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Commit 00d8802c authored by Andrey Filippov's avatar Andrey Filippov
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uodated PixelMapping to support non-radial parameters, disabled DirectMap

parent ada64adb
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Showing with 376 additions and 42 deletions
src/main/java/Aberration_Calibration.java
View file @ 00d8802c
...@@ -858,7 +858,9 @@ if (MORE_BUTTONS) { ...@@ -858,7 +858,9 @@ if (MORE_BUTTONS) {
panelPixelMapping.setLayout(new GridLayout(1, 0, 5, 5)); panelPixelMapping.setLayout(new GridLayout(1, 0, 5, 5));
addButton("Load Pixel Mapping",panelPixelMapping); addButton("Load Pixel Mapping",panelPixelMapping);
addButton("List Mapping Parameters",panelPixelMapping,color_report); addButton("List Mapping Parameters",panelPixelMapping,color_report);
addButton("Test Direct Mapping",panelPixelMapping); if (MORE_BUTTONS) {
addButton("Test Direct Mapping",panelPixelMapping); // not yet updated for non-radial
}
addButton("Test Equirectangular Mapping",panelPixelMapping); addButton("Test Equirectangular Mapping",panelPixelMapping);
addButton("Crop Equirectangular Mapping",panelPixelMapping); addButton("Crop Equirectangular Mapping",panelPixelMapping);
addButton("Generate & Save Equirectangular",panelPixelMapping); addButton("Generate & Save Equirectangular",panelPixelMapping);
...@@ -6694,7 +6696,7 @@ if (MORE_BUTTONS) { ...@@ -6694,7 +6696,7 @@ if (MORE_BUTTONS) {
if (label.equals("Test Direct Mapping")) { if (label.equals("Test Direct Mapping")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL; DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
if (PIXEL_MAPPING==null) PIXEL_MAPPING=new PixelMapping((String)null,DEBUG_LEVEL); if (PIXEL_MAPPING==null) PIXEL_MAPPING=new PixelMapping((String)null,DEBUG_LEVEL);
GenericDialog gd=new GenericDialog("Select parameters for sensor->equirectangular pixel mapping"); GenericDialog gd=new GenericDialog("Select parameters for sensor->equirectangular pixel mapping *** NOT YET MODIFIED FOR NON-RADIAL !");
gd.addNumericField("Channel number (0..."+PIXEL_MAPPING.sensors.length,0,0); gd.addNumericField("Channel number (0..."+PIXEL_MAPPING.sensors.length,0,0);
gd.addNumericField("Output frame width", 2592,0,4,"output pix"); gd.addNumericField("Output frame width", 2592,0,4,"output pix");
gd.addNumericField("Output frame height", 1936,0,4,"output pix"); gd.addNumericField("Output frame height", 1936,0,4,"output pix");
......
src/main/java/Distortions.java
View file @ 00d8802c
...@@ -9670,7 +9670,8 @@ M * V = B ...@@ -9670,7 +9670,8 @@ M * V = B
gd.addMessage("----------"); gd.addMessage("----------");
gd.addCheckbox("Applying known extrinsic parameters to the same timestamp images", true); gd.addCheckbox("Applying known extrinsic parameters to the same timestamp images", true);
gd.addCheckbox("Use closest (by motor steps) image if none for the same timestamp is enabled", true); gd.addCheckbox("Use closest (by motor steps) image if none for the same timestamp is enabled", true);
gd.addCheckbox("Verticaly center the camera head by calculateing center above horizontal", false); gd.addMessage("==== Note: The following correction will be applied to all subcameras, use selection above to specify which heights should be averaged" );
gd.addCheckbox("Vertically center the camera head by calculateing center above horizontal", false);
// gd.addCheckbox("Update currently disabled images", true); // gd.addCheckbox("Update currently disabled images", true);
WindowTools.addScrollBars(gd); WindowTools.addScrollBars(gd);
gd.showDialog(); gd.showDialog();
......
