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imagej-elphel
Commit ee9c0264 authored by Andrey Filippov's avatar Andrey Filippov
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Implemented main camera field correction from the DSI of the dual camera 

rig.
parent b3afa1ab
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Showing with 7201 additions and 5926 deletions
src/main/java/AlignmentCorrection.java
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src/main/java/Eyesis_Correction.java
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src/main/java/LinkPlanes.java
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......@@ -35,6 +35,8 @@ public class LinkPlanes {
public double plFrontoTol; // = 0.2; plFrontoTol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable
public double plFrontoRms; // = 0.05; // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
public double plFrontoOffs; // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
public double PlFrontoPow; // = 1.0; // increase weight even more
public double plMinStrength; // = 0.1; // Minimal total strength of a plane
public double plMaxEigen; // = 0.05; // Maximal eigenvalue of a plane
public double plEigenFloor; // = 0.01; // Add to eigenvalues of each participating plane and result to validate connections
......@@ -139,6 +141,7 @@ public class LinkPlanes {
plFrontoTol = clt_parameters.plFrontoTol;
plFrontoRms = clt_parameters.plFrontoRms;
plFrontoOffs = clt_parameters.plFrontoOffs;
PlFrontoPow = clt_parameters.PlFrontoPow;
plMaxOverlap = clt_parameters.plMaxOverlap;
......@@ -3994,6 +3997,7 @@ public class LinkPlanes {
plFrontoTol, // final double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
plFrontoRms, // final double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
plFrontoOffs, // final double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
PlFrontoPow, // final double PlFrontoPow, // = 1.0; // increase weight even more
debugLevel, // final int debugLevel)
dbg_tileX,
dbg_tileY);
......@@ -4519,6 +4523,7 @@ public class LinkPlanes {
plFrontoTol, // final double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
plFrontoRms, // final double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
plFrontoOffs, // final double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
PlFrontoPow, // final double PlFrontoPow, // = 1.0; // increase weight even more
debugLevel, // final int debugLevel)
dbg_tileX,
dbg_tileY);
......@@ -4613,6 +4618,7 @@ public class LinkPlanes {
plFrontoTol, // final double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
plFrontoRms, // final double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
plFrontoOffs, // final double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
PlFrontoPow, // final double PlFrontoPow, // = 1.0; // increase weight even more
debugLevel, // final int debugLevel)
dbg_tileX,
dbg_tileY);
......
src/main/java/QuadCLT.java
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src/main/java/SuperTiles.java
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src/main/java/TilePlanes.java
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......@@ -1350,6 +1350,7 @@ public class TilePlanes {
double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
double fronto_pow, // = 1.0; // increase weight even more
double [][][] disp_str, // calculate just once when removing outliers (null - OK, will generate it)
double inTargetEigen, // target eigenvalue for primary axis (is disparity-dependent, so is non-constant)
int maxRemoved, // maximal number of tiles to remove (not a constant)
......@@ -1470,7 +1471,7 @@ public class TilePlanes {
almost_fronto, // boolean fronto_mode,
fronto_offs, // double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
fronto_pow, // double fronto_pow, // = 1.0; // increase weight even more
this.mlfp,
debugLevel-1) != null);
......@@ -1516,6 +1517,8 @@ public class TilePlanes {
this.smplMode,
almost_fronto, // boolean fronto_mode,
fronto_offs, // double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
fronto_pow, // double fronto_pow, // = 1.0; // increase weight even more
this.mlfp,
debugLevel-0) != null); // will show image
if (!OK) { // restore how it was
......@@ -1560,8 +1563,10 @@ public class TilePlanes {
min_tiles,
smplMode, // = true; // Use sample mode (false - regular tile mode)
false, // boolean fronto_mode,
0.0, //double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
false, // boolean fronto_mode,
0.0, // double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
1.0, // double fronto_pow, // = 1.0; // increase weight even more
mlfp,
debugLevel);
......@@ -1606,6 +1611,7 @@ public class TilePlanes {
boolean fronto_mode,
double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
double fronto_pow, // = 1.0; // increase weight even more
MeasuredLayersFilterParameters mlfp,
int debugLevel)
......@@ -1823,7 +1829,11 @@ public class TilePlanes {
if (w > 0.0){
double d = disp_str[nl][0][indx];
if (d > d0) {
w *= (d-d0)/fronto_offs; // more weight of the near pixels, same weight of the centre pixels
double kw = (d-d0)/fronto_offs; // more weight of the near pixels, same weight of the centre pixels
if (fronto_pow != 1.00) {
kw = Math.pow(kw, fronto_pow);
}
w *= kw; // increase influence of near pixels even more
disp_str[nl][1][indx] = w;
sw += w;
swz += w * d;
......@@ -4280,6 +4290,7 @@ public class TilePlanes {
double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
double fronto_pow, // = 1.0; // increase weight even more
int debugLevel)
{
if (debugLevel > 2) {
......@@ -4368,13 +4379,14 @@ public class TilePlanes {
if ((pd.getNormValue() > targetEigen) || almost_fronto) { // targetV) {
OK = pd.removeOutliers( // getPlaneFromMeas should already have run
fronto_tol, // double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
fronto_rms, // double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
fronto_offs, //double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
fronto_tol, // double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
fronto_rms, // double fronto_rms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
fronto_offs, //double fronto_offs, // = 0.2; // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
fronto_pow, // double fronto_pow, // = 1.0; // increase weight even more
disp_strength,
plTargetEigen, // targetV, // double targetEigen, // target eigenvalue for primary axis (is disparity-dependent, so is non-constant)
max_outliers, // int maxRemoved, // maximal number of tiles to remove (not a constant)
debugLevel); // int debugLevel)
plTargetEigen, // targetV, // double targetEigen, // target eigenvalue for primary axis (is disparity-dependent, so is non-constant)
max_outliers, // int maxRemoved, // maximal number of tiles to remove (not a constant)
debugLevel); // int debugLevel)
if (!OK) {
continue;
}
......
