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Commit 0daef805 authored by Andrey Filippov's avatar Andrey Filippov
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Debugging conversion to circular multicam

parent 7ba9c309
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Showing with 145 additions and 102 deletions
src/main/java/com/elphel/imagej/tileprocessor/CorrVector.java
View file @ 0daef805
......@@ -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
View file @ 0daef805
......@@ -182,52 +182,15 @@ 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;
......@@ -254,9 +290,9 @@ public class GeometryCorrection {
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];
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
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],
pXY0[2][0], pXY0[2][1], pXY0[3][0], pXY0[3][1],
......@@ -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
View file @ 0daef805
......@@ -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
this.extrinsic_vect = extrinsic_vect_saved;
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
View file @ 0daef805
......@@ -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;
}
......@@ -1175,10 +1175,10 @@ 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 sym2ers = Matrix.identity(NUM_ERS,NUM_ERS);// NUM_ERS
Matrix sym2ta = symToTA(exportXY()); // 2*N-2
Matrix sym2roll = symToRoll(exportRZ(false)); // N
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();
int i2 = i1 + sym2roll.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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