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imagej-elphel
Commit e6a1d91b authored by Andrey Filippov's avatar Andrey Filippov
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center-of-mass for 16, propagated changes (4->16) for disparity_map

parent d8b8ffdc
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Showing with 448 additions and 199 deletions
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ e6a1d91b
...@@ -225,19 +225,26 @@ public class ImageDtt extends ImageDttCPU { ...@@ -225,19 +225,26 @@ public class ImageDtt extends ImageDttCPU {
boolean need_corr = (clt_mismatch != null) || (fcorr_combo_td !=null) || (fcorr_td !=null) ; // (not the only reason) boolean need_corr = (clt_mismatch != null) || (fcorr_combo_td !=null) || (fcorr_td !=null) ; // (not the only reason)
// skipping DISPARITY_VARIATIONS_INDEX - it was not used // skipping DISPARITY_VARIATIONS_INDEX - it was not used
if (disparity_map != null){ if (disparity_map != null){
for (int i = 0; i<disparity_map.length;i++) if ((disparity_modes & (1 << i)) != 0){ for (int i = 0; i<disparity_map.length;i++) {
if (isSliceBit(i) && ((disparity_modes & (1 << i)) != 0)) {
if ((i == OVEREXPOSED) && (saturation_imp == null)) { if ((i == OVEREXPOSED) && (saturation_imp == null)) {
continue; continue;
} }
disparity_map[i] = new double [tilesY*tilesX]; disparity_map[i] = new double [tilesY*tilesX];
if ((i >= IMG_TONE_RGB) || ((i >= IMG_DIFF0_INDEX) && (i < (IMG_DIFF0_INDEX + 4)))) { if (isCorrBit (i)) {
need_macro = true;
}
if (i <=DISPARITY_STRENGTH_INDEX) {
need_corr = true; need_corr = true;
} }
} else if (isDiffIndex(i) && needImgDiffs(disparity_modes)){
disparity_map[i] = new double [tilesY*tilesX];
need_macro = true;
} else if (isToneRGBIndex(i) && needTonesRGB(disparity_modes)){
disparity_map[i] = new double [tilesY*tilesX];
need_macro = true;
} }
} }
}
if (clt_mismatch != null){ if (clt_mismatch != null){
for (int i = 0; i<clt_mismatch.length;i++){ for (int i = 0; i<clt_mismatch.length;i++){
...@@ -373,11 +380,12 @@ public class ImageDtt extends ImageDttCPU { ...@@ -373,11 +380,12 @@ public class ImageDtt extends ImageDttCPU {
dust_remove, // boolean dust_remove, // Do not reduce average weight when only one image differs much from the average dust_remove, // boolean dust_remove, // Do not reduce average weight when only one image differs much from the average
false, // boolean calc_textures, false, // boolean calc_textures,
true); // boolean calc_extra) true); // boolean calc_extra)
float [][] extra = gpuQuad.getExtra(); float [][] extra = gpuQuad.getExtra(); // now 4*numSensors
int num_cams = gpuQuad.getNumCams(); int num_cams = gpuQuad.getNumCams();
for (int ncam = 0; ncam < num_cams; ncam++) { for (int ncam = 0; ncam < num_cams; ncam++) {
int indx = ncam + IMG_DIFF0_INDEX; int indx = ncam + IMG_DIFF0_INDEX;
if ((disparity_modes & (1 << indx)) != 0){ // if ((disparity_modes & (1 << indx)) != 0){
if (needImgDiffs(disparity_modes)){
disparity_map[indx] = new double [extra[ncam].length]; disparity_map[indx] = new double [extra[ncam].length];
for (int i = 0; i < extra[ncam].length; i++) { for (int i = 0; i < extra[ncam].length; i++) {
disparity_map[indx][i] = extra[ncam][i]; disparity_map[indx][i] = extra[ncam][i];
...@@ -386,6 +394,7 @@ public class ImageDtt extends ImageDttCPU { ...@@ -386,6 +394,7 @@ public class ImageDtt extends ImageDttCPU {
} }
for (int nc = 0; nc < (extra.length - num_cams); nc++) { for (int nc = 0; nc < (extra.length - num_cams); nc++) {
int sindx = nc + num_cams; int sindx = nc + num_cams;
/*
int indx = nc + IMG_TONE_RGB; int indx = nc + IMG_TONE_RGB;
if ((disparity_modes & (1 << indx)) != 0){ if ((disparity_modes & (1 << indx)) != 0){
disparity_map[indx] = new double [extra[sindx].length]; disparity_map[indx] = new double [extra[sindx].length];
...@@ -393,6 +402,17 @@ public class ImageDtt extends ImageDttCPU { ...@@ -393,6 +402,17 @@ public class ImageDtt extends ImageDttCPU {
disparity_map[indx][i] = extra[sindx][i]; disparity_map[indx][i] = extra[sindx][i];
} }
} }
*/
int indx = nc + getImgToneRGB(); // IMG_TONE_RGB;
// if ((disparity_modes & (1 << indx)) != 0){
if (needTonesRGB(disparity_modes)){
disparity_map[indx] = new double [extra[sindx].length];
for (int i = 0; i < extra[sindx].length; i++) {
disparity_map[indx][i] = extra[sindx][i];
}
}
} }
} }
// does it need non-overlapping texture tiles // does it need non-overlapping texture tiles
...@@ -1019,6 +1039,7 @@ public class ImageDtt extends ImageDttCPU { ...@@ -1019,6 +1039,7 @@ public class ImageDtt extends ImageDttCPU {
boolean need_macro = false; boolean need_macro = false;
boolean need_corr = (clt_mismatch != null) || (fcorr_combo_td !=null) || (fcorr_td !=null) ; // (not the only reason) boolean need_corr = (clt_mismatch != null) || (fcorr_combo_td !=null) || (fcorr_td !=null) ; // (not the only reason)
// skipping DISPARITY_VARIATIONS_INDEX - it was not used // skipping DISPARITY_VARIATIONS_INDEX - it was not used
/*
if (disparity_map != null){ if (disparity_map != null){
