Updating ExtrinsicAdjustment for variable number of sensors (624db0c0) · Commits · Elphel / imagej-elphel

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

+244 −136

File changed.

Preview size limit exceeded, changes collapsed.

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

+14 −14

Original line number	Diff line number	Diff line
		@@ -3334,7 +3334,7 @@ public class ImageDtt extends ImageDttCPU {
		dbg_img[18][nclust] = lma_ds[0][0] + disparity_array_center[clustY][clustX] + disparity_corr;
		}
		if ((lma_ds[0] != null) && (lma_ds[0][1]> 0.0)) {
		lazy_eye_data[nclust] = new double [ExtrinsicAdjustment.INDX_LENGTH];
		lazy_eye_data[nclust] = new double [ExtrinsicAdjustment.get_INDX_LENGTH(numSensors)];
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_STRENGTH] = strengh_k * lma_ds[0][1] * num_in_cluster[clustY][clustX];
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_DISP] = lma_ds[0][0] + disparity_array_center[clustY][clustX] + disparity_corr;
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_TARGET] = (disparity_array_center[clustY][clustX] + disparity_corr);
		@@ -3342,21 +3342,21 @@ public class ImageDtt extends ImageDttCPU {
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_PX + 0] = pxpy[clustY][clustX][0];
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_PX + 1] = pxpy[clustY][clustX][1];
		for (int cam = 0; cam < quad; cam++) {
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_DYDDISP0 + cam] = tile_disp_dist[cam][2];
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_PYDIST + cam] = clust_pY [clustY][clustX][cam];
		lazy_eye_data[nclust][ExtrinsicAdjustment.get_INDX_DYDDISP0(numSensors) + cam] = tile_disp_dist[cam][2];
		lazy_eye_data[nclust][ExtrinsicAdjustment.get_INDX_PYDIST(numSensors) + cam] = clust_pY [clustY][clustX][cam];

		}
		for (int cam = 0; cam < ddnd.length; cam++) {
		if (ddnd[cam] != null) { //convert to x,y from dd/nd
		lazy_eye_data[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 0] = ddnd[cam][0] * rXY[cam][0] - ddnd[cam][1] * rXY[cam][1];
		lazy_eye_data[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 1] = ddnd[cam][0] * rXY[cam][1] + ddnd[cam][1] * rXY[cam][0];
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_DD0 + cam] = ddnd[cam][0];
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_ND0 + cam] = ddnd[cam][1];
		lazy_eye_data[nclust][ExtrinsicAdjustment.get_INDX_DD0(numSensors) + cam] = ddnd[cam][0];
		lazy_eye_data[nclust][ExtrinsicAdjustment.get_INDX_ND0(numSensors) + cam] = ddnd[cam][1];
		} else {
		lazy_eye_data[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 0] = Double.NaN;
		lazy_eye_data[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 1] = Double.NaN;
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_DD0 + cam] = Double.NaN;
		lazy_eye_data[nclust][ExtrinsicAdjustment.INDX_ND0 + cam] = Double.NaN;
		lazy_eye_data[nclust][ExtrinsicAdjustment.get_INDX_DD0(numSensors) + cam] = Double.NaN;
		lazy_eye_data[nclust][ExtrinsicAdjustment.get_INDX_ND0(numSensors) + cam] = Double.NaN;
		}
		}
		}
		@@ -3652,7 +3652,7 @@ public class ImageDtt extends ImageDttCPU {
		}

