Commit ee9c0264 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Implemented main camera field correction from the DSI of the dual camera 

rig.
parent b3afa1ab

src/main/java/AlignmentCorrection.java

+484 −7

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/EyesisCorrectionParameters.java

+113 −4
Original line number Diff line number Diff line
@@ -2856,11 +2856,29 @@ public class EyesisCorrectionParameters { 
 		public double     gr_unique_tol        =   0.15; // Do not re-measure correlation if target disparity differs from some previous by this

	 	public double     gr_unique_pretol     =   0.5;  // Larger tolerance for expanding (not refining)





	 	public boolean    ft_mod_strength =          true;    // When set, multiply each tile strength by the number of selected neighbors

	 	public boolean    ft_clusterize_by_highest = true;    // Clusterize using disparity horizontal maximums for fronto planes and minimums - for horizontal. False - use histograms

	 	public double     ft_clust_sigma =             0.7;   // Blur disparity before argmax/argmin for initial clusterization

	 	public double     ft_disp_arange_vert =        0.07;  // Absolute disparity range for fronto clusters

	 	public double     ft_disp_rrange_vert =        0.01;  // Relative disparity range for fronto clusters

	 	public double     ft_disp_arange_hor =         0.035; // Absolute disparity range for horizontal clusters

	 	public double     ft_disp_rrange_hor =          0.005; // Relative disparity range for horizontal clusters

	 	public double     ft_tolerance_above_near =  100.0;   // Actual disparity positive tolerance over blurred disparity argmax range

	 	public double     ft_tolerance_below_near =   -0.01;  // Actual disparity negative tolerance under blurred disparity argmax range

	 	public double     ft_tolerance_above_far =     0.07;  // Actual disparity positive tolerance over blurred disparity argmin range

	 	public double     ft_tolerance_below_far =     0.1;   // Actual disparity negative tolerance under blurred disparity argmin range

	 	public int        ft_hor_vert_overlap =        2;     // Allow clusters tile sharing between fronto and horizontal. 2 - 1 tile in 8 directions, 1 - 1 tile in 4 directions

	 	public int        ft_used_companions =         5;     // Cell that has this many new used companions is considered used (borders and already use3d are considered used too)

	 	public int        ft_used_true_companions =    1;     // There should be at least this many new selected tiles among neighbors.,



  		public boolean    plPreferDisparity    =   false;// Always start with disparity-most axis (false - lowest eigenvalue)

  		public double     plDispNorm           =   5.0;  // Normalize disparities to the average if above (now only for eigenvalue comparison)

  		public double     plFrontoTol          =   0.0;  // for compatibility with old //0.1;  // 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     plBlurBinVert        =   1.2;  // Blur disparity histograms for constant disparity clusters by this sigma (in bins)

  		public double     plBlurBinHor         =   0.8;  // Blur disparity histograms for horizontal clusters by this sigma (in bins)

  		public double     plMaxDiffVert        =   0.4;  // Maximal normalized disparity difference when initially assigning to vertical plane
@@ -3100,6 +3118,8 @@ public class EyesisCorrectionParameters { 


  		public boolean    replaceWeakOutliers =   true; // false;



  		public boolean    debug_initial_discriminate = false;



  		public boolean    dbg_migrate =            true;



  		// other debug images
@@ -3522,11 +3542,27 @@ public class EyesisCorrectionParameters { 
			properties.setProperty(prefix+"gr_unique_tol",    this.gr_unique_tol +"");

			properties.setProperty(prefix+"gr_unique_pretol", this.gr_unique_pretol +"");



			properties.setProperty(prefix+"ft_mod_strength",          this.ft_mod_strength +"");

			properties.setProperty(prefix+"ft_clusterize_by_highest", this.ft_clusterize_by_highest +"");

			properties.setProperty(prefix+"ft_clust_sigma",           this.ft_clust_sigma +"");

			properties.setProperty(prefix+"ft_disp_arange_vert",      this.ft_disp_arange_vert +"");

