modifying for non-quad (sym <->vect and derivatives still remain) (36dcabff) · Commits · Elphel / imagej-elphel

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

+345 −263

File changed.

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

+46 −4

Original line number	Diff line number	Diff line
		@@ -7,6 +7,7 @@ import java.nio.ByteOrder;
		import java.nio.channels.Channels;
		import java.nio.channels.WritableByteChannel;
		import java.util.ArrayList;
		import java.util.Arrays;
		import java.util.Properties;

		import com.elphel.imagej.common.GenericJTabbedDialog;
		@@ -52,9 +53,7 @@ public class GeometryCorrection {

		// use static CorrVector.getCorrNames(numSensors)
		// or non-static corrVector.getCorrNames();
		public String [] getCorrNames() {
		return CorrVector.getCorrNames(numSensors);
		}
		/*
		static final String [] CORR_NAMES = { // need to be fixed too!
		"tilt0","tilt1","tilt2",
		"azimuth0","azimuth1","azimuth2",
		@@ -62,7 +61,7 @@ public class GeometryCorrection {
		"zoom0","zoom1","zoom2",
		"omega_tilt", "omega_azimuth", "omega_roll",
		"velocity_x", "velocity_y", "velocity_z"};

		*/
		public int debugLevel = 0;
		public double line_time = 36.38E-6; // 26.5E-6; // duration of sensor scan line (for ERS) Wrong, 36.38us (change and re-run ERS
		public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
		@@ -141,6 +140,49 @@ public class GeometryCorrection {
		public int [] woi_tops = null; // used to calculate scanline timing
		public int [] camera_heights = null; // actual acquired lines (from woi_tops)

		public String [] getCorrNames() {
		return CorrVector.getCorrNames(numSensors);
		}
		// Removing dependence on CORR_NAMES in QuadCLTCPU
		public void setPropertiesExtrinsic(String prefix, Properties properties) {
		String [] corr_names = getCorrNames(); // variable number of cameras
		for (int i = 0; i < corr_names.length; i++){
		String name = prefix+"extrinsic_corr_"+corr_names[i];
		properties.setProperty(name, getCorrVector().toArray()[i]+"");
		}
		}
		public static void setPropertiesExtrinsic(String prefix, Properties properties, double [] extrinsic_corr) {
		int num_cams = CorrVector.getCamerasFromEV(extrinsic_corr.length);
		String [] corr_names = CorrVector.getCorrNames(num_cams); // variable number of cameras
		for (int i = 0; i < corr_names.length; i++){
		String name = prefix+"extrinsic_corr_"+corr_names[i];
		if (!Double.isNaN( extrinsic_corr[i])) {
		properties.setProperty(name, extrinsic_corr[i]+"");
		}
		}
		}

		public static double [] getPropertiesExtrinsic(String prefix, Properties properties) {
		// determine number of cameras from maximal tilt?
		int num_chn = 4;
		for (; true; num_chn++) {
		String name = prefix+"extrinsic_corr_"+CorrVector.CORR_TILT+(num_chn - 1); // maximal tilt index = N-2 (tilt2 for quad)
		if (properties.getProperty(name) == null) {
		break;
		}
		}
		String [] corr_names = CorrVector.getCorrNames(num_chn);
		double [] extrinsic_vect = new double [corr_names.length];
		Arrays.fill(extrinsic_vect, Double.NaN);
		for (int i = 0; i < extrinsic_vect.length; i++) {
		String name = prefix+"extrinsic_corr_"+corr_names[i];
		if (properties.getProperty(name)!=null) {
		extrinsic_vect[i] = Double.parseDouble(properties.getProperty(name));
		}
		}
		return extrinsic_vect;
		}