for (int i = 0; i<disparity_map.length;i++) if ((disparity_modes & (1 << i)) != 0){ for (int i = 0; i<disparity_map.length;i++) if ((disparity_modes & (1 << i)) != 0){
if ((i == OVEREXPOSED) && (saturation_imp == null)) { if ((i == OVEREXPOSED) && (saturation_imp == null)) {
...@@ -1033,6 +1054,28 @@ public class ImageDtt extends ImageDttCPU { ...@@ -1033,6 +1054,28 @@ public class ImageDtt extends ImageDttCPU {
} }
} }
} }
*/
if (disparity_map != null){
for (int i = 0; i<disparity_map.length;i++) {
if (isSliceBit(i) && ((disparity_modes & (1 << i)) != 0)) {
if ((i == OVEREXPOSED) && (saturation_imp == null)) {
continue;
}
disparity_map[i] = new double [tilesY*tilesX];
if (isCorrBit (i)) {
need_corr = true;
}
} else if (isDiffIndex(i) && needImgDiffs(disparity_modes)){
disparity_map[i] = new double [tilesY*tilesX];
need_macro = true;
} else if (isToneRGBIndex(i) && needTonesRGB(disparity_modes)){
disparity_map[i] = new double [tilesY*tilesX];
need_macro = true;
}
}
}
if (clt_mismatch != null){ if (clt_mismatch != null){
for (int i = 0; i<clt_mismatch.length;i++){ for (int i = 0; i<clt_mismatch.length;i++){
...@@ -1201,7 +1244,8 @@ public class ImageDtt extends ImageDttCPU { ...@@ -1201,7 +1244,8 @@ public class ImageDtt extends ImageDttCPU {
int num_cams = gpuQuad.getNumCams(); int num_cams = gpuQuad.getNumCams();
for (int ncam = 0; ncam < num_cams; ncam++) { for (int ncam = 0; ncam < num_cams; ncam++) {
int indx = ncam + IMG_DIFF0_INDEX; int indx = ncam + IMG_DIFF0_INDEX;
if ((disparity_modes & (1 << indx)) != 0){ // if ((disparity_modes & (1 << indx)) != 0){
if (needImgDiffs(disparity_modes)){
disparity_map[indx] = new double [extra[ncam].length]; disparity_map[indx] = new double [extra[ncam].length];
for (int i = 0; i < extra[ncam].length; i++) { for (int i = 0; i < extra[ncam].length; i++) {
disparity_map[indx][i] = extra[ncam][i]; disparity_map[indx][i] = extra[ncam][i];
...@@ -1210,8 +1254,9 @@ public class ImageDtt extends ImageDttCPU { ...@@ -1210,8 +1254,9 @@ public class ImageDtt extends ImageDttCPU {
} }
for (int nc = 0; nc < (extra.length - num_cams); nc++) { for (int nc = 0; nc < (extra.length - num_cams); nc++) {
int sindx = nc + num_cams; int sindx = nc + num_cams;
int indx = nc + IMG_TONE_RGB; int indx = nc + getImgToneRGB(); // IMG_TONE_RGB;
if ((disparity_modes & (1 << indx)) != 0){ // if ((disparity_modes & (1 << indx)) != 0){
if (needTonesRGB(disparity_modes)){
disparity_map[indx] = new double [extra[sindx].length]; disparity_map[indx] = new double [extra[sindx].length];
for (int i = 0; i < extra[sindx].length; i++) { for (int i = 0; i < extra[sindx].length; i++) {
disparity_map[indx][i] = extra[sindx][i]; disparity_map[indx][i] = extra[sindx][i];
......
src/main/java/com/elphel/imagej/tileprocessor/MacroCorrelation.java
View file @ e6a1d91b
...@@ -62,6 +62,7 @@ public class MacroCorrelation { ...@@ -62,6 +62,7 @@ public class MacroCorrelation {
mTilesY, // int tilesY, mTilesY, // int tilesY,
tileSize, // int tileSize, tileSize, // int tileSize,
tp.superTileSize, // int superTileSize, tp.superTileSize, // int superTileSize,
tp.getNumSensors(),
tp.isMonochrome(), tp.isMonochrome(),
tp.isLwir(), tp.isLwir(),
tp.isAux(), tp.isAux(),
...@@ -80,7 +81,7 @@ public class MacroCorrelation { ...@@ -80,7 +81,7 @@ public class MacroCorrelation {
final double macro_disparity_step, final double macro_disparity_step,
final int debugLevel){ final int debugLevel){
int numSensors = geometryCorrection.getNumSensors();
double [][][] input_data = CLTMacroSetData( // perform single pass according to prepared tiles operations and disparity double [][][] input_data = CLTMacroSetData( // perform single pass according to prepared tiles operations and disparity
src_scan); // final CLTPass3d src_scan, // results of the normal correlations (now expecting infinity) src_scan); // final CLTPass3d src_scan, // results of the normal correlations (now expecting infinity)
if (debugLevel > 0) { if (debugLevel > 0) {
...@@ -144,6 +145,8 @@ public class MacroCorrelation { ...@@ -144,6 +145,8 @@ public class MacroCorrelation {
final int mTilesY = (pTilesY + tileSize - 1) / tileSize; final int mTilesY = (pTilesY + tileSize - 1) / tileSize;
final int mTiles = mTilesX * mTilesY; final int mTiles = mTilesX * mTilesY;
final int num_chn = 3; final int num_chn = 3;
final int numSensors = tp.getNumSensors();
final int toneRGB = ImageDtt.getImgToneRGB(numSensors);
double corr_red = 0.5; // Red to green correlation weight double corr_red = 0.5; // Red to green correlation weight
double corr_blue = 0.2; // Blue to green correlation weight double corr_blue = 0.2; // Blue to green correlation weight
double [] col_weights = new double[3]; double [] col_weights = new double[3];
...@@ -152,10 +155,10 @@ public class MacroCorrelation { ...@@ -152,10 +155,10 @@ public class MacroCorrelation {
col_weights[1] = corr_blue * col_weights[2]; col_weights[1] = corr_blue * col_weights[2];
final double [][][] input_data = new double [ImageDtt.QUAD][num_chn][mTiles*tileSize*tileSize]; final double [][][] input_data = new double [numSensors][num_chn][mTiles*tileSize*tileSize];