			properties.setProperty(prefix+"ft_disp_rrange_vert",      this.ft_disp_rrange_vert +"");

			properties.setProperty(prefix+"ft_disp_arange_hor",       this.ft_disp_arange_hor +"");

			properties.setProperty(prefix+"ft_disp_rrange_hor",        this.ft_disp_rrange_hor +"");

			properties.setProperty(prefix+"ft_tolerance_above_near",  this.ft_tolerance_above_near +"");

			properties.setProperty(prefix+"ft_tolerance_below_near",  this.ft_tolerance_below_near +"");

			properties.setProperty(prefix+"ft_tolerance_above_far",   this.ft_tolerance_above_far +"");

			properties.setProperty(prefix+"ft_tolerance_below_far",   this.ft_tolerance_below_far +"");

			properties.setProperty(prefix+"ft_hor_vert_overlap",      this.ft_hor_vert_overlap +"");

			properties.setProperty(prefix+"ft_used_companions",       this.ft_used_companions +"");

			properties.setProperty(prefix+"ft_used_true_companions",  this.ft_used_true_companions +"");



			properties.setProperty(prefix+"plPreferDisparity",this.plPreferDisparity+"");

			properties.setProperty(prefix+"plDispNorm",       this.plDispNorm +"");

			properties.setProperty(prefix+"plFrontoTol",      this.plFrontoTol +"");

			properties.setProperty(prefix+"plFrontoRms",      this.plFrontoRms +"");

			properties.setProperty(prefix+"plFrontoOffs",     this.plFrontoOffs +"");

			properties.setProperty(prefix+"PlFrontoPow",      this.PlFrontoPow +"");



			properties.setProperty(prefix+"plBlurBinVert",    this.plBlurBinVert +"");

			properties.setProperty(prefix+"plBlurBinHor",     this.plBlurBinHor +"");
@@ -3741,6 +3777,7 @@ public class EyesisCorrectionParameters { 
			properties.setProperty(prefix+"taEnMismatch",     this.taEnMismatch +"");





			properties.setProperty(prefix+"debug_initial_discriminate", this.debug_initial_discriminate+"");

			properties.setProperty(prefix+"dbg_migrate",                this.dbg_migrate+"");



			properties.setProperty(prefix+"dbg_early_exit",         this.dbg_early_exit+"");
@@ -4168,11 +4205,30 @@ public class EyesisCorrectionParameters { 
  			if (properties.getProperty(prefix+"gr_unique_tol")!=null)     this.gr_unique_tol=Double.parseDouble(properties.getProperty(prefix+"gr_unique_tol"));

  			if (properties.getProperty(prefix+"gr_unique_pretol")!=null)  this.gr_unique_pretol=Double.parseDouble(properties.getProperty(prefix+"gr_unique_pretol"));





  			if (properties.getProperty(prefix+"ft_mod_strength")!=null)          this.ft_mod_strength=Boolean.parseBoolean(properties.getProperty(prefix+"ft_mod_strength"));

  			if (properties.getProperty(prefix+"ft_clusterize_by_highest")!=null) this.ft_clusterize_by_highest=Boolean.parseBoolean(properties.getProperty(prefix+"ft_clusterize_by_highest"));

  			if (properties.getProperty(prefix+"ft_clust_sigma")!=null)           this.ft_clust_sigma=Double.parseDouble(properties.getProperty(prefix+"ft_clust_sigma"));

  			if (properties.getProperty(prefix+"ft_disp_arange_vert")!=null)      this.ft_disp_arange_vert=Double.parseDouble(properties.getProperty(prefix+"ft_disp_arange_vert"));

  			if (properties.getProperty(prefix+"ft_disp_rrange_vert")!=null)      this.ft_disp_rrange_vert=Double.parseDouble(properties.getProperty(prefix+"ft_disp_rrange_vert"));

  			if (properties.getProperty(prefix+"ft_disp_arange_hor")!=null)       this.ft_disp_arange_hor=Double.parseDouble(properties.getProperty(prefix+"ft_disp_arange_hor"));

