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Commit f3d147e9 authored by Andrey Filippov's avatar Andrey Filippov
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Creating test data from main camera only, not relying on GT

parent 66f3b726
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Showing with 70 additions and 12 deletions
src/main/java/TileProcessor.java
View file @ f3d147e9
......@@ -66,6 +66,7 @@ public class TileProcessor {
public double [][] rig_post_poles_ds = null; // Rig disparity and strength after processing poles
public boolean [] rig_pre_poles_sel = null; // Rig tile selection before 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 int clt_3d_passes_size = 0; //clt_3d_passes size after initial processing
public int clt_3d_passes_rig_size = 0; //clt_3d_passes size after initial processing and rig processing
......
src/main/java/TwoQuadCLT.java
View file @ f3d147e9
......@@ -2068,7 +2068,6 @@ if (debugLevel > -100) return true; // temporarily !
final boolean updateStatus,
final int debugLevel) // throws Exception
{
if ((quadCLT_main.tp == null) || (quadCLT_main.tp.rig_pre_poles_ds == null)) {
String msg = "DSI data not available. Please run \"Ground truth\" first";
IJ.showMessage("Error",msg);
......@@ -2077,6 +2076,7 @@ if (debugLevel > -100) return true; // temporarily !
}
boolean post_poles = clt_parameters.rig.ml_poles;
double [][] rig_disparity_strength = clt_parameters.rig.ml_poles?quadCLT_main.tp.rig_post_poles_ds : quadCLT_main.tp.rig_pre_poles_ds;
double [][] main_disparity_strength = quadCLT_main.tp.main_ds_ml;
if (rig_disparity_strength == null) {
System.out.println("DSI data for the scene after poles extraction is not available. You may enable it and re-run \"Ground truth\" command or run \"Poles GT\"");
rig_disparity_strength = quadCLT_main.tp.rig_pre_poles_ds;
......@@ -2100,6 +2100,47 @@ if (debugLevel > -100) return true; // temporarily !
2.0, // double wndx_scale, // (wndy scale is always 1.0)
(debugLevel > -1)); // boolean debug)
// Create test data that does not rely on the rig measurements
String img_name_main =quadCLT_main.image_name+"-ML_DATA_MAIN-";
double [][] ml_data_main = remeasureRigML(
0.0, // double disparity_offset_low,
0.0, // double disparity_offset_high,
quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set
quadCLT_aux, // QuadCLT quadCLT_aux,
// disparity_bimap, // double [][] src_bimap,
main_disparity_strength[0], // double [] disparity_main, // main camera disparity to use - if null, calculate from the rig one
rig_disparity_strength[0], // double [] disparity,
rig_disparity_strength[1], // double [] strength,
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
clt_parameters.rig.ml_hwidth, // int ml_hwidth
clt_parameters.rig.ml_fatzero, // double fatzero,
//change if needed?
0, // int lt_rad, // low texture mode - inter-correlation is averaged between the neighbors before argmax-ing, using (2*notch_mode+1)^2 square
threadsMax, // final int threadsMax, // maximal number of threads to launch
updateStatus, // final boolean updateStatus,
debugLevel); // final int debugLevel);
saveMlFile(
img_name_main, // String ml_title,
ml_directory, // String ml_directory,
Double.NaN, // double disp_offset_low,
Double.NaN, // double disp_offset_high,
quadCLT_main, // QuadCLT quadCLT_main,
quadCLT_aux, // QuadCLT quadCLT_aux,
corr2d, //Correlation2d corr2d, // to access "other" layer
clt_parameters.rig.ml_8bit, // boolean use8bpp,
clt_parameters.rig.ml_limit_extrim, // double limit_extrim,
clt_parameters.rig.ml_keep_aux, // boolean keep_aux,
clt_parameters.rig.ml_keep_inter, // boolean keep_inter,
clt_parameters.rig.ml_keep_hor_vert, // boolean keep_hor_vert,
clt_parameters.rig.ml_keep_tbrl, // boolean ml_keep_tbrl,
clt_parameters.rig.ml_keep_debug, // boolean keep_debug,
clt_parameters.rig.ml_fatzero, // double ml_fatzero,
clt_parameters.rig.ml_hwidth, // int ml_hwidth,
ml_data_main, // double [][] ml_data,
clt_parameters.rig.ml_show_ml, // boolean show,
debugLevel); // int debugLevel
for (int sweep_step = 0; sweep_step < clt_parameters.rig.ml_sweep_steps; sweep_step++){
double disparity_offset_low = 0;
double disparity_offset_high = Double.NaN;
......@@ -2109,6 +2150,7 @@ if (debugLevel > -100) return true; // temporarily !
disparity_offset_high = clt_parameters.rig.ml_disparity_sweep * (2.0 * (sweep_step + 1)/(clt_parameters.rig.ml_sweep_steps - 1.0) -1.0);
}
}
String img_name = clt_parameters.rig.ml_randomize ? quadCLT_main.image_name+"-ML_DATARND-" : quadCLT_main.image_name+"-ML_DATA-";
double [][] ml_data = remeasureRigML(
disparity_offset_low, // double disparity_offset_low,
......@@ -2116,6 +2158,7 @@ if (debugLevel > -100) return true; // temporarily !
quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set
quadCLT_aux, // QuadCLT quadCLT_aux,
// disparity_bimap, // double [][] src_bimap,
null, // double [] disparity_main, // main camera disparity to use - if null, calculate from the rig one
rig_disparity_strength[0], // double [] disparity,
rig_disparity_strength[1], // double [] strength,
......@@ -4516,11 +4559,14 @@ if (debugLevel > -100) return true; // temporarily !
int width = tilesX * ml_width;
int height = tilesY * ml_width;
String title = ml_title+ (use8bpp?"08":"32")+"B-"+(keep_aux?"A":"")+(keep_inter?"I":"")+(keep_hor_vert?"O":"")+(ml_keep_tbrl?"T":"")+
(keep_debug?"D":"")+"-FZ"+ml_fatzero+"-OFFS"+String.format("%8.5f",disp_offset_low).trim();
(keep_debug?"D":"")+"-FZ"+ml_fatzero+"-OFFS";
if (!Double.isNaN(disp_offset_low)) {
title += String.format("%8.5f",disp_offset_low).trim();
if (disp_offset_high > disp_offset_low) {
title+="_";
title+=String.format("%8.5f",disp_offset_high).trim();
}
}
int [] aux_indices = {
ImageDtt.ML_TOP_AUX_INDEX, // 8 - top pair 2d correlation center area (auxiliary camera)
ImageDtt.ML_BOTTOM_AUX_INDEX, // 9 - bottom pair 2d correlation center area (auxiliary camera)
......@@ -5591,6 +5637,7 @@ if (debugLevel > -100) return true; // temporarily !
double disparity_offset_high,
QuadCLT quadCLT_main, // tiles should be set
QuadCLT quadCLT_aux,
double [] disparity_main, // main camera disparity to use - if null, calculate from the rig one
double [] disparity,
double [] strength,
EyesisCorrectionParameters.CLTParameters clt_parameters,
......@@ -5638,6 +5685,11 @@ if (debugLevel > -100) return true; // temporarily !
if (disparity_offset_high > disparity_offset) { // will not happen if disparity_offset_high is NaN
disparity_offset = disparity_offset_low + (disparity_offset_high-disparity_offset_low)*rnd.nextDouble();
}
if ((disparity_main != null) && !Double.isNaN(disparity_main[nTile])) {
// Use actuall disparity from the main camera
disparity_offset = disparity_main[nTile] - disparity[nTile];
}
disparity_array[tileY][tileX] = disparity[nTile]+disparity_offset;
corr2d.saveMlTilePixel(
tileX, // int tileX,
......@@ -6319,9 +6371,12 @@ if (debugLevel > -100) return true; // temporarily !
}
public double [][] getRigDSI(
String path_DSI) // Combo DSI path
String path_DSI, // Combo DSI path
boolean main) // false - rig
{
int [] slices = {TwoQuadCLT.DSI_DISPARITY_RIG,TwoQuadCLT.DSI_STRENGTH_RIG};
int [] slices_rig = {TwoQuadCLT.DSI_DISPARITY_RIG, TwoQuadCLT.DSI_STRENGTH_RIG};
int [] slices_main = {TwoQuadCLT.DSI_DISPARITY_MAIN, TwoQuadCLT.DSI_STRENGTH_MAIN};
int [] slices = main? slices_main:slices_rig;
double[][] dsi = new double [slices.length][];
ImagePlus imp_dsi=new ImagePlus(path_DSI);
ImageStack dsi_stack= imp_dsi.getStack();
......@@ -6338,8 +6393,8 @@ if (debugLevel > -100) return true; // temporarily !
}
}
return dsi;
}
public void regenerateML(
String path_DSI, // Combo DSI path
String model_dir, // model/version directory
......@@ -6356,7 +6411,8 @@ if (debugLevel > -100) return true; // temporarily !
{
this.startTime=System.nanoTime();
double [][] rig_dsi = getRigDSI(path_DSI);
double [][] rig_dsi = getRigDSI(path_DSI, false);
double [][] main_dsi = getRigDSI(path_DSI, true);
String [] sourceFiles=quadCLT_main.correctionsParameters.getSourcePaths();
QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
QuadCLT.SetChannels [] set_channels_aux = quadCLT_aux.setChannels(debugLevel);
......@@ -6416,6 +6472,7 @@ if (debugLevel > -100) return true; // temporarily !
debugLevel); // final int debugLevel);
// now tp is defined
quadCLT_main.tp.rig_pre_poles_ds = rig_dsi; // use rig data from the COMBO-DSI file
quadCLT_main.tp.main_ds_ml = main_dsi; // use rig data from the COMBO-DSI file
// quadCLT_main.tp.resetCLTPasses();
// quadCLT_aux.tp.resetCLTPasses();
......
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