final int INDX_R0 = ImageDtt.IMG_TONE_RGB; final int INDX_R0 = toneRGB;
final int INDX_B0 = ImageDtt.IMG_TONE_RGB + ImageDtt.QUAD; final int INDX_B0 = toneRGB + numSensors;
final int INDX_G0 = ImageDtt.IMG_TONE_RGB + 2 * ImageDtt.QUAD; final int INDX_G0 = toneRGB + 2 * numSensors;
for (int sub_cam =0; sub_cam < input_data.length; sub_cam++){ for (int sub_cam =0; sub_cam < input_data.length; sub_cam++){
for (int pty = 0; pty < pTilesY; pty++){ for (int pty = 0; pty < pTilesY; pty++){
...@@ -279,34 +282,14 @@ public class MacroCorrelation { ...@@ -279,34 +282,14 @@ public class MacroCorrelation {
} }
double min_corr_selected = clt_parameters.min_corr; double min_corr_selected = clt_parameters.min_corr;
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(geometryCorrection.getNumSensors()).length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] shiftXY = {{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0}}; double [][] shiftXY = {{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0}};
double [][][][] clt_corr_combo = null; // new double [ImageDtt.TCORR_TITLES.length][mTilesY][mTilesX][]; // needed always double [][][][] clt_corr_combo = null; // new double [ImageDtt.TCORR_TITLES.length][mTilesY][mTilesX][]; // needed always
double [][][][][] clt_corr_partial = null; // [tp.tilesY][tp.tilesX][pair][color][(2*transform_size-1)*(2*transform_size-1)] double [][][][][] clt_corr_partial = null; // [tp.tilesY][tp.tilesX][pair][color][(2*transform_size-1)*(2*transform_size-1)]
/*
if (show_corr_partial) {
clt_corr_partial = new double [mTilesY][mTilesX][][][];
for (int i = 0; i < mTilesY; i++){
for (int j = 0; j < mTilesX; j++){
clt_corr_partial[i][j] = null;
}
}
}
if (show_corr_combo) {
clt_corr_combo = new double [ImageDtt.TCORR_TITLES.length][mTilesY][mTilesX][]; // needed always
for (int i = 0; i < mTilesY; i++){
for (int j = 0; j < mTilesX; j++){
for (int k = 0; k<clt_corr_combo.length; k++){
clt_corr_combo[k][i][j] = null;
}
}
}
}
*/
ImageDtt image_dtt = new ImageDtt( ImageDtt image_dtt = new ImageDtt(
geometryCorrection.getNumSensors(), geometryCorrection.getNumSensors(),
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ e6a1d91b
...@@ -3227,7 +3227,7 @@ public class OpticalFlow { ...@@ -3227,7 +3227,7 @@ public class OpticalFlow {
tilesY, tilesY,
true, true,
"accumulated_disparity_map-"+nrefine, "accumulated_disparity_map-"+nrefine,
ImageDtt.DISPARITY_TITLES ImageDtt.getDisparityTitles(ref_scene.getNumSensors()) // ImageDtt.DISPARITY_TITLES
); );
// update disparities // update disparities
final int disparity_index = ImageDtt.DISPARITY_INDEX_CM; // 2 final int disparity_index = ImageDtt.DISPARITY_INDEX_CM; // 2
...@@ -3426,7 +3426,7 @@ public class OpticalFlow { ...@@ -3426,7 +3426,7 @@ public class OpticalFlow {
tilesY, tilesY,
true, true,
"accumulated_disparity_map-"+nrefine, "accumulated_disparity_map-"+nrefine,
ImageDtt.DISPARITY_TITLES ImageDtt.getDisparityTitles(ref_scene.getNumSensors()) // ImageDtt.DISPARITY_TITLES
); );
} }
// update disparities // update disparities
...@@ -3637,7 +3637,7 @@ public class OpticalFlow { ...@@ -3637,7 +3637,7 @@ public class OpticalFlow {
tilesY, tilesY,
true, true,
"accumulated_disparity_map-"+nrefine, "accumulated_disparity_map-"+nrefine,
ImageDtt.DISPARITY_TITLES ImageDtt.getDisparityTitles(ref_scene.getNumSensors()) // ImageDtt.DISPARITY_TITLES
); );
} }
// update disparities // update disparities
...@@ -3907,7 +3907,7 @@ public class OpticalFlow { ...@@ -3907,7 +3907,7 @@ public class OpticalFlow {
ref_scene.isLwir(), ref_scene.isLwir(),
clt_parameters.getScaleStrength(ref_scene.isAux()), clt_parameters.getScaleStrength(ref_scene.isAux()),
ref_scene.getGPU()); ref_scene.getGPU());
double[][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; double[][] disparity_map = new double [image_dtt.getDisparityTitles().length][];
int disparity_modes = int disparity_modes =
ImageDtt.BITS_ALL_DISPARITIES | ImageDtt.BITS_ALL_DISPARITIES |
...@@ -4818,7 +4818,7 @@ public class OpticalFlow { ...@@ -4818,7 +4818,7 @@ public class OpticalFlow {
ref_scene.isLwir(), ref_scene.isLwir(),
clt_parameters.getScaleStrength(ref_scene.isAux()), clt_parameters.getScaleStrength(ref_scene.isAux()),
ref_scene.getGPU()); ref_scene.getGPU());
double[][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; double[][] disparity_map = new double [image_dtt.getDisparityTitles().length][];
int disparity_modes = int disparity_modes =
ImageDtt.BITS_ALL_DISPARITIES | ImageDtt.BITS_ALL_DISPARITIES |
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ e6a1d91b
...@@ -3009,10 +3009,10 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -3009,10 +3009,10 @@ public class QuadCLT extends QuadCLTCPU {
// undecided, so 2 modes of combining alpha - same as rgb, or use center tile only // undecided, so 2 modes of combining alpha - same as rgb, or use center tile only
double [][][][] clt_corr_combo = new double [ImageDtt.TCORR_TITLES.length][tilesY][tilesX][]; // will only be used inside? double [][][][] clt_corr_combo = new double [ImageDtt.TCORR_TITLES.length][tilesY][tilesX][]; // will only be used inside?
