Debugging conversion to circular multicam (0daef805) · Commits · Elphel / imagej-elphel

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

+22 −13

Original line number	Diff line number	Diff line
		@@ -78,7 +78,16 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
		return geometryCorrection.getNumSensors();
		}

		public static int getNumSensors(int vector_length) {
		int num_sensors=4;
		for (; getLength(num_sensors) < vector_length; num_sensors++);
		if (getLength(num_sensors) != vector_length) {
		throw new IllegalArgumentException ("Invalid vector length = "+vector_length);
		}
		return num_sensors;
		}

		//getLength()
		public static String [] getCorrNames(int num_chn) {
		String [] corr_names = new String[getLength(num_chn)];
		for (int n = 0; n < num_chn; n++) {
		@@ -514,7 +523,7 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
		}
		f_avg /= f.length;
		for (int i = 0; i < (f.length-1); i++) {
		vector[indx+i] = (f[i] - f_avg)/f_avg;
		vector[indx+i] = (f[i] - f_avg)/f_avg; // here first time wrong number of sensors
		}
		return f_avg;
		}
		@@ -636,10 +645,10 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
		}
		}
		s = "";
		s+= "tilt (up): "; for (int i = 0; i < n; i++) s += String.format(" %8.5fpx", tilts[i]); s+=" (shift of the image center)\n";
		s+= "azimuth (right):"; for (int i = 0; i < n; i++) s += String.format(" %8.5fpx", azimuths[i]); s+=" (shift of the image center)\n";
		s+= "roll (CW): "; for (int i = 0; i < n; i++) s += String.format(" %8.5fpx", rolls[i]); s+=" (shift at the image half-width from the center)\n";
		s+= "diff zoom (in): "; for (int i = 0; i < n; i++) s += String.format(" %8.5fpx", zooms[i]); s+=" (shift at the image half-width from the center)\n";
		s+= "tilt (up): "; for (int i = 0; i < n; i++) s += String.format(" %8.4fpx", tilts[i]); s+=" (shift of the image center)\n";
		s+= "azimuth (right):"; for (int i = 0; i < n; i++) s += String.format(" %8.4fpx", azimuths[i]); s+=" (shift of the image center)\n";
		s+= "roll (CW): "; for (int i = 0; i < n; i++) s += String.format(" %8.4fpx", rolls[i]); s+=" (shift at the image half-width from the center)\n";
		s+= "diff zoom (in): "; for (int i = 0; i < n; i++) s += String.format(" %8.4fpx", zooms[i]); s+=" (shift at the image half-width from the center)\n";
		s += "Symmetrical vector:\n";
		if (getNumSensors() == 4) { // Use arrows for quad camera only (but update to match new
		// ← → ↑ ↓ ⇖ ⇗ ⇘ ⇙ ↔ ↺ ↻
		@@ -678,9 +687,9 @@ Vector # 3 [-\|+\|-\|+] 1.00<1.00 [1.0 \| 1.0 \| 1.0 \| 1.0 ] l= 1.0 n=1(1)
		if ((j>0) && (j%(n/4) == 0)) {
		s += "\|";
		}
		s += rt4[rt_proto[indx][i]];
		s += rt4[rt_proto[i][j]];
		}
		s+=String.format("] %9.6f px", sv[indx]);
		s+=String.format("] %9.6f px\n", sv[indx]);
		indx++;
		}
		// rolls
		@@ -691,15 +700,15 @@ Vector # 3 [-\|+\|-\|+] 1.00<1.00 [1.0 \| 1.0 \| 1.0 \| 1.0 ] l= 1.0 n=1(1)
		if ((j>0) && (j%(n/4) == 0)) {
		s += "\|";
		}
		if (rot_proto[indx][i] > 0) {
		if (rot_proto[i][j] > 0) { // Index 30 out of bounds for length 16
		s+="↻";
		} else if (rot_proto[indx][i] < 0) {
		} else if (rot_proto[i][j] < 0) {
		s+="↺";
		} else {
		s+="0";
		}
		}
		s+=String.format("] %9.6f px", sv[indx]);
		s+=String.format("] %9.6f px\n", sv[indx]);
		indx++;
		}
		// zooms
		@@ -710,15 +719,15 @@ Vector # 3 [-\|+\|-\|+] 1.00<1.00 [1.0 \| 1.0 \| 1.0 \| 1.0 ] l= 1.0 n=1(1)
		if ((j>0) && (j%(n/4) == 0)) {
		s += "\|";
		}
		if (zoom_proto[indx][i] > 0) {
		if (zoom_proto[i][j] > 0) {
		s+="+";
		} else if (zoom_proto[indx][i] < 0) {
		} else if (zoom_proto[i][j] < 0) {
		s+="-";
		} else {
		s+="0";
		}
		}
		s+=String.format("] %9.6f px", sv[indx]);
		s+=String.format("] %9.6f px\n", sv[indx]);
		indx++;
		}
		}