src/main/java/PixelMapping.java
View file @ 00d8802c
...@@ -37,7 +37,6 @@ import javax.swing.SwingUtilities; ...@@ -37,7 +37,6 @@ import javax.swing.SwingUtilities;
import loci.common.services.DependencyException; import loci.common.services.DependencyException;
import loci.common.services.ServiceException; import loci.common.services.ServiceException;
import loci.formats.FormatException; import loci.formats.FormatException;
import Jama.Matrix; import Jama.Matrix;
import ij.IJ; import ij.IJ;
import ij.ImagePlus; import ij.ImagePlus;
...@@ -15569,6 +15568,16 @@ public class PixelMapping { ...@@ -15569,6 +15568,16 @@ public class PixelMapping {
// TODO - add option to generate individual flat projections // TODO - add option to generate individual flat projections
public InterSensor interSensor=null; // multiple sensors may have the same instance of the interSensor public InterSensor interSensor=null; // multiple sensors may have the same instance of the interSensor
// new non-radial parameters
final private boolean cummulativeCorrection=true; // r_xy, r_od for higher terms are relative to lower ones
final private double [][] r_xy_dflt={{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0}}; // only 6, as for the first term delta x, delta y ==0
final private double [][] r_od_dflt= {{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0},{0.0,0.0}}; // ortho
public double [][] r_xy=null; // only 6, as for the first term delta x, delta y ==0
public double [][] r_od=null; // ortho
public double [][] r_xyod=null; //{x0,y0,ortho, diagonal}
public SensorData (String channelPath , boolean ok ){ public SensorData (String channelPath , boolean ok ){
createEquirectangularMap(channelPath); createEquirectangularMap(channelPath);
...@@ -15578,45 +15587,143 @@ public class PixelMapping { ...@@ -15578,45 +15587,143 @@ public class PixelMapping {
this.equirectangularMap= new EquirectangularMap(channelPath); this.equirectangularMap= new EquirectangularMap(channelPath);
} }
public String [][] parameterDescriptions ={
{"Azimuth", "Subcamera azimuth, clockwise looking from top","degrees"}, // 0 public void setDefaultNonRadial(){
{"Distance", "Subcamera distance from the axis","mm"}, // 1 r_od=new double [r_od_dflt.length][2];
{"Height", "Subcamera height from the 'equator'","mm"}, // 2 for (int i=0;i<r_od.length;i++) r_od[i]=r_od_dflt[i].clone();
{"Heading", "Optical axis heading (relative to azimuth)","degrees"}, // 3 r_xy=new double [r_xy_dflt.length][2];
{"Elevation", "Optical axis elevation (up from equator)","degrees"}, // 4 for (int i=0;i<r_xy.length;i++) r_xy[i]=r_xy_dflt[i].clone();
{"Roll", "Subcamera roll, positive CW looking to the target","degrees"}, // 5 }
{"FocalLength", "Lens focal length","mm","S","I"}, //15
{"PX0", "Lens axis on the sensor (horizontal, from left edge)","pixels"}, //16
{"PY0", "Lens axis on the sensor (vertical, from top edge)","pixels"}, //17 public double [][] getNonRadialCumulative(){
{"DistortionA8", "Distortion A8(r^8)","relative"}, //18 this.r_xyod=new double [this.r_od.length][4]; //{x0,y0,ortho, diagonal}
{"DistortionA7", "Distortion A7(r^7)","relative"}, //19 18 this.r_xyod[0][0]=0.0; // this.px0; //
{"DistortionA6", "Distortion A6(r^6)","relative"}, //20 18 this.r_xyod[0][1]=0.0; // this.py0;
{"DistortionA5", "Distortion A5(r^5)","relative"}, //21 18 this.r_xyod[0][2]=this.r_od[0][0];
