Debugging conversion to circular multicam

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

@@ -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/QuadCLTCPU.java

@@ -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

@@ -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