// double min_corr_selected = clt_parameters.min_corr; // 0.02 was not used !
// yes, needed (for macro) // yes, needed (for macro)
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
//if ((i >= IMG_TONE_RGB) || ((i >= IMG_DIFF0_INDEX) && (i < (IMG_DIFF0_INDEX + 4)))) { double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
/* /*
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
// not used // not used
...@@ -3269,7 +3269,8 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -3269,7 +3269,8 @@ public class QuadCLT extends QuadCLTCPU {
} }
} }
} }
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
/* /*
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
// not used // not used
...@@ -3421,7 +3422,9 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -3421,7 +3422,9 @@ public class QuadCLT extends QuadCLTCPU {
} }
} }
} }
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
ImageDtt image_dtt = new ImageDtt( ImageDtt image_dtt = new ImageDtt(
getNumSensors(), getNumSensors(),
clt_parameters.transform_size, clt_parameters.transform_size,
...@@ -3729,8 +3732,11 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -3729,8 +3732,11 @@ public class QuadCLT extends QuadCLTCPU {
} }
} }
double[][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // double[][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
double[][] disparity_map_fake = new double [ImageDtt.DISPARITY_TITLES.length][]; // double[][] disparity_map_fake = new double [ImageDtt.DISPARITY_TITLES.length][];
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
double [][] disparity_map_fake = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
int disparity_modes = int disparity_modes =
ImageDtt.BITS_ALL_DISPARITIES | ImageDtt.BITS_ALL_DISPARITIES |
ImageDtt.BITS_ALL_DIFFS | // needs max_diff? ImageDtt.BITS_ALL_DIFFS | // needs max_diff?
...@@ -4134,7 +4140,8 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -4134,7 +4140,8 @@ public class QuadCLT extends QuadCLTCPU {
} }
} }
} }
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
/* /*
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
// not used // not used
...@@ -4283,7 +4290,9 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -4283,7 +4290,9 @@ public class QuadCLT extends QuadCLTCPU {
clt_corr_partial1[i][j] = null; clt_corr_partial1[i][j] = null;
} }
} }
double [][] disparity_map1 = new double [ImageDtt.DISPARITY_TITLES.length][]; // double [][] disparity_map1 = new double [ImageDtt.DISPARITY_TITLES.length][];
double [][] disparity_map1 = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
float [][][][] corr_td_blur = image_dtt.blur_corr_GPU( // convert to pixel domain and process correlations already prepared in fcorr_td and/or fcorr_combo_td float [][][][] corr_td_blur = image_dtt.blur_corr_GPU( // convert to pixel domain and process correlations already prepared in fcorr_td and/or fcorr_combo_td
// final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ e6a1d91b
...@@ -520,17 +520,22 @@ public class QuadCLTCPU { ...@@ -520,17 +520,22 @@ public class QuadCLTCPU {
if (tp == null) return null; if (tp == null) return null;
return tp.rig_disparity_strength; return tp.rig_disparity_strength;
} }
public void setTiles (ImagePlus imp, // set tp.tilesX, tp.tilesY // USED in lwir public void setTiles (
ImagePlus imp, // set tp.tilesX, tp.tilesY // USED in lwir
int numSensors,
CLTParameters clt_parameters, CLTParameters clt_parameters,
int threadsMax int threadsMax
){ ){
setTiles(clt_parameters, setTiles(
numSensors,
clt_parameters,
imp.getWidth()/clt_parameters.transform_size, imp.getWidth()/clt_parameters.transform_size,
imp.getHeight()/clt_parameters.transform_size, imp.getHeight()/clt_parameters.transform_size,
threadsMax); threadsMax);
} }
public void setTiles ( // USED in lwir public void setTiles ( // USED in lwir
int numSensors,
CLTParameters clt_parameters, CLTParameters clt_parameters,
int tilesX, int tilesX,
int tilesY, int tilesY,
...@@ -542,6 +547,7 @@ public class QuadCLTCPU { ...@@ -542,6 +547,7 @@ public class QuadCLTCPU {
tilesY, tilesY,
clt_parameters.transform_size, clt_parameters.transform_size,
clt_parameters.stSize, clt_parameters.stSize,
numSensors,
isMonochrome(), isMonochrome(),
isLwir(), isLwir(),
isAux(), isAux(),
...@@ -4077,6 +4083,7 @@ public class QuadCLTCPU { ...@@ -4077,6 +4083,7 @@ public class QuadCLTCPU {
