Commit 1f6a9eb9 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

bug fix in readjust

parent e1616ff9

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

+6 −5
Original line number Diff line number Diff line
@@ -437,7 +437,8 @@ public class Interscene { 
//		int    search_rad =        clt_parameters.imp.search_rad;    // 10;

		boolean scale_ims_velocities = true;

		Did_ins_2   d2_ref = quadCLTs[ref_index].did_ins_2;

		// apply correction to orientation

		// apply correction to orientation - better not to prevent extra loops.

		// And it only applies to rotations

		double [] cam_quat_ref_enu =Imx5.quaternionImsToCam(d2_ref.getQEnu() ,

				ims_mount_atr,

				ims_ortho);
@@ -450,7 +451,7 @@ public class Interscene { 
		ers_reference.addScene(quadCLTs[ref_index].getImageName(), // add reference scene (itself) too

				scenes_xyzatr[ref_index][0],

				scenes_xyzatr[ref_index][1],

				cam_dxyzatr_ref[0],  // ZERO3, // ers_scene.getErsXYZ_dt(),		

				cam_dxyzatr_ref[0],  // later may overwrite from overlap		

				cam_dxyzatr_ref[1]); // ZERO3);// ers_scene.getErsATR_dt()	

		// Will be used in prepareLMA()

		quadCLTs[ref_index].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
@@ -488,7 +489,7 @@ public class Interscene { 
			double [] scene_abs_atr_enu = Imx5.quatToCamAtr(cam_quat_enu);

			double [][] ims_scene_xyzatr_enu = {cam_xyz_enu, scene_abs_atr_enu }; // try with xyz?

			// set initial approximation from IMS, subtract reference XYZATR

			// predicted bny IMU from the reference scene

			// predicted by IMU from the reference scene

			double [][] pose_ims = ErsCorrection.combineXYZATR(

					ims_scene_xyzatr_enu,

					ErsCorrection.invertXYZATR(ims_ref_xyzatr_enu));
@@ -613,7 +614,7 @@ public class Interscene { 
			last_corr_xyzatr = ErsCorrection.combineXYZATR (

					last_corr_xyzatr,

					corr_diff);

			

			// not used here with IMS: after_spiral == false

			if (after_spiral && (scene_index < (ref_index-1))) { // need to interpolate skipped scenes

				// here we expect very small translations/angles, so linear scaling is OK

				double s = 1.0 / (ref_index - scene_index);
@@ -1303,11 +1304,11 @@ public class Interscene { 
					scaled_dxyzatr_dt[0], // (ers_use_xyz? dxyzatr_dt[nscene][0]: ZERO3), //, // dxyzatr_dt[nscene][0], // double []    ers_xyz_dt,

					scaled_dxyzatr_dt[1]); // dxyzatr_dt[nscene][1]); // double []    ers_atr_dt)(ers_scene_original_xyz_dt);

			

			*/

			quadCLTs[nscene].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)

					QuadCLTCPU.scaleDtToErs(

							clt_parameters,

							dxyzatr_dt[nscene]));		

			*/

			if (dbg_mb_img != null) {

				boolean show_corrected = false;

				if (nscene == debug_scene) {

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

+8 −2
Original line number Diff line number Diff line
@@ -5088,7 +5088,7 @@ public class OpticalFlow { 








//		double [][] combo_dsn_final = null;









		// below ref_index is not necessary the last (fix all where it is supposed to be the last









		ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();









		ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection(); // only used in ml_export









		while (!reuse_video && ((quadCLTs[ref_index].getNumOrient() < min_num_orient) || (quadCLTs[ref_index].getNumAccum() < min_num_interscene))) {









			if ((quadCLTs[ref_index].getNumAccum() < min_num_interscene) &&









					((quadCLTs[ref_index].getNumAccum() <  quadCLTs[ref_index].getNumOrient())||










@@ -5224,12 +5224,18 @@ public class OpticalFlow {







					mb_max_gain = clt_parameters.imp.mb_max_gain_inter;









				}









				boolean        disable_ers = (quadCLTs[ref_index].getNumOrient() < 2); // first orient - no ERS!









				boolean ers_from_ims = false; // change later









				boolean ers_from_ims = true; // false; // change later









//				int            ers_mode = (quadCLTs[ref_index].getNumOrient() < 2) ? (ers_from_ims? 2 : 1):0;









				int ers_mode = 0; // keep









				// with IMS it is already set during initial orientation. In non-IMS mode









				if (!ers_from_ims && (quadCLTs[ref_index].getNumOrient() < 2)) {









					ers_mode = 1; // calculate velocity









					if (debugLevel > -3) {









						System.out.println("Setting ERS data from velocity");









					}









				}









				if (debugLevel > -3) {









					System.out.println("ers_mode="+ers_mode);









				}









				earliest_scene = Interscene.reAdjustPairsLMAInterscene( // after combo dsi is available and preliminary poses are known









						clt_parameters, // CLTParameters  clt_parameters,