix+"tiDispPull")!=null) this.tiDispPull=Double.parseDouble(properties.getProperty(prefix+"tiDispPull"));
		if (properties.getProperty(prefix+"tiDispPullPreFinal")!=null)this.tiDispPullPreFinal=Double.parseDouble(properties.getProperty(prefix+"tiDispPullPreFinal"));
		if (properties.getProperty(prefix+"tiDispPullFinal")!=null) this.tiDispPullFinal=Double.parseDouble(properties.getProperty(prefix+"tiDispPullFinal"));
		if (properties.getProperty(prefix+"tiBreak3")!=null) this.tiBreak3=Double.parseDouble(properties.getProperty(prefix+"tiBreak3"));
		if (properties.getProperty(prefix+"tiBreak31")!=null) this.tiBreak31=Double.parseDouble(properties.getProperty(prefix+"tiBreak31"));
		if (properties.getProperty(prefix+"tiBreak21")!=null) this.tiBreak21=Double.parseDouble(properties.getProperty(prefix+"tiBreak21"));
		if (properties.getProperty(prefix+"tiBreakMode")!=null) this.tiBreakMode=Integer.parseInt(properties.getProperty(prefix+"tiBreakMode"));
		if (properties.getProperty(prefix+"tiBreakSame")!=null) this.tiBreakSame=Double.parseDouble(properties.getProperty(prefix+"tiBreakSame"));
		if (properties.getProperty(prefix+"tiBreakTurn")!=null) this.tiBreakTurn=Double.parseDouble(properties.getProperty(prefix+"tiBreakTurn"));
		if (properties.getProperty(prefix+"tiIterations")!=null) this.tiIterations=Integer.parseInt(properties.getProperty(prefix+"tiIterations"));
		if (properties.getProperty(prefix+"tiPrecision")!=null) this.tiPrecision=Integer.parseInt(properties.getProperty(prefix+"tiPrecision"));
		if (properties.getProperty(prefix+"tiNumCycles")!=null) this.tiNumCycles=Integer.parseInt(properties.getProperty(prefix+"tiNumCycles"));

		}

		public boolean showDialog() {
		@@ -2402,9 +2475,33 @@ public class EyesisCorrectionParameters {
		gd.addNumericField("Minimal maximal strength in an ortho run (max. in run >=...)", this.ortho_minmax, 3);
		gd.addNumericField("Number of tiles to bridge over hor/vert gaps", this.ortho_bridge, 0);
		gd.addNumericField("Maximal disparity RMS in a run to replace by average)", this.ortho_rms, 3);
		gd.addNumericField("convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features",this.ortho_half_length, 0);
		gd.addNumericField("Fraction ovf convolved ortho in a mix with raw", this.ortho_mix, 3);

		gd.addNumericField("Convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features",this.ortho_half_length, 0);
		gd.addNumericField("Fraction of convolved ortho in a mix with raw", this.ortho_mix, 3);
		gd.addNumericField("Maximal number of clusters to generate for one run", this.max_clusters, 0);
		gd.addCheckbox ("Correct lens geometric distortions in a model (will need backdrop to be corrected too)", this.correct_distortions);
		gd.addCheckbox ("Show generated triangles", this.show_triangles);
		gd.addCheckbox ("Weight-average disparity for the whole cluster ", this.avg_cluster_disp);
		gd.addNumericField("Maximal disparity difference in a triangle face to show", this.maxDispTriangle, 6);

		gd.addMessage ("--- Thin ice parameters ---");
		gd.addNumericField("Relative disparity rigidity in vertical direction", this.tiRigidVertical, 6);
		gd.addNumericField("Relative disparity rigidity in horizontal direction", this.tiRigidHorizontal, 6);
		gd.addNumericField("Relative disparity rigidity in diagonal direction", this.tiRigidDiagonal, 6);
		gd.addNumericField("Strength floor - subtract (limit with 0) before applying", this.tiStrengthOffset, 6);
		gd.addNumericField("Divide actual disparity by this before Math.pow and applying to TI", this.tiDispScale, 6);
		gd.addNumericField("Apply pow to disparity (restore sign) for disparity difference pressure on TI",this.tiDispPow, 6);
		gd.addNumericField("tiDispPull: multiply strength*disparity difference to pull force", this.tiDispPull, 6);
		gd.addNumericField("Scale tiDispPull for pre-final pass", this.tiDispPullPreFinal, 6);
		gd.addNumericField("Scale tiDispPull for final pass", this.tiDispPullFinal, 6);
		gd.addNumericField("TI break value of abs(d0-3d1+3d2-d3)", this.tiBreak3, 6);
		gd.addNumericField("TI break value of (d0-3d1+3d2-d3) * (d1 - d2)", this.tiBreak31, 6);
		gd.addNumericField("TI break value of (-d0+d1+d2-d3) * abs(d1 - d2)", this.tiBreak21, 6);
		gd.addNumericField("TI break mode: +1: abs(3-rd derivative), +2: -(3-rd * 1-st), +4: -(2-nd * abs(1-st))", this.tiBreakMode, 0);
		gd.addNumericField("Amplify colinear breaks in neighbor tiles", this.tiBreakSame, 6);
		gd.addNumericField("Amplify 90-degree turnintg breaks in neighbor tiles", this.tiBreakTurn, 6);
		gd.addNumericField("Maximal number of TI iterations for each step", this.tiIterations, 0);
		gd.addNumericField("Iteration maximal error (1/power of 10)", this.tiPrecision, 0);
		gd.addNumericField("Number of cycles break-smooth (after the first smooth)", this.tiNumCycles, 0);
		WindowTools.addScrollBars(gd);
		gd.showDialog();