  			if (properties.getProperty(prefix+"ft_disp_rrange_hor")!=null)       this.ft_disp_rrange_hor=Double.parseDouble(properties.getProperty(prefix+"ft_disp_rrange_hor"));

  			if (properties.getProperty(prefix+"ft_tolerance_above_near")!=null)  this.ft_tolerance_above_near=Double.parseDouble(properties.getProperty(prefix+"ft_tolerance_above_near"));

  			if (properties.getProperty(prefix+"ft_tolerance_below_near")!=null)  this.ft_tolerance_below_near=Double.parseDouble(properties.getProperty(prefix+"ft_tolerance_below_near"));

  			if (properties.getProperty(prefix+"ft_tolerance_above_far")!=null)   this.ft_tolerance_above_far=Double.parseDouble(properties.getProperty(prefix+"ft_tolerance_above_far"));

  			if (properties.getProperty(prefix+"ft_tolerance_below_far")!=null)   this.ft_tolerance_below_far=Double.parseDouble(properties.getProperty(prefix+"ft_tolerance_below_far"));

  			if (properties.getProperty(prefix+"ft_hor_vert_overlap")!=null)      this.ft_hor_vert_overlap=Integer.parseInt(properties.getProperty(prefix+"ft_hor_vert_overlap"));

  			if (properties.getProperty(prefix+"ft_used_companions")!=null)       this.ft_used_companions=Integer.parseInt(properties.getProperty(prefix+"ft_used_companions"));

  			if (properties.getProperty(prefix+"ft_used_true_companions")!=null)  this.ft_used_true_companions=Integer.parseInt(properties.getProperty(prefix+"ft_used_true_companions"));







  			if (properties.getProperty(prefix+"plPreferDisparity")!=null) this.plPreferDisparity=Boolean.parseBoolean(properties.getProperty(prefix+"plPreferDisparity"));

  			if (properties.getProperty(prefix+"plDispNorm")!=null)        this.plDispNorm=Double.parseDouble(properties.getProperty(prefix+"plDispNorm"));

  			if (properties.getProperty(prefix+"plFrontoTol")!=null)       this.plFrontoTol=Double.parseDouble(properties.getProperty(prefix+"plFrontoTol"));

  			if (properties.getProperty(prefix+"plFrontoRms")!=null)       this.plFrontoRms=Double.parseDouble(properties.getProperty(prefix+"plFrontoRms"));

  			if (properties.getProperty(prefix+"plFrontoOffs")!=null)      this.plFrontoOffs=Double.parseDouble(properties.getProperty(prefix+"plFrontoOffs"));

  			if (properties.getProperty(prefix+"PlFrontoPow")!=null)       this.PlFrontoPow=Double.parseDouble(properties.getProperty(prefix+"PlFrontoPow"));



  			if (properties.getProperty(prefix+"plBlurBinVert")!=null)     this.plBlurBinVert=Double.parseDouble(properties.getProperty(prefix+"plBlurBinVert"));

  			if (properties.getProperty(prefix+"plBlurBinHor")!=null)      this.plBlurBinHor=Double.parseDouble(properties.getProperty(prefix+"plBlurBinHor"));
@@ -4390,6 +4446,7 @@ public class EyesisCorrectionParameters { 
  			if (properties.getProperty(prefix+"taEnMismatch")!=null)      this.taEnMismatch=Boolean.parseBoolean(properties.getProperty(prefix+"taEnMismatch"));





  			if (properties.getProperty(prefix+"debug_initial_discriminate")!=null) this.debug_initial_discriminate=Boolean.parseBoolean(properties.getProperty(prefix+"debug_initial_discriminate"));

  			if (properties.getProperty(prefix+"dbg_migrate")!=null)                this.dbg_migrate=Boolean.parseBoolean(properties.getProperty(prefix+"dbg_migrate"));



