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imagej-elphel
Commit 468688b4 authored by Andrey Filippov's avatar Andrey Filippov
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fixed derivatives at infinity

parent aa3c316e
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Showing with 27 additions and 21 deletions
src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @ 468688b4
......@@ -960,11 +960,11 @@ public class ErsCorrection extends GeometryCorrection {
// double [] scene_xyz = new double [] {-.3,-0.2, 2.0}; // scene center in world coordinates
// double [] scene_atr = new double [] {0.05, -0.03, 0.05}; // scene orientation relative to world frame
// double [] reference_xyz = new double [] {0.5, 0.2,-3.0}; // reference center in world coordinates
double [] reference_xyz = new double [3]; // reference center in world coordinates
double [] reference_atr = new double [] {0.1, 0.05, 0.15}; // reference orientation relative to world frame
double [] scene_xyz = reference_xyz.clone(); //new double[3]; //
double [] scene_atr = new double[3]; // reference_atr.clone();
double [] reference_xyz = new double [] {0.5, 0.2,-3.0}; // reference center in world coordinates
// double [] reference_xyz = new double [3]; // reference center in world coordinates
double [] reference_atr = new double [] {0.1, 0.05, 0.15}; // reference orientation relative to world frame
double [] scene_xyz = new double [] {0.2, -0.1, -2.0}; // reference_xyz.clone(); //new double[3]; //
double [] scene_atr = new double [] {0.05, 0.15, -0.05}; // new double[3]; // reference_atr.clone();
System.out.println(String.format("reference_xyz= {%8f, %8f, %8f}",reference_xyz[0],reference_xyz[1],reference_xyz[2]));
System.out.println(String.format("reference_atr= {%8f, %8f, %8f}",reference_atr[0],reference_atr[1],reference_atr[2]));
System.out.println(String.format("scene_xyz= {%8f, %8f, %8f}",scene_xyz[0],scene_xyz[1],scene_xyz[2]));
......@@ -986,10 +986,10 @@ public class ErsCorrection extends GeometryCorrection {
System.out.println(String.format("Scene ers_watr_center_dt= {%8f, %8f, %8f}",scene_ers.ers_watr_center_dt[0],scene_ers.ers_watr_center_dt[1],scene_ers.ers_watr_center_dt[2]));
}
if (fake_linear_ers) {
// this.ers_wxyz_center_dt= new double[] { 1.0, 0.25, -2.0}; // this.ers_watr_center_dt.clone(); // new double[3];
// scene_ers.ers_wxyz_center_dt= new double[] { 0.5, 0.3, -1.5}; // new double[3];
this.ers_wxyz_center_dt= new double[3];// { 1.0, 0.25, -2.0}; // this.ers_watr_center_dt.clone(); // new double[3];
scene_ers.ers_wxyz_center_dt= new double[3];// { 0.5, 0.3, -1.5}; // new double[3];
this.ers_wxyz_center_dt= new double[] { 1.0, 0.25, -2.0}; // this.ers_watr_center_dt.clone(); // new double[3];
scene_ers.ers_wxyz_center_dt= new double[] { 0.5, 0.3, -1.5}; // new double[3];
// this.ers_wxyz_center_dt= new double[3];// { 1.0, 0.25, -2.0}; // this.ers_watr_center_dt.clone(); // new double[3];
// scene_ers.ers_wxyz_center_dt= new double[3];// { 0.5, 0.3, -1.5}; // new double[3];
System.out.println("Updated2:");