		if ((lma_ds[0] != null) && (lma_ds[0][1]> 0.0)) {
		lazy_eye_data_final[nclust] = new double [ExtrinsicAdjustment.INDX_LENGTH];
		lazy_eye_data_final[nclust] = new double [ExtrinsicAdjustment.get_INDX_LENGTH(numSensors)];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_STRENGTH] = strengh_k * lma_ds[0][1] * num_in_cluster_final[clustY][clustX];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_DISP] = lma_ds[0][0] + disparity_array_center[clustY][clustX] + disparity_corr;
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_TARGET] = disparity_array_center[clustY][clustX] + disparity_corr;
		@@ -3660,20 +3660,20 @@ public class ImageDtt extends ImageDttCPU {
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_PX + 0] = pxpy_super[clustY][clustX][0];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_PX + 1] = pxpy_super[clustY][clustX][1];
		for (int cam = 0; cam < quad; cam++) {
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_DYDDISP0 + cam] = tile_disp_dist[cam][2];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_PYDIST + cam] = clust_pY_super [clustY][clustX][cam];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.get_INDX_DYDDISP0(numSensors) + cam] = tile_disp_dist[cam][2];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.get_INDX_PYDIST(numSensors) + cam] = clust_pY_super [clustY][clustX][cam];
		}
		for (int cam = 0; cam < ddnd.length; cam++) {
		if (ddnd[cam] != null) { //convert to x,y from dd/nd
		lazy_eye_data_final[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 0] = ddnd[cam][0] * rXY[cam][0] - ddnd[cam][1] * rXY[cam][1];
		lazy_eye_data_final[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 1] = ddnd[cam][0] * rXY[cam][1] + ddnd[cam][1] * rXY[cam][0];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_DD0 + cam] = ddnd[cam][0];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_ND0 + cam] = ddnd[cam][1];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.get_INDX_DD0(numSensors) + cam] = ddnd[cam][0];
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.get_INDX_ND0(numSensors) + cam] = ddnd[cam][1];
		} else {
		lazy_eye_data_final[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 0] = Double.NaN;
		lazy_eye_data_final[nclust][2 * cam + ExtrinsicAdjustment.INDX_X0 + 1] = Double.NaN;
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_DD0 + cam] = Double.NaN;
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.INDX_ND0 + cam] = Double.NaN;
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.get_INDX_DD0(numSensors) + cam] = Double.NaN;
		lazy_eye_data_final[nclust][ExtrinsicAdjustment.get_INDX_ND0(numSensors) + cam] = Double.NaN;
		}
		}
		}

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

+853 −26

File changed.

Preview size limit exceeded, changes collapsed.

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

+9 −2

Original line number	Diff line number	Diff line
		@@ -5078,7 +5078,14 @@ if (debugLevel < -100) {
		clt_parameters.tileY, // final int debug_tileY,
		threadsMax,
		debugLevel);
		double [][] dbg_img = new double[ExtrinsicAdjustment.DATA_TITLES.length][lazy_eye_data_dbg.length];
		ExtrinsicAdjustment ea_dbg = new ExtrinsicAdjustment (
		geometryCorrection, // GeometryCorrection gc,
		1, // int clusterSize,
		tilesX, // int clustersX,
		tilesY); // int clustersY)

		// double [][] dbg_img = new double[ExtrinsicAdjustment.DATA_TITLES.length][lazy_eye_data_dbg.length];
		double [][] dbg_img = new double[ea_dbg.data_titles.length][lazy_eye_data_dbg.length];
		for (int i = 0; i < dbg_img.length; i++) {
		Arrays.fill(dbg_img[i], Double.NaN);
		}
		@@ -5094,7 +5101,7 @@ if (debugLevel < -100) {
		tp.getTilesY(),
		true,
		"LY-everytile",
		ExtrinsicAdjustment.DATA_TITLES);
		ea_dbg.data_titles); // ExtrinsicAdjustment.DATA_TITLES);

		}

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

+16 −10

Original line number	Diff line number	Diff line
		@@ -5945,7 +5945,7 @@ public class QuadCLTCPU {

		double [][] dsxy = new double[clustersX * clustersY][];
		ImagePlus imp_sel = WindowManager.getCurrentImage();
		if ((imp_sel == null) \|\| (imp_sel.getStackSize() != ExtrinsicAdjustment.INDX_LENGTH)) {
		if ((imp_sel == null) \|\| (imp_sel.getStackSize() != ExtrinsicAdjustment.get_INDX_LENGTH(getNumSensors()))) {
		System.out.println("No image / wrong image selected, bailing out");
		return null;
		} else {
		@@ -5958,7 +5958,7 @@ public class QuadCLTCPU {
		return null;
		}
		ImageStack stack_sel = imp_sel.getStack();
		float [][] fpixels = new float [ExtrinsicAdjustment.INDX_LENGTH][];
		float [][] fpixels = new float [ExtrinsicAdjustment.get_INDX_LENGTH(getNumSensors())][];
		for (int i = 0; i < fpixels.length; i++) {
		fpixels[i] = (float[]) stack_sel.getPixels(i+1);
		}
		@@ -6247,10 +6247,16 @@ public class QuadCLTCPU {
		if (lazy_eye_data != null) {
		int clustersX= (tilesX + clt_parameters.tileStep - 1) / clt_parameters.tileStep;
		int clustersY= (tilesY + clt_parameters.tileStep - 1) / clt_parameters.tileStep;
		double [][] dbg_cluster = new double [ExtrinsicAdjustment.INDX_LENGTH][clustersY * clustersX];
		ExtrinsicAdjustment ea_dbg = new ExtrinsicAdjustment (
		geometryCorrection, // GeometryCorrection gc,
		clt_parameters.tileStep, // int clusterSize,
		clustersX, // int clustersX,
		clustersY); // int clustersY)