  			if (properties.getProperty(prefix+"dbg_early_exit")!=null)         this.dbg_early_exit=Integer.parseInt(properties.getProperty(prefix+"dbg_early_exit"));
@@ -4904,6 +4961,37 @@ public class EyesisCorrectionParameters { 
  			gd.addNumericField("Do not re-measure correlation if target disparity differs from some previous less",   this.gr_unique_tol,  6);

  			gd.addNumericField("Larger tolerance for expanding (not refining)",                                       this.gr_unique_pretol,  6);



  			gd.addTab         ("Alt CLusterize", "Alternative initial tiles clusterization");



  			gd.addCheckbox    ("Modify cluster strengths",                                                            this.ft_mod_strength,

  					"Supplement sum of strengths with other parameters, such as density and height ");

  			gd.addCheckbox    ("Enable alternative initial tile clusterization",                                      this.ft_clusterize_by_highest,

  					"Clusterize using disparity horizontal maximums for fronto planes and minimums - for horizontal. False - use histograms");

  			gd.addNumericField("Disparity blur sigma",                                                                this.ft_clust_sigma, 4, 6,"pix",

  					"Blur disparity before finding each line max (for fronto planes ) or min (for horizontal planes) during initial clusterization");

  			gd.addNumericField("Absolute disparity range for fronto clusters",                                        this.ft_disp_arange_vert, 4, 6,"pix",

  					"Disparity range for blurred disparity (down from max disparity) for fronto planes");

  			gd.addNumericField("Relative disparity range for fronto clusters",                                        this.ft_disp_rrange_vert, 4, 6,"pix/pix",

  					"Increase disparity range for fronto clusters for each disparity pixel");

  			gd.addNumericField("Absolute disparity range for horizontal clusters",                                    this.ft_disp_arange_hor, 4, 6,"pix",

  					"Disparity range for blurred disparity (up from min disparity to horizontal difference) for horizontal planes");

  			gd.addNumericField("Relative disparity range for horizontal clusters",                                    this.ft_disp_rrange_hor, 4, 6,"pix/pix",

  					"Increase disparity range for horizontal clusters for each disparity pixel");

  			gd.addNumericField("Actual disparity positive tolerance over blurred disparity max range",                this.ft_tolerance_above_near, 4, 6,"pix",

  					"Allow measured tile disparity above cluster disparity range for fronto clusters");

  			gd.addNumericField("Actual disparity negative tolerance over blurred disparity max range",                this.ft_tolerance_below_near, 4, 6,"pix",

  					"Allow measured tile disparity below cluster disparity range for fronto planes");

  			gd.addNumericField("Actual disparity positive tolerance over blurred disparity min range",                this.ft_tolerance_above_far, 4, 6,"pix",

  					"Allow measured tile disparity above cluster disparity range for horizontal planes");

  			gd.addNumericField("Actual disparity negative tolerance over blurred disparity min range",                this.ft_tolerance_below_far, 4, 6,"pix",

  					"Allow measured tile disparity below cluster disparity range for horizontal planes");

  			gd.addNumericField("Fronto/horizontal selections overlap",                                                this.ft_hor_vert_overlap,  0,6,"",

  					"Allow clusters tile sharing between fronto and horizontal. 2 - 1 tile in 8 directions, 1 - 1 tile in 4 directions");

  			gd.addNumericField("Mark as used if has used/disabled neighbors ",                                        this.ft_used_companions,  0,6,"",

  					"Cell that has this many new used companions is considered used (borders and already use3d are considered used too)");

  			gd.addNumericField("Minimal number of new used cells among new/old used and marginal tiles",              this.ft_used_true_companions,  0,6,"",

  					"There should be at least this many new selected tiles among neighbors");





  			gd.addTab         ("Plane Det", "Planes detection");

  			gd.addMessage     ("--- Planes detection ---");
@@ -4915,6 +5003,8 @@ public class EyesisCorrectionParameters { 
  					"Target half-thikness of the fronto planes. Similar to  sqrt(plMaxEigen) for other planes");

  			gd.addNumericField("Fronto offset",                                                                this.plFrontoOffs,  4,6,"pix",

