Merge branch 'dct' of git@git.elphel.com:Elphel/imagej-elphel.git into dct

src/main/java/EyesisDCT.java

@@ -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

@@ -519,10 +519,11 @@ private Panel panel1,
 			panelClt2 = new Panel();
 			panelClt2.setLayout(new GridLayout(1, 0, 5, 5)); // rows, columns, vgap, hgap
 			addButton("Setup CLT parameters",      panelClt2, color_configure);
-			addButton("CLT 4 images",          panelClt2, color_conf_process);
+			addButton("CLT 4 images",              panelClt2, color_conf_process);
 			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

@@ -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
-	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 [] 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 
+
+	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)?

src/main/java/QuadCLT.java

@@ -114,7 +114,15 @@ public class QuadCLT {
 			String name = prefix+"extrinsic_corr_"+GeometryCorrection.CORR_NAMES[i];
 			properties.setProperty(name,  gc.getCorrVector().toArray()[i]+"");
 		}
-	}	
+	}
+	
+	public void listGeometryCorrection(boolean full){
+		GeometryCorrection gc = geometryCorrection;
+		if (gc == null) { // if it was not yet created
+			gc = new GeometryCorrection(this.extrinsic_corr);
+		}
+		gc.listGeometryCorrection(full);
+	}
 	
 	public void getProperties(){ // restore
 		for (int n = 0; n < fine_corr.length; n++){
@@ -3661,7 +3669,7 @@ public class QuadCLT {
 				  
 				  clt_parameters.shift_x,       // final int               shiftX, // shift image horizontally (positive - right) - just for testing
 				  clt_parameters.shift_y,       // final int               shiftY, // shift image vertically (positive - down)
-				  -1234, // clt_parameters.tileX,         // final int               debug_tileX,
+				  clt_parameters.tileX, // -1234, // clt_parameters.tileX,         // final int               debug_tileX,
 				  clt_parameters.tileY,         // final int               debug_tileY, -1234 will cause port coordinates debug images
 				  (clt_parameters.dbg_mode & 64) != 0, // no fract shift
 				  (clt_parameters.dbg_mode & 128) != 0, // no convolve