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Commit f91340a7 authored by Andrey Filippov's avatar Andrey Filippov
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Added randomized ML offset, command to re-measure ml files from saved 

rig DSI files
parent 5bab46c4
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Showing with 496 additions and 17 deletions
src/main/java/BiQuadParameters.java
View file @ f91340a7
......@@ -251,6 +251,8 @@ public class BiQuadParameters {
public double ml_disparity_sweep = 1.0; // Disparity sweep around ground truth, each side
public int ml_sweep_steps = 21; // Number of disparity sweep steps
public boolean ml_randomize = true; // randomize ofset within 1 step (reduces ml_sweep_steps by 1)
public boolean ml_keep_aux = false; // true; // include auxiliary camera data in the ML output
public boolean ml_keep_inter = false; // true; // include inter-camera correlation data in the ML output
public boolean ml_keep_hor_vert = true; // include combined horizontal and vertical pairs data in the ML output
......@@ -657,6 +659,10 @@ public class BiQuadParameters {
"Sweep symmetrically target disparity around the ground truth disparity, each side");
gd.addNumericField("Number of target disparity sweep steps", this.ml_sweep_steps, 0,3,"",
"Generate this many files for each file set. Each tile results depend on the target disparity and this tile data, do not depend on other tiles target disparity");
gd.addCheckbox ("Randomize offset", this.ml_randomize,
"Each tile will have individual offset, but it the range between the filename and next higher. Reduces sweep steps by 1");
gd.addCheckbox ("Include auxiliary camera data in the ML output", this.ml_keep_aux,
"ML output will have the second set of the layers for the auxiliary camera. Disparity values should be scaled for the camera baseline");
gd.addCheckbox ("Keep inter-camera correlation data", this.ml_keep_inter,
......@@ -875,6 +881,7 @@ public class BiQuadParameters {
this.ml_hwidth= (int) gd.getNextNumber();
this.ml_disparity_sweep= gd.getNextNumber();
this.ml_sweep_steps= (int) gd.getNextNumber();
this.ml_randomize= gd.getNextBoolean();
this.ml_keep_aux= gd.getNextBoolean();
this.ml_keep_inter= gd.getNextBoolean();
this.ml_keep_tbrl= gd.getNextBoolean();
......@@ -1085,6 +1092,7 @@ public class BiQuadParameters {
properties.setProperty(prefix+"ml_hwidth", this.ml_hwidth+"");
properties.setProperty(prefix+"ml_disparity_sweep", this.ml_disparity_sweep+"");
properties.setProperty(prefix+"ml_sweep_steps", this.ml_sweep_steps+"");
properties.setProperty(prefix+"ml_randomize", this.ml_randomize+"");
properties.setProperty(prefix+"ml_keep_aux", this.ml_keep_aux+"");
properties.setProperty(prefix+"ml_keep_inter", this.ml_keep_inter+"");
properties.setProperty(prefix+"ml_keep_tbrl", this.ml_keep_tbrl+"");
......@@ -1292,6 +1300,8 @@ public class BiQuadParameters {
if (properties.getProperty(prefix+"ml_hwidth")!=null) this.ml_hwidth=Integer.parseInt(properties.getProperty(prefix+"ml_hwidth"));
if (properties.getProperty(prefix+"ml_disparity_sweep")!=null) this.ml_disparity_sweep=Double.parseDouble(properties.getProperty(prefix+"ml_disparity_sweep"));
if (properties.getProperty(prefix+"ml_sweep_steps")!=null) this.ml_sweep_steps=Integer.parseInt(properties.getProperty(prefix+"ml_sweep_steps"));
if (properties.getProperty(prefix+"ml_randomize")!=null) this.ml_randomize=Boolean.parseBoolean(properties.getProperty(prefix+"ml_randomize"));
if (properties.getProperty(prefix+"ml_keep_aux")!=null) this.ml_keep_aux=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_aux"));
if (properties.getProperty(prefix+"ml_keep_inter")!=null) this.ml_keep_inter=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_inter"));
if (properties.getProperty(prefix+"ml_keep_tbrl")!=null) this.ml_keep_tbrl=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_tbrl"));
......@@ -1501,6 +1511,7 @@ public class BiQuadParameters {
bqp.ml_disparity_sweep= this.ml_disparity_sweep;
bqp.ml_sweep_steps= this.ml_sweep_steps;
bqp.ml_keep_aux= this.ml_keep_aux;
bqp.ml_randomize = this.ml_randomize;
bqp.ml_keep_inter= this.ml_keep_inter;
bqp.ml_keep_tbrl= this.ml_keep_tbrl;
bqp.ml_keep_hor_vert= this.ml_keep_hor_vert;
......
