tested fitting convergence on long image sets (3f43f2ac) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

+82 −0

Original line number	Original line	Diff line number	Diff line
	@@ -700,6 +700,7 @@ private Panel panel1,
	addButton("DSI histogram", panelClt5, color_report);		addButton("DSI histogram", panelClt5, color_report);
	addButton("ML recalc", panelClt5, color_process);		addButton("ML recalc", panelClt5, color_process);
	addButton("Inter Test", panelClt5, color_stop);		addButton("Inter Test", panelClt5, color_stop);
			addButton("Inter Pairs", panelClt5, color_process);
	addButton("Inter LMA", panelClt5, color_stop);		addButton("Inter LMA", panelClt5, color_stop);
	plugInFrame.add(panelClt5);		plugInFrame.add(panelClt5);
	}		}
	@@ -5108,6 +5109,13 @@ private Panel panel1,
	CLT_PARAMETERS.batch_run = true;		CLT_PARAMETERS.batch_run = true;
	testInterScene();		testInterScene();
	return;		return;
			/* ======================================================================== */
			} else if (label.equals("Inter Pairs")) {
			DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
			CLT_PARAMETERS.batch_run = true;
			interPairsLMA();
			return;
	/* ======================================================================== */		/* ======================================================================== */
	} else if (label.equals("Inter LMA")) {		} else if (label.equals("Inter LMA")) {
	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;		DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
	@@ -5116,6 +5124,7 @@ private Panel panel1,
	testInterLMA();		testInterLMA();
	return;		return;


	/* ======================================================================== */		/* ======================================================================== */
	} else if (label.equals("CLT rig edit")) {		} else if (label.equals("CLT rig edit")) {
	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;		DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
	@@ -6533,6 +6542,79 @@ private Panel panel1,
	RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,		RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
	EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,		EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
	PROPERTIES, // Properties properties,		PROPERTIES, // Properties properties,
			true, // false, // boolean reset_from_extrinsics,
			THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
			UPDATE_STATUS, //final boolean updateStatus,
			DEBUG_LEVEL);
			} catch (Exception e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			} //final int debugLevel);
			if (configPath!=null) {
			saveTimestampedProperties( // save config again
			configPath, // full path or null
			null, // use as default directory if path==null
			true,
			PROPERTIES);
			}
			System.out.println("batchRig(): Processing finished at "+
			IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
			Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
			return true;
			}


			public boolean interPairsLMA() {
			long startTime=System.nanoTime();
			// load needed sensor and kernels files
			if (!prepareRigImages()) return false;
			String configPath=getSaveCongigPath();
			if (configPath.equals("ABORT")) return false;
			setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated, others should be set here
			if (DEBUG_LEVEL > -2){
			System.out.println("++++++++++++++ Testing Interscene processing ++++++++++++++");
			}

			if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used
			if (GPU_TILE_PROCESSOR == null) {
			try {
			GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);
			} catch (Exception e) {
			System.out.println("Failed to initialize GPU class");
			// TODO Auto-generated catch block
			e.printStackTrace();
			return false;
			} //final int debugLevel);
			}
			if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed
			try {
			GPU_QUAD = GPU_TILE_PROCESSOR.new GpuQuad(
			QUAD_CLT,
			4,
			3);
			} catch (Exception e) {
			System.out.println("Failed to initialize GpuQuad class");
			// TODO Auto-generated catch block
			e.printStackTrace();
			return false;
			} //final int debugLevel);
			QUAD_CLT.setGPU(GPU_QUAD);
			}
			}

			try {
			TWO_QUAD_CLT.interPairsLMA(
			QUAD_CLT, // QuadCLT quadCLT_main,
			// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
			CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
			DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
			COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
			COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,
			CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters channelGainParameters,
			RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
			EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
			PROPERTIES, // Properties properties,
			true, // false, // boolean reset_from_extrinsics,
	THREADS_MAX, //final int threadsMax, // maximal number of threads to launch		THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
	UPDATE_STATUS, //final boolean updateStatus,		UPDATE_STATUS, //final boolean updateStatus,
	DEBUG_LEVEL);		DEBUG_LEVEL);