		double [][] dbg_cluster = new double [ExtrinsicAdjustment.get_INDX_LENGTH(getNumSensors())][clustersY * clustersX];
		for (int n = 0; n < lazy_eye_data.length; n++) {
		if ((lazy_eye_data[n] != null) && (lazy_eye_data[n][ExtrinsicAdjustment.INDX_STRENGTH] >= clt_parameters.img_dtt.lma_diff_minw)) {
		for (int i = 0; i < ExtrinsicAdjustment.INDX_LENGTH; i++ ) {
		for (int i = 0; i < ExtrinsicAdjustment.get_INDX_LENGTH(getNumSensors()); i++ ) {
		if (i == ExtrinsicAdjustment.INDX_STRENGTH) {
		dbg_cluster[i][n] = lazy_eye_data[n][i] - clt_parameters.img_dtt.lma_diff_minw; // strength
		} else {
		@@ -6258,7 +6264,7 @@ public class QuadCLTCPU {
		}
		}
		} else {
		for (int i = 0; i < ExtrinsicAdjustment.INDX_LENGTH; i++ ) {
		for (int i = 0; i < ExtrinsicAdjustment.get_INDX_LENGTH(getNumSensors()); i++ ) {
		if (i == ExtrinsicAdjustment.INDX_STRENGTH) {
		dbg_cluster[i][n] = 0.0; // strength
		} else {
		@@ -6274,7 +6280,7 @@ public class QuadCLTCPU {
		clustersY,
		true,
		name+sAux()+"-CLT_MISMATCH-D"+clt_parameters.disparity+"_"+clt_parameters.tileStep+"x"+clt_parameters.tileStep,
		ExtrinsicAdjustment.DATA_TITLES);
		ea_dbg.data_titles); // ExtrinsicAdjustment.DATA_TITLES);

		if (disparity_map != null){
		int target_index = ImageDtt.DISPARITY_INDEX_INT;
		@@ -13084,7 +13090,7 @@ public class QuadCLTCPU {
		CorrVector corr_vector = geometryCorrection.getCorrVector().clone();
		double [] curr_corr_arr = corr_vector.toArray();
		int clusters = ea.clustersX * ea.clustersY;
		int num_ly = ExtrinsicAdjustment.INDX_LENGTH; // scan.getLazyEyeData().length;
		int num_ly = ExtrinsicAdjustment.get_INDX_LENGTH(getNumSensors()); // scan.getLazyEyeData().length;
		int num_pars = curr_corr_arr.length;
		double [][][] ly_diff = new double [num_pars][num_ly][clusters];
		for (int np = 0; np < num_pars; np++) {
		@@ -13208,14 +13214,14 @@ public class QuadCLTCPU {
		*/
		dbg_img = new double [num_pars][width*height];
		for (int par = 0; par < num_pars; par++) {
		for (int mode = 0; mode < ExtrinsicAdjustment.POINTS_SAMPLE; mode++) {
		for (int mode = 0; mode < ExtrinsicAdjustment.get_POINTS_SAMPLE(getNumSensors()); mode++) {
		int x0 = (mode % 3) * (ea.clustersX + gap);
		int y0 = (mode / 3) * (ea.clustersY + gap);
		for (int cluster = 0; cluster < clusters; cluster++) {
		int x = x0 + (cluster % ea.clustersX);
		int y = y0 + (cluster / ea.clustersX);
		int pix = x + y * width;
		int indx = (mode == 0) ? ExtrinsicAdjustment.INDX_DIFF : (ExtrinsicAdjustment.INDX_DD0 + mode - 1);
		int indx = (mode == 0) ? ExtrinsicAdjustment.INDX_DIFF : (ExtrinsicAdjustment.get_INDX_DD0(getNumSensors()) + mode - 1);
		if (mode == 0) {
		dbg_img[par][pix] = -ly_diff[par][indx][cluster];
		} else {
		@@ -13234,7 +13240,7 @@ public class QuadCLTCPU {

		dbg_img = new double [num_pars][width*height];
		for (int par = 0; par < num_pars; par++) {
		for (int mode = 0; mode < ExtrinsicAdjustment.POINTS_SAMPLE; mode++) {
		for (int mode = 0; mode < ExtrinsicAdjustment.get_POINTS_SAMPLE(getNumSensors()); mode++) {
		int x0 = (mode % 3) * (ea.clustersX + gap);
		int y0 = (mode / 3) * (ea.clustersY + gap);
		for (int cluster = 0; cluster < clusters; cluster++) {

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