Skip to content

I
imagej-elphel
Commit 1433d7a0 authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

UAS Adding NED correction

parent 6612c61d
Hide whitespace changes
Inline Side-by-side
Showing with 65 additions and 10 deletions
src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java
View file @ 1433d7a0
......@@ -116,6 +116,8 @@ public class EyesisCorrectionParameters {
public String cuasUasLogs = ""; // json file path containing UAS logs
public double cuasUasTimeStamp = 0.0; // timestamp corresponding to the UAS time 0.0
public double [] cuasCameraATR = {0, 0, 0};
public double [] cuasUASHome = {0, 0, 0};
public boolean cuasSetHome = true; // if false - just rely on UAS GPS absolute data
// public String sourceImsDirectory= ""; // source IMS log files
public String imsRootDirectory= ""; // source IMS log files
......@@ -306,8 +308,8 @@ public class EyesisCorrectionParameters {
cp.cuasUasLogs = this.cuasUasLogs;
cp.cuasUasTimeStamp = this.cuasUasTimeStamp;
cp.cuasCameraATR = this.cuasCameraATR.clone();
cp.cuasUASHome = this.cuasUASHome.clone();
cp.cuasSetHome = this.cuasSetHome;
/// cp.sourceImsDirectory= this.sourceImsDirectory;
cp.imsRootDirectory = this.imsRootDirectory;
cp.imsDataSubdirectory = this.imsDataSubdirectory;
......@@ -513,7 +515,8 @@ public class EyesisCorrectionParameters {
properties.setProperty(prefix+"useCuasSeedDir", this.useCuasSeedDir+"");
properties.setProperty(prefix+"cuasUasTimeStamp", this.cuasUasTimeStamp+"");
properties.setProperty(prefix+"cuasCameraATR", IntersceneMatchParameters.doublesToString(this.cuasCameraATR));
properties.setProperty(prefix+"cuasUASHome", IntersceneMatchParameters.doublesToString(this.cuasUASHome));
properties.setProperty(prefix+"cuasSetHome", this.cuasSetHome+"");
/// properties.setProperty(prefix+"sourceImsDirectory",this.sourceImsDirectory);
properties.setProperty(prefix+"imsRootDirectory", this.imsRootDirectory);
......@@ -954,6 +957,8 @@ public class EyesisCorrectionParameters {
gd.addStringField ("UAS log file", this.cuasUasLogs, 80);
gd.addNumericField("UAS log start timestamp", this.cuasUasTimeStamp, 0);
gd.addStringField ("Camera ATR in world coordinates", IntersceneMatchParameters.doublesToString(this.cuasCameraATR), 80);
gd.addStringField ("UAS home position NED relative to the LWIR16", IntersceneMatchParameters.doublesToString(this.cuasUASHome), 80);
gd.addCheckbox ("Use specified NED instead of accurate GPS", cuasSetHome);
gd.addStringField ("Sensor calibration directory", this.sensorDirectory, 80);
......@@ -1110,7 +1115,10 @@ public class EyesisCorrectionParameters {
this.cuasSeedDir= gd.getNextString();
this.cuasUasLogs = gd.getNextString();
this.cuasUasTimeStamp = gd.getNextNumber();
this.cuasCameraATR = IntersceneMatchParameters.StringToDoubles(gd.getNextString(), cuasCameraATR);