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

+87 −76

Original line number	Diff line number	Diff line
		@@ -183,51 +183,14 @@ public class GeometryCorrection {
		return extrinsic_vect;
		}


		public float [] toFloatArray() { // for GPU comparison
		return new float[] {
		pixelCorrectionWidth, // =2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
		pixelCorrectionHeight, // =1936;
		(float) line_time, // duration of one scan line readout (for ERS)
		(float) focalLength, // =FOCAL_LENGTH;
		(float) pixelSize, // = PIXEL_SIZE; //um
		(float) distortionRadius, // = DISTORTION_RADIUS; // mm - half width of the sensor
		(float) distortionC, // r^2
		(float) distortionB, // r^3
		(float) distortionA, // r^4 (normalized to focal length or to sensor half width?)
		(float) distortionA5, // r^5 (normalized to focal length or to sensor half width?)
		(float) distortionA6, // r^6 (normalized to focal length or to sensor half width?)
		(float) distortionA7, // r^7 (normalized to focal length or to sensor half width?)
		(float) distortionA8, // r^8 (normalized to focal length or to sensor half width?)
		// parameters, common for all sensors
		(float) elevation, // degrees, up - positive;
		(float) heading, // degrees, CW (from top) - positive
		(float) forward[0], (float) forward[1], (float) forward[2], (float) forward[3], // [NUM_CAMS];
		(float) right[0], (float) right[1], (float) right[2], (float) right[3], // [NUM_CAMS];
		(float) height[0], (float) height[1], (float) height[2], (float) height[3], // [NUM_CAMS];
		(float) roll[0], (float) roll[1], (float) roll[2], (float) roll[3], // [NUM_CAMS]; // degrees, CW (to target) - positive

		(float) pXY0[0][0], (float) pXY0[0][1], (float) pXY0[1][0], (float) pXY0[1][1],
		(float) pXY0[2][0], (float) pXY0[2][1], (float) pXY0[3][0], (float) pXY0[3][1],
		// public double [][] pXY0 = null; // sensor center XY in pixels

		(float) common_right, // mm right, camera center
		(float) common_forward, // mm forward (to target), camera center
		(float) common_height, // mm up, camera center
		(float) common_roll, // degrees CW (to target) camera as a whole
		// (float) [][] XYZ_he; // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
		// (float) [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading, common_roll)
		(float) rXY[0][0], (float) rXY[0][1], // [NUM_CAMS][2]; // XY pairs of the in a normal plane, relative to disparityRadius
		(float) rXY[1][0], (float) rXY[1][1],
		(float) rXY[2][0], (float) rXY[2][1],
		(float) rXY[3][0], (float) rXY[3][1],
		// (float) [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};
		// only used for the multi-quad systems
		(float) cameraRadius, // average distance from the "mass center" of the sensors to the sensors
		(float) disparityRadius, //=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
		woi_tops[0],woi_tops[1],woi_tops[2],woi_tops[3]
		// TODO: ADD camera_heights[0], camera_heights[1], camera_heights[2], camera_heights[3],
		};
		double [] doubles = toDoubleArray();
		float [] floats = new float [doubles.length];
		for (int i = 0; i < doubles.length; i++) {
		floats[i] = (float) doubles[i];
		}
		return floats;