src/main/java/Eyesis_Correction.java
View file @ f91340a7
......@@ -50,6 +50,18 @@ import java.io.InputStream;
import java.io.OutputStream;
import java.io.PrintWriter;
import java.io.StringWriter;
import java.nio.file.FileVisitOption;
import java.nio.file.FileVisitResult;
import java.nio.file.Files;
import java.nio.file.Path;
import java.nio.file.Paths;
import java.nio.file.SimpleFileVisitor;
import java.nio.file.attribute.BasicFileAttributes;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Comparator;
import java.util.EnumSet;
import java.util.List;
//import java.io.FileFilter;
//import java.io.FilenameFilter;
import java.util.Properties;
......@@ -615,6 +627,7 @@ private Panel panel1,
panelClt5.setLayout(new GridLayout(1, 0, 5, 5)); // rows, columns, vgap, hgap
addButton("LIST extrinsics", panelClt5, color_report);
addButton("DSI histogram", panelClt5, color_report);
addButton("ML recalc", panelClt5, color_process);
add(panelClt5);
}
......@@ -4590,10 +4603,21 @@ private Panel panel1,
return;
/* ======================================================================== */
} else if (label.equals("LIST extrinsics")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
listExtrinsics();
return;
/* ======================================================================== */
} else if (label.equals("ML recalc")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
mlRecalc();
return;
//
/* ======================================================================== */
} else if (label.equals("DSI histogram")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
dsiHistogram();
return;
......@@ -5472,6 +5496,7 @@ private Panel panel1,
QUAD_CLT, // QuadCLT quadCLT_main,
QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
null, //String ml_directory, // full path or null (will use config one)
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL);
......@@ -5610,10 +5635,175 @@ private Panel panel1,
if (dir!=null) {
System.out.println("top directory = "+dir);
}
// return TwoQuadCLT.listExtrinsics(dir); // , mask);
return MLStats.listExtrinsics(dir); // , mask);
//(new MLStats).
}
public boolean mlRecalc() {
String dir= CalibrationFileManagement.selectDirectory(
false, // true, // smart,
false, // newAllowed, // save
"Model directories to scan", // title
"Select", // button
null, // filter
CORRECTION_PARAMETERS.x3dDirectory); //this.sourceDirectory);
if (dir!=null) {
System.out.println("top directory = "+dir);
}
// return MLStats.mlRecalc(dir); // , mask);
return mlRecalc(dir); // , mask);
}
public boolean mlRecalc(String dir)
// EyesisCorrectionParameters.CLTParameters clt_parameters,
// EyesisCorrectionParameters.DebayerParameters debayerParameters,
// EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
// EyesisCorrectionParameters.RGBParameters rgbParameters,
// final int threadsMax, // maximal number of threads to launch
// final boolean updateStatus,
// final int debugLevel) throws Exception
{
String mask = ".*EXTRINSICS\\.corr-xml";
String full_conf_suffix = ".corr-xml";
String dsi_suffix = "-DSI_COMBO.tiff";
String correction_parameters_prefix = "CORRECTION_PARAMETERS.";
System.out.println("File mask = "+mask);
final List<Path> files=new ArrayList<>();
final String fMask = mask;
Path path= Paths.get(dir);
try {
Files.walkFileTree(path, EnumSet.of(FileVisitOption.FOLLOW_LINKS), Integer.MAX_VALUE, new SimpleFileVisitor<Path>(){
@Override
public FileVisitResult visitFile(Path file, BasicFileAttributes attrs) throws IOException {
if(!attrs.isDirectory()){
if (file.toString().matches(fMask)) {
files.add(file);
}
}
return FileVisitResult.CONTINUE;
