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imagej-elphel
Commit eae75ef1 authored by Andrey Filippov's avatar Andrey Filippov
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Improving renderSceneSequence()

parent d3c015c3
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Showing with 57 additions and 110 deletions
src/main/java/com/elphel/imagej/cuas/CuasRanging.java
View file @ eae75ef1
......@@ -75,6 +75,7 @@ public class CuasRanging {
}
public ImagePlus prepareFpixels(){
boolean dbg_save_fpixels = true;
double [][]combo_dsi = getCenter_CLT().comboFromMain();
double [][] dls = {
combo_dsi[OpticalFlow.COMBO_DSN_INDX_DISP], // **** null on second scene sequence
......@@ -135,6 +136,37 @@ public class CuasRanging {
double [] cuas_atr = OpticalFlow.ZERO3;
String scenes_suffix = getCenter_CLT().getImageName()+"-CUAS"; // "1747829900_781803-SEQ-FG-MONO-FPN";
boolean merge_all = false; // clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
int sensor_mask = merge_all? 1 : -1;
if (dbg_save_fpixels) {
ImagePlus imp_targets= OpticalFlow.renderSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
true, // center_CLT.hasCenterClt(), // boolean mode_cuas,
false, // clt_parameters.imp.um_mono, // boolean um_mono,
clt_parameters.imp.calculate_average, // boolean insert_average, // then add new parameter, keep add average
null, // int [] average_range,
null, // average_channels, // average_slice,
clt_parameters.imp.subtract_average, // boolean subtract_average,
clt_parameters.imp.running_average, // int running_average,
null, // fov_tiles, // Rectangle fov_tiles,
1, // mode3d, // int mode3d,
false, // toRGB, // boolean toRGB,
xyz_offset, // double [] stereo_offset, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr, // offset reference orientation (cuas)
sensor_mask, // sensor_mask, // int sensor_mask,
merge_all, // boolean merge_all,
scenes_suffix, // String suffix,
ds_vantage[0], // selected_disparity, // double [] ref_disparity,
scenes, // QuadCLT [] quadCLTs,
getCenter_CLT(), // ref_index, // int ref_index,
ImageDtt.THREADS_MAX, // threadsMax, // int threadsMax,
debugLevel); // int debugLevel);
getCenter_CLT().saveImagePlusInModelDirectory(
imp_targets.getTitle()+"-DBG", // "GPU-SHIFTED-D"+clt_parameters.disparity, // String suffix,
imp_targets); // imp_scenes); // ImagePlus imp)
}
merge_all = true; // clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
sensor_mask = merge_all? 1 : -1;
ImagePlus imp_targets= OpticalFlow.renderSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
true, // center_CLT.hasCenterClt(), // boolean mode_cuas,
......@@ -149,13 +181,19 @@ public class CuasRanging {
false, // toRGB, // boolean toRGB,
xyz_offset, // double [] stereo_offset, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr, // offset reference orientation (cuas)
1, // sensor_mask, // int sensor_mask,
sensor_mask, // sensor_mask, // int sensor_mask,
merge_all, // boolean merge_all,
scenes_suffix, // String suffix,
ds_vantage[0], // selected_disparity, // double [] ref_disparity,
scenes, // QuadCLT [] quadCLTs,
getCenter_CLT(), // ref_index, // int ref_index,
ImageDtt.THREADS_MAX, // threadsMax, // int threadsMax,
debugLevel); // int debugLevel);
if (dbg_save_fpixels) {
getCenter_CLT().saveImagePlusInModelDirectory(
imp_targets.getTitle()+"-DBG", // "GPU-SHIFTED-D"+clt_parameters.disparity, // String suffix,
imp_targets); // imp_scenes); // ImagePlus imp)
}
return imp_targets;
}
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ eae75ef1
......@@ -7272,6 +7272,8 @@ java.lang.NullPointerException
quadCLTs, // QuadCLT [] scenes,
debugLevel);
ImagePlus imp_targets = cuasRangingRT.prepareFpixels(); // GPU generator (explicit, CUDA-sensitive); also builds the QuadCLT instances = borrowed-calibration source
if (clt_parameters.imp.curt_cond_test) {
// Conditioning/calibration isolation test (curt_cond_test): reuse the QuadCLT instances just built as the
// borrowed-calibration source and print the per-sensor average spread. Baseline reads the current-scene TD
