Commit fec6933a authored by Andrey Filippov's avatar Andrey Filippov
Browse files

DSI filtering with intrascene correlations

parent a2860c84

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+50 −4
Original line number Diff line number Diff line
@@ -166,6 +166,14 @@ public class CLTParameters { 
	public int        ih_min_samples =  10;      // Minimal number of remaining samples

	public boolean    ih_norm_center =  true;    // Replace samples with a single average with equal weight

	public boolean    inf_restore_disp = true;   // Add disparity back to d{x,y}[i] (debug feature)

	

	// intraframe filtering, reusing LY clusters

	public double     intra_keep_strength = 0.4;           // do not remeasure if stronger than

	public double     intra_keep_conditional_strength = 0.3;    // keep if has a close neighbor in clusters

	public double     intra_absolute_disparity_tolerance = 1.0; //

	public double     intra_relative_disparity_tolerance = 0.1; // 

	public int        intra_cluster_size = 4;

	

	// Lazy eye parameters



	public boolean    ly_lma_ers =      true;    // Use 2020 LMA-based measurement of mismatch (GPU-supported)
@@ -833,6 +841,8 @@ public class CLTParameters { 
	public int        dbg_early_exit =         0;     // Exit from early stages

	public boolean    show_first_bg =          false; // show extrinsic adjustment differences



	public boolean    show_interframe =        false; // show interframe processing

	public boolean    show_filter_ly =         false; // show dsi filtering by LY clusters

	public boolean    show_extrinsic =         false; // show extrinsic adjustment differences

	public boolean    show_ortho_combine =     false; // Show 'ortho_combine'

	public boolean    show_refine_supertiles = false; // show 'refine_disparity_supertiles'
@@ -1053,6 +1063,12 @@ public class CLTParameters { 
		properties.setProperty(prefix+"ih_norm_center",             this.ih_norm_center+"");

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

		

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

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

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

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

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



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

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

		properties.setProperty(prefix+"ly_gt_use_wnd",              this.ly_gt_use_wnd+"");
@@ -1656,6 +1672,8 @@ public class CLTParameters { 
		properties.setProperty(prefix+"dbg_early_exit",                   this.dbg_early_exit+"");

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



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

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

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

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

		properties.setProperty(prefix+"show_refine_supertiles",           this.show_refine_supertiles+"");
@@ -1823,8 +1841,6 @@ public class CLTParameters { 
		if (properties.getProperty(prefix+"fcorr_inf_quad")!=null)                this.fcorr_inf_quad=Boolean.parseBoolean(properties.getProperty(prefix+"fcorr_inf_quad"));

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







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

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

		//  			if (properties.getProperty(prefix+"inf_mism_apply")!=null)              this.inf_mism_apply=Boolean.parseBoolean(properties.getProperty(prefix+"inf_mism_apply"));
@@ -1848,6 +1864,12 @@ public class CLTParameters { 
		if (properties.getProperty(prefix+"ih_norm_center")!=null)                this.ih_norm_center=Boolean.parseBoolean(properties.getProperty(prefix+"ih_norm_center"));

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



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

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

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

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

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



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

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

		if (properties.getProperty(prefix+"ly_gt_use_wnd")!=null)                 this.ly_gt_use_wnd=Boolean.parseBoolean(properties.getProperty(prefix+"ly_gt_use_wnd"));
@@ -2467,6 +2489,8 @@ public class CLTParameters { 
		if (properties.getProperty(prefix+"dbg_early_exit")!=null)                   this.dbg_early_exit=Integer.parseInt(properties.getProperty(prefix+"dbg_early_exit"));

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



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

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

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

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

		if (properties.getProperty(prefix+"show_refine_supertiles")!=null)           this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));
@@ -2684,6 +2708,18 @@ public class CLTParameters { 
		gd.addCheckbox    ("Replace samples with a single average with equal weight",                           this.ih_norm_center);

		gd.addCheckbox    ("Add disparity back to d{x,y}[i] (debug feature)",                                   this.inf_restore_disp);



		gd.addTab         ("Intra", "Intrascene DSI filtering");

		gd.addNumericField("Keep tile if it is stronger than", this.intra_keep_strength,  3,5,"",

				"Regardless of the clustered (4x4 typical) average value");

		gd.addNumericField("Keep tile conditionally if it is stonger than", this.intra_keep_conditional_strength,  3,5,"",

				"Keep tile disparity if it has close disparity among 9 neighbor clusters");

		gd.addNumericField("Absolute disparity tolearance", this.intra_absolute_disparity_tolerance,  3,5,"pix",

