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Elphel
imagej-elphel
Commits
0abd52b8
Commit
0abd52b8
authored
Aug 15, 2024
by
Andrey Filippov
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fixing quaternions-affines
parent
d9f79276
Changes
3
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3 changed files
with
325 additions
and
39 deletions
+325
-39
OrthoAltitudeMatch.java
...ava/com/elphel/imagej/orthomosaic/OrthoAltitudeMatch.java
+40
-10
QuatUtils.java
src/main/java/com/elphel/imagej/orthomosaic/QuatUtils.java
+269
-28
SingularValueDecomposition.java
...elphel/imagej/orthomosaic/SingularValueDecomposition.java
+16
-1
No files found.
src/main/java/com/elphel/imagej/orthomosaic/OrthoAltitudeMatch.java
View file @
0abd52b8
...
@@ -56,6 +56,13 @@ public class OrthoAltitudeMatch {
...
@@ -56,6 +56,13 @@ public class OrthoAltitudeMatch {
String
orthoMapsCollection_path
,
String
orthoMapsCollection_path
,
int
debugLevel
)
{
int
debugLevel
)
{
boolean
y_down_ccw
=
true
;
boolean
y_down_ccw
=
true
;
boolean
invert_q2a
=
true
;
boolean
test_quat
=
true
;
if
(
test_quat
)
{
QuatUtils
.
testQuatAff
();
}
int
[]
indices
=
orthoMapsCollection
.
getScenesFromPairs
(
// may be shorter, each element - absolute scene number used in pairs
int
[]
indices
=
orthoMapsCollection
.
getScenesFromPairs
(
// may be shorter, each element - absolute scene number used in pairs
available_pairs
,
// pairs_defined_abs,// int [][] pairs,
available_pairs
,
// pairs_defined_abs,// int [][] pairs,
null
);
// int [] indices_in) // preselected indices or null
null
);
// int [] indices_in) // preselected indices or null
...
@@ -197,7 +204,7 @@ public class OrthoAltitudeMatch {
...
@@ -197,7 +204,7 @@ public class OrthoAltitudeMatch {
}
}
double
[]
alt_data
=
{
alt_data5
[
0
]/
pix_size_meters
,
alt_data5
[
1
]/
pix_size_meters
,
alt_data5
[
2
]};
double
[]
alt_data
=
{
alt_data5
[
0
]/
pix_size_meters
,
alt_data5
[
1
]/
pix_size_meters
,
alt_data5
[
2
]};
boolean
test_quat
=
true
;
if
(
test_quat
)
{
if
(
test_quat
)
{
System
.
out
.
println
(
">>>>>>>>>>>>>>>>> npair="
+
npair
+
": "
+
ipair
[
0
]+
" -> "
+
ipair
[
1
]);
System
.
out
.
println
(
">>>>>>>>>>>>>>>>> npair="
+
npair
+
": "
+
ipair
[
0
]+
" -> "
+
ipair
[
1
]);
boolean
use_degrees
=
true
;
boolean
use_degrees
=
true
;
...
@@ -331,6 +338,7 @@ public class OrthoAltitudeMatch {
...
@@ -331,6 +338,7 @@ public class OrthoAltitudeMatch {
{
A1a
.
get
(
1
,
0
),
A1a
.
get
(
1
,
1
)}};
{
A1a
.
get
(
1
,
0
),
A1a
.
get
(
1
,
1
)}};
double
[][][]
affines
=
new
double
[][][]
{
ortho_maps
[
ipair
[
0
]].
getAffine
(),
ortho_maps
[
ipair
[
1
]].
getAffine
(),
affine1a
};
double
[][][]
affines
=
new
double
[][][]
{
ortho_maps
[
ipair
[
0
]].
getAffine
(),
ortho_maps
[
ipair
[
1
]].
getAffine
(),
affine1a
};
boolean
make__pure_tilt
=
false
;
boolean
make__pure_tilt
=
false
;
/*
double [][] aff1_stretch = QuatUtils.quatToAffine(
double [][] aff1_stretch = QuatUtils.quatToAffine(
quats01[0], // double [] quat,
quats01[0], // double [] quat,
true, // boolean stretch,
true, // boolean stretch,
...