this.cuasCameraATR = IntersceneMatchParameters.StringToDoubles(gd.getNextString(), cuasCameraATR);
this.cuasUASHome = IntersceneMatchParameters.StringToDoubles(gd.getNextString(), cuasUASHome);
this.cuasSetHome = gd.getNextBoolean();
this.sensorDirectory= gd.getNextString(); if (gd.getNextBoolean()) selectSensorDirectory(false, false);
this.sharpKernelDirectory= gd.getNextString(); if (gd.getNextBoolean()) selectSharpKernelDirectory(false, false);
this.smoothKernelDirectory= gd.getNextString(); if (gd.getNextBoolean()) selectSmoothKernelDirectory(false, true);
......@@ -1205,6 +1213,10 @@ public class EyesisCorrectionParameters {
gd.addStringField ("UAS log file", this.cuasUasLogs, 80);
gd.addNumericField("UAS log start timestamp", this.cuasUasTimeStamp, 0);
gd.addStringField ("Camera ATR in world coordinates", IntersceneMatchParameters.doublesToString(this.cuasCameraATR), 80);
gd.addStringField ("UAS home position NED relative to the LWIR16", IntersceneMatchParameters.doublesToString(this.cuasUASHome), 80);
gd.addCheckbox ("Use specified NED instead of accurate GPS", cuasSetHome);
gd.addStringField ("x3d model version", this.x3dModelVersion, 80); // 10a
gd.addStringField ("jp4 source copy subdirectory", this.jp4SubDir, 80); // 10b
......@@ -1397,6 +1409,8 @@ public class EyesisCorrectionParameters {
this.cuasUasLogs = gd.getNextString();
this.cuasUasTimeStamp = gd.getNextNumber();
this.cuasCameraATR = IntersceneMatchParameters.StringToDoubles(gd.getNextString(), cuasCameraATR);
this.cuasUASHome = IntersceneMatchParameters.StringToDoubles(gd.getNextString(), cuasUASHome);
this.cuasSetHome = gd.getNextBoolean();
this.x3dModelVersion= gd.getNextString(); // 10a
......@@ -1790,6 +1804,8 @@ public class EyesisCorrectionParameters {
this.cuasUasLogs = dir_string; // dir_path.toString();
System.out.println("this.cuasUasLogs=" + this.cuasUasLogs);
ArrayList<String> uas_pars = extra_map.get("uasLogs");
cuasUASHome = new double[3];
cuasSetHome = uas_pars.size() > 4;
if (uas_pars != null) {
for (int n = 0; n < uas_pars.size(); n++) {
double d = Double.parseDouble(uas_pars.get(n));
......@@ -1798,7 +1814,13 @@ public class EyesisCorrectionParameters {
case 1:
case 2:
case 3:
cuasCameraATR[n-1] = d;
cuasCameraATR[n-1] = d;
break;
case 4:
case 5:
case 6:
cuasUASHome[n-4] = d;
break;
}
}
}
......
src/main/java/com/elphel/imagej/ims/UasLogReader.java
View file @ 1433d7a0
......@@ -21,14 +21,38 @@ import java.util.HashMap;
public class UasLogReader {
// just for testing
public static double [] CAMERA_LLA = {40.36068739259896, -112.02054681495696, 1507.4378478095987};
// public double [] uas_home_ned = null; // use if non-null; if null - rely on accurate GPS (camera GPS relative to the UAS GPS)
public double [] ned_corr = new double[3]; // add to calculated NED.