				"Use when comparing with neighbor clusters");

		gd.addNumericField("Relative disparity tolearance", this.intra_relative_disparity_tolerance,  3,5,"pix/pix",

				"Add to absolute disparity tolerance, multiply by disparity (relaxes for near tiles)");

		gd.addNumericField("Cluster size for consolidation",                                                    this.intra_cluster_size,  0, 5,"",

				"Typically 4 for 4x4 clusters");

		

		

		gd.addTab         ("Lazy eye", "Lazy eye parameters");
@@ -3471,6 +3507,8 @@ public class CLTParameters { 
		gd.addNumericField("Temporay exit stage (0- normal execution)",                                              this.dbg_early_exit,  0,6,"","Temporary exit at intermediate stage (0 - normal)");

		gd.addCheckbox    ("Show first infinity scan",                                                               this.show_first_bg, "Show results of the first calculated background scan");



		gd.addCheckbox    ("Show interframe processing",                                                             this.show_interframe, "Debugging interframe functionality");

		gd.addCheckbox    ("Show DSI filtering by LY clusters",                                                      this.show_filter_ly, "Filtering DSI by comparing with clusters prepared for LY adjustment");

		gd.addCheckbox    ("Show extrinsic adjustment differences",                                                  this.show_extrinsic);

		gd.addCheckbox    ("Show 'ortho_combine'",                                                                   this.show_ortho_combine);

		gd.addCheckbox    ("Show 'refine_disparity_supertiles'",                                                     this.show_refine_supertiles);
@@ -3644,6 +3682,12 @@ public class CLTParameters { 
		this.ih_norm_center=        gd.getNextBoolean();

		this.inf_restore_disp=      gd.getNextBoolean();

		

		this.intra_keep_strength=                gd.getNextNumber();

		this.intra_keep_conditional_strength=    gd.getNextNumber();

		this.intra_absolute_disparity_tolerance= gd.getNextNumber();

		this.intra_relative_disparity_tolerance= gd.getNextNumber();

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



		this.ly_lma_ers =           gd.getNextBoolean();

		this.ly_gt_strength=        gd.getNextNumber();

		this.ly_gt_use_wnd=         gd.getNextBoolean();
@@ -4255,6 +4299,8 @@ public class CLTParameters { 
		this.dbg_early_exit = (int) gd.getNextNumber();

		this.show_first_bg=         gd.getNextBoolean();



		this.show_interframe=       gd.getNextBoolean();

		this.show_filter_ly=        gd.getNextBoolean();

		this.show_extrinsic=        gd.getNextBoolean();

		this.show_ortho_combine=    gd.getNextBoolean();

		this.show_refine_supertiles=gd.getNextBoolean();

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

+7 −0
Original line number Diff line number Diff line
@@ -142,10 +142,12 @@ public class EyesisCorrectionParameters { 
    	public int     rig_batch_adjust_aux =  0;

    	public int     rig_batch_adjust_rig =  0;



    	

    	public int     rig_batch_adjust_main_gt = 0; // adjust main camera using rig disparity as ground truth

    	public int     rig_batch_adjust_aux_gt =  0; // adjust aux camera using rig disparity as ground truth (TODO: finish geometry in derivatives)

    	public int     rig_batch_adjust_rig_gt =  0; // adjust rig after main and aux are adjusted with rig GT (late rig adjustment)



    	public boolean clt_batch_dsi1 =       true; // experimental for interscene

  		public boolean clt_batch_apply_man =  false;  // Apply (and disable) manual pixel shift

  		public boolean clt_batch_extrinsic =  false; // Calibrate extrinsic parameters for each set

  		public boolean clt_batch_poly =       false; // Calculate fine polynomial correction for each set
@@ -285,6 +287,7 @@ public class EyesisCorrectionParameters { 
  			cp.rig_batch_adjust_aux_gt =  this.rig_batch_adjust_aux_gt;

  			cp.rig_batch_adjust_rig_gt =  this.rig_batch_adjust_rig_gt;



  			cp.clt_batch_dsi1=		    this.clt_batch_dsi1;

  			cp.clt_batch_apply_man=		this.clt_batch_apply_man;

  			cp.clt_batch_extrinsic=		this.clt_batch_extrinsic;

  			cp.clt_batch_poly=    		this.clt_batch_poly;
@@ -463,6 +466,7 @@ public class EyesisCorrectionParameters { 
    		properties.setProperty(prefix+"rig_batch_adjust_aux_gt",  this.rig_batch_adjust_aux_gt+"");