  					"Increasing weights of the near tiles by using difference between tile disparity and reduced by this value average as weight. If <= 0 - disable feature");

  			gd.addNumericField("Fronto power",                                                                 this.PlFrontoPow,  4,6,"pix",

  					"Increasing weights of the near tiles by even more (see previous parameter) by raising disparity difference to this power");

  			gd.addNumericField("Blur disparity histograms for constant disparity clusters by this sigma (in bins)",   this.plBlurBinVert,  6);

  			gd.addNumericField("Blur disparity histograms for horizontal clusters by this sigma (in bins)",           this.plBlurBinHor,  6);

  			gd.addNumericField("Maximal normalized disparity difference when initially assigning to vertical plane",  this.plMaxDiffVert,  6);
@@ -5144,6 +5234,8 @@ public class EyesisCorrectionParameters { 


  			gd.addTab         ("Debug", "Other debug images");

  			gd.addMessage     ("--- Other debug images ---");

  			//	clt_parameters.debug_initial_discriminate, // final boolean    debug_initial_discriminate,

  			gd.addCheckbox    ("Debug initial clusterization of the supertile tiles",                          this.debug_initial_discriminate);

  			gd.addCheckbox    ("Test new mode after migration",                                                this.dbg_migrate);



  			gd.addNumericField("Temporay exit stage (0- normal execution)",                                    this.dbg_early_exit,  0,6,"","Temporary exit at intermediate stage (0 - normal)");
@@ -5567,11 +5659,27 @@ public class EyesisCorrectionParameters { 
  			this.gr_unique_tol=         gd.getNextNumber();

  			this.gr_unique_pretol=      gd.getNextNumber();



  			this.ft_mod_strength=               gd.getNextBoolean();

  			this.ft_clusterize_by_highest=      gd.getNextBoolean();

  			this.ft_clust_sigma=                gd.getNextNumber();

  			this.ft_disp_arange_vert=           gd.getNextNumber();

  			this.ft_disp_rrange_vert=           gd.getNextNumber();

  			this.ft_disp_arange_hor=            gd.getNextNumber();

  			this.ft_disp_rrange_hor=            gd.getNextNumber();

  			this.ft_tolerance_above_near=       gd.getNextNumber();

  			this.ft_tolerance_below_near=       gd.getNextNumber();

  			this.ft_tolerance_above_far=        gd.getNextNumber();

  			this.ft_tolerance_below_far=        gd.getNextNumber();

  			this.ft_hor_vert_overlap=     (int) gd.getNextNumber();

  			this.ft_used_companions=      (int) gd.getNextNumber();

  			this.ft_used_true_companions= (int) gd.getNextNumber();



  			this.plPreferDisparity=     gd.getNextBoolean();

  			this.plDispNorm=            gd.getNextNumber();

  			this.plFrontoTol =          gd.getNextNumber();

  			this.plFrontoRms =          gd.getNextNumber();

  			this.plFrontoOffs =         gd.getNextNumber();

  			this.PlFrontoPow =          gd.getNextNumber();



  			this.plBlurBinVert=         gd.getNextNumber();

  			this.plBlurBinHor=          gd.getNextNumber();
@@ -5790,6 +5898,7 @@ public class EyesisCorrectionParameters { 
  			this.taEnFlaps=             gd.getNextBoolean();

  			this.taEnMismatch=          gd.getNextBoolean();



  			this.debug_initial_discriminate= gd.getNextBoolean();

  			this.dbg_migrate=                gd.getNextBoolean();



  			this.dbg_early_exit = (int) gd.getNextNumber();

src/main/java/Eyesis_Correction.java

+144 −75

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/LinkPlanes.java

+6 −0
Original line number Diff line number Diff line
@@ -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

+479 −132

File changed.

Preview size limit exceeded, changes collapsed.