{"DistortionA", "Distortion A (r^4)","relative"}, //22 19 this.r_xyod[0][3]=this.r_od[0][1];
{"DistortionB", "Distortion B (r^3)","relative"}, //23 20 if (cummulativeCorrection){
{"DistortionC", "Distortion C (r^2)","relative"}, //24 21 for (int i=1;i<this.r_xyod.length;i++){
{"entrancePupilForward", "Distance to actual entrance pupil from the lens center (positive - away from sensor)","mm"} //22 this.r_xyod[i][0]=this.r_xyod[i-1][0]+this.r_xy[i-1][0];
this.r_xyod[i][1]=this.r_xyod[i-1][1]+this.r_xy[i-1][1];
this.r_xyod[i][2]=this.r_xyod[i-1][2]+this.r_od[i][0];
this.r_xyod[i][3]=this.r_xyod[i-1][3]+this.r_od[i][1];
}
} else {
for (int i=1;i<this.r_xyod.length;i++){
this.r_xyod[i][0]=this.r_xy[i-1][0]; // this.px0+this.r_xy[i-1][0];
this.r_xyod[i][1]=this.r_xy[i-1][1]; // this.py0+this.r_xy[i-1][1];
this.r_xyod[i][2]=this.r_od[i][0];
this.r_xyod[i][3]=this.r_od[i][1];
}
}
return this.r_xyod;
}
public String [][] parameterDescriptions ={ // was 17, now 43
{"Azimuth", "Subcamera azimuth, clockwise looking from top","degrees"}, // 0
{"Distance", "Subcamera distance from the axis","mm"}, // 1
{"Height", "Subcamera height from the 'equator'","mm"}, // 2
{"Heading", "Optical axis heading (relative to azimuth)","degrees"}, // 3
{"Elevation", "Optical axis elevation (up from equator)","degrees"}, // 4
{"Roll", "Subcamera roll, positive CW looking to the target","degrees"}, // 5
{"FocalLength", "Lens focal length","mm","S","I"}, // 6 15
{"PX0", "Lens axis on the sensor (horizontal, from left edge)","pixels"}, // 7 16
{"PY0", "Lens axis on the sensor (vertical, from top edge)","pixels"}, // 8 17
{"DistortionA8", "Distortion A8(r^8)","relative"}, // 9 18
{"DistortionA7", "Distortion A7(r^7)","relative"}, // 10 19 18
{"DistortionA6", "Distortion A6(r^6)","relative"}, // 11 20 18
{"DistortionA5", "Distortion A5(r^5)","relative"}, // 12 21 18
{"DistortionA", "Distortion A (r^4)","relative"}, // 13 22 19
{"DistortionB", "Distortion B (r^3)","relative"}, // 14 23 20
{"DistortionC", "Distortion C (r^2)","relative"}, // 15 24 21
{"entrancePupilForward", "Distance to actual entrance pupil from the lens center (positive - away from sensor)","mm"}, // 16 25
{"elong_C_o", "Orthogonal elongation for r^2", "relative"}, //17
{"elong_C_d", "Diagonal elongation for r^2", "relative"}, //18
{"eccen_B_x", "Distortion center shift X for r^3", "relative"}, //19
{"eccen_B_y", "Distortion center shift Y for r^3", "relative"}, //20
{"elong_B_o", "Orthogonal elongation for r^3", "relative"}, //21
{"elong_B_d", "Diagonal elongation for r^3", "relative"}, //22
{"eccen_A_x", "Distortion center shift X for r^4", "relative"}, //23
{"eccen_A_y", "Distortion center shift Y for r^4", "relative"}, //24
{"elong_A_o", "Orthogonal elongation for r^4", "relative"}, //25
{"elong_A_d", "Diagonal elongation for r^4", "relative"}, //26
{"eccen_A5_x", "Distortion center shift X for r^5", "relative"}, //27
{"eccen_A5_y", "Distortion center shift Y for r^5", "relative"}, //28
{"elong_A5_o", "Orthogonal elongation for r^5", "relative"}, //29
{"elong_A5_d", "Diagonal elongation for r^5", "relative"}, //30
{"eccen_A6_x", "Distortion center shift X for r^6", "relative"}, //31
{"eccen_A6_y", "Distortion center shift Y for r^6", "relative"}, //32
{"elong_A6_o", "Orthogonal elongation for r^6", "relative"}, //33