} }
} }
setTiles (imp_srcs[0], // set global tp.tilesX, tp.tilesY setTiles (imp_srcs[0], // set global tp.tilesX, tp.tilesY
getNumSensors(), // tp.getNumSensors(),
clt_parameters, clt_parameters,
threadsMax); // where to get it? Use instance member threadsMax); // where to get it? Use instance member
tp.setTrustedCorrelation(clt_parameters.grow_disp_trust); tp.setTrustedCorrelation(clt_parameters.grow_disp_trust);
...@@ -4674,7 +4681,8 @@ public class QuadCLTCPU { ...@@ -4674,7 +4681,8 @@ public class QuadCLTCPU {
clt_combo_dbg = new double [num_pairs][][][]; clt_combo_dbg = new double [num_pairs][][][];
} }
} // clt_parameters.corr_mismatch = false } // clt_parameters.corr_mismatch = false
disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) last 4 - max pixel differences // disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) last 4 - max pixel differences
disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
} }
// Includes all 3 colors - will have zeros in unused // Includes all 3 colors - will have zeros in unused
...@@ -4866,7 +4874,18 @@ public class QuadCLTCPU { ...@@ -4866,7 +4874,18 @@ public class QuadCLTCPU {
} }
} }
} }
// visualize correlation results
if (disparity_map != null){
if (!batch_mode && clt_parameters.show_map && (debugLevel > -2)){
sdfa_instance.showArrays(
disparity_map,
tilesX,
tilesY,
true,
image_name+sAux()+"-DISP_MAP-D"+clt_parameters.disparity,
ImageDtt.getDisparityTitles(getNumSensors())); // ImageDtt.DISPARITY_TITLES);
}
}
/* /*
// visualize correlation results // visualize correlation results
...@@ -5340,7 +5359,8 @@ public class QuadCLTCPU { ...@@ -5340,7 +5359,8 @@ public class QuadCLTCPU {
} // clt_parameters.corr_mismatch = false } // clt_parameters.corr_mismatch = false
} }
// Includes all 3 colors - will have zeros in unused // Includes all 3 colors - will have zeros in unused
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) last 4 - max pixel differences // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) last 4 - max pixel differences
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double min_corr_selected = clt_parameters.min_corr; double min_corr_selected = clt_parameters.min_corr;
double [][] shiftXY = new double [getNumSensors()][2]; double [][] shiftXY = new double [getNumSensors()][2];
...@@ -6176,7 +6196,8 @@ public class QuadCLTCPU { ...@@ -6176,7 +6196,8 @@ public class QuadCLTCPU {
} }
} }
// Includes all 3 colors - will have zeros in unused // Includes all 3 colors - will have zeros in unused
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) last 4 - max pixel differences // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) last 4 - max pixel differences
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double min_corr_selected = clt_parameters.min_corr; double min_corr_selected = clt_parameters.min_corr;
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
...@@ -6296,7 +6317,7 @@ public class QuadCLTCPU { ...@@ -6296,7 +6317,7 @@ public class QuadCLTCPU {
tilesY, tilesY,
true, true,
name+sAux()+"-DISP_MAP-D"+clt_parameters.disparity, name+sAux()+"-DISP_MAP-D"+clt_parameters.disparity,
ImageDtt.DISPARITY_TITLES); ImageDtt.getDisparityTitles(getNumSensors()));// ImageDtt.DISPARITY_TITLES);
} }
/* /*
if (clt_mismatch != null) { if (clt_mismatch != null) {
...@@ -7342,7 +7363,9 @@ public class QuadCLTCPU { ...@@ -7342,7 +7363,9 @@ public class QuadCLTCPU {
} }
} }
setTiles (imp_quad[0], // set global tp.tilesX, tp.tilesY setTiles (
imp_quad[0], // set global tp.tilesX, tp.tilesY
tp.getNumSensors(),
clt_parameters, clt_parameters,
threadsMax); threadsMax);
final int tilesX = tp.getTilesX(); final int tilesX = tp.getTilesX();
...@@ -7356,7 +7379,9 @@ public class QuadCLTCPU { ...@@ -7356,7 +7379,9 @@ public class QuadCLTCPU {
// undecided, so 2 modes of combining alpha - same as rgb, or use center tile only // undecided, so 2 modes of combining alpha - same as rgb, or use center tile only
double min_corr_selected = clt_parameters.min_corr; double min_corr_selected = clt_parameters.min_corr;
double [][][] disparity_maps = new double [clt_parameters.disp_scan_count][ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) // double [][][] disparity_maps = new double [clt_parameters.disp_scan_count][ImageDtt.DISPARITY_TITLES.length][];