@@ -351,6 +359,25 @@ public class OrthoAltitudeMatch {
...
@@ -351,6 +359,25 @@ public class OrthoAltitudeMatch {
true, // boolean stretch,
true, // boolean stretch,
make__pure_tilt, // boolean make__pure_tilt)
make__pure_tilt, // boolean make__pure_tilt)
y_down_ccw); // boolean y_down_ccw);
y_down_ccw); // boolean y_down_ccw);
*/
double
[][]
aff1_stretch
=
QuatUtils
.
quatToAffine
(
// use old for stretch
quats01
[
0
],
// double [] quat,
true
,
// boolean stretch,
make__pure_tilt
,
// boolean make__pure_tilt)
y_down_ccw
);
// boolean y_down_ccw);
double
[][]
aff1_shrink
=
QuatUtils
.
quatToAffine
(
quats01
[
0
],
// double [] quat,
invert_q2a
,
// boolean stretch,
y_down_ccw
);
// boolean y_down_ccw);
double
[][]
aff2_shrink
=
QuatUtils
.
quatToAffine
(
quats01
[
2
],
// double [] quat,
invert_q2a
,
// boolean stretch,
y_down_ccw
);
// boolean y_down_ccw);
double
[][]
aff2_stretch
=
QuatUtils
.
quatToAffine
(
// use old for stretch
quats01
[
2
],
// double [] quat,
true
,
// boolean stretch,
make__pure_tilt
,
// boolean make__pure_tilt)
y_down_ccw
);
// boolean y_down_ccw);
double
[][]
qaffd_pm
=
QuatUtils
.
affineToQuatScaled
(
affine_pair
,
true
,
y_down_ccw
);
double
[][]
qaffd_pm
=
QuatUtils
.
affineToQuatScaled
(
affine_pair
,
true
,
y_down_ccw
);
System
.
out
.
println
(
"qaffd_pm[0]= "
+
QuatUtils
.
toString
(
qaffd_pm
[
0
],
use_degrees
));
System
.
out
.
println
(
"qaffd_pm[0]= "
+
QuatUtils
.
toString
(
qaffd_pm
[
0
],
use_degrees
));
...
@@ -390,8 +417,10 @@ public class OrthoAltitudeMatch {
...
@@ -390,8 +417,10 @@ public class OrthoAltitudeMatch {
double
[][][][]
raffines_pm
=
new
double
[
affines
.
length
][
2
][][];
double
[][][][]
raffines_pm
=
new
double
[
affines
.
length
][
2
][][];
SingularValueDecomposition
[][]
rsvd_pm
=
new
SingularValueDecomposition
[
affines
.
length
][
2
];
SingularValueDecomposition
[][]
rsvd_pm
=
new
SingularValueDecomposition
[
affines
.
length
][
2
];
for
(
int
i
=
0
;
i
<
raffines_pm
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
raffines_pm
.
length
;
i
++)
{
raffines_pm
[
i
][
0
]
=
QuatUtils
.
quatToAffine
(
QuatUtils
.
affineToQuatScaled
(
affines
[
i
],
false
,
y_down_ccw
)[
0
],
false
,
true
,
true
);
// raffines_pm[i][0] = QuatUtils.quatToAffine(QuatUtils.affineToQuatScaled(affines[i], false, y_down_ccw)[0],false,true,true);
raffines_pm
[
i
][
1
]
=
QuatUtils
.
quatToAffine
(
QuatUtils
.
affineToQuatScaled
(
affines
[
i
],
false
,
y_down_ccw
)[
1
],
false
,
false
,
true
);
// raffines_pm[i][1] = QuatUtils.quatToAffine(QuatUtils.affineToQuatScaled(affines[i], false, y_down_ccw)[1],false,false,true);
raffines_pm
[
i
][
0
]
=
QuatUtils
.
quatToAffine
(
QuatUtils
.
affineToQuatScaled
(
affines
[
i
],
false
,
y_down_ccw
)[
0
],
invert_q2a
,
true
);
raffines_pm
[
i
][
1
]
=
QuatUtils
.
quatToAffine
(
QuatUtils
.