		}
		public static int arrayLength(int ncam) {
		// return 21+8*ncam;
		@@ -236,7 +199,80 @@ public class GeometryCorrection {
		}


		public double [] toDoubleArray() { // for GPU comparison
		public double [] toDoubleArray() { // for GPU comparison (join with toFloatArray
		int [] woi_tops = this.woi_tops;
		if (woi_tops == null) {
		woi_tops = new int[numSensors];
		System.out.println("Warning: woi_tops== null, using all zeros");
		}
		Object [] items = {
		pixelCorrectionWidth, // =2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
		pixelCorrectionHeight, // =1936;
		line_time, // duration of one scan line readout (for ERS)
		focalLength, // =FOCAL_LENGTH;
		pixelSize, // = PIXEL_SIZE; //um
		distortionRadius, // = DISTORTION_RADIUS; // mm - half width of the sensor
		distortionC, // r^2
		distortionB, // r^3
		distortionA, // r^4 (normalized to focal length or to sensor half width?)
		distortionA5, // r^5 (normalized to focal length or to sensor half width?)
		distortionA6, // r^6 (normalized to focal length or to sensor half width?)
		distortionA7, // r^7 (normalized to focal length or to sensor half width?)
		distortionA8, // r^8 (normalized to focal length or to sensor half width?)
		elevation, // degrees, up - positive;
		heading, // degrees, CW (from top) - positive
		forward , // [0], forward[1], forward[2], forward[3], // [NUM_CAMS];
		right, // [0], right[1], right[2], right[3], // [NUM_CAMS];
		height, // [0], height[1], height[2], height[3], // [NUM_CAMS];
		roll, // [0], roll[1], roll[2], roll[3], // [NUM_CAMS]; // degrees, CW (to target) - positive
		pXY0, // [0][0], pXY0[0][1], pXY0[1][0], pXY0[1][1],
		// [2][0], pXY0[2][1], pXY0[3][0], pXY0[3][1],

		common_right, // mm right, camera center
		common_forward, // mm forward (to target), camera center
		common_height, // mm up, camera center
		common_roll, // degrees CW (to target) camera as a whole
		rXY, // [0][0], rXY[0][1], // [NUM_CAMS][2]; // XY pairs of the in a normal plane, relative to disparityRadius
		// rXY[1][0], rXY[1][1],
		// rXY[2][0], rXY[2][1],
		// rXY[3][0], rXY[3][1],
		cameraRadius, // average distance from the "mass center" of the sensors to the sensors
		disparityRadius, //=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
		woi_tops //[0],woi_tops[1],woi_tops[2],woi_tops[3]
		// TODO: ADD camera_heights[0], camera_heights[1], camera_heights[2], camera_heights[3],
		};
		ArrayList<Double> double_list = new ArrayList<Double>();
		for (Object item:items) {
		if (item instanceof Double){
		double_list.add((Double) item);
		} else if (item instanceof Integer) {
		double d = (Integer) item;
		// double_list.add(new Double((Integer) item));
		double_list.add(d);
		} else if (item instanceof double[]) {
		for (double d: (double []) item) {
		double_list.add( d);
		}
		} else if (item instanceof int[]) {
		for (int i: (int []) item) {
		double_list.add(1.0*i);
		}
		} else if (item instanceof Object []) {
		for (Object row: ((Object []) item)) {
		for (double d: (double []) row) {
		double_list.add(d);
		}
		}
		} else {
		throw new IllegalArgumentException ("Invalid object type "+item.toString());
		}
		}
		double [] doubles = new double [double_list.size()];
		for (int i = 0; i < doubles.length; i++) {
		doubles[i] = double_list.get(i);
		}
		return doubles;
		/*
		return new double[] {
		pixelCorrectionWidth, // =2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
		pixelCorrectionHeight, // =1936;
		@@ -274,6 +310,7 @@ public class GeometryCorrection {
		// TODO: ADD camera_heights[0], camera_heights[1], camera_heights[2], camera_heights[3],