double [][][] disparity_maps = new double [clt_parameters.disp_scan_count][ImageDtt.getDisparityTitles(getNumSensors()).length][];
double [][][] clt_mismatches = new double [clt_parameters.disp_scan_count][12][]; double [][][] clt_mismatches = new double [clt_parameters.disp_scan_count][12][];
for (int scan_step = 0; scan_step < clt_parameters.disp_scan_count; scan_step++) { for (int scan_step = 0; scan_step < clt_parameters.disp_scan_count; scan_step++) {
double disparity = clt_parameters.disp_scan_start + scan_step * clt_parameters.disp_scan_step; double disparity = clt_parameters.disp_scan_start + scan_step * clt_parameters.disp_scan_step;
...@@ -7556,8 +7581,8 @@ public class QuadCLTCPU { ...@@ -7556,8 +7581,8 @@ public class QuadCLTCPU {
ImageDtt.DISPARITY_STRENGTH_INDEX, ImageDtt.DISPARITY_STRENGTH_INDEX,
ImageDtt.DISPARITY_VARIATIONS_INDEX}; ImageDtt.DISPARITY_VARIATIONS_INDEX};
String [] disparity_titles = new String [disp_indices.length]; String [] disparity_titles = new String [disp_indices.length];
for (int i = 0; i < disparity_titles.length; i++ ) disparity_titles[i] = ImageDtt.DISPARITY_TITLES[i]; // for (int i = 0; i < disparity_titles.length; i++ ) disparity_titles[i] = ImageDtt.DISPARITY_TITLES[i];
for (int i = 0; i < disparity_titles.length; i++ ) disparity_titles[i] = ImageDtt.getDisparityTitles(getNumSensors())[i];
// 2,4,6,7}; // 2,4,6,7};
String [] disparities_titles = new String [disparity_titles.length * clt_parameters.disp_scan_count]; String [] disparities_titles = new String [disparity_titles.length * clt_parameters.disp_scan_count];
double [][] disparities_maps = new double [disparity_titles.length * clt_parameters.disp_scan_count][]; double [][] disparities_maps = new double [disparity_titles.length * clt_parameters.disp_scan_count][];
...@@ -11618,8 +11643,8 @@ public class QuadCLTCPU { ...@@ -11618,8 +11643,8 @@ public class QuadCLTCPU {
double min_corr_selected = clt_parameters.min_corr; // 0.02 double min_corr_selected = clt_parameters.min_corr; // 0.02
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
if (!clt_parameters.fine_corr_ignore) { if (!clt_parameters.fine_corr_ignore) {
double [][] shiftXY0 = { double [][] shiftXY0 = {
...@@ -11856,7 +11881,8 @@ public class QuadCLTCPU { ...@@ -11856,7 +11881,8 @@ public class QuadCLTCPU {
} }
double min_corr_selected = clt_parameters.min_corr; double min_corr_selected = clt_parameters.min_corr;
double [][] disparity_map = save_corr ? new double [ImageDtt.DISPARITY_TITLES.length][] : null; //[0] -residual disparity, [1] - orthogonal (just for debugging) // double [][] disparity_map = save_corr ? new double [ImageDtt.DISPARITY_TITLES.length][] : null; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] disparity_map = save_corr ? new double [ImageDtt.getDisparityTitles(getNumSensors()).length][] : null; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
if (!clt_parameters.fine_corr_ignore) { if (!clt_parameters.fine_corr_ignore) {
...@@ -11993,7 +12019,8 @@ public class QuadCLTCPU { ...@@ -11993,7 +12019,8 @@ public class QuadCLTCPU {
} }
} }
double min_corr_selected = clt_parameters.min_corr; double min_corr_selected = clt_parameters.min_corr;
double [][] disparity_map = save_corr ? new double [ImageDtt.DISPARITY_TITLES.length][] : null; //[0] -residual disparity, [1] - orthogonal (just for debugging) // double [][] disparity_map = save_corr ? new double [ImageDtt.DISPARITY_TITLES.length][] : null; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] disparity_map = save_corr ? new double [ImageDtt.getDisparityTitles(getNumSensors()).length][] : null; //[0] -residual disparity, [1] - orthogonal (just for debugging)
double [][] shiftXY = new double [4][2]; double [][] shiftXY = new double [4][2];
if (!clt_parameters.fine_corr_ignore) { if (!clt_parameters.fine_corr_ignore) {
double [][] shiftXY0 = { double [][] shiftXY0 = {
......
src/main/java/com/elphel/imagej/tileprocessor/TileProcessor.java
View file @ e6a1d91b
...@@ -37,7 +37,7 @@ import com.elphel.imagej.common.PolynomialApproximation; ...@@ -37,7 +37,7 @@ import com.elphel.imagej.common.PolynomialApproximation;
import com.elphel.imagej.common.ShowDoubleFloatArrays; import com.elphel.imagej.common.ShowDoubleFloatArrays;
public class TileProcessor { public class TileProcessor {
public static String [] SCAN_TITLES = { public static String [] SCAN_TITLES = { // wrong now !