affineToQuatScaled
(
affines
[
i
],
false
,
y_down_ccw
)[
1
],
invert_q2a
,
true
);
rsvd_pm
[
i
][
0
]
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
raffines_pm
[
i
][
0
],
y_down_ccw
);
rsvd_pm
[
i
][
0
]
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
raffines_pm
[
i
][
0
],
y_down_ccw
);
rsvd_pm
[
i
][
1
]
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
raffines_pm
[
i
][
1
],
y_down_ccw
);
rsvd_pm
[
i
][
1
]
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
raffines_pm
[
i
][
1
],
y_down_ccw
);
System
.
out
.
println
(
"raffines["
+
i
+
"][0]= [["
+
raffines_pm
[
i
][
0
][
0
][
0
]+
","
+
raffines_pm
[
i
][
0
][
0
][
1
]+
"],"
);
System
.
out
.
println
(
"raffines["
+
i
+
"][0]= [["
+
raffines_pm
[
i
][
0
][
0
][
0
]+
","
+
raffines_pm
[
i
][
0
][
0
][
1
]+
"],"
);
...
@@ -444,17 +473,18 @@ public class OrthoAltitudeMatch {
...
@@ -444,17 +473,18 @@ public class OrthoAltitudeMatch {
double
[]
svariants
=
new
double
[
qvariants
.
length
];
double
[]
svariants
=
new
double
[
qvariants
.
length
];
double
[][][]
taffines
=
new
double
[
qvariants
.
length
][][];
double
[][][]
taffines
=
new
double
[
qvariants
.
length
][][];
SingularValueDecomposition
[]
svd_avars
=
new
SingularValueDecomposition
[
qvariants
.
length
];
SingularValueDecomposition
[]
svd_avars
=
new
SingularValueDecomposition
[
qvariants
.
length
];
/// double [] svariants1= new double [qvariants1.length];
for
(
int
i
=
0
;
i
<
svariants
.
length
;
i
++)
svariants
[
i
]
=
QuatUtils
.
normalizeInPlace
(
qvariants
[
i
]);
for
(
int
i
=
0
;
i
<
svariants
.
length
;
i
++)
svariants
[
i
]
=
QuatUtils
.
normalizeInPlace
(
qvariants
[
i
]);
/// for (int i = 0; i < svariants1.length; i++) svariants1[i] = QuatUtils.normalizeInPlace(qvariants1[i]);
for
(
int
i
=
0
;
i
<
svariants
.
length
;
i
++)
{
for
(
int
i
=
0
;
i
<
svariants
.
length
;
i
++)
{
System
.
out
.
println
(
" qvariant["
+
i
+
"] = ["
+
qvariants
[
i
][
0
]+
","
+
qvariants
[
i
][
1
]+
","
+
qvariants
[
i
][
2
]+
","
+
qvariants
[
i
][
3
]+
"] scale="
+
svariants
[
i
]);
System
.
out
.
println
(
" qvariant["
+
i
+
"] = ["
+
qvariants
[
i
][
0
]+
","
+
qvariants
[
i
][
1
]+
","
+
qvariants
[
i
][
2
]+
","
+
qvariants
[
i
][
3
]+
"] scale="
+
svariants
[
i
]);
/// System.out.println("qvariant1["+i+"] = ["+qvariants1[i][0]+ ","+qvariants1[i][1]+ ","+qvariants1[i][2]+ ","+qvariants1[i][3]+ "] scale="+svariants1[i]);
/// taffines[i] = QuatUtils.quatToAffine(
/// qvariants[i], // double [] quat,
/// false, // boolean stretch,
/// false, // make__pure_tilt, // boolean make__pure_tilt)
/// y_down_ccw); // boolean y_down_ccw);
taffines
[
i
]
=
QuatUtils
.
quatToAffine
(
taffines
[
i
]
=
QuatUtils
.
quatToAffine
(
qvariants
[
i
],
// double [] quat,
qvariants
[
i
],
// double [] quat,
false
,
// boolean stretch,
invert_q2a
,
// boolean invert,
false
,
// make__pure_tilt, // boolean make__pure_tilt)
y_down_ccw
);
// boolean y_down_ccw);
y_down_ccw
);
// boolean y_down_ccw);
svd_avars
[
i
]
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
taffines
[
i
],
y_down_ccw
);
svd_avars
[
i
]
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
taffines
[
i
],
y_down_ccw
);
}
}
...