{"elong_A6_d", "Diagonal elongation for r^6", "relative"}, //34
{"eccen_A7_x", "Distortion center shift X for r^7", "relative"}, //35
{"eccen_A7_y", "Distortion center shift Y for r^7", "relative"}, //36
{"elong_A7_o", "Orthogonal elongation for r^7", "relative"}, //37
{"elong_A7_d", "Diagonal elongation for r^7", "relative"}, //38
{"eccen_A8_x", "Distortion center shift X for r^8", "relative"}, //39
{"eccen_A8_y", "Distortion center shift Y for r^8", "relative"}, //40
{"elong_A8_o", "Orthogonal elongation for r^8", "relative"}, //41
{"elong_A8_d", "Diagonal elongation for r^8", "relative"} //42
}; };
public double [] getParametersVector(){ public double [] getParametersVector(){ // was 17, now 43
double [] vector={ double [] vector={
this.azimuth, this.azimuth, // 00
this.radius, // mm, distance from the rotation axis this.radius, // 01 mm, distance from the rotation axis
this.height, // mm, up - from the origin point this.height, // 02 mm, up - from the origin point
this.phi, // degrees, optical axis from azimuth/r vector, clockwise heading this.phi, // 03 degrees, optical axis from azimuth/r vector, clockwise heading
this.theta, // degrees, optical axis from the eyesis horizon, positive - up elevation this.theta, // 04 degrees, optical axis from the eyesis horizon, positive - up elevation
this.psi, // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target roll this.psi, // 05 degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target roll
this.focalLength, this.focalLength, // 06
this.px0, // center of the lens on the sensor, pixels this.px0, // 07 center of the lens on the sensor, pixels
this.py0, // center of the lens on the sensor, pixels this.py0, // 08 center of the lens on the sensor, pixels
this.distortionA8, //r^8 (normalized to focal length or to sensor half width?) this.distortionA8, // 09 r^8 (normalized to focal length or to sensor half width?)
this.distortionA7, //r^7 (normalized to focal length or to sensor half width?) this.distortionA7, // 10 r^7 (normalized to focal length or to sensor half width?)
this.distortionA6, //r^6 (normalized to focal length or to sensor half width?) this.distortionA6, // 11 r^6 (normalized to focal length or to sensor half width?)
this.distortionA5, //r^5 (normalized to focal length or to sensor half width?) this.distortionA5, // 12 r^5 (normalized to focal length or to sensor half width?)
this.distortionA, // r^4 (normalized to focal length or to sensor half width?) this.distortionA, // 13 r^4 (normalized to focal length or to sensor half width?)
this.distortionB, // r^3 this.distortionB, // 14 r^3
this.distortionC, // r^2 this.distortionC, // 15 r^2
this.entrancePupilForward //Distance to actual entrance pupil from the lens center (positive - away from sensor) this.entrancePupilForward, // 16 Distance to actual entrance pupil from the lens center (positive - away from sensor)
this.r_od[0][0],
this.r_od[0][1],
this.r_xy[0][0],
this.r_xy[0][1],
this.r_od[1][0],
this.r_od[1][1],
this.r_xy[1][0],
this.r_xy[1][1],
this.r_od[2][0],
this.r_od[2][1],
this.r_xy[2][0],
this.r_xy[2][1],
this.r_od[3][0],
this.r_od[3][1],
this.r_xy[3][0],
this.r_xy[3][1],
this.r_od[4][0],
this.r_od[4][1],
this.r_xy[4][0],
this.r_xy[4][1],
this.r_od[5][0],
this.r_od[5][1],
this.r_xy[5][0],
this.r_xy[5][1],
this.r_od[6][0],