"tile_op", // 0 "tile_op", // 0
"final", // 1 - calculated, filtered, combined disparity "final", // 1 - calculated, filtered, combined disparity
"disparity", // 2 "disparity", // 2
...@@ -80,6 +80,7 @@ public class TileProcessor { ...@@ -80,6 +80,7 @@ public class TileProcessor {
public boolean [] rig_post_poles_sel = null; // Rig tile selection after processing poles public boolean [] rig_post_poles_sel = null; // Rig tile selection after processing poles
public double [][] main_ds_ml = null; // main camera DSI restored from the COMBO-DSI file to generate ML test files public double [][] main_ds_ml = null; // main camera DSI restored from the COMBO-DSI file to generate ML test files
final int numSensors;
public boolean monochrome = false; // these are monochrome images public boolean monochrome = false; // these are monochrome images
public boolean lwir = false; // all monochrome are lwir public boolean lwir = false; // all monochrome are lwir
private boolean is_aux = false; // this camera is aux private boolean is_aux = false; // this camera is aux
...@@ -98,11 +99,15 @@ public class TileProcessor { ...@@ -98,11 +99,15 @@ public class TileProcessor {
public double [][] dbg_filtered_disp_strength; public double [][] dbg_filtered_disp_strength;
// All parameters are set only once, during instantiation // All parameters are set only once, during instantiation
public int getNumSensors() {
return numSensors;
}
public TileProcessor( public TileProcessor(
int tilesX, int tilesX,
int tilesY, int tilesY,
int tileSize, int tileSize,
int superTileSize, int superTileSize,
int numSensors,
boolean monochrome, boolean monochrome,
boolean lwir, boolean lwir,
boolean is_aux, boolean is_aux,
...@@ -115,6 +120,7 @@ public class TileProcessor { ...@@ -115,6 +120,7 @@ public class TileProcessor {
this.tilesY = tilesY; this.tilesY = tilesY;
this.tileSize = tileSize; this.tileSize = tileSize;
this.superTileSize = superTileSize; this.superTileSize = superTileSize;
this.numSensors = numSensors;
this.monochrome = monochrome; this.monochrome = monochrome;
this.lwir = lwir; this.lwir = lwir;
this.is_aux = is_aux; this.is_aux = is_aux;
...@@ -128,6 +134,7 @@ public class TileProcessor { ...@@ -128,6 +134,7 @@ public class TileProcessor {
this.tilesY = tp.tilesY; this.tilesY = tp.tilesY;
this.tileSize = tp.tileSize; this.tileSize = tp.tileSize;
this.superTileSize = tp.superTileSize; this.superTileSize = tp.superTileSize;
this.numSensors = tp.numSensors;
this.monochrome = tp.monochrome; this.monochrome = tp.monochrome;
this.lwir = tp.lwir; this.lwir = tp.lwir;
this.is_aux = tp.is_aux; this.is_aux = tp.is_aux;
...@@ -1147,7 +1154,9 @@ public class TileProcessor { ...@@ -1147,7 +1154,9 @@ public class TileProcessor {
} }
for (CLTPass3d combo_pass : combo_pass_list) { for (CLTPass3d combo_pass : combo_pass_list) {
combo_pass.tile_op = new int [tilesY][tilesX]; // for just non-zero combo_pass.tile_op = new int [tilesY][tilesX]; // for just non-zero
combo_pass.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // combo_pass.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
combo_pass.disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen]; for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
if (copyDebug){ if (copyDebug){
combo_pass.disparity_map[ImageDtt.DISPARITY_INDEX_CM] = new double[tlen]; combo_pass.disparity_map[ImageDtt.DISPARITY_INDEX_CM] = new double[tlen];
...@@ -1481,7 +1490,8 @@ ImageDtt.startAndJoin(threads); ...@@ -1481,7 +1490,8 @@ ImageDtt.startAndJoin(threads);
} }
for (CLTPass3d combo_pass : combo_pass_list) { for (CLTPass3d combo_pass : combo_pass_list) {
combo_pass.tile_op = new int [tilesY][tilesX]; // for just non-zero combo_pass.tile_op = new int [tilesY][tilesX]; // for just non-zero
combo_pass.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // combo_pass.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
combo_pass.disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen]; for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
if (copyDebug){ if (copyDebug){
combo_pass.disparity_map[ImageDtt.DISPARITY_INDEX_CM] = new double[tlen]; combo_pass.disparity_map[ImageDtt.DISPARITY_INDEX_CM] = new double[tlen];
...@@ -1798,7 +1808,8 @@ ImageDtt.startAndJoin(threads); ...@@ -1798,7 +1808,8 @@ ImageDtt.startAndJoin(threads);
final int tlen = tilesX * tilesY; final int tlen = tilesX * tilesY;
final int disparity_index = usePoly ? ImageDtt.DISPARITY_INDEX_POLY : ImageDtt.DISPARITY_INDEX_CM; final int disparity_index = usePoly ? ImageDtt.DISPARITY_INDEX_POLY : ImageDtt.DISPARITY_INDEX_CM;
combo_pass.tile_op = new int [tilesY][tilesX]; // for just non-zero combo_pass.tile_op = new int [tilesY][tilesX]; // for just non-zero
combo_pass.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // combo_pass.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
combo_pass.disparity_map = new double [ImageDtt.getDisparityTitles(getNumSensors()).length][];
for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen]; for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
if (copyDebug){ if (copyDebug){
combo_pass.disparity_map[ImageDtt.DISPARITY_INDEX_CM] = new double[tlen]; combo_pass.disparity_map[ImageDtt.DISPARITY_INDEX_CM] = new double[tlen];
...@@ -3701,6 +3712,7 @@ ImageDtt.startAndJoin(threads); ...@@ -3701,6 +3712,7 @@ ImageDtt.startAndJoin(threads);
return ds; return ds;
