Merge branch 'dct' of git@git.elphel.com:Elphel/imagej-elphel.git into dct (6d24709c) · Commits · Elphel / imagej-elphel

src/main/java/DttRad2.java

+286 −121

Original line number	Diff line number	Diff line
		@@ -51,6 +51,17 @@ public class DttRad2 {
		int [] unfold_index = null; // index for each element of idct(2nx2n)
		double [][] unfold_k = null; // First index - mode: 0 - CC 1: SC, 2: CS, 3: SS. Other indices matching unfold_index items. Each is a product of 2 window coefficients and sign

		public int [][] getFoldIndex(){
		return fold_index;
		}
		public int [] getUnfoldIndex(){
		return unfold_index;
		}

		public double [][][] getFoldK(){
		return fold_k;
		}

		public DttRad2 (int maxN){ // n - maximal
		setup_arrays(maxN); // always setup arrays for fast calculations
		}
		@@ -175,6 +186,18 @@ public class DttRad2 {
		fi[0][0],fi[0][1],fi[0][2],fi[0][3],
		fi[1][0],fi[1][1],fi[1][2],fi[1][3], hwindow[fi[0][1]], hwindow[fi[1][1]]));
		}
		for (int i = 0; i < n*n; i++){
		System.out.println(String.format("%3x: %6x %6x %6x %6x",i,fold_index[i][0],fold_index[i][1],fold_index[i][2],fold_index[i][3]));
		// System.out.println(String.format(" : %8.5f %8.5f %8.5f %8.5f", fold_k[0][i][0], fold_k[0][i][1], fold_k[0][i][2], fold_k[0][i][3]));
		// System.out.println(String.format(" : %8.5f %8.5f %8.5f %8.5f", fold_k[1][i][0], fold_k[1][i][1], fold_k[1][i][2], fold_k[1][i][3]));
		// System.out.println(String.format(" : %8.5f %8.5f %8.5f %8.5f", fold_k[2][i][0], fold_k[2][i][1], fold_k[2][i][2], fold_k[2][i][3]));
		// System.out.println(String.format(" : %8.5f %8.5f %8.5f %8.5f", fold_k[3][i][0], fold_k[3][i][1], fold_k[3][i][2], fold_k[3][i][3]));
		System.out.println(String.format(" : %2d %2d %2d %2d", (fold_k[0][i][0]<0)?-1:1, (fold_k[0][i][1]<0)?-1:1, (fold_k[0][i][2]<0)?-1:1, (fold_k[0][i][3]<0)?-1:1));
		System.out.println(String.format(" : %2d %2d %2d %2d", (fold_k[1][i][0]<0)?-1:1, (fold_k[1][i][1]<0)?-1:1, (fold_k[1][i][2]<0)?-1:1, (fold_k[1][i][3]<0)?-1:1));
		System.out.println(String.format(" : %2d %2d %2d %2d", (fold_k[2][i][0]<0)?-1:1, (fold_k[2][i][1]<0)?-1:1, (fold_k[2][i][2]<0)?-1:1, (fold_k[2][i][3]<0)?-1:1));
		System.out.println(String.format(" : %2d %2d %2d %2d", (fold_k[3][i][0]<0)?-1:1, (fold_k[3][i][1]<0)?-1:1, (fold_k[3][i][2]<0)?-1:1, (fold_k[3][i][3]<0)?-1:1));
		}

		}
		}

		@@ -239,18 +262,19 @@ public class DttRad2 {
		public double [][][] get_shifted_fold_2d(
		int n,
		double shift_hor,
		double shift_vert)
		double shift_vert,
		int debugLevel)
		{ // n - DCT and window size

		int n2 = 2* n;
		double [][][] fold_sk = new double[4][n*n][4];
		int [] vert_ind = new int[2];
		double [][] vert_k = new double[2][2];
		int [] hor_ind = new int[2];
		double [][] hor_k = new double[2][2];
		double ahc = Math.cos(Math.PI/16*shift_hor);
		double ahs = Math.sin(Math.PI/16*shift_hor);
		double avc = Math.cos(Math.PI/16*shift_vert);
		double avs = Math.sin(Math.PI/16*shift_vert);
		double ahc = Math.cos(Math.PI/n2*shift_hor);
		double ahs = Math.sin(Math.PI/n2*shift_hor);
		double avc = Math.cos(Math.PI/n2*shift_vert);
		double avs = Math.sin(Math.PI/n2*shift_vert);

		int [][] fi;
		for (int i = 0; i < n; i++ ){
		@@ -288,6 +312,79 @@ public class DttRad2 {
		return fold_sk;
		}