@@ -473,8 +503,8 @@ public class OrthoAltitudeMatch {
...
@@ -473,8 +503,8 @@ public class OrthoAltitudeMatch {
}
}
double
[][]
aff_combo
=
QuatUtils
.
matMult
(
aff2_shrink
,
aff1_stretch
);
// inv
d
ert order?
double
[][]
aff_combo
=
QuatUtils
.
matMult
(
aff2_shrink
,
aff1_stretch
);
// invert order?
double
[][]
aff_combo1
=
QuatUtils
.
matMult
(
aff1_stretch
,
aff2_shrink
);
// inv
d
ert order?
double
[][]
aff_combo1
=
QuatUtils
.
matMult
(
aff1_stretch
,
aff2_shrink
);
// invert order?
SingularValueDecomposition
svd_affine_pair
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
affine_pair
,
y_down_ccw
);
// boolean y_down_ccw)
SingularValueDecomposition
svd_affine_pair
=
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
affine_pair
,
y_down_ccw
);
// boolean y_down_ccw)
SingularValueDecomposition
[]
svd_affines
=
{
SingularValueDecomposition
[]
svd_affines
=
{
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
affines
[
0
],
y_down_ccw
),
SingularValueDecomposition
.
singularValueDecomposeScaleTiltGamma
(
affines
[
0
],
y_down_ccw
),
...
...
src/main/java/com/elphel/imagej/orthomosaic/QuatUtils.java
View file @
0abd52b8
This diff is collapsed.
Click to expand it.
src/main/java/com/elphel/imagej/orthomosaic/SingularValueDecomposition.java
View file @
0abd52b8
...
@@ -90,6 +90,21 @@ public class SingularValueDecomposition {
...
@@ -90,6 +90,21 @@ public class SingularValueDecomposition {
svd
.
ratio
=
svd
.
w2
/
svd
.
w1
;
svd
.
ratio
=
svd
.
w2
/
svd
.
w1
;
return
svd
;
return
svd
;
}
}
public
static
double
[]
getMinMaxEigenValues
(
double
[][]
A
)
{
double
a00
=
A
[
0
][
0
],
a01
=
A
[
0
][
1
],
a10
=
A
[
1
][
0
],
a11
=
A
[
1
][
1
];
double
b00
=(
a00
+
a11
)/
2
;
// , b11 = b00;
double
c00
=(
a00
-
a11
)/
2
;
//, c11 =-c00;
double
b01
=(
a01
-
a10
)/
2
;
//, b10 =-b01;
double
c01
=(
a01
+
a10
)/
2
;
//, c10 = c01;
double
w1_p_w2_2
=
Math
.
sqrt
(
b00
*
b00
+
b01
*
b01
);
double
w1_m_w2_2
=
Math
.
sqrt
(
c00
*
c00
+
c01
*
c01
);
double
w1
=
w1_p_w2_2
+
w1_m_w2_2
;
double
w2
=
w1_p_w2_2
-
w1_m_w2_2
;
return
(
w1
<
w2
)
?
(
new
double
[]
{
w1
,
w2
})
:
(
new
double
[]
{
w2
,
w1
});
}
/**
/**
* Use singular value decomposition and then split scaling {{w1,0},{0,w1}}
* Use singular value decomposition and then split scaling {{w1,0},{0,w1}}
* into overall scaling caused by zoom != 1.0 because of altitude error
* into overall scaling caused by zoom != 1.0 because of altitude error
...
@@ -153,7 +168,7 @@ public class SingularValueDecomposition {
...
@@ -153,7 +168,7 @@ public class SingularValueDecomposition {
while
(
beta
>=
Math
.
PI
/
2
)
{
while
(
beta
>=
Math
.
PI
/
2
)
{
beta
-=
Math
.
PI
;
beta
-=
Math
.
PI
;
}
}
while
(
beta
<
Math
.
PI
/
2
)
{
while
(
beta
<
-
Math
.
PI
/
2
)
{
beta
+=
Math
.
PI
;
beta
+=
Math
.
PI
;
}
}
...
...
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