		public float [] toFloatArray() { // for GPU comparison
		return new float[] {

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

+38 −36

Original line number	Diff line number	Diff line
		@@ -110,7 +110,7 @@ public class QuadCLTCPU {
		public EyesisCorrectionParameters.CorrectionParameters correctionsParameters=null;
		double [][][][][][] clt_kernels = null; // can be used to determine monochrome too?
		public GeometryCorrection geometryCorrection = null;
		double [] extrinsic_vect = new double [GeometryCorrection.CORR_NAMES.length]; // extrinsic corrections (needed from properties, before geometryCorrection
		double[] extrinsic_vect; // = new double [GeometryCorrection.CORR_NAMES.length]; // extrinsic corrections (needed from properties, before geometryCorrection
		public int extra_items = 8; // number of extra items saved with kernels (center offset (partial, full, derivatives)
		public ImagePlus eyesisKernelImage = null;
		public long startTime; // start of batch processing
		@@ -666,10 +666,13 @@ public class QuadCLTCPU {
		if (gc == null) { // if it was not yet created
		gc = new GeometryCorrection(this.extrinsic_vect); // not used in lwir
		}
		gc.setPropertiesExtrinsic(prefix, properties);
		/*
		for (int i = 0; i < GeometryCorrection.CORR_NAMES.length; i++){
		String name = prefix+"extrinsic_corr_"+GeometryCorrection.CORR_NAMES[i];
		properties.setProperty(name, gc.getCorrVector().toArray()[i]+"");
		}
		*/
		if (is_aux && (gc.rigOffset != null)) {
		gc.rigOffset.setProperties(prefix,properties);
		}
		@@ -697,10 +700,16 @@ public class QuadCLTCPU {
		}
		}
		}
		/*
		GeometryCorrection gc = geometryCorrection;
		if (gc == null) { // if it was not yet created
		gc = new GeometryCorrection(this.extrinsic_vect);
		}
		*/
		double [] other_extrinsic_vect = GeometryCorrection.getPropertiesExtrinsic(other_prefix, other_properties);
		int num_cams = CorrVector.getCamerasFromEV(other_extrinsic_vect.length);
		GeometryCorrection.setPropertiesExtrinsic(this_prefix, properties, other_extrinsic_vect);
		/*
		for (int i = 0; i < GeometryCorrection.CORR_NAMES.length; i++){
		String other_name = other_prefix+"extrinsic_corr_"+GeometryCorrection.CORR_NAMES[i];
		if (other_properties.getProperty(other_name)!=null) {
		@@ -713,6 +722,7 @@ public class QuadCLTCPU {
		properties.setProperty(this_name, gc.getCorrVector().toArray()[i]+"");
		// System.out.println("copyPropertiesFrom():"+i+": setProperty("+this_name+","+gc.getCorrVector().toArray()[i]+"");
		}
		*/
		// System.out.println("Done copyPropertiesFrom");
		}

		@@ -751,6 +761,21 @@ public class QuadCLTCPU {
		}
		}
		// always set extrinsic_corr
		double [] new_extrinsic_vect = GeometryCorrection.getPropertiesExtrinsic(prefix, properties);
		int num_cams = CorrVector.getCamerasFromEV(new_extrinsic_vect.length);
		for (int i = 0; i < new_extrinsic_vect.length; i++) {
		if (!Double.isNaN(new_extrinsic_vect[i])) {
		if (this.extrinsic_vect == null) { // not used in lwir
		// only create non-null array if there are saved values
		this.extrinsic_vect = new_extrinsic_vect.clone();
		}
		this.extrinsic_vect[i] = new_extrinsic_vect[i];
		if (geometryCorrection != null){ // not used in lwir
		geometryCorrection.setCorrVector(i,this.extrinsic_vect[i]); // should be same mumber of cameras
		}
		}
		}
		/*
		for (int i = 0; i < GeometryCorrection.CORR_NAMES.length; i++){
		String name = prefix+"extrinsic_corr_"+GeometryCorrection.CORR_NAMES[i];
		if (properties.getProperty(name)!=null) {
		@@ -759,20 +784,12 @@ public class QuadCLTCPU {
		this.extrinsic_vect = new double [GeometryCorrection.CORR_NAMES.length];
		}
		this.extrinsic_vect[i] = Double.parseDouble(properties.getProperty(name));
		// System.out.println("getProperties():"+i+": getProperty("+name+") -> "+properties.getProperty(name)+"");

		if (geometryCorrection != null){ // not used in lwir
		// if (geometryCorrection.getCorrVector().toArray() == null) {
		// geometryCorrection.resetCorrVector(); // make it array of zeros
		// }
		// geometryCorrection.getCorrVector().toArray()[i] = this.extrinsic_vect[i];
		geometryCorrection.setCorrVector(i,this.extrinsic_vect[i]);
		}
		}
		}
		// if (is_aux && (geometryCorrection != null)) {
		// geometryCorrection.setRigOffsetFromProperies(prefix, properties);
		// }
		*/

		if (geometryCorrection == null) {
		double [] extrinsic_vect_saved = this.extrinsic_vect.clone();
		@@ -846,11 +863,11 @@ public class QuadCLTCPU {


		// TODO: Verify correction sign!
		double f_avg = geometryCorrection.getCorrVector().setZoomsFromF(
		sensors[0].focalLength,
		sensors[1].focalLength,
		sensors[2].focalLength,
		sensors[3].focalLength);
		double [] f_lengths = new double [sensors.length];
		for (int i = 0; i < f_lengths.length; i++) {
		f_lengths[i] = sensors[i].focalLength;
		}
		double f_avg = geometryCorrection.getCorrVector().setZoomsFromF(f_lengths);