		// Generate (slightly - up to +/- 0.5) shifted window for standard sin window (derivative uses same table)
		// only for mode=1 (sin window)
		public double [][][] get_shifted_fold_2d_direct(
		int n,
		double shift_hor,
		double shift_vert,
		int debugLevel) // fpga scale (1 << 17 -1)
		{ // n - DCT and window size

		int n2 = 2 * n;
		double [][][] fold_sk = new double[4][n*n][4];
		int [] vert_ind = new int[2];
		double [][] vert_k = new double[2][2];
		int [] hor_ind = new int[2];
		double [][] hor_k = new double[2][2];
		// double ahc = Math.cos(Math.PI/n2*shift_hor);
		// double ahs = Math.sin(Math.PI/n2*shift_hor);
		// double avc = Math.cos(Math.PI/n2*shift_vert);
		// double avs = Math.sin(Math.PI/n2*shift_vert);
		double [] wnd_hor = new double[n2];
		double [] wnd_vert = new double[n2];
		double f = Math.PI/n2;
		for (int i = 0; i < n2; i++ ){
		wnd_hor[i] = Math.sin(f * (i+ 0.5 +shift_hor));
		wnd_vert[i] = Math.sin(f * (i+ 0.5 +shift_vert));
		}
		if (debugLevel > 0){
		System.out.println("Window (index,hor,vert) ");
		for (int i = 0; i <16; i++) System.out.print(String.format("%5x ", i)); System.out.println();
		for (int i = 0; i <16; i++) System.out.print(String.format("%5x ", (int) Math.round(debugLevel * wnd_hor[i]))); System.out.println();
		for (int i = 0; i <16; i++) System.out.print(String.format("%5x ", (int) Math.round(debugLevel * wnd_vert[i]))); System.out.println();
		System.out.println();
		}
		int [][] fi;
		for (int i = 0; i < n; i++ ){
		fi = get_fold_indices(i,n);
		vert_ind[0] = fi[0][0];
		vert_ind[1] = fi[1][0];
		// double vw0 = avchwindow[fi[0][1]] + avshwindow[fi[0][4]]*fi[0][5];
		// double vw1 = avchwindow[fi[1][1]] + avshwindow[fi[1][4]]*fi[1][5];
		double vw0 = wnd_vert[vert_ind[0]];
		double vw1 = wnd_vert[vert_ind[1]];
		vert_k[0][0] = fi[0][2] * vw0; // use cosine sign
		vert_k[0][1] = fi[1][2] * vw1; // use cosine sign
		vert_k[1][0] = fi[0][3] * vw0; // use sine sign
		vert_k[1][1] = fi[1][3] * vw1; // use sine sign

		for (int j = 0; j < n; j++ ){
		fi = get_fold_indices(j,n);
		hor_ind[0] = fi[0][0];
		hor_ind[1] = fi[1][0];
		// double hw0 = ahchwindow[fi[0][1]] + ahshwindow[fi[0][4]]*fi[0][5];
		// double hw1 = ahchwindow[fi[1][1]] + ahshwindow[fi[1][4]]*fi[1][5];
		double hw0 = wnd_hor[hor_ind[0]];
		double hw1 = wnd_hor[hor_ind[1]];

		hor_k[0][0] = fi[0][2] * hw0; // use cosine sign
		hor_k[0][1] = fi[1][2] * hw1; // use cosine sign
		hor_k[1][0] = fi[0][3] * hw0; // use sine sign
		hor_k[1][1] = fi[1][3] * hw1; // use sine sign

		int indx = n*i + j;

		for (int mode = 0; mode<4; mode++){
		for (int k = 0; k<4;k++) {
		fold_sk[mode][indx][k] = vert_k[(mode>>1) &1][(k>>1) & 1] * hor_k[mode &1][k & 1];
		}
		}
		}
		}
		return fold_sk;
		}


		// return index and two signs (c,s) for 1-d imdct. x is index (0..2n-1) of the imdct array, value is sign (idct_index+1),
		// where idct_index (0..n-1) is index in the dct-iv array
		@@ -360,6 +457,51 @@ public class DttRad2 {
		return y;
		}