System.out.println(String.format("Reference ers_wxyz_center_dt= {%8f, %8f, %8f}",this.ers_wxyz_center_dt[0],this.ers_wxyz_center_dt[1],this.ers_wxyz_center_dt[2]));
System.out.println(String.format("Reference ers_watr_center_dt= {%8f, %8f, %8f}",this.ers_watr_center_dt[0],this.ers_watr_center_dt[1],this.ers_watr_center_dt[2]));
......@@ -1974,10 +1974,16 @@ public class ErsCorrection extends GeometryCorrection {
scene_vectors[DW_DPX + 1].toArray(),
scene_vectors[DW_DPY + 1].toArray(),
scene_vectors[DW_DD + 1].toArray()}).transpose();
double x = xyz4[0];
double y = xyz4[1];
double z = xyz4[2];
double z2 = z * z;
// next variables are {x,y,z} * disparity
double xref = xyz4[0];
double yref = xyz4[1];
double zref = xyz4[2];
double z2ref = zref * zref;
double xscene = scene_vectors[0].getX();
double yscene = scene_vectors[0].getY();
double zscene = scene_vectors[0].getZ();
double z2scene = zscene * zscene;
if (is_infinity) {
// dividing X, Y by Z, getting 2x2 Matrix
/*
......@@ -1989,10 +1995,10 @@ public class ErsCorrection extends GeometryCorrection {
* dV/dpX = 1/z * (dy/dpX) - y/z^2 * (dz/dpX)
* dV/dpY = 1/z * (dy/dpY) - y/z^2 * (dz/dpY)
*/
double dU_dpX = dx_dpscene.get(0, 0) / z - x * dx_dpscene.get(2, 0) / z2;
double dU_dpY = dx_dpscene.get(0, 1) / z - x * dx_dpscene.get(2, 1) / z2;
double dV_dpX = dx_dpscene.get(1, 0) / z - y * dx_dpscene.get(2, 0) / z2;
double dV_dpY = dx_dpscene.get(1, 1) / z - y * dx_dpscene.get(2, 1) / z2;
double dU_dpX = dx_dpscene.get(0, 0) / zscene - xscene * dx_dpscene.get(2, 0) / z2scene;
double dU_dpY = dx_dpscene.get(0, 1) / zscene - xscene * dx_dpscene.get(2, 1) / z2scene;
double dV_dpX = dx_dpscene.get(1, 0) / zscene - yscene * dx_dpscene.get(2, 0) / z2scene;
double dV_dpY = dx_dpscene.get(1, 1) / zscene - yscene * dx_dpscene.get(2, 1) / z2scene;
dx_dpscene = new Matrix (new double[][] {
{ dU_dpX, dU_dpY, 0.0},
{ dV_dpX, dV_dpY, 0.0},
......@@ -2012,8 +2018,8 @@ public class ErsCorrection extends GeometryCorrection {
int vindx = indx+1;
if (is_infinity) {
Vector3D dw_dp = new Vector3D(
reference_vectors[vindx].getX()/z - x*reference_vectors[vindx].getZ()/z2,
reference_vectors[vindx].getY()/z - y*reference_vectors[vindx].getZ()/z2,
reference_vectors[vindx].getX()/zref - xref * reference_vectors[vindx].getZ() / z2ref,
reference_vectors[vindx].getY()/zref - yref * reference_vectors[vindx].getZ() / z2ref,
0.0);
derivatives[vindx] = matrixTimesVector(dpscene_dxyz, dw_dp).toArray();
} else {
......@@ -2025,8 +2031,8 @@ public class ErsCorrection extends GeometryCorrection {
int indx_in = indx_out - DP_DSVAZ + DW_DVAZ; // 4, 5, ...
if (is_infinity) {
Vector3D dw_dp = new Vector3D(
scene_vectors[indx_in].getX()/z - x*scene_vectors[indx_in].getZ()/z2,
scene_vectors[indx_in].getY()/z - y*scene_vectors[indx_in].getZ()/z2,
scene_vectors[indx_in].getX()/zscene - xscene * scene_vectors[indx_in].getZ() / z2scene,
scene_vectors[indx_in].getY()/zscene - yscene * scene_vectors[indx_in].getZ() / z2scene,
0.0);
derivatives[indx_out] = matrixTimesVector(dpscene_dxyz_minus, dw_dp).toArray();
} else {
......
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