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

+209 −68

Original line number	Original line	Diff line number	Diff line
	@@ -120,6 +120,35 @@ public class ErsCorrection extends GeometryCorrection {
	"Y_scene", // (m) 25		"Y_scene", // (m) 25
	"Z_scene"}; // (m) 26		"Z_scene"}; // (m) 26

			static final String [] DP_VECTORS_NAMES = {
			"pXpYD", // (pix) 0
			null, // (pix) 1
			null, // (pix) 2
			"ERS_VATR_REF", // (rad/sec) 3
			null, // (rad/sec) 4
			null, // (rad/sec) 5
			"ERS_VXYZ_REF", // (m/s) 6
			null, // (m/s) 7
			null, // (m/s) 8
			"ATR_REF", // (rad) 9
			null, // (rad) 10
			null, // (rad) 11
			"XYZ_REF", // (m) 12
			null, // (m) 13
			null, // (m) 14
			"ERS_VATR_SCENE", // (rad/sec)15
			null, // (rad/sec)16
			null, // (rad/sec)17
			"ERS_VXYZ_SCENE", // (m/s) 18
			null, // (m/s) 19
			null, // (m/s) 20
			"ATR_SCENE", // (rad) 21
			null, // (rad) 22
			null, // (rad) 23
			"XYZ_SCENE", // (m) 24
			null, // (m) 25
			null}; // (m) 26

	// returned arrays have the zero element with coordinates, not derivatives		// returned arrays have the zero element with coordinates, not derivatives
	// Reference parameters		// Reference parameters
	static final int DP_DPX = 0; // dw_dpX, (pix)		static final int DP_DPX = 0; // dw_dpX, (pix)
	@@ -177,7 +206,7 @@ public class ErsCorrection extends GeometryCorrection {
	private Quaternion[] ers_quaternion; // per scan line		private Quaternion[] ers_quaternion; // per scan line
	private Quaternion[] ers_quaternion_dt; // per scan line		private Quaternion[] ers_quaternion_dt; // per scan line
	private double [][] ers_atr; // azimuth-tilt-roll per scan line		private double [][] ers_atr; // azimuth-tilt-roll per scan line
	private double [][] ers_atr_dt; // angular velocities per scan line		private double [][] ers_atr_dt; // angular velocities per scan line. It is now actually 2*omega!

	public void setPose(		public void setPose(
	double [] camera_xyz,		double [] camera_xyz,
	@@ -191,6 +220,21 @@ public class ErsCorrection extends GeometryCorrection {
	public double [] getCameraATR() {		public double [] getCameraATR() {
	return camera_atr;		return camera_atr;
	}		}
			public double [] getErsXYZ_dt() {
			return ers_wxyz_center_dt;
			}
			public double [] getErsATR_dt() {
			return ers_watr_center_dt;
			}
			public double [] getErsXYZ_d2t() {
			return ers_wxyz_center_d2t;
			}
			public double [] getErsATR_d2t() {
			return ers_watr_center_d2t;
			}




	public void setPropertiesPose(String prefix, Properties properties){		public void setPropertiesPose(String prefix, Properties properties){
	properties.setProperty(prefix+XYZ_PREFIX, String.format("%f, %f, %f", camera_xyz[0], camera_xyz[1], camera_xyz[2]));		properties.setProperty(prefix+XYZ_PREFIX, String.format("%f, %f, %f", camera_xyz[0], camera_xyz[1], camera_xyz[2]));
	@@ -214,9 +258,9 @@ public class ErsCorrection extends GeometryCorrection {