		public double [] dttt_iv(double [] x, int mode, int n, double scale, int mask){ // mode 0 - dct,dct 1:dst,dct, 2: dct, dst, 3: dst,dst
		double [] y = new double [n*n];
		double [] line = new double[n];
		// first (horizontal) pass
		System.out.println("dttt_iv, mode="+mode);
		System.out.println("horizontal pass "+(((mode & 1)!=0)? "dst_iv":"dct_iv"));
		for (int i = 0; i<n; i++){
		System.arraycopy(x, n*i, line, 0, n);
		line = ((mode & 1)!=0)? dst_iv(line):dct_iv(line);
		System.out.print(String.format("%02x: ", i));
		for (int j=0; j < n;j++) {
		int di = ((int) Math.round(x[ni+j]scale)) & mask;
		System.out.print(String.format("%07x ", di));
		}
		System.out.print(" ");
		for (int j=0; j < n;j++) {
		int di = ((int) Math.round(line[j] * scale)) & mask;
		System.out.print(String.format("%07x ", di));
		}
		System.out.println();
		for (int j=0; j < n;j++) y[j*n+i] =line[j]; // transpose
		}
		// second (vertical) pass
		System.out.println("vertical pass "+(((mode & 2)!=0)? "dst_iv":"dct_iv")+" (after transpose)");
		for (int i = 0; i<n; i++){
		System.arraycopy(y, n*i, line, 0, n);
		line = ((mode & 2)!=0)? dst_iv(line):dct_iv(line);
		System.out.print(String.format("%02x: ", i));
		for (int j=0; j < n;j++) {
		int di = ((int) Math.round(y[ni+j]scale*0.5)) & mask;
		System.out.print(String.format("%07x ", di));
		}
		System.out.print(" ");
		for (int j=0; j < n;j++) {
		int di = ((int) Math.round(line[j] * scale)) & mask;
		System.out.print(String.format("%07x ", di));
		}
		System.out.println();
		System.arraycopy(line, 0, y, n*i, n);
		}
		return y;
		}



		public double [] dttt_ii(double [] x){
		return dttt_ii(x, 1 << (ilog2(x.length)/2));
		}
		@@ -468,7 +610,8 @@ public class DttRad2 {
		public void set_window(int mode){
		set_window(mode, N);
		}
		public void set_window(int mode, int len){
		public void set_window(int mode, int len){ // using mode==1
		// for N=8: sin (pi/32), sin (3pi/32), sin (5pi/32), sin (7pi/32), sin (9pi/32), sin (11pi/32), sin (13pi/32), sin (15*pi/32)
		hwindow = new double[len];
		double f = Math.PI/(2.0*len);
		double sqrt1_2=Math.sqrt(0.5);
		@@ -533,6 +676,28 @@ public class DttRad2 {
		return y;
		}

		public double [] fold_tile_debug(
		double [] x,
		int n,
		int mode, //////
		double [][][] fold_k
		) { // x should be 2n*2n
		System.out.println("fold_tile_debug, mode = "+mode);
		double [] y = new double [n*n];
		for (int i = 0; i<y.length;i++) {
		y[i] = 0;
		System.out.print(String.format("%2d: ",i));
		for (int k = 0; k < 4; k++){
		y[i] += x[fold_index[i][k]] * fold_k[mode][i][k];
		System.out.print(String.format("(%f * %f) ", x[fold_index[i][k]], fold_k[mode][i][k]));
		if (k < 3) System.out.print("+ ");
		}
		System.out.println(String.format("= %f", y[i]));
		}
		return y;
		}



		public double [] unfold_tile(
		double [] x, // x should be n*n

src/main/java/EyesisDCT.java

+0 −95

Original line number	Diff line number	Diff line
		@@ -118,101 +118,6 @@ public class EyesisDCT {
		return kernels != null;
		}

		/// public boolean CLTKernelsAvailable(){
		/// return clt_kernels != null;
		/// }
		/// public boolean geometryCorrectionAvailable(){
		/// return geometryCorrection != null;
		/// }
		/***
		public boolean initGeometryCorrection(int debugLevel){
		geometryCorrection = new GeometryCorrection();
		PixelMapping.SensorData [] sensors = eyesisCorrections.pixelMapping.sensors;
		// verify that all sensors have the same distortion parameters
		int numSensors = sensors.length;
		for (int i = 1; i < numSensors; i++){
		if ( (sensors[0].focalLength != sensors[i].focalLength) \|\|
		(sensors[0].distortionC != sensors[i].distortionC) \|\|
		(sensors[0].distortionB != sensors[i].distortionB) \|\|
		(sensors[0].distortionA != sensors[i].distortionA) \|\|
		(sensors[0].distortionA5 != sensors[i].distortionA5) \|\|
		(sensors[0].distortionA6 != sensors[i].distortionA6) \|\|
		(sensors[0].distortionA7 != sensors[i].distortionA7) \|\|
		(sensors[0].distortionA8 != sensors[i].distortionA8) \|\|
		(sensors[0].distortionRadius != sensors[i].distortionRadius) \|\|
		(sensors[0].pixelCorrectionWidth != sensors[i].pixelCorrectionWidth) \|\|
		(sensors[0].pixelCorrectionHeight != sensors[i].pixelCorrectionHeight) \|\|
		(sensors[0].pixelSize != sensors[i].pixelSize)){
		System.out.println("initGeometryCorrection(): All sensors have to have the same distortion model, but channels 0 and "+i+" mismatch");
		return false;
		}
		}
		// set common distportion parameters
		geometryCorrection.setDistortion(
		sensors[0].focalLength,
		sensors[0].distortionC,
		sensors[0].distortionB,
		sensors[0].distortionA,
		sensors[0].distortionA5,
		sensors[0].distortionA6,
		sensors[0].distortionA7,
		sensors[0].distortionA8,
		sensors[0].distortionRadius,
		sensors[0].pixelCorrectionWidth, // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
		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 [] forward = new double[numSensors];
		double [] right = new double[numSensors];
		double [] height = new double[numSensors];
		double [] roll = new double[numSensors];
		double [][] pXY0 = new double[numSensors][2];
		for (int i = 0; i < numSensors; i++){
		forward[i] = sensors[i].forward;
		right[i] = sensors[i].right;
		height[i] = sensors[i].height;
		roll[i] = sensors[i].psi;
		pXY0[i][0] = sensors[i].px0;
		pXY0[i][1] = sensors[i].py0;
		}
		geometryCorrection.setSensors(
		numSensors,
		sensors[0].theta,
		sensors[0].heading,
		forward,
		right,
		height,
		roll,
		pXY0);
		geometryCorrection.planeProjectLenses(); // project all lenses to the common plane