		};
		*/
		}

		public int [] getWOITops() {// not used in lwir
		@@ -430,8 +467,9 @@ public class GeometryCorrection {
		resetCorrVector();
		}

		public GeometryCorrection(double [] extrinsic_corr)
		public GeometryCorrection(double [] extrinsic_corr) // check for null?
		{
		this.numSensors = CorrVector.getNumSensors(extrinsic_corr.length);
		this.extrinsic_corr = new CorrVector(this, extrinsic_corr);
		initPrePostMatrices(true); //false); //
		}
		@@ -1338,34 +1376,7 @@ public class GeometryCorrection {
		return got_data;
		}
		// 9:%8.5f° 10: %8.5f‰
		public boolean editOffsetsDegrees() {// not used in lwir
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set CLT parameters",800,900);
		gd.addNumericField("Baseline", this.baseline, 1,6,"mm",
		"Distance between quad camera centers");
		gd.addNumericField("Angle to the aux camera from the main", 180.0/Math.PI*this.aux_angle, 4,9,"°",
		"Directly to the right - 0°, directly up - 90°, ...");
		gd.addNumericField("Auxilliary camera forward from the plane of the main one (not used)", this.aux_z, 3,6,"mm",
		"Distance from the plane perpendicualr to the main camera axis to the auxiliary camera (positive for aux moved forward)");
		gd.addNumericField("Auxilliary camera azimuth (positive - to the right)", 180.0/Math.PI*this.aux_azimuth, 3,6,"°",
		"Relative to the main camera axis");
		gd.addNumericField("Auxilliary camera tilt (positive - looking up)", 180.0/Math.PI*this.aux_tilt, 3,6,"°",
		"Relative to the main camera");
		gd.addNumericField("Auxilliary camera roll (positive - clockwise)", 180.0/Math.PI*this.aux_roll, 3,6,"°",
		"Roll of a camera as a whole relative to the main camera");
		gd.addNumericField("Relative zoom", 1000.0*this.aux_zoom, 3,6,"‰",
		"Zoom ratio minus 1.0 multiplied by 1000.0");
		gd.showDialog();
		if (gd.wasCanceled()) return false;
		this.baseline= gd.getNextNumber();
		this.aux_angle= gd.getNextNumber() * Math.PI/180;
		this.aux_z= gd.getNextNumber();
		this.aux_azimuth= gd.getNextNumber() * Math.PI/180;
		this.aux_tilt= gd.getNextNumber() * Math.PI/180;
		this.aux_roll= gd.getNextNumber() * Math.PI/180;
		this.aux_zoom= gd.getNextNumber()/1000.0;
		recalcRXY();
		return true;
		}

		public boolean editOffsetsPixels() {// not used in lwir
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set dual camera rig parameters (auxiliary camera relative to the main one)",800,300);
		gd.addNumericField("Baseline", this.baseline, 1,6,"mm",

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

+28 −5

Original line number	Diff line number	Diff line
		@@ -799,7 +799,12 @@ public class QuadCLTCPU {
		}
		// Substitute vector generated in initGeometryCorrection with the saved from properties one:
		// it also replaces data inside geometryCorrection. TODO: redo to isolate this.extrinsic_vect from geometryCorrection
		if (extrinsic_vect_saved.length == this.extrinsic_vect.length) {
		this.extrinsic_vect = extrinsic_vect_saved;
		} else {
		System.out.println("Ignoring incompatible saved extrinsic vector ("+extrinsic_vect_saved.length+
		" long) as current vector length is " + this.extrinsic_vect.length);
		}
		geometryCorrection.setCorrVector(this.extrinsic_vect);
		// geometryCorrection = new GeometryCorrection(this.extrinsic_vect);
		}
		@@ -832,9 +837,6 @@ public class QuadCLTCPU {
		}
		public boolean initGeometryCorrection(int debugLevel){ // USED in lwir
		// keep rig offsets if edited
		if (geometryCorrection == null) {
		geometryCorrection = new GeometryCorrection(extrinsic_vect);
		}
		if (eyesisCorrections.pixelMapping == null) {
		// need to initialize sensor data
		// eyesisCorrections.initSensorFiles(.debugLevel..);
		@@ -843,6 +845,27 @@ public class QuadCLTCPU {
		PixelMapping.SensorData [] sensors = eyesisCorrections.pixelMapping.sensors;
		// verify that all sensors have the same distortion parameters
		int numSensors = sensors.length;
		// if num_sesnors mismatch extrinsic_vect - reset extrinsic_vect and
		int vector_length = CorrVector.getLength(numSensors);
		if ((extrinsic_vect == null) \|\| (extrinsic_vect.length != vector_length)) {
		if (extrinsic_vect == null) {
		System.out.println("initGeometryCorrection(): Was not expecting extrinsic_vect == null");
		} else {
		System.out.println("initGeometryCorrection(): extrinsic_vect.length="+extrinsic_vect.length+
		" does not match "+numSensors+ " sensors (it should be "+vector_length+")");
		}
		System.out.println("Resetting geometryCorrection");
		geometryCorrection = null;
		System.out.println("Resetting extrinsic_vect");
		extrinsic_vect = new double[vector_length];
		}
		if (geometryCorrection == null) {
		geometryCorrection = new GeometryCorrection(extrinsic_vect);
		}