this.r_od[6][1]
}; };
return vector; return vector;
} }
...@@ -16087,7 +16194,16 @@ public class PixelMapping { ...@@ -16087,7 +16194,16 @@ public class PixelMapping {
this.defectsDiff=null; this.defectsDiff=null;
} }
// now mask setDefaultNonRadial();
for (int i=0;i<this.r_xy.length;i++) {
if (imp.getProperty("r_xy_"+i+"_x") !=null) this.r_xy[i][0]= Double.parseDouble((String) imp.getProperty("r_xy_"+i+"_x"));
if (imp.getProperty("r_xy_"+i+"_y") !=null) this.r_xy[i][1]= Double.parseDouble((String) imp.getProperty("r_xy_"+i+"_y"));
}
for (int i=0;i<this.r_od.length;i++) {
if (imp.getProperty("r_od_"+i+"_o") !=null) this.r_od[i][0]= Double.parseDouble((String) imp.getProperty("r_od_"+i+"_o"));
if (imp.getProperty("r_od_"+i+"_d") !=null) this.r_od[i][1]= Double.parseDouble((String) imp.getProperty("r_od_"+i+"_d"));
}
} }
/** /**
* Calculate rotation matrix that converts sensor coordinates to world coordinates * Calculate rotation matrix that converts sensor coordinates to world coordinates
...@@ -16149,6 +16265,7 @@ public class PixelMapping { ...@@ -16149,6 +16265,7 @@ public class PixelMapping {
double y0, double y0,
double pixelStep, double pixelStep,
boolean flat){ boolean flat){
System.out.println("******* BUG: combineDistortionsSensorToEquirectangular() - not yet modified for non-radial !!!! ********");
if (this.pixelCorrection==null){ if (this.pixelCorrection==null){
String msg="No pixel correction data"; String msg="No pixel correction data";
IJ.showMessage("Error",msg); IJ.showMessage("Error",msg);
...@@ -16165,7 +16282,6 @@ public class PixelMapping { ...@@ -16165,7 +16282,6 @@ public class PixelMapping {
int sensorCorrWidth= (this.pixelCorrectionWidth-1)/this.pixelCorrectionDecimation+1; int sensorCorrWidth= (this.pixelCorrectionWidth-1)/this.pixelCorrectionDecimation+1;
int sensorCorrHeight= (this.pixelCorrectionHeight-1)/this.pixelCorrectionDecimation+1; int sensorCorrHeight= (this.pixelCorrectionHeight-1)/this.pixelCorrectionDecimation+1;
Matrix MA=rotateSensorCoordToPanoCoord(); Matrix MA=rotateSensorCoordToPanoCoord();
for (int iy=0;iy<this.directMap.height;iy++){ for (int iy=0;iy<this.directMap.height;iy++){
for (int ix=0;ix<this.directMap.width;ix++) { for (int ix=0;ix<this.directMap.width;ix++) {
...@@ -16249,6 +16365,24 @@ public class PixelMapping { ...@@ -16249,6 +16365,24 @@ public class PixelMapping {
IJ.showProgress(iy, this.directMap.height-1); IJ.showProgress(iy, this.directMap.height-1);
} }
} }
public double ipow(double a, int b){
switch (b) {
case 1: return a;
case 2: return a*a;
case 3: return a*a*a;
case 0: return 1.0;
default:
if (b<0) {
return 1.0/ipow(a,-b);
} else {
int b1=b>>1;
return ipow(a,b1)*ipow(a,b-b1);
}
}
}
public void combineDistortionsEquirectangularToSensor( public void combineDistortionsEquirectangularToSensor(
int channel, int channel,
double longitudeLeft0, double longitudeLeft0,
...@@ -16268,6 +16402,7 @@ public class PixelMapping { ...@@ -16268,6 +16402,7 @@ public class PixelMapping {
IJ.showMessage("Error",msg); IJ.showMessage("Error",msg);
throw new IllegalArgumentException (msg); throw new IllegalArgumentException (msg);
} }
System.out.println("******* INFO: combineDistortionsEquirectangularToSensor() - already modified for non-radial !!!! ********");
this.equirectangularMap=new EquirectangularMap( this.equirectangularMap=new EquirectangularMap(