UasLogRecord[] rec_arr;
double start_timestamp;
double uas_home_alt = -1.2; // relative to the camera, table + mount height
double [] camera_lla = CAMERA_LLA.clone();
double [] camera_ATR = new double[3];
double [] camera_ATR = new double [] {-2.78, 0.1252, 0}; // double[3];
QuadCLT parentCLT = null; // for geometic parameters
public void setUASHomeNed(double [] uas_home_ned){
// get NED for the UAS home
if (uas_home_ned == null) {
ned_corr = new double[] {0,0,0}; // -uas_home_alt};
} else {
ned_corr = uas_home_ned.clone();
/*
double [] camera_lla0 = {camera_lla[0], camera_lla[1], 0};
UasLogRecord uas_home = this.rec_arr[0];
double [] uas_home_lla = {uas_home.home_lat, uas_home.home_long, 0};
double [] ned = Imx5.nedFromLla (
uas_home_lla, // double [] lla,
camera_lla0); // double [] lla_ref)
ned_corr = new double [3];
for (int i = 0; i < 3; i++) {
ned_corr[i] = uas_home_ned[i] - ned[i];
}
*/
}
return;
}
public void setCameraLLA(double [] camera_lla){
if (camera_lla != null) {
this.camera_lla = camera_lla.clone();
......@@ -125,9 +149,13 @@ public class UasLogReader {
UasLogRecord uas_loc = interpolate(timestamp);
double [] camera_lla0 = {camera_lla[0], camera_lla[1], -uas_home_alt};
double [] uas_lla = {uas_loc.gps_lat, uas_loc.gps_long, uas_loc.gps_alt};
return Imx5.nedFromLla (
double [] ned = Imx5.nedFromLla (
uas_lla, // double [] lla,
camera_lla0); // double [] lla_ref)
for (int i = 0; i < 3; i++) {
ned[i] += ned_corr[i];
}
return ned;
}
/*
......@@ -220,7 +248,7 @@ public class UasLogReader {
return null;
}
double [] ned = getNED(timestamp);
double [] wxyz4 = {-ned[1], -ned[2], -ned[0], 1.0}; // 0.0 for infinity
double [] wxyz4 = { ned[1], -ned[2], -ned[0], 1.0}; // 0.0 for infinity
double [] atr = getCameraATR();
boolean correctDistortions = true;
ErsCorrection ec = parentCLT.getErsCorrection();
......@@ -238,7 +266,7 @@ public class UasLogReader {
) throws JSONException {
// just for now
UasLogReader uasLogReader = new UasLogReader(filePath, 0, null, parentCLT);
double [] camera_atr = {degToRad(-161),degToRad(16),0};
double [] camera_atr = new double [] {-2.78, 0.1252, 0}; // {degToRad(-161),degToRad(16),0};
double ts = 135.0;
uasLogReader.testOrient(camera_atr,ts, parentCLT);
......
src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java
View file @ 1433d7a0
......@@ -7290,6 +7290,8 @@ public class OpticalFlow {
String bkp_cuasUasLogs = quadCLT_main.correctionsParameters.cuasUasLogs; // json file path containing UAS logs
double bkp_cuasUasTimeStamp = quadCLT_main.correctionsParameters.cuasUasTimeStamp; // 0.0; // timestamp corresponding to the UAS time 0.0
double [] bkp_cuasCameraATR = quadCLT_main.correctionsParameters.cuasCameraATR; //{0, 0, 0};
double [] bkp_cuasUASHome = quadCLT_main.correctionsParameters.cuasUASHome; //{0, 0, 0};
boolean bkp_cuasSetHome = quadCLT_main.correctionsParameters.cuasSetHome;
......@@ -7311,6 +7313,8 @@ public class OpticalFlow {
quadCLT_main.correctionsParameters.cuasUasLogs = bkp_cuasUasLogs;
quadCLT_main.correctionsParameters.cuasUasTimeStamp = bkp_cuasUasTimeStamp;
quadCLT_main.correctionsParameters.cuasCameraATR = bkp_cuasCameraATR;
quadCLT_main.correctionsParameters.cuasUASHome = bkp_cuasUASHome;
quadCLT_main.correctionsParameters.cuasSetHome = bkp_cuasSetHome;
System.out.println("buildSeries(): DONE"); //
// String top_dir0=quadCLTs[ref_index].getX3dTopDirectory();
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 1433d7a0
......@@ -8684,6 +8684,7 @@ if (debugLevel > -100) return true; // temporarily !
if ((uas_log_path != null) && (uas_log_path.length() > 0)) {
uasLogReader = new UasLogReader(uas_log_path, quadCLT_main.correctionsParameters.cuasUasTimeStamp, null, quadCLT_main);
uasLogReader.setCameraATR(quadCLT_main.correctionsParameters.cuasCameraATR);
uasLogReader.setUASHomeNed(quadCLT_main.correctionsParameters.cuasSetHome? quadCLT_main.correctionsParameters.cuasUASHome : null);
}
while ((ref_index < 0) || ((ref_index + 1) >= min_num_scenes)) {
String model_directory = opticalFlow.buildSeries(
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment