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imagej-elphel
Commit 6d24709c authored by Andrey Filippov's avatar Andrey Filippov
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Merge branch 'dct' of git@git.elphel.com:Elphel/imagej-elphel.git into dct

parents 79eb3283 a91b3ac6
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Showing with 1663 additions and 814 deletions
src/main/java/DttRad2.java
View file @ 6d24709c
......@@ -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 = avc*hwindow[fi[0][1]] + avs*hwindow[fi[0][4]]*fi[0][5];
// double vw1 = avc*hwindow[fi[1][1]] + avs*hwindow[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 = ahc*hwindow[fi[0][1]] + ahs*hwindow[fi[0][4]]*fi[0][5];
// double hw1 = ahc*hwindow[fi[1][1]] + ahs*hwindow[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..2*n-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[n*i+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[n*i+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 (3*pi/32), sin (5*pi/32), sin (7*pi/32), sin (9*pi/32), sin (11*pi/32), sin (13*pi/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
View file @ 6d24709c
......@@ -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
View file @ 6d24709c
......@@ -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
View file @ 6d24709c
......@@ -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)?
......
src/main/java/ImageDtt.java
View file @ 6d24709c
This diff is collapsed.
src/main/java/QuadCLT.java
View file @ 6d24709c
......@@ -116,6 +116,14 @@ public class QuadCLT {
}
}
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++){
for (int d = 0; d < fine_corr[n].length; d++){
......@@ -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
......
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