channel, channel,
longitudeLeft0, longitudeLeft0,
...@@ -16303,6 +16438,202 @@ public class PixelMapping { ...@@ -16303,6 +16438,202 @@ public class PixelMapping {
final double distortionA = this.distortionA; final double distortionA = this.distortionA;
final double distortionB = this.distortionB; final double distortionB = this.distortionB;
final double distortionC = this.distortionC; final double distortionC = this.distortionC;
final double [][] r_xyod=getNonRadialCumulative();
// final double d=1.0-this.distortionA8-this.distortionA7-this.distortionA6-this.distortionA5-this.distortionA-this.distortionB-this.distortionC;
// final boolean use8=(this.distortionA8!=0.0) || (this.distortionA7!=0.0) || (this.distortionA6!=0.0);
final EquirectangularMap equirectangularMap=this.equirectangularMap;
// for (int iLat=0;iLat<equirectangularMap.pixelsVertical;iLat++){
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
public void run() {
for (int iLat=ipLatAtomic.getAndIncrement(); iLat<equirectangularMap.pixelsVertical;iLat=ipLatAtomic.getAndIncrement()){
double [] a={distortionC,distortionB,distortionA,distortionA5,distortionA6,distortionA7,distortionA8};
double latitude=equirectangularMap.latitudeTop-equirectangularMap.degreesPerPixel*iLat;
for (int iLong=0;iLong<equirectangularMap.pixelsHorizontal;iLong++){
int outIndex=iLat*equirectangularMap.pixelsHorizontal+iLong;
double [] pXY=null;
double longitude=equirectangularMap.longitudeLeft+equirectangularMap.degreesPerPixel*iLong;
double [][] xyz={ // unity vector in the direction
{Math.cos(latitude*Math.PI/180.0)*Math.sin(longitude*Math.PI/180.0)},
{Math.sin(latitude*Math.PI/180.0)},
{Math.cos(latitude*Math.PI/180.0)*Math.cos(longitude*Math.PI/180.0)}};
// get sensor coordinates
double [] v=MA.times(new Matrix (xyz)).getRowPackedCopy();
if (v[2]>0){ // potentially visible
v[0]*=focalLength/v[2];
v[1]*=focalLength/v[2];
v[2]= focalLength;
double rND=Math.sqrt(v[0]*v[0]+v[1]*v[1]);
double r=rND/distortionRadius;
if (r<maxKR){ // skip if they are too far from the center
double deltaX=0.0,deltaY=0.0; // difference between distorted and non-distorted as a fraction of this.distortionRadius
double xmmc=v[0]/distortionRadius; // non-distorted x relative to distortion radius
double ymmc=v[1]/distortionRadius; // non-distorted y relative to distortion radius (math direction, not image)
for (int i=0;i<r_xyod.length;i++){
double x=xmmc-r_xyod[i][0]; // relative X-shift of this term center
double y=ymmc-r_xyod[i][1]; // relative Y-shift of this term center
double x2=x*x; // relative squared X-shift from this term center
double y2=y*y; // relative squared Y-shift from this term center
double r2=x2+y2; // relative squared distance from this term center
// effective distance from this term center corrected for elongation
double rr=Math.sqrt(r2+ r_xyod[i][2]*(y2-x2)+ 2.0*r_xyod[i][3]*x*y );
if (rr<0.00000001*distortionRadius) rr=0.00000001*distortionRadius; // avoid 1/0.0 -// Added 3 zeros (old comment)
double rr_pow_i=ipow(rr,i);
double ki=a[i]*(rr_pow_i*rr-1.0); // scaling of distorted distance from this term's center (does not include pinhole center shift itself)
deltaX+=x*ki; // relative distorted distance from the center
deltaY+=y*ki;
// if ((debugLevel>2) && ((r_xyod[i][0]!=0.0) || (r_xyod[i][0]!=0.0))){