......@@ -7518,6 +7520,7 @@ java.lang.NullPointerException
}
float [] average_pixels = (master_CLT.getCenterAverage() != null) ? ((float []) master_CLT.getCenterAverage().getProcessor().getPixels()):null;
float [][] average_channels = new float [][] {average_pixels}; // for future color images
boolean merge_all = clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
imp_scenes_pair[nstereo]= renderSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
master_CLT.hasCenterClt(), // boolean mode_cuas,
......@@ -7533,6 +7536,7 @@ java.lang.NullPointerException
xyz_offset, // double [] stereo_offset, // offset reference camera {x,y,z}
cuas_atr, // double [] stereo_atr, // offset reference orientation (cuas)
sensor_mask, // int sensor_mask,
merge_all, // boolean merge_all,
scenes_suffix, // String suffix,
ds_vantage[0], // selected_disparity, // double [] ref_disparity,
quadCLTs, // QuadCLT [] quadCLTs,
......@@ -8208,6 +8212,7 @@ java.lang.NullPointerException
if ((combo_dsn_final== null) || (combo_dsn_final.length <= COMBO_DSN_INDX_TERRAIN) || (combo_dsn_final[COMBO_DSN_INDX_TERRAIN] == null)) {
System.out.println ("No terrain data available");
} else {
boolean merge_all = clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
double [] elevation_disparity = combo_dsn_final[COMBO_DSN_INDX_DISP];
String scenes_suffix = master_CLT.getImageName()+"-ELEVATION"; // quadCLTs[quadCLTs.length-1].getImageName()+"-ELEVATION";
ImagePlus imp_elevation = renderSceneSequence(
......@@ -8225,6 +8230,7 @@ java.lang.NullPointerException
ZERO3, // double [] stereo_offset, // offset reference camera {x,y,z}
null, // double [] stereo_atr, // offset reference orientation (cuas)
1, // int sensor_mask,
merge_all, // boolean merge_all,
scenes_suffix, // String suffix,
elevation_disparity, // selected_disparity, // double [] ref_disparity,
quadCLTs, // QuadCLT [] quadCLTs,
......@@ -10250,6 +10256,7 @@ java.lang.NullPointerException
average_range[1] = Math.max(average_range[0],average_range[1]);
average_range[1] = Math.min(num_scenes-1, average_range[1]);
}
boolean merge_all = clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
return renderSceneSequence(
clt_parameters, // CLTParameters clt_parameters,
false, // boolean mode_cuas,
......@@ -10267,6 +10274,7 @@ java.lang.NullPointerException
null, // double [] stereo_atr_in, // offset reference orientation (cuas)
null, // double [][] post_rotate,
sensor_mask, // int sensor_mask,
merge_all, // boolean merge_all,
suffix_in, // String suffix_in,
ref_disparity, // double [] ref_disparity,
selected_scenes, // QuadCLT [] quadCLTs,
......@@ -10291,6 +10299,7 @@ java.lang.NullPointerException
double [] stereo_xyz, // offset reference camera {x,y,z}
double [] stereo_atr_in, // offset reference orientation (cuas)
int sensor_mask,
boolean merge_all,
String suffix_in,
double [] ref_disparity,
QuadCLT [] quadCLTs,
......@@ -10314,6 +10323,7 @@ java.lang.NullPointerException
stereo_atr_in, // double [] stereo_atr_in, // offset reference orientation (cuas)
null, // double [][] post_rotate,
sensor_mask, // int sensor_mask,
merge_all, // boolean merge_all,
suffix_in, // String suffix_in,
ref_disparity, // double [] ref_disparity,
quadCLTs, // QuadCLT [] quadCLTs,
......@@ -10338,6 +10348,7 @@ java.lang.NullPointerException
double [] stereo_atr_in, // offset reference orientation (cuas)
double [][] post_rotate,
int sensor_mask,
boolean merge_all,
String suffix_in,
double [] ref_disparity, // may be ground disparity
QuadCLT [] quadCLTs,
......@@ -10359,15 +10370,14 @@ java.lang.NullPointerException
if (mode3d != 1) {
running_average = 0;
}
final float fum_weight = (float) um_weight;
boolean merge_all = clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
// boolean merge_all = clt_parameters.imp.merge_all || !um_mono; // no unsharp mask -> terrain->merge_all
if (mode3d < 1) {
merge_all = false;
}
if (merge_all) {
sensor_mask = 1;
sensor_mask = 1; // should it define - which channels to merge?