		@@ -2526,6 +2623,33 @@ public class EyesisCorrectionParameters {
		this.ortho_rms= gd.getNextNumber();
		this.ortho_half_length=(int)gd.getNextNumber();
		this.ortho_mix= gd.getNextNumber();

		this.max_clusters= (int) gd.getNextNumber();
		this.correct_distortions= gd.getNextBoolean();
		this.show_triangles= gd.getNextBoolean();
		this.avg_cluster_disp= gd.getNextBoolean();
		this.maxDispTriangle= gd.getNextNumber();

		this.tiRigidVertical= gd.getNextNumber();
		this.tiRigidHorizontal= gd.getNextNumber();
		this.tiRigidDiagonal= gd.getNextNumber();
		this.tiStrengthOffset= gd.getNextNumber();
		this.tiDispScale= gd.getNextNumber();
		this.tiDispPow= gd.getNextNumber();
		this.tiDispPull= gd.getNextNumber();
		this.tiDispPullPreFinal= gd.getNextNumber();
		this.tiDispPullFinal= gd.getNextNumber();
		this.tiBreak3= gd.getNextNumber();
		this.tiBreak31= gd.getNextNumber();
		this.tiBreak21= gd.getNextNumber();
		this.tiBreakMode= (int) gd.getNextNumber();
		this.tiBreakSame= gd.getNextNumber();
		this.tiBreakTurn= gd.getNextNumber();
		this.tiIterations= (int) gd.getNextNumber();
		this.tiPrecision= (int) gd.getNextNumber();
		this.tiNumCycles= (int) gd.getNextNumber();


		return true;
		}
		}

src/main/java/GeometryCorrection.java

+28 −3

Original line number	Diff line number	Diff line
		@@ -6,7 +6,7 @@ import ij.IJ;
		** GeometryCorrection - geometry correction for multiple sensors sharing the same
		** lens radial distortion model
		**
		** Copyright (C) 2016 Elphel, Inc.
		** Copyright (C) 2017 Elphel, Inc.
		**
		-----------------------------------------------------------------------------
		**
		@@ -323,6 +323,33 @@ public class GeometryCorrection {
		return this.pixelCorrectionHeight * 0.001 * this.pixelSize / this.focalLength;
		}

		public double getScaleDzDx()
		{
		return ( 0.001 * this.pixelSize) / this.focalLength;
		}


		/*
		* Get real world coordinates from pixel coordinates and nominal disparity
		*/
		public double [] getWorldCoordinates(
		double px,
		double py,
		double disparity,
		boolean correctDistortions) // correct distortion (will need corrected background too !)
		{
		double pXcd = px - 0.5 * this.pixelCorrectionWidth;
		double pYcd = py - 0.5 * this.pixelCorrectionHeight;
		double rD = Math.sqrt(pXcdpXcd + pYcdpYcd)0.001this.pixelSize; // distorted radius in a virtual center camera
		double rND2R = correctDistortions?(getRByRDist(rD/this.distortionRadius, false)): 1.0;
		double pXc = pXcd * rND2R; // non-distorted coordinates relative to the (0.5 * this.pixelCorrectionWidth, 0.5 * this.pixelCorrectionHeight)
		double pYc = pYcd * rND2R; // in pixels
		double z = -SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / (disparity * 0.001*this.pixelSize); // "+" - near, "-" far
		double x = SCENE_UNITS_SCALE * pXc * this.disparityRadius / disparity;
		double y = -SCENE_UNITS_SCALE * pYc * this.disparityRadius / disparity;
		double [] xyz = {x,y,z};
		return xyz;
		}
		/*
		* Calculate pixel coordinates for each of numSensors images, for a given (px,py) of the idealized "center" (still distorted) image
		* and generic diparity, measured in pixels
		@@ -343,8 +370,6 @@ public class GeometryCorrection {
		double [] a={this.distortionC,this.distortionB,this.distortionA,this.distortionA5,this.distortionA6,this.distortionA7,this.distortionA8};
		for (int i = 0; i < numSensors; i++){
		// non-distorted XY of the shifted location of the individual sensor
		// double pXci = pXc + disparity * this.rXY[i][0]; // in pixels
		// double pYci = pYc + disparity * this.rXY[i][1];
		double pXci = pXc - disparity * this.rXY[i][0]; // in pixels
		double pYci = pYc - disparity * this.rXY[i][1];
		// calculate back to distorted

Admin message