// System.out.println ("i="+i+" r_xyod[i][0]="+r_xyod[i][0]+" r_xyod[i][1]="+r_xyod[i][1]+" a[0]="+a[0]+" a[1]="+a[1]+" a[2]="+a[2]+" a[3]="+a[3]);
// }
}
// double [] xyDist={v[0]+distortionRadius*deltaX, v[1]+distortionRadius*deltaY};
pXY=new double[2];
// convert to sensor pixels coordinates
pXY[0]= 1000.0/pixelSize*(v[0]+distortionRadius*deltaX) + px0;
pXY[1]=-1000.0/pixelSize*(v[1]+distortionRadius*deltaY) + py0;
/*
double k;
if (use8) k=((((((distortionA8*r+distortionA7)*r+distortionA6)*r+distortionA5)*r + distortionA)*r+distortionB)*r+distortionC)*r+d;
else k=(((distortionA5*r + distortionA)*r+distortionB)*r+distortionC)*r+d;
// calculate in sensor pixel
pXY[0]= v[0]*k*1000.0/pixelSize+px0; // in pixels, right
pXY[1]=-v[1]*k*1000.0/pixelSize+py0; // in pixels, down
*/
// un-apply residual correction, for now - consider it small/smooth to skip reverse mapping, make it a two step
int corrX=((int) Math.floor(pXY[0]/pixelCorrectionDecimation));
int corrY=((int) Math.floor(pXY[1]/pixelCorrectionDecimation));
if (corrX<0) corrX=0;
else if (corrX>=sensorCorrWidth) corrX=sensorCorrWidth-1;
if (corrY<0) corrY=0;
else if (corrY>=sensorCorrHeight) corrY=sensorCorrHeight-1;
// x1, y1 - one stage correction
double x1=pXY[0]+pixelCorrection[0][corrX + corrY*sensorCorrWidth]; // positive correction
double y1=pXY[1]+pixelCorrection[1][corrX + corrY*sensorCorrWidth];
// second step correction
corrX=((int) Math.floor(x1/pixelCorrectionDecimation));
corrY=((int) Math.floor(y1/pixelCorrectionDecimation));
double corrDX=x1/pixelCorrectionDecimation-corrX;
double corrDY=y1/pixelCorrectionDecimation-corrY;
if (corrX<0) {corrX=0;corrDX=0;}
else if (corrX>=sensorCorrWidth) {corrX=sensorCorrWidth-1;corrDX=0;}
if (corrY<0) {corrY=0;corrDY=0;}
else if (corrY>=sensorCorrHeight) {corrY=sensorCorrHeight-1;corrDY=0;}
int index00=corrX + corrY*sensorCorrWidth;
int indexX0=index00+((corrX==(sensorCorrWidth-1))?0:1);
int index0Y=index00+((corrY==(sensorCorrHeight-1))?0:sensorCorrWidth);
int indexXY=index0Y+((corrX==(sensorCorrWidth-1))?0:1);
// Linear interpolate all this.pixelCorrection[i][indexXY]
double [] corr=new double [pixelCorrection.length];
for (int n=0;n<pixelCorrection.length;n++){
corr[n]=
(1-corrDX)* (1-corrDY)* pixelCorrection[n][index00]+
corrDX * (1-corrDY)* pixelCorrection[n][indexX0]+
(1-corrDX)* corrDY * pixelCorrection[n][index0Y]+
corrDX * corrDY * pixelCorrection[n][indexXY];
if (debugThis){
System.out.println("combineDistortionsSensorToFlat(): this.pixelCorrection["+n+"]["+index00+"]="+pixelCorrection[n][index00]);
System.out.println("combineDistortionsSensorToFlat(): this.pixelCorrection["+n+"]["+indexX0+"]="+pixelCorrection[n][indexX0]);
System.out.println("combineDistortionsSensorToFlat(): this.pixelCorrection["+n+"]["+index0Y+"]="+pixelCorrection[n][index0Y]);
System.out.println("combineDistortionsSensorToFlat(): this.pixelCorrection["+n+"]["+indexXY+"]="+pixelCorrection[n][indexXY]);
}
}
pXY[0]+=corr[0]; // opposite sign as in Distortions.initFittingSeries()
pXY[1]+=corr[1];
// map to image pixels
pXY[0]=(pXY[0]-equirectangularMap.x0)/equirectangularMap.pixelStep;
pXY[1]=(pXY[1]-equirectangularMap.y0)/equirectangularMap.pixelStep;
if (
(pXY[0]<0) ||
(pXY[0]>=equirectangularMap.width) ||
(pXY[1]<0) ||
(pXY[1]>=equirectangularMap.height) ||
((corr.length>2) && (corr[2]<equirectangularMap.minAlpha))) {