}
});
} catch (IOException e) {
e.printStackTrace();
return false;
}
int indx = 0;
for (Path p:files) {
int count = p.getNameCount();
if (count >=3) {
String model = p.getName(count-3).toString();
String version = p.getName(count-2).toString();
String name = p.getName(count-1).toString();
// String root = p.getRoot().toString();
Path parent = p.getParent();
// System.out.println(indx+": model:"+model+", version:"+version+", name: "+name);
Path full_conf_path = p.resolveSibling(model+full_conf_suffix);
Path dsi_combo_path = p.resolveSibling(model+dsi_suffix);
System.out.println(indx+": model:"+model+", version:"+version+", name: "+name+ ", parent="+parent+", full_conf_path="+full_conf_path);
// See if there is a full configuration file and DSI combo
if (!full_conf_path.toFile().exists()) {
System.out.println("Full configuration file for the model:"+model+", version:"+version+": "+full_conf_path+" does not exist");
continue;
}
if (!dsi_combo_path.toFile().exists()) {
System.out.println("DSI combo file (GT data) for the model:"+model+", version:"+version+": "+dsi_combo_path+" does not exist");
continue;
}
// overwrite extrinsics in current properties form the model file
MLStats.loadProperties(
full_conf_path.toString(), // String path,
PROPERTIES); // Properties properties)
Properties full_properties = MLStats.loadProperties(
full_conf_path.toString(), // String path,
null); // Properties properties)
// String [] sourcePaths = null;
ArrayList<String> source_list = new ArrayList<String>();
if (full_properties.getProperty(correction_parameters_prefix+"sourcePaths")!= null){
int numFiles=Integer.parseInt(full_properties.getProperty(correction_parameters_prefix+"sourcePaths"));
// sourcePaths=new String[numFiles];
for (int i = 0; i < numFiles; i++){
String src=full_properties.getProperty(correction_parameters_prefix+"sourcePath"+i);
Path src_path=Paths.get(src);
if (src_path.getName(src_path.getNameCount()-1).toString().contains(model)){
source_list.add(src);
}
}
} else {
System.out.println("Source files are not povided for the model:"+model+", version:"+version+" in "+full_conf_path);
continue;
}
Collections.sort(source_list, new Comparator<String>() {
@Override
public int compare(String lhs, String rhs) {
// -1 - less than, 1 - greater than, 0 - equal, not inverted for ascending disparity
return lhs.compareTo(rhs);
}
});
// String [] sourcePaths = source_list.toArray(new String[0]);
CORRECTION_PARAMETERS.sourcePaths= source_list.toArray(new String[0]);
System.out.println("Got "+ source_list.size() +" source files");
QUAD_CLT = null;
QUAD_CLT_AUX = null; // reset images
if (!prepareRigImages()) { // will use extrinsics properties
return false;
}
// QuadCLT qcm = QUAD_CLT; // just to debug
// QuadCLT qca = QUAD_CLT_AUX;
String mldir=CORRECTION_PARAMETERS.mlDirectory;
if (mldir.equals("ml")) {
mldir = "ml"; // not to overwrite original data
}
try {
TWO_QUAD_CLT.regenerateML(
dsi_combo_path.toString(), // String path_DSI, // Combo DSI path
parent.toString(), // String model_dir, // model/version directory
mldir, // "ml1", // String ml_subdir, // new ML subdir (or null to use configuartion one)
QUAD_CLT, // QuadCLT quadCLT_main,
QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
UPDATE_STATUS, //final boolean updateStatus,
DEBUG_LEVEL);
} catch (Exception e) {
// TODO Auto-generated catch block
e.printStackTrace();
} //final int debugLevel);
if (indx > 0) { //-1) {
return true; // temporarily
}
indx++;
}
}
return true;
}
public boolean dsiHistogram() {
String dir= CalibrationFileManagement.selectDirectory(
false, // true, // smart,
......