}
String suffix = suffix_in+((mode3d > 0)?(merge_all?"-MERGED":"-SINGLE"):"");
String suffix = suffix_in+((mode3d > 0)?(merge_all?"-MERGED":"-INDIVIDUAL"):""); // "SINGLE
if ((mode3d <0) && (corr_raw_ers)) {
suffix+="-RAW_ERS";
}
......@@ -10401,62 +10411,12 @@ java.lang.NullPointerException
ref_disparity, // final double [] ground_disparity,
ground_xyzatr, // final double [][] ground_xyzatr,
ref_scene); // final QuadCLT ref_scene)
/*
final double [] ground_disparity = ref_disparity; // input
final int tilesX=ref_scene.getTilesX();
final int tilesY=ref_scene.getTilesY();
final int transform_size = ref_scene.getTileSize();
final int tiles = tilesX * tilesY;
final Thread[] threads = ImageDtt.newThreadArray();
final AtomicInteger ai = new AtomicInteger(0);
final double [][] fgnd_pXpYD = new double [tiles][];
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (!Double.isNaN(ground_disparity[nTile])){
double disparity = ground_disparity[nTile];
int tileY = nTile / tilesX;
int tileX = nTile % tilesX;
double centerX = (tileX + 0.5) * transform_size; // - shiftX;
double centerY = (tileY + 0.5) * transform_size; // - shiftY;
if (disparity < 0) {
disparity = 1.0* disparity; // 0.0;
}
fgnd_pXpYD[nTile] = new double[] {centerX, centerY, disparity};
// fgnd_pXpYD[nTile] = new double[] {transform_size*tilesX-centerX, transform_size*tilesY-centerY, disparity};
}
}
};
}
ImageDtt.startAndJoin(threads);
*/
ref_pXpYD = OpticalFlow.transformToScenePxPyD(
fgnd_pXpYD, // final double [][] reference_pXpYD,// invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity
ground_xyzatr[0], // final double [] scene_xyz, // camera center in world (reference) coordinates
ground_xyzatr[1], // final double [] scene_atr, // camera orientation relative to world (reference) frame
ref_scene, // final QuadCLT reference_QuadClt) //
null); // final QuadCLT scene_QuadClt) //
/*
double [] disp_dbg = new double[tiles];
Arrays.fill(disp_dbg, Double.NaN);
for (int i = 0; i < tiles; i++) {
if (ref_pXpYD[i] != null) {
disp_dbg[i] = ref_pXpYD[i][2];
}
}
for (int i = 0; i < tiles; i++) {
int i1 = tiles-i-1;
if (ref_pXpYD[i] != null) {
if (ref_pXpYD[i1] != null) {
ref_pXpYD[i][2]=disp_dbg[i1];
} else {
ref_pXpYD[i] = null;
}
}
}
*/
ref_pXpYD_or_null = ref_pXpYD;
ref_scene.getErsCorrection().setupERS();
if (debugLevel > -3) {
......@@ -10723,57 +10683,6 @@ java.lang.NullPointerException
}
}
}
/*
if (average_slice != null) {
for (int nchn = 0; nchn < channels.length; nchn++) {
float [] avg_slice = (float[]) stack_scenes.getPixels(nchn+1);
System.arraycopy(
average_slice[nchn],
0,
avg_slice,
0,
average_slice[nchn].length);
}
} else {
int num_scenes = (stack_scenes.getSize() / channels.length) - num_avg_slices; // remove averages (1 or 2)
// single-threaded
int first_scene = 0;
int last_scene = num_scenes - 1;
if (average_range != null) {
if (average_range.length == 0) {
average_range = new int [] {last_scene/4, (3*last_scene)/4};
}
first_scene = Math.max(first_scene, average_range[0]);
last_scene = Math.min(last_scene, average_range[1]);
}
for (int nchn = 0; nchn < channels.length; nchn++) {
String label_avg = (channels.length==1) ? "average":("average-"+nchn);
if ((first_scene != 0) || (last_scene != (num_scenes - 1))) {
label_avg+="-+"+first_scene+":"+last_scene;
}
stack_scenes.setSliceLabel(label_avg, nchn+1);
float [] avg_slice = (float[]) stack_scenes.getPixels(nchn+1);
int [] avg_n = new int[avg_slice.length];
int num_pix = avg_slice.length;
for (int nscene = first_scene; nscene <= last_scene; nscene++) {
float [] fpixels = (float[]) stack_scenes.getPixels(nchn + (nscene+1)*channels.length + 1);
for (int npix = 0; npix < num_pix; npix++) if (!Float.isNaN(fpixels[npix])){
avg_slice[npix] += fpixels[npix];
avg_n[npix]++;
}
}
for (int npix = 0; npix < num_pix; npix++) {
if (avg_n[npix] > 0) {
avg_slice[npix] /= avg_n[npix];
}else {
avg_slice[npix] = Float.NaN;
}
}
}
}
*/
// seems that fpixels are automatically updated in the images
}
if (running_average >1) {
int scene_0 = insert_average? 1:0;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ eae75ef1
......@@ -1690,7 +1690,7 @@ public class QuadCLT extends QuadCLTCPU {
toRGB, // boolean toRGB,
false, // use_reference, // boolean use_reference
suffix); // String suffix)
return imp_render;
return imp_render;
}
......@@ -1862,9 +1862,9 @@ public class QuadCLT extends QuadCLTCPU {
public static double [][] preRenderGPUFromDSI( // will return PxPyD
final boolean accumulate,
final double global_scale, // <=1.0
final int sensor_mask,
final boolean merge_channels,
final double global_scale, // <=1.0
final int sensor_mask, // not used
final boolean merge_channels, // not used
final int discard_border,
final double max_fold,
final int min_in_row_col, // Minimal number of defined tiles in a row/column
......
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