src/main/java/TileProcessor.java
View file @ ee9c0264
......@@ -704,14 +704,6 @@ public class TileProcessor {
CLTPass3d combo_pass =new CLTPass3d(this);
final int tlen = tilesX * tilesY;
// 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.disparity_map = new double [ImageDtt.DISPARITY_TITLES.length][];
// for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
// for now - will copy from the best full correlation measurement
// combo_pass.texture_tiles = new double [tilesY][tilesX][][];
// combo_pass.max_tried_disparity = new double [tilesY][tilesX];
combo_pass.is_combo = true;
combo_pass.calc_disparity = disparity.clone(); //new double [tlen];
combo_pass.calc_disparity_combo = disparity.clone(); //new double [tlen];
......@@ -5344,11 +5336,12 @@ public class TileProcessor {
clt_parameters.plFrontoTol, // final double plFrontoTol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable
clt_parameters.plFrontoRms, // final double plFrontoRms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
clt_parameters.plFrontoOffs, // final double plFrontoOffs, // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0
clt_parameters.PlFrontoPow, // final double PlFrontoPow, // = 1.0; // increase weight even more
geometryCorrection,
clt_parameters.correct_distortions,
clt_parameters.stSmplMode , // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
clt_parameters.mlfp, // Filter parameters
clt_parameters.mlfp, // Filter parameters
clt_parameters.plBlurBinHor, // final double bin_blur_hor, // Blur disparity histograms for horizontal clusters by this sigma (in bins)
clt_parameters.plBlurBinVert, // final double bin_blur_vert, // Blur disparity histograms for constant disparity clusters by this sigma (in bins)
......@@ -5365,6 +5358,24 @@ public class TileProcessor {
clt_parameters.stHighMix, // stHighMix = 0.4; // Consider merging initial planes if jumps between ratio above
world_hor, // final double [] world_hor, // horizontal plane normal (default [0.0, 1.0, 0.0])
clt_parameters.show_histograms, // final boolean show_histograms,
clt_parameters.ft_mod_strength, // final boolean mod_strength, // when set, multiply each tile strength by the number of selected neighbors
clt_parameters.ft_clusterize_by_highest, // final boolean clusterize_by_highest = true;
clt_parameters.ft_clust_sigma, // final double clust_sigma = 0.7;
clt_parameters.ft_disp_arange_vert, // final double disp_arange_vert = 0.07;
clt_parameters.ft_disp_rrange_vert, // final double disp_rrange_vert = 0.01;
clt_parameters.ft_disp_arange_hor, // final double disp_arange_hor = 0.035;
clt_parameters.ft_disp_rrange_hor, // final double disp_rrang_hor = 0.005;
clt_parameters.ft_tolerance_above_near, // final double tolerance_above_near = 100.0; // 0.07; any?
clt_parameters.ft_tolerance_below_near, // final double tolerance_below_near = -0.01;
clt_parameters.ft_tolerance_above_far, // final double tolerance_above_far = 0.07;
clt_parameters.ft_tolerance_below_far, // final double tolerance_below_far = 0.1; // 100.0; // any farther
clt_parameters.ft_hor_vert_overlap, // final int hor_vert_overlap = 2;
clt_parameters.ft_used_companions, // final int used_companions = 5; // cell that has this many new used companions is considered used (borders and already use3d are considered used too)
clt_parameters.ft_used_true_companions, // final int used_true_companions = 1; // there should be at least this many new selected tiles among neighbors.,
//clt_parameters.ft_
clt_parameters.debug_initial_discriminate, // final boolean debug_initial_discriminate,
clt_parameters.batch_run?-3:debugLevel, // -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
......@@ -5418,6 +5429,7 @@ public class TileProcessor {
clt_parameters.plFrontoTol, // final double plFrontoTol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable
clt_parameters.plFrontoRms, // final double plFrontoRms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
clt_parameters.plFrontoOffs, // final double plFrontoOffs, // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0
clt_parameters.PlFrontoPow, // final double PlFrontoPow, // = 1.0; // increase weight even more
geometryCorrection,
clt_parameters.correct_distortions,
clt_parameters.stSmplMode, // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
......@@ -5531,6 +5543,7 @@ public class TileProcessor {
clt_parameters.plFrontoTol, //final double fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
clt_parameters.plFrontoRms, // final double plFrontoRms, // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
clt_parameters.plFrontoOffs, // final double plFrontoOffs, // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0
clt_parameters.PlFrontoPow, // final double PlFrontoPow, // = 1.0; // increase weight even more
debugLevel, // 1, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileY);
......@@ -5859,7 +5872,7 @@ public class TileProcessor {
0, // int nlayer, // over multi-layer - do not render more than nlayer on top of each other
st.getPlanesMod(), // TilePlanes.PlaneData [][] planes,
st.getShellMap(), // shells, // int [][] shells,
1000, // int max_shells,
5000, // int max_shells,
clt_parameters.plFuse,// boolean fuse,
false, // boolean show_connections,
false, // boolean use_NaN,
......
src/main/java/TileSurface.java
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src/main/java/TwoQuadCLT.java
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