		// calcualte reverse distortion as a table to be linear intr4epolated
		geometryCorrection.calcReverseDistortionTable();

		if (numSensors == 4){
		geometryCorrection.adustSquare();
		System.out.println("Adjusted camera to orient X Y along the sides of a square");
		} else {
		System.out.println("============= Cannot adustSquare() as it requires exactly 4 sensors, "+numSensors+" provided ==========");
		return false;
		}
		// Print parameters
		if (debugLevel > 0){
		geometryCorrection.listGeometryCorrection(debugLevel > 1);
		}

		//listGeometryCorrection
		return true;
		}
		*/

		public DCTKernels calculateDCTKernel (
		final ImageStack kernelStack, // first stack with 3 colors/slices convolution kernels
		final int kernelSize, // 64

src/main/java/Eyesis_Correction.java

+14 −1

Original line number	Diff line number	Diff line
		@@ -523,6 +523,7 @@ private Panel panel1,
		addButton("CLT disparity scan", panelClt2, color_conf_process);
		addButton("CLT reset fine corr", panelClt2, color_stop);
		addButton("CLT reset extrinsic corr", panelClt2, color_stop);
		addButton("CLT show geometry", panelClt2, color_configure);
		addButton("CLT show fine corr", panelClt2, color_configure);
		addButton("CLT apply fine corr", panelClt2, color_process);
		addButton("CLT test fine corr", panelClt2, color_process);
		@@ -4613,6 +4614,18 @@ private Panel panel1,
		}
		QUAD_CLT.resetExtrinsicCorr(CLT_PARAMETERS);
		return;
		} else if (label.equals("CLT show geometry")) {
		if (QUAD_CLT == null){
		QUAD_CLT = new QuadCLT (
		PROPERTIES,
		EYESIS_CORRECTIONS,
		CORRECTION_PARAMETERS);
		if (DEBUG_LEVEL > 0){
		System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
		}
		}
		QUAD_CLT.listGeometryCorrection(true);
		return;
		} else if (label.equals("CLT show fine corr")) {
		if (QUAD_CLT == null){
		QUAD_CLT = new QuadCLT (

src/main/java/GeometryCorrection.java

+14 −14

Original line number	Diff line number	Diff line
		@@ -61,20 +61,20 @@ public class GeometryCorrection {


		public int numSensors = 4;
		public double [] forward = null;
		public double [] right = null;
		public double [] height = null;
		public double [] roll = null; // degrees, CW (to target) - positive
		private double [] forward = null;
		private double [] right = null;
		private double [] height = null;
		private double [] roll = null; // degrees, CW (to target) - positive
		public double [][] pXY0 = null; // sensor center XY in pixels

		public double common_right; // mm right, camera center
		public double common_forward; // mm forward (to target), camera center
		public double common_height; // mm up, camera center
		public double common_roll; // degrees CW (to target) camera as a whole
		public double [][] XYZ_he; // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
		public double [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading, common_roll)
		public double [][] rXY = null; // XY pairs of the in a normal plane, relative to disparityRadius
		public double [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};
		private double common_right; // mm right, camera center
		private double common_forward; // mm forward (to target), camera center
		private double common_height; // mm up, camera center
		private double common_roll; // degrees CW (to target) camera as a whole
		private double [][] XYZ_he; // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
		private double [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading, common_roll)
		private double [][] rXY = null; // XY pairs of the in a normal plane, relative to disparityRadius
		private double [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};

		public double cameraRadius=0; // average distance from the "mass center" of the sensors to the sensors
		public double disparityRadius=0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad camera (~=150mm)?

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