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Commit 63e87e10 authored by Mikhail Karpenko's avatar Mikhail Karpenko
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Add PHG21 parameters

parent 6b0975f2
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Showing with 523 additions and 9 deletions
src/main/java/CalibrationHardwareInterface.java
View file @ 63e87e10
...@@ -150,11 +150,14 @@ public class CalibrationHardwareInterface { ...@@ -150,11 +150,14 @@ public class CalibrationHardwareInterface {
this.thisTime=this.startTime; this.thisTime=this.startTime;
} }
private int [][] channelMap26={ // ip index, channel number private int [][] channelMap21={ // ip index, channel number
{0,0},{1,0},{2,0},{3,0},{4,0},{5,0},{6,0},{7,0}, // modified! {0,1},{0,0},{0,2},
{0,1},{1,1},{2,1},{3,1},{4,1},{5,1},{6,1},{7,1}, {1,1},{1,0},{1,2},
{0,2},{1,2},{2,2},{3,2},{4,2},{5,2},{6,2},{7,2}, {2,1},{2,0},{2,2},
{8,0},{8,1}}; {3,1},{3,0},{3,2},
{4,1},{4,0},{4,2},
{5,1},{5,0},{5,2},
{6,1},{6,0},{6,2}};
private int [][] channelMap1={ // ip index, channel number private int [][] channelMap1={ // ip index, channel number
// {0,-1}}; // negative channel - single camera // {0,-1}}; // negative channel - single camera
{0,0}}; // Try with 0 {0,0}}; // Try with 0
...@@ -264,12 +267,12 @@ public class CalibrationHardwareInterface { ...@@ -264,12 +267,12 @@ public class CalibrationHardwareInterface {
for (int i=0;i<size;i++){ for (int i=0;i<size;i++){
this.flipImages[i]=false; this.flipImages[i]=false;
int i0=((i>=this.channelMap3.length)?(this.channelMap3.length-1):i); int i0=((i>=this.channelMap3.length)?(this.channelMap3.length-1):i);
this.channelMap[i]=this.channelMap26[i0].clone(); this.channelMap[i]=this.channelMap21[i0].clone();
} }
} else for (int i=0;i<size;i++){ } else for (int i=0;i<size;i++){
this.flipImages[i]=false; this.flipImages[i]=false;
int i0=((i>=this.channelMap26.length)?(this.channelMap26.length-1):i); int i0=((i>=this.channelMap21.length)?(this.channelMap21.length-1):i);
this.channelMap[i]=this.channelMap26[i0].clone(); this.channelMap[i]=this.channelMap21[i0].clone();
} }
} }
public void setProperties(String prefix,Properties properties){ public void setProperties(String prefix,Properties properties){
......
src/main/java/EyesisCameraParameters.java
View file @ 63e87e10
...@@ -1340,6 +1340,517 @@ import org.apache.commons.configuration.XMLConfiguration; ...@@ -1340,6 +1340,517 @@ import org.apache.commons.configuration.XMLConfiguration;
null, // eccentricity for b,a,a5,a6,a7,a8 null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8 null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault 1.0); //channelWeightDefault
} else if (numSubCameras == 21) {
// ================
// PHG21 parameters
//
this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
46.57, // double radius, // mm, distance from the rotation axis
0.0, // double height, // mm, up (was downwards) - from the origin point
0.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][1]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
50.36, // double radius, // mm, distance from the rotation axis
-15.0, // double height, // mm, up (was downwards) - from the origin point
-53.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][2]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
50.36, // double radius, // mm, distance from the rotation axis
-15.0, // double height, // mm, up (was downwards) - from the origin point
53.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][3]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
46.57, // double radius, // mm, distance from the rotation axis
70.0, // double height, // mm, up (was downwards) - from the origin point
0.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][4]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
50.36, // double radius, // mm, distance from the rotation axis
55.0, // double height, // mm, up (was downwards) - from the origin point
-53.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][5]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
50.36, // double radius, // mm, distance from the rotation axis
55.0, // double height, // mm, up (was downwards) - from the origin point
53.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][6]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
76.45, // double radius, // mm, distance from the rotation axis
35.0, // double height, // mm, up (was downwards) - from the origin point
-52.47, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][7]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
91.65, // double radius, // mm, distance from the rotation axis
20.0, // double height, // mm, up (was downwards) - from the origin point
-91.13, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][8]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
63.43, // double radius, // mm, distance from the rotation axis