	public boolean getPropertiesERS(String prefix,Properties properties){		public boolean getPropertiesERS(String prefix,Properties properties){
	boolean got_data = false;		boolean got_data = false;
	if (properties.getProperty(prefix+ERS_XYZ_PREFIX)!=null) {ers_wxyz_center = parseDoublesCSV(properties.getProperty(prefix+XYZ_PREFIX)); got_data=true;}		if (properties.getProperty(prefix+ERS_XYZ_PREFIX)!=null) {ers_wxyz_center = parseDoublesCSV(properties.getProperty(prefix+ERS_XYZ_PREFIX)); got_data=true;}
	if (properties.getProperty(prefix+ERS_XYZ_DT_PREFIX)!=null) {ers_wxyz_center_dt = parseDoublesCSV(properties.getProperty(prefix+ATR_PREFIX)); got_data=true;}		if (properties.getProperty(prefix+ERS_XYZ_DT_PREFIX)!=null) {ers_wxyz_center_dt = parseDoublesCSV(properties.getProperty(prefix+ERS_XYZ_DT_PREFIX)); got_data=true;}
	if (properties.getProperty(prefix+ERS_XYZ_D2T_PREFIX)!=null) {ers_wxyz_center_d2t = parseDoublesCSV(properties.getProperty(prefix+ATR_PREFIX)); got_data=true;}		if (properties.getProperty(prefix+ERS_XYZ_D2T_PREFIX)!=null) {ers_wxyz_center_d2t = parseDoublesCSV(properties.getProperty(prefix+ERS_XYZ_D2T_PREFIX)); got_data=true;}
	if (properties.getProperty(prefix+ERS_ATR_DT_PREFIX)!=null) {ers_watr_center_dt = parseDoublesCSV(properties.getProperty(prefix+ERS_ATR_DT_PREFIX)); got_data=true;}		if (properties.getProperty(prefix+ERS_ATR_DT_PREFIX)!=null) {ers_watr_center_dt = parseDoublesCSV(properties.getProperty(prefix+ERS_ATR_DT_PREFIX)); got_data=true;}
	if (properties.getProperty(prefix+ERS_ATR_D2T_PREFIX)!=null) {ers_watr_center_d2t = parseDoublesCSV(properties.getProperty(prefix+ERS_ATR_D2T_PREFIX)); got_data=true;}		if (properties.getProperty(prefix+ERS_ATR_D2T_PREFIX)!=null) {ers_watr_center_d2t = parseDoublesCSV(properties.getProperty(prefix+ERS_ATR_D2T_PREFIX)); got_data=true;}
	if (got_data) {		if (got_data) {
	@@ -227,7 +271,11 @@ public class ErsCorrection extends GeometryCorrection {
	public void setPropertiesScenes(String prefix, Properties properties){		public void setPropertiesScenes(String prefix, Properties properties){
	String [] timestamps = getScenes();		String [] timestamps = getScenes();
	for (String k : timestamps) {		for (String k : timestamps) {
	properties.setProperty(prefix+SCENES_PREFIX+"_"+k, getScene(k).toString());		String [] s_scenes = getScene(k).toStrings();
			properties.setProperty(prefix+SCENES_PREFIX+"_"+k, s_scenes[0]);
			properties.setProperty(prefix+SCENES_PREFIX+"_"+k+"_dt", s_scenes[1]);
			properties.setProperty(prefix+SCENES_PREFIX+"_"+k+"_d2t", s_scenes[2]);
			// properties.setProperty(prefix+SCENES_PREFIX+"_"+k, getScene(k).toString());
	}		}
	}		}

	@@ -245,7 +293,11 @@ public class ErsCorrection extends GeometryCorrection {
	if (!timestamps.isEmpty()) {		if (!timestamps.isEmpty()) {
	got_data = true;		got_data = true;
	for (String ts:timestamps) {		for (String ts:timestamps) {
	addScene(ts, new XyzAtr(properties.getProperty(prefix+ts)));		String pose = properties.getProperty(prefix+ts);
			String ers_dt = properties.getProperty(prefix+ts+"_dt");
			String ers_d2t = properties.getProperty(prefix+ts+"_d2t");
			// addScene(ts, new XyzAtr(properties.getProperty(prefix+ts)));
			addScene(ts, new XyzAtr(new String [] {pose, ers_dt, ers_d2t}));
	}		}
	}		}
	return got_data;		return got_data;
	@@ -289,6 +341,14 @@ public class ErsCorrection extends GeometryCorrection {
	scenes_poses.put(timestamp, new XyzAtr(xyz, atr));		scenes_poses.put(timestamp, new XyzAtr(xyz, atr));
	}		}

			public void addScene(String timestamp, double [] xyz, double [] atr, double [] ers_xyz_dt, double [] ers_atr_dt) {
			scenes_poses.put(timestamp, new XyzAtr(xyz, atr, ers_xyz_dt, ers_atr_dt));
			}

			public void addScene(String timestamp, double [] xyz, double [] atr, double [] ers_xyz_dt, double [] ers_atr_dt, double [] ers_xyz_d2t, double [] ers_atr_d2t) {
			scenes_poses.put(timestamp, new XyzAtr(xyz, atr, ers_xyz_dt, ers_atr_dt, ers_xyz_d2t, ers_atr_d2t));
			}

	public XyzAtr getScene(String timestamp) { // null if not found		public XyzAtr getScene(String timestamp) { // null if not found
	return scenes_poses.get(timestamp);		return scenes_poses.get(timestamp);
	}		}
	@@ -303,6 +363,26 @@ public class ErsCorrection extends GeometryCorrection {
	if (scene == null) return null;		if (scene == null) return null;
	return scene.getATR();		return scene.getATR();
	}		}
			public double[] getSceneErsXYZ_dt(String timestamp) {
			XyzAtr scene = scenes_poses.get(timestamp);
			if (scene == null) return null;
			return scene.getErsXYZ_dt();
			}
			public double[] getSceneErsATR_dt(String timestamp) {
			XyzAtr scene = scenes_poses.get(timestamp);
			if (scene == null) return null;
			return scene.getErsATR_dt();
			}
			public double[] getSceneErsXYZ_d2t(String timestamp) {
			XyzAtr scene = scenes_poses.get(timestamp);
			if (scene == null) return null;
			return scene.getErsXYZ_d2t();
			}
			public double[] getSceneErsATR_d2t(String timestamp) {
			XyzAtr scene = scenes_poses.get(timestamp);
			if (scene == null) return null;
			return scene.getErsATR_d2t();
			}



	@@ -313,6 +393,12 @@ public class ErsCorrection extends GeometryCorrection {
	public class XyzAtr {		public class XyzAtr {
	double [] xyz;		double [] xyz;
	double [] atr;		double [] atr;

			double [] ers_xyz_dt; // world camera Vx, Vy, Vz (m/s)
			double [] ers_atr_dt; // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
			double [] ers_atr_d2t; // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
			double [] ers_xyz_d2t; // world camera Vx, Vy, Vz (m/s^2)

	public XyzAtr() {		public XyzAtr() {
	xyz = new double[3];		xyz = new double[3];
	atr = new double[3];		atr = new double[3];
	@@ -321,17 +407,88 @@ public class ErsCorrection extends GeometryCorrection {
	public XyzAtr(double [] xyz, double [] atr) {		public XyzAtr(double [] xyz, double [] atr) {
	this.xyz = xyz;		this.xyz = xyz;
	this.atr = atr;		this.atr = atr;
			this.ers_xyz_dt = new double[3];
			this.ers_atr_dt = new double[3];
			this.ers_xyz_d2t = new double[3];
			this.ers_atr_d2t = new double[3];
			}

			public XyzAtr(
			double [] xyz,
			double [] atr,
			double [] ers_xyz_dt,
			double [] ers_atr_dt) {
			this.xyz = xyz;
			this.atr = atr;
			this.ers_xyz_dt = ers_xyz_dt;
			this.ers_atr_dt = ers_xyz_dt;
			this.ers_xyz_d2t = new double[3];
			this.ers_atr_d2t = new double[3];
			}

			public XyzAtr(
			double [] xyz,
			double [] atr,
			double [] ers_xyz_dt,
			double [] ers_atr_dt,
			double [] ers_xyz_d2t,
			double [] ers_atr_d2t
			) {
			this.xyz = xyz;
			this.atr = atr;
			this.ers_xyz_dt = ers_xyz_dt;
			this.ers_atr_dt = ers_xyz_dt;
			this.ers_xyz_d2t = ers_xyz_d2t;
			this.ers_atr_d2t = ers_xyz_d2t;
	}		}




	public XyzAtr(String s) {		public XyzAtr(String s) {
	double [] d = parseDoublesCSV(s);		double [] d = parseDoublesCSV(s);
	xyz = new double [] {d[0], d[1], d[2]};		xyz = new double [] {d[0], d[1], d[2]};
	atr = new double [] {d[3], d[4], d[5]};		atr = new double [] {d[3], d[4], d[5]};
	}		}

			public XyzAtr(String [] ss) {
			if (ss[0] != null) {
			double [] d = parseDoublesCSV(ss[0]);
			xyz = new double [] {d[0], d[1], d[2]};
			atr = new double [] {d[3], d[4], d[5]};
			this.ers_xyz_dt = new double[3];
			this.ers_atr_dt = new double[3];
			this.ers_xyz_d2t = new double[3];
			this.ers_atr_d2t = new double[3];
			if (ss.length > 1) {
			if (ss[1] != null) {
			d = parseDoublesCSV(ss[1]);
			ers_xyz_dt = new double [] {d[0], d[1], d[2]};
			ers_atr_dt = new double [] {d[3], d[4], d[5]};
			}
			if (ss.length > 2) {
			if (ss[2] != null) {
			d = parseDoublesCSV(ss[2]);
			ers_xyz_d2t = new double [] {d[0], d[1], d[2]};
			ers_atr_d2t = new double [] {d[3], d[4], d[5]};
			}
			}
			}
			}
			}

	public String toString() {		public String toString() {
	return String.format("%f, %f, %f, %f, %f, %f",xyz[0],xyz[1],xyz[2],atr[0],atr[1],atr[2]);		return String.format("%f, %f, %f, %f, %f, %f",xyz[0],xyz[1],xyz[2],atr[0],atr[1],atr[2]);
	}		}

			public String [] toStrings() {
			return new String[] {
			String.format("%f, %f, %f, %f, %f, %f",xyz[0], xyz[1], xyz[2], atr[0], atr[1], atr[2]),
			String.format("%f, %f, %f, %f, %f, %f",ers_xyz_dt[0], ers_xyz_dt[1], ers_xyz_dt[2], ers_atr_dt[0], ers_atr_dt[1], ers_atr_dt[2]),
			String.format("%f, %f, %f, %f, %f, %f",ers_xyz_d2t[0], ers_xyz_d2t[1], ers_xyz_d2t[2], ers_atr_d2t[0], ers_atr_d2t[1], ers_atr_d2t[2])};
			}


	public double [] getXYZ() {		public double [] getXYZ() {
	return xyz;		return xyz;
	}		}
	@@ -349,6 +506,41 @@ public class ErsCorrection extends GeometryCorrection {
	atr[2] = d[2];		atr[2] = d[2];
	}		}

			public double [] getErsXYZ_dt() {
			return ers_xyz_dt;
			}
			public double [] getErsATR_dt() {
			return ers_atr_dt;
			}
			public double [] getErsXYZ_d2t() {
			return ers_xyz_d2t;
			}
			public double [] getErsATR_d2t() {
			return ers_atr_d2t;
			}
			public void setErsXYZ_dt(double [] d) {
			ers_xyz_dt[0] = d[0];
			ers_xyz_dt[1] = d[1];
			ers_xyz_dt[2] = d[2];
			}
			public void setErsATR_dt(double [] d) {
			ers_atr_dt[0] = d[0];
			ers_atr_dt[1] = d[1];
			ers_atr_dt[2] = d[2];
			}
			public void setErsXYZ_d2t(double [] d) {
			ers_xyz_d2t[0] = d[0];
			ers_xyz_d2t[1] = d[1];
			ers_xyz_d2t[2] = d[2];
			}
			public void setErsATR_d2t(double [] d) {
			ers_atr_d2t[0] = d[0];
			ers_atr_d2t[1] = d[1];
			ers_atr_d2t[2] = d[2];
			}