		// following parameters are used for scaling extrinsic corrections
		geometryCorrection.focalLength = f_avg;
		@@ -875,28 +892,13 @@ public class QuadCLTCPU {
		sensors[0].pixelCorrectionHeight,
		sensors[0].pixelSize);
		// set other/individual sensor parameters
		/*
		for (int i = 1; i < numSensors; i++){
		if ( (sensors[0].theta != sensors[i].theta) \|\| // elevation
		(sensors[0].heading != sensors[i].heading)){
		System.out.println("initGeometryCorrection(): All sensors have to have the same elevation and heading, but channels 0 and "+i+" mismatch");
		return false;
		}
		}
		*/
		double theta_avg = geometryCorrection.getCorrVector().setTiltsFromThetas(
		sensors[0].theta,
		sensors[1].theta,
		sensors[2].theta,
		sensors[3].theta);

		double heading_avg = geometryCorrection.getCorrVector().setAzimuthsFromHeadings(
		sensors[0].heading,
		sensors[1].heading,
		sensors[2].heading,
		sensors[3].heading);

		double [] thetas = new double [sensors.length];
		for (int i = 0; i < thetas.length; i++) thetas[i] = sensors[i].theta;
		double theta_avg = geometryCorrection.getCorrVector().setTiltsFromThetas(thetas);

		double [] headings = new double [sensors.length];
		for (int i = 0; i < headings.length; i++) headings[i] = sensors[i].heading;
		double heading_avg = geometryCorrection.getCorrVector().setAzimuthsFromHeadings(headings);
		double [] forward = new double[numSensors];
		double [] right = new double[numSensors];
		double [] height = new double[numSensors];

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

+60 −1

Original line number	Diff line number	Diff line
		package com.elphel.imagej.tileprocessor;

		import java.util.ArrayList;
		import java.util.HashMap;

		/**
		**
		@@ -62,10 +63,47 @@ public class SymmVector {
		private int num_rz_defined; // number of defined rz_indices
		private boolean [] used_rz_indices;// already used rz_vectors
		private double [] cumul_rz_influences; // will not work? - all candidates correlate the same
		public int debug_level = -1;

		// caching results of vectors generation for used camera configuration not to re-generate each time
		// CorrVector is constructed
		public static HashMap <Integer,SymmVectorsSet> vectors_cache = new HashMap <Integer,SymmVectorsSet>();

		public static SymmVectorsSet getSymmVectorsSet (int num_cameras) {
		SymmVectorsSet rvs = vectors_cache.get(num_cameras);
		if (rvs == null) {
		rvs = newVectors (num_cameras);
		vectors_cache.put(num_cameras, rvs);
		}
		return rvs;
		}

		public int debug_level = -1;
		public static double [][] getSymmXY(int num_cameras){
		SymmVectorsSet rvs = vectors_cache.get(num_cameras);
		if (rvs == null) {
		rvs = newVectors (num_cameras);
		vectors_cache.put(num_cameras, rvs);
		}
		return rvs.xy;
		}

		public static SymmVectorsSet newVectors (int num_cameras) {
		boolean full_type1 = false;
		boolean full_type2 = false;
		int debug_level = -1;
		SymmVectorsSet rvs = new SymmVectorsSet();
		SymmVector sv = new SymmVector(
		num_cameras,
		full_type1,
		full_type2,
		debug_level);
		rvs.xy = sv.exportXY();
		rvs.rt = sv.exportRT();
		rvs.dir_rt = sv.exportDirRT();
		rvs.rots = sv.exportRZ(false); // include common roll
		rvs.zooms = sv.exportRZ(true); // no common zoom
		return rvs;
		}

		public SymmVector (
		int num_cameras,
		@@ -343,6 +381,18 @@ public class SymmVector {
		return rslt;
		}

		/**
		* Export directions (0 - radial to center, 1 - tangential CW, 2 - radial out , 3 tangential CW
		* @return
		*/
		public int [][] exportDirRT(){
		int [][] rslt = new int[sym_indices.length][];
		for (int n = 0; n < sym_indices.length; n++){
		rslt[n]= proto_all[sym_indices[n]];
		}
		return rslt;
		}

		/**
		*
		* @param zoom_mode
		@@ -1064,3 +1114,12 @@ public class SymmVector {
		*/

		}
		class SymmVectorsSet {
		// int num_sensors;
		double [][] xy;
		double [][] rt;
		int [][] dir_rt;
		double [][] rots;
		double [][] zooms;
		}

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