src/main/java/MLStats.java
View file @ f91340a7
......@@ -420,6 +420,129 @@ public class MLStats {
return true;
}
public static boolean mlRecalc(String dir,
EyesisCorrectionParameters.CLTParameters clt_parameters,
EyesisCorrectionParameters.DebayerParameters debayerParameters,
EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
EyesisCorrectionParameters.RGBParameters rgbParameters,
final int threadsMax, // maximal number of threads to launch
final boolean updateStatus,
final int debugLevel) throws Exception
{
String mask = ".*EXTRINSICS\\.corr-xml";
String full_conf_suffix = ".corr-xml";
String dsi_suffix = "-DSI_COMBO.tiff";
String correction_parameters_prefix = "CORRECTION_PARAMETERS.";
System.out.println("File mask = "+mask);
final List<Path> files=new ArrayList<>();
final String fMask = mask;
Path path= Paths.get(dir);
try {
Files.walkFileTree(path, EnumSet.of(FileVisitOption.FOLLOW_LINKS), Integer.MAX_VALUE, new SimpleFileVisitor<Path>(){
@Override
public FileVisitResult visitFile(Path file, BasicFileAttributes attrs) throws IOException {
if(!attrs.isDirectory()){
if (file.toString().matches(fMask)) {
files.add(file);
}
}
return FileVisitResult.CONTINUE;
}
});
} catch (IOException e) {
e.printStackTrace();
return false;
}
int indx = 0;
for (Path p:files) {
int count = p.getNameCount();
if (count >=3) {
String model = p.getName(count-3).toString();
String version = p.getName(count-2).toString();
String name = p.getName(count-1).toString();
// String root = p.getRoot().toString();
Path parent = p.getParent();
// System.out.println(indx+": model:"+model+", version:"+version+", name: "+name);
Path full_conf_path = p.resolveSibling(model+full_conf_suffix);
Path dsi_combo_path = p.resolveSibling(model+dsi_suffix);
System.out.println(indx+": model:"+model+", version:"+version+", name: "+name+ ", parent="+parent+", full_conf_path="+full_conf_path);
// See if there is a full configuration file and DSI combo
if (!full_conf_path.toFile().exists()) {
System.out.println("Full configuration file for model:"+model+", version:"+version+": "+full_conf_path+" does not exist");
continue;
}
if (!dsi_combo_path.toFile().exists()) {
System.out.println("DSI combo file (GT data) for model:"+model+", version:"+version+": "+dsi_combo_path+" does not exist");
continue;
}
Properties full_properties = loadProperties(
full_conf_path.toString(), // String path,
null); // Properties properties)
// String [] sourcePaths = null;
ArrayList<String> source_list = new ArrayList<String>();
if (full_properties.getProperty(correction_parameters_prefix+"sourcePaths")!= null){
int numFiles=Integer.parseInt(full_properties.getProperty(correction_parameters_prefix+"sourcePaths"));
// sourcePaths=new String[numFiles];
for (int i = 0; i < numFiles; i++){
String src=full_properties.getProperty(correction_parameters_prefix+"sourcePath"+i);
Path src_path=Paths.get(src);
if (src_path.getName(src_path.getNameCount()-1).toString().contains(model)){
source_list.add(src);
}
}
} else {
System.out.println("Source files are not povided for model:"+model+", version:"+version+" in "+full_conf_path);
continue;
}
System.out.println("Got "+ source_list.size() +" source files");
if (indx > -1) {
return true; // temporarily
}
/*
*
this.sourcePaths=new String[numFiles];
for (int i=0;i<this.sourcePaths.length;i++){
this.sourcePaths[i]=properties.getProperty(prefix+"sourcePath"+i);
}
*
*
Properties properties = loadProperties(
p.toString(), // String path,
null); // Properties properties)
QuadCLT qcm = new QuadCLT(
QuadCLT.PREFIX, // String prefix,
properties, // Properties properties,
null, // EyesisCorrections eyesisCorrections,
null // EyesisCorrectionParameters.CorrectionParameters correctionsParameters
);
QuadCLT qca = new QuadCLT(
QuadCLT.PREFIX_AUX, // String prefix,
properties, // Properties properties,
null, // EyesisCorrections eyesisCorrections,
null // EyesisCorrectionParameters.CorrectionParameters correctionsParameters
);
System.out.println(indx+": model:"+model+", version:"+version+", name: "+name);
GeometryCorrection.CorrVector cvm = qcm.geometryCorrection.getCorrVector();
GeometryCorrection.CorrVector cva = qca.geometryCorrection.getCorrVector();
*/
indx++;
}
}
return true;
}
public static boolean listExtrinsics(String dir) // , String mask)
{
Path path= Paths.get(dir);
......
src/main/java/TwoQuadCLT.java
View file @ f91340a7
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