pXY=null;
} else {
equirectangularMap.map[outIndex]=new float [corr.length];
for (int n=0;n<2;n++) equirectangularMap.map[outIndex][n]=(float) pXY[n];
for (int n=2;n<corr.length;n++) equirectangularMap.map[outIndex][n]=(float) corr[n];
}
}
}
if (pXY==null) equirectangularMap.map[outIndex]=null;
}
// IJ.showProgress(iLat, equirectangularMap.pixelsVertical-1);
final int numFinished=ipLatDoneAtomic.getAndIncrement();
// IJ.showProgress(progressValues[numFinished]);
SwingUtilities.invokeLater(new Runnable() {
public void run() {
// Here, we can safely update the GUI
// because we'll be called from the
// event dispatch thread
IJ.showProgress(numFinished,equirectangularMap.pixelsVertical);
}
});
}
}
};
}
startAndJoin(threads);
}
public void combineDistortionsEquirectangularToSensorRadial( // old version without non-radial terms
int channel,
double longitudeLeft0,
double longitudeRight0,
double latitudeTop0,
double latitudeBottom0,
int pixelsHorizontal0,
int width0,
int height0,
double x00,
double y00,
double pixelStep0,
int maxThreads){
final double maxKR=2.0; // maximal ratio to distortion radius to consider
if (this.pixelCorrection==null){
String msg="No pixel correction data";
IJ.showMessage("Error",msg);
throw new IllegalArgumentException (msg);
}
this.equirectangularMap=new EquirectangularMap(
channel,
longitudeLeft0,
longitudeRight0,
latitudeTop0,
latitudeBottom0,
pixelsHorizontal0,
width0,
height0,
x00,
y00,
pixelStep0,
this.pixelCorrection.length);
final boolean debugThis=false;
final int sensorCorrWidth= (this.pixelCorrectionWidth-1)/this.pixelCorrectionDecimation+1;
final int sensorCorrHeight= (this.pixelCorrectionHeight-1)/this.pixelCorrectionDecimation+1;
final Matrix MA=rotateSensorCoordToPanoCoord().transpose(); // panorama coordinates to sensor coordinates (reversed rotation)
final Thread[] threads = newThreadArray(maxThreads);
final AtomicInteger ipLatAtomic = new AtomicInteger(0);
final AtomicInteger ipLatDoneAtomic = new AtomicInteger(1);
final double [][] pixelCorrection=this.pixelCorrection;
final double pixelCorrectionDecimation=this.pixelCorrectionDecimation;
final double focalLength= this.focalLength;
final double px0= this.px0;
final double py0= this.py0;
final double distortionRadius=this.distortionRadius;
final double pixelSize= this.pixelSize;
final double distortionA8= this.distortionA8;
final double distortionA7= this.distortionA7;
final double distortionA6= this.distortionA6;
final double distortionA5= this.distortionA5;
final double distortionA = this.distortionA;
final double distortionB = this.distortionB;
final double distortionC = this.distortionC;
final double d=1.0-this.distortionA8-this.distortionA7-this.distortionA6-this.distortionA5-this.distortionA-this.distortionB-this.distortionC; final double d=1.0-this.distortionA8-this.distortionA7-this.distortionA6-this.distortionA5-this.distortionA-this.distortionB-this.distortionC;
final boolean use8=(this.distortionA8!=0.0) || (this.distortionA7!=0.0) || (this.distortionA6!=0.0); final boolean use8=(this.distortionA8!=0.0) || (this.distortionA7!=0.0) || (this.distortionA6!=0.0);
final EquirectangularMap equirectangularMap=this.equirectangularMap; final EquirectangularMap equirectangularMap=this.equirectangularMap;
......
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