20.0, // double height, // mm, up (was downwards) - from the origin point
-10.16, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][9]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
76.45, // double radius, // mm, distance from the rotation axis
-35.0, // double height, // mm, up (was downwards) - from the origin point
-52.47, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][10]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
91.65, // double radius, // mm, distance from the rotation axis
-50.0, // double height, // mm, up (was downwards) - from the origin point
-91.13, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][11]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
63.43, // double radius, // mm, distance from the rotation axis
-50.0, // double height, // mm, up (was downwards) - from the origin point
-10.16, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][12]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
46.57, // double radius, // mm, distance from the rotation axis
-70.0, // double height, // mm, up (was downwards) - from the origin point
0.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][13]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
50.36, // double radius, // mm, distance from the rotation axis
-85.0, // double height, // mm, up (was downwards) - from the origin point
-53.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][14]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
50.36, // double radius, // mm, distance from the rotation axis
-85.0, // double height, // mm, up (was downwards) - from the origin point
53.0, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][15]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
76.45, // double radius, // mm, distance from the rotation axis
-35.0, // double height, // mm, up (was downwards) - from the origin point
52.47, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][16]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
63.43, // double radius, // mm, distance from the rotation axis
-50.0, // double height, // mm, up (was downwards) - from the origin point
10.16, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][17]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
91.65, // double radius, // mm, distance from the rotation axis
-50.0, // double height, // mm, up (was downwards) - from the origin point
91.13, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][18]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
76.45, // double radius, // mm, distance from the rotation axis
35.0, // double height, // mm, up (was downwards) - from the origin point
52.47, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
-90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][19]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
63.43, // double radius, // mm, distance from the rotation axis
20.0, // double height, // mm, up (was downwards) - from the origin point
10.16, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
this.eyesisSubCameras[numStation][20]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
defaultLensDistortionModel,
true,
-59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
91.65, // double radius, // mm, distance from the rotation axis
20.0, // double height, // mm, up (was downwards) - from the origin point
91.13, // double phi, // degrees, optical axis from azimuth/r vector, clockwise
0.0, //double theta, // degrees, optical axis from the eyesis horizon, positive - up
90.0, //double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
5.4, // double focalLength
2.2, // double pixelSize (um)
2.8512, //double distortionRadius mm - half width of the sensor
0.0, // double distortionA8 // r^8 (normalized to focal length or to sensor half width?)
0.0, // double distortionA7 // r^7 (normalized to focal length or to sensor half width?)
0.0, // double distortionA6 // r^6 (normalized to focal length or to sensor half width?)
0.0, // double distortionA5 // r^5 (normalized to focal length or to sensor half width?)
0.0, // double distortionA // r^4 (normalized to focal length or to sensor half width?)
0.0, // double distortionB // r^3
0.0, // double distortionC // r^2
1296.0, // double px0=1296.0; // center of the lens on the sensor, pixels
968.0, // double py0=968.0; // center of the lens on the sensor, pixels
null, // eccentricity for b,a,a5,a6,a7,a8
null, // elongation for c,b,a,a5,a6,a7,a8
1.0); //channelWeightDefault
//
// end of PHG21 parameters
// =======================
} else { } else {
// default setup for the 26 sub-cameras // default setup for the 26 sub-cameras
for (int i=0;i<8;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // top 8 cameras for (int i=0;i<8;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // top 8 cameras
......
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