		for (int i = 1; i < numSensors; i++){
		if (// (sensors[0].focalLength != sensors[i].focalLength) \|\| // null pointer
		(sensors[0].distortionC != sensors[i].distortionC) \|\|
		@@ -942,7 +965,7 @@ public class QuadCLTCPU {
		System.out.println("=== Extrinsic corrections ===");
		System.out.println(geometryCorrection.getCorrVector().toString());
		}

		double [] dbg_objects = geometryCorrection.toDoubleArray();
		//listGeometryCorrection
		return true;
		}

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

+8 −8

Original line number	Diff line number	Diff line
		@@ -95,7 +95,7 @@ public class SymmVector {
		public static SymmVectorsSet newVectors (int num_cameras) {
		boolean full_type1 = false;
		boolean full_type2 = false;
		int debug_level = -1;
		int debug_level = -2;
		SymmVectorsSet rvs = new SymmVectorsSet();
		SymmVector sv = new SymmVector(
		num_cameras,
		@@ -410,7 +410,7 @@ public class SymmVector {
		int offs = zoom_mode ? 1 : 0;
		double [][] rslt = new double[rz_indices.length - offs][];
		for (int n = 0; n < rslt.length; n++) {
		rslt[n]= rz_vectors[rz_indices[n + offs]]; // should be normalized
		rslt[n]= rz_vectors[rz_indices[n + offs]].clone(); // should be normalized
		}
		return rslt;
		}
		@@ -1177,7 +1177,7 @@ public class SymmVector {
		public Matrix[] fromToSym() {
		Matrix sym2ta = symToTA(exportXY()); // 2*N-2
		Matrix sym2roll = symToRoll(exportRZ(false)); // N
		Matrix sym2zoom = symToRoll(exportRZ(true)); // N-1
		Matrix sym2zoom = symToRoll(exportRZ(true)).getMatrix(0,N-2,0,N-2); // N-1, do not use last line
		Matrix sym2ers = Matrix.identity(NUM_ERS,NUM_ERS); // NUM_ERS
		int i0 = 0;
		int i1 = i0 + sym2ta.getColumnDimension();
		@@ -1188,13 +1188,13 @@ public class SymmVector {
		from_sym.setMatrix(i0,i1-1,i0,i1-1, sym2ta);
		from_sym.setMatrix(i1,i2-1,i1,i2-1, sym2roll);
		from_sym.setMatrix(i2,i3-1,i2,i3-1, sym2zoom);
		from_sym.setMatrix(i3,i4-1,i4,i4-1, sym2ers);
		from_sym.setMatrix(i3,i4-1,i3,i4-1, sym2ers);

		Matrix to_sym = new Matrix(i4,i4);
		to_sym.setMatrix(i0,i1-1,i0,i1-1, sym2ta.inverse());
		to_sym.setMatrix(i1,i2-1,i1,i2-1, sym2roll.inverse());
		to_sym.setMatrix(i2,i3-1,i2,i3-1, sym2zoom.inverse());
		to_sym.setMatrix(i3,i4-1,i4,i4-1, sym2ers.inverse());
		to_sym.setMatrix(i3,i4-1,i3,i4-1, sym2ers.inverse());
		return new Matrix[] {from_sym,to_sym};
		}
		//getColumnDimension

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