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



    		properties.setProperty(prefix+"clt_batch_dsi1",        this.clt_batch_dsi1+"");

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

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

    		properties.setProperty(prefix+"clt_batch_poly",        this.clt_batch_poly+"");
@@ -620,6 +624,7 @@ public class EyesisCorrectionParameters { 
  		    if (properties.getProperty(prefix+"rig_batch_adjust_aux_gt")!=null)  this.rig_batch_adjust_aux_gt=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_aux_gt"));

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



			if (properties.getProperty(prefix+"clt_batch_dsi1")!= null)      this.clt_batch_dsi1=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_dsi1"));

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

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

			if (properties.getProperty(prefix+"clt_batch_poly")!= null)      this.clt_batch_poly=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_poly"));
@@ -991,6 +996,7 @@ public class EyesisCorrectionParameters { 
			gd.addNumericField("Repeat aux camera field adjustment (late, with GT disparity from rig)",    this.rig_batch_adjust_aux_gt,   0);

			gd.addNumericField("Repeat 2-quad camera rig field adjustment (late, after all others)",       this.rig_batch_adjust_rig_gt,   0);



    		gd.addCheckbox    ("Experimental DSI",                                                   this.clt_batch_dsi1); // 21

    		gd.addCheckbox    ("Apply (and disable) manual pixel shift",                             this.clt_batch_apply_man); // 21

    		gd.addCheckbox    ("Calibrate extrinsic parameters for each set",                        this.clt_batch_extrinsic); // 22

    		gd.addCheckbox    ("Calculate fine polynomial correction for each set",                  this.clt_batch_poly);      // 23
@@ -1083,6 +1089,7 @@ public class EyesisCorrectionParameters { 
			this.rig_batch_adjust_aux_gt =    (int) gd.getNextNumber();

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



    		this.clt_batch_dsi1=         gd.getNextBoolean(); // 21

    		this.clt_batch_apply_man=    gd.getNextBoolean(); // 21

    		this.clt_batch_extrinsic=    gd.getNextBoolean(); // 22

    		this.clt_batch_poly=         gd.getNextBoolean(); // 23

src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java

+48 −0
Original line number Diff line number Diff line
@@ -24,6 +24,9 @@ 


package com.elphel.imagej.tileprocessor;



import java.util.ArrayList;

import java.util.HashMap;



import org.apache.commons.math3.complex.Quaternion;

import org.apache.commons.math3.geometry.euclidean.threed.Rotation;

import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
@@ -43,6 +46,51 @@ public class ErsCorrection extends GeometryCorrection { 
	Quaternion[] ers_quaternion_dt; // per scan line

	double [][]  ers_atr;           // azimuth-tilt-roll per scan line

	double [][]  ers_atr_dt;        // angular velocities per scan line

	/**

	 * Position+orientation (world XYZ, Azimuth, Tilt, Roll) of other scenes relative to the position of this camera.

	 * Positions/orientations are sampled during scanning of the center line 

	 */

	HashMap <String, XyzAtr> scenes_poses = null;

	public class XyzAtr {

		double [] xyz;

		double [] atr;

		public XyzAtr() {

			xyz = new double[3];

			atr = new double[3];

		}

		public XyzAtr(String s) {

			ArrayList<Double> lxyzatr = new ArrayList<Double>();

			for (String snumber : s.split(","))

				lxyzatr.add(Double.parseDouble(snumber));

			Double [] xyzatr = new Double[6];

			xyzatr = lxyzatr.toArray(xyzatr);

			xyz = new double [] {xyzatr[0],xyzatr[1],xyzatr[2]};

			atr = new double [] {xyzatr[3],xyzatr[4],xyzatr[5]};

		}

		

		public String toString() {

			return String.format("%f,  %f, %f, %f, %f, %f",xyz[0],xyz[1],xyz[2],atr[0],atr[1],atr[2]);

		}

		public double [] getXYZ() {

			return xyz;

		}

		public double [] getATR() {

			return atr;

		}

		public void setXYZ(double [] d) {

			xyz[0] = d[0];

			xyz[1] = d[1];

			xyz[2] = d[2];

		}

		public void setATR(double [] d) {

			atr[0] = d[0];

			atr[1] = d[1];

			atr[2] = d[2];

		}

		

	}

	

	

	public ErsCorrection(GeometryCorrection gc) {

		debugLevel =           gc.debugLevel;

		line_time =            gc.line_time;            // 26.5E-6; // duration of sensor scan line (for ERS)