	}		}

	/**		/**
	@@ -419,7 +611,7 @@ public class ErsCorrection extends GeometryCorrection {
	// use deep=true for the independent instance (clone), false - to "upgrade" GeometryCorrection to ErsCorrection		// use deep=true for the independent instance (clone), false - to "upgrade" GeometryCorrection to ErsCorrection
	public ErsCorrection(GeometryCorrection gc, boolean deep) {		public ErsCorrection(GeometryCorrection gc, boolean deep) {
	debugLevel = gc.debugLevel;		debugLevel = gc.debugLevel;
	line_time = gc.line_time; // 26.5E-6; // duration of sensor scan line (for ERS)		line_time = gc.line_time; // 36.38! //26.5E-6; // duration of sensor scan line (for ERS)
	pixelCorrectionWidth= gc.pixelCorrectionWidth; // 2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)		pixelCorrectionWidth= gc.pixelCorrectionWidth; // 2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
	pixelCorrectionHeight= gc.pixelCorrectionHeight; // 1936;		pixelCorrectionHeight= gc.pixelCorrectionHeight; // 1936;
	focalLength = gc.focalLength; // =FOCAL_LENGTH;		focalLength = gc.focalLength; // =FOCAL_LENGTH;
	@@ -534,15 +726,21 @@ public class ErsCorrection extends GeometryCorrection {
	// setup from extrinsics vector		// setup from extrinsics vector
	public void setupERSfromExtrinsics()		public void setupERSfromExtrinsics()
	{		{
			double BUGS = 26.5/36.38; // tempoorary correction for the wrong scan line time!
	double [] ersv = getCorrVector().getIMU();		double [] ersv = getCorrVector().getIMU();
	setupERS(		setupERS(
	new double [3], // double [] wxyz_center, // world camera XYZ (meters) for the frame center		new double [3], // double [] wxyz_center, // world camera XYZ (meters) for the frame center
	new double [] {ersv[3], ersv[4], ersv[5]}, // double [] wxyz_center_dt, // world camera Vx, Vy, Vz (m/s)		new double [] {BUGSersv[3], BUGSersv[4], BUGS*ersv[5]}, // double [] wxyz_center_dt, // world camera Vx, Vy, Vz (m/s)
	new double [3], // double [] wxyz_center_d2t, // world camera Vx, Vy, Vz (m/s^2)		new double [3], // double [] wxyz_center_d2t, // world camera Vx, Vy, Vz (m/s^2)
	// double [] watr_center, // camera orientation (az, tilt, roll in radians, corresponding to the frame center)		// double [] watr_center, // camera orientation (az, tilt, roll in radians, corresponding to the frame center)
	// new double [] {ersv[1], ersv[0], ersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)		// new double [] {ersv[1], ersv[0], ersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
	// REVERSING tilt sign !		// REVERSING tilt sign !
	new double [] {ersv[1], -ersv[0], ersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)		/// new double [] {ersv[1], -ersv[0], ersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
			//// new double [] {-ersv[1], -ersv[0], ersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)

			// 2* - because watr_center_dt is now 2 * omega!
			// new double [] {-2BUGSersv[1], -2BUGSersv[0], 2BUGSersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
			new double [] {-2BUGSersv[1], -2BUGSersv[0], -2BUGSersv[2]}, // double [] watr_center_dt, // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
	new double [3]); // double [] watr_center_d2t) // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)		new double [3]); // double [] watr_center_d2t) // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)

	}		}
	@@ -730,64 +928,6 @@ public class ErsCorrection extends GeometryCorrection {
	return pXpYD;		return pXpYD;
	}		}

	public double [] getImageCoordinatesReferenceERS(
	QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
	double px, // pixel coordinate X in this camera view
	double py, // pixel coordinate Y in this camera view
	double disparity, // this view disparity
	boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
	double [] reference_xyz, // this view position in world coordinates (typically zero3)
	double [] reference_atr, // this view orientation relative to world frame (typically zero3)
	boolean distortedCamera, // camera view is distorted (false - rectilinear)
	double [] camera_xyz, // camera center in world coordinates
	double [] camera_atr, // camera orientation relative to world frame
	double line_err) // threshold error in scan lines (1.0)
	{
	if (reference_xyz == null) reference_xyz = this.camera_xyz;
	if (reference_atr == null) reference_atr = this.camera_atr;
	ErsCorrection ers_camera = this;
	if (cameraQuadCLT != null) {
	ers_camera = cameraQuadCLT.getErsCorrection();
	}
	if (camera_xyz == null) camera_xyz = ers_camera.camera_xyz;
	if (camera_atr == null) camera_atr = ers_camera.camera_atr;

	// Find world coordinates of the camera pixel
	double [] xyzw = ers_camera.getWorldCoordinatesERS( // {x - left,y - up, z (0 at camera, negative away), 1} for real, {x,y,z,0} - for infinity
	px,
	py,
	disparity,
	distortedView, // correct distortion (will need corrected background too !)
	camera_xyz, // camera center in world coordinates
	camera_atr); // camera orientation relative to world frame
	if (xyzw == null) {
	return null;
	}
	if (xyzw[3] == 0.0) { // infinity
	/*
	if (xyzw[2] > 0) {
	for (int i = 0; i < 3; i++) {
	xyzw[i] = -xyzw[i];
	}
	}
	*/
	}
	if (xyzw[2] > 0) {
	return null; // can not match object behind the camera
	}

	double [] pXpYD = ers_camera.getImageCoordinatesERS( // USED in lwir
	xyzw,
	distortedCamera,
	reference_xyz, // camera center in world coordinates
	reference_atr, // camera orientation relative to world frame
	line_err); // threshold error in scan lines (1.0)

	return pXpYD;
	}



	/**		/**
	* Get real world coordinates from pixel coordinates and nominal disparity		* Get real world coordinates from pixel coordinates and nominal disparity
	* @param px horizontal pixel coordinate (right)		* @param px horizontal pixel coordinate (right)
	@@ -1297,7 +1437,8 @@ public class ErsCorrection extends GeometryCorrection {
	}		}
	if (nTile == dbg_tile) {		if (nTile == dbg_tile) {
	System.out.println("comparePXYD_Derivatives(): nTile = "+nTile+" ("+tileX+"/"+tileY+"), is_infinity="+is_infinity[nTile]);		System.out.println("comparePXYD_Derivatives(): nTile = "+nTile+" ("+tileX+"/"+tileY+"), is_infinity="+is_infinity[nTile]);
	double [][] deriv_params = getDPxSceneDParameters(		// double [][] deriv_params =
			getDPxSceneDParameters(
	scene_ers, // ErsCorrection ers_scene,		scene_ers, // ErsCorrection ers_scene,
	true, // boolean correctDistortions,		true, // boolean correctDistortions,
	!is_infinity [nTile], // boolean is_infinity,		!is_infinity [nTile], // boolean is_infinity,

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

+1 −1

Original line number	Original line	Diff line number	Diff line
	@@ -57,7 +57,7 @@ public class GeometryCorrection {
	"velocity_x", "velocity_y", "velocity_z"};		"velocity_x", "velocity_y", "velocity_z"};

	public int debugLevel = 0;		public int debugLevel = 0;
	public double line_time = 26.5E-6; // duration of sensor scan line (for ERS)		public double line_time = 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)		public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
	public int pixelCorrectionHeight=1936;		public int pixelCorrectionHeight=1936;

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

+83 −24

File changed.

Preview size limit exceeded, changes collapsed.

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

+58 −6

File changed.

Preview size limit exceeded, changes collapsed.

Admin message