} }
// TODO: update for variable length
public double [][] getShowScan( public double [][] getShowScan(
CLTPass3d scan, CLTPass3d scan,
boolean measured_only) boolean measured_only)
...@@ -3757,7 +3769,7 @@ ImageDtt.startAndJoin(threads); ...@@ -3757,7 +3769,7 @@ ImageDtt.startAndJoin(threads);
dbg_img[ 9] = scan.disparity_map[ImageDtt.DISPARITY_INDEX_VERT_STRENGTH]; dbg_img[ 9] = scan.disparity_map[ImageDtt.DISPARITY_INDEX_VERT_STRENGTH];
dbg_img[20] = scan.disparity_map[ImageDtt.OVEREXPOSED]; dbg_img[20] = scan.disparity_map[ImageDtt.OVEREXPOSED];
for (int i = 0; i < 12; i++) { for (int i = 0; i < 12; i++) {
dbg_img[this_IMG_TONE_RGB+i] = scan.disparity_map[ImageDtt.IMG_TONE_RGB + i]; dbg_img[this_IMG_TONE_RGB+i] = scan.disparity_map[ImageDtt.getImgToneRGB(numSensors) + i];
} }
} }
dbg_img[1] = scan.calc_disparity_combo; dbg_img[1] = scan.calc_disparity_combo;
...@@ -4025,7 +4037,8 @@ ImageDtt.startAndJoin(threads); ...@@ -4025,7 +4037,8 @@ ImageDtt.startAndJoin(threads);
block_propagate, // tiles, block_propagate, // tiles,
null); // prohibit); null); // prohibit);
if ((debugLevel > -1) && show_bgnd_nonbgnd){ if ((debugLevel > -1) && show_bgnd_nonbgnd){
new ShowDoubleFloatArrays().showArrays(bgnd_data.disparity_map, tilesX, tilesY, true, "bgnd_map",ImageDtt.DISPARITY_TITLES); // new ShowDoubleFloatArrays().showArrays(bgnd_data.disparity_map, tilesX, tilesY, true, "bgnd_map",ImageDtt.DISPARITY_TITLES);
new ShowDoubleFloatArrays().showArrays(bgnd_data.disparity_map, tilesX, tilesY, true, "bgnd_map",ImageDtt.getDisparityTitles(getNumSensors()));
new ShowDoubleFloatArrays().showArrays(dbg_worst2, tilesX, tilesY, "worst2"); new ShowDoubleFloatArrays().showArrays(dbg_worst2, tilesX, tilesY, "worst2");
} }
// TODO: check if minimal cluster strengh should be limited here // TODO: check if minimal cluster strengh should be limited here
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ e6a1d91b
...@@ -1404,7 +1404,8 @@ public class TwoQuadCLT { ...@@ -1404,7 +1404,8 @@ public class TwoQuadCLT {
double [][][] port_xy_main_dbg = new double [tilesX*tilesY][][]; double [][][] port_xy_main_dbg = new double [tilesX*tilesY][][];
double [][][] port_xy_aux_dbg = new double [tilesX*tilesY][][]; double [][][] port_xy_aux_dbg = new double [tilesX*tilesY][][];
// double [][][] corr2ddata = new double [1][][]; // double [][][] corr2ddata = new double [1][][];
double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; // double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
double [][] disparity_map = new double [image_dtt.getDisparityTitles().length][];
final double [][][][][][][] clt_bidata = // new double[2][quad][nChn][tilesY][tilesX][][]; // first index - main/aux final double [][][][][][][] clt_bidata = // new double[2][quad][nChn][tilesY][tilesX][][]; // first index - main/aux
image_dtt.clt_bi_quad_dbg ( image_dtt.clt_bi_quad_dbg (
...@@ -1443,17 +1444,19 @@ public class TwoQuadCLT { ...@@ -1443,17 +1444,19 @@ public class TwoQuadCLT {
port_xy_aux_dbg); // final double [][][] port_xy_aux_dbg) // for each tile/port save x,y pixel coordinates (gpu code development) port_xy_aux_dbg); // final double [][][] port_xy_aux_dbg) // for each tile/port save x,y pixel coordinates (gpu code development)
///// double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging) ///// double [][] disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][]; //[0] -residual disparity, [1] - orthogonal (just for debugging)
int numSensors = GPUTileProcessor.NUM_CAMS; // Wrong - different for main and aux
String [] sub_titles = new String [GPUTileProcessor.NUM_CAMS * (GPUTileProcessor.NUM_COLORS+1)]; String [] sub_titles = new String [numSensors * (GPUTileProcessor.NUM_COLORS+1)];
double [][] sub_disparity_map = new double [sub_titles.length][]; double [][] sub_disparity_map = new double [sub_titles.length][];
for (int ncam = 0; ncam < GPUTileProcessor.NUM_CAMS; ncam++) { for (int ncam = 0; ncam < numSensors; ncam++) {
sub_disparity_map[ncam] = disparity_map[ncam + ImageDtt.IMG_DIFF0_INDEX]; sub_disparity_map[ncam] = disparity_map[ncam + ImageDtt.IMG_DIFF0_INDEX];
sub_titles[ncam] = ImageDtt.DISPARITY_TITLES[ncam + ImageDtt.IMG_DIFF0_INDEX]; // sub_titles[ncam] = ImageDtt.DISPARITY_TITLES[ncam + ImageDtt.IMG_DIFF0_INDEX];
sub_titles[ncam] = ImageDtt.getDisparityTitles(numSensors)[ncam + ImageDtt.IMG_DIFF0_INDEX];
for (int ncol = 0; ncol < GPUTileProcessor.NUM_COLORS; ncol++) { for (int ncol = 0; ncol < GPUTileProcessor.NUM_COLORS; ncol++) {
sub_disparity_map[ncam + (ncol + 1)* GPUTileProcessor.NUM_CAMS] = sub_disparity_map[ncam + (ncol + 1)* numSensors] =
disparity_map[ncam +ncol* GPUTileProcessor.NUM_CAMS+ ImageDtt.IMG_TONE_RGB]; disparity_map[ncam +ncol* numSensors+ ImageDtt.getImgToneRGB(numSensors)];
sub_titles[ncam + (ncol + 1)* GPUTileProcessor.NUM_CAMS] = sub_titles[ncam + (ncol + 1)* numSensors] =
ImageDtt.DISPARITY_TITLES[ncam +ncol* GPUTileProcessor.NUM_CAMS+ ImageDtt.IMG_TONE_RGB]; // ImageDtt.DISPARITY_TITLES[ncam +ncol* numSensors+ ImageDtt.getImgToneRGB(numSensors)];
ImageDtt.getDisparityTitles(numSensors)[ncam +ncol* numSensors+ ImageDtt.getImgToneRGB(numSensors)];
} }
} }
// String [] sub_titles = {ImageDtt.DISPARITY_TITLES[ImageDtt.IMG_DIFF0_INDEX] // String [] sub_titles = {ImageDtt.DISPARITY_TITLES[ImageDtt.IMG_DIFF0_INDEX]
......
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