Tested inter-camera (double quad) bundle adjustment (70ccd5f4) · Commits · Elphel / imagej-elphel

src/main/java/BiQuadParameters.java

+16 −3

src/main/java/Eyesis_Correction.java

+2 −2

Original line number	Original line	Diff line number	Diff line
	@@ -1156,7 +1156,7 @@ private Panel panel1,
	String path= loadProperties(null,CORRECTION_PARAMETERS.resultsDirectory,true, PROPERTIES);		String path= loadProperties(null,CORRECTION_PARAMETERS.resultsDirectory,true, PROPERTIES);
	if (path != null) {		if (path != null) {
	getAllProperties(PROPERTIES);		getAllProperties(PROPERTIES);
	if (DEBUG_LEVEL > -1) System.out.println("Configuration parameters are restored from "+path);		if (DEBUG_LEVEL > -3) System.out.println("Configuration parameters are restored from "+path);
	} else {		} else {
	if (DEBUG_LEVEL > -10) System.out.println("Failed to restore configuration parameters");		if (DEBUG_LEVEL > -10) System.out.println("Failed to restore configuration parameters");
	}		}
	@@ -5982,7 +5982,7 @@ private Panel panel1,
	// TODO Auto-generated catch block		// TODO Auto-generated catch block
	e.printStackTrace();		e.printStackTrace();
	}		}
	if (DEBUG_LEVEL>0) System.out.println("Configuration parameters are saved to "+path);		if (DEBUG_LEVEL> -3) System.out.println("Configuration parameters are saved to "+path);

	}		}

src/main/java/GeometryCorrection.java

+130 −76

Original line number	Original line	Diff line number	Diff line
	@@ -30,6 +30,9 @@ import ij.IJ;
	*/		*/

	public class GeometryCorrection {		public class GeometryCorrection {
			static final double FOCAL_LENGTH = 4.5; // nominal focal length - used as default and to convert editable parameters to pixels
			static final double DISTORTION_RADIUS = 2.8512; // nominal distortion radius - half width of the sensor
			static final double PIXEL_SIZE = 2.2; //um
	static final String[] RIG_PAR_NAMES = {"azimuth", "tilt", "roll", "zoom", "angle", "baseline"};		static final String[] RIG_PAR_NAMES = {"azimuth", "tilt", "roll", "zoom", "angle", "baseline"};
	public static String RIG_PREFIX = "rig-";		public static String RIG_PREFIX = "rig-";
	static double SCENE_UNITS_SCALE = 0.001;		static double SCENE_UNITS_SCALE = 0.001;
	@@ -39,9 +42,9 @@ public class GeometryCorrection {
	public int debugLevel = 0;		public int debugLevel = 0;
	public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)		public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
	public int pixelCorrectionHeight=1936;		public int pixelCorrectionHeight=1936;
	public double focalLength=4.5;		public double focalLength=FOCAL_LENGTH;
	public double pixelSize= 2.2; //um		public double pixelSize= PIXEL_SIZE; //um
	public double distortionRadius= 2.8512; // mm - half width of the sensor		public double distortionRadius= DISTORTION_RADIUS; // mm - half width of the sensor
	public double distortionA8=0.0; //r^8 (normalized to focal length or to sensor half width?)		public double distortionA8=0.0; //r^8 (normalized to focal length or to sensor half width?)
	public double distortionA7=0.0; //r^7 (normalized to focal length or to sensor half width?)		public double distortionA7=0.0; //r^7 (normalized to focal length or to sensor half width?)
	public double distortionA6=0.0; //r^6 (normalized to focal length or to sensor half width?)		public double distortionA6=0.0; //r^6 (normalized to focal length or to sensor half width?)
	@@ -127,21 +130,22 @@ public class GeometryCorrection {
	return rigOffset.clone();		return rigOffset.clone();
	}		}

	public void rigOffestSetPar(int index, double value) {		public void rigOffestSetParNorm(int index, double value) {
	rigOffset.setPar(index, value);		rigOffset.setParNorm(index, value);
	}		}
	public void rigOffestSetPar(RigOffset ro, int index, double value) {		public void rigOffestSetParNorm(RigOffset ro, int index, double value) {
	ro. setPar(index, value);		ro. setParNorm(index, value);
	}		}

	public double rigOffestGetPar(int index) {		public double rigOffestGetParNorm(int index) {
	return rigOffset.getPar(index);		return rigOffset.getParNorm(index);
	}		}
	public double rigOffestGetPar(RigOffset ro, int index) {		public double rigOffestGetParNorm(RigOffset ro, int index) {
	return ro.getPar(index);		return ro.getParNorm(index);
	}		}

	public double [] getRigCorrection(		public double [] getRigCorrection(
			double infinity_importance, // of all measurements
	boolean adjust_orientation,		boolean adjust_orientation,
	boolean adjust_zoom,		boolean adjust_zoom,
	boolean adjust_angle,		boolean adjust_angle,
	@@ -157,6 +161,7 @@ public class GeometryCorrection {
	int debugLevel) {		int debugLevel) {
	if (rigOffset == null) return null;		if (rigOffset == null) return null;
	return rigOffset.getRigCorrection(		return rigOffset.getRigCorrection(
			infinity_importance, // of all measurements
	adjust_orientation, // boolean adjust_orientation,		adjust_orientation, // boolean adjust_orientation,
	adjust_zoom, // boolean adjust_zoom,		adjust_zoom, // boolean adjust_zoom,
	adjust_angle, // boolean adjust_angle,		adjust_angle, // boolean adjust_angle,
	@@ -230,7 +235,8 @@ public class GeometryCorrection {
	static final double ROT_AZ_SGN = -1.0; // sign of first sin for azimuth rotation		static final double ROT_AZ_SGN = -1.0; // sign of first sin for azimuth rotation
	static final double ROT_TL_SGN = 1.0; // sign of first sin for tilt rotation		static final double ROT_TL_SGN = 1.0; // sign of first sin for tilt rotation
	static final double ROT_RL_SGN = 1.0; // sign of first sin for roll rotation		static final double ROT_RL_SGN = 1.0; // sign of first sin for roll rotation
	public double baseline = 1256.0; // mm, distance between camera centers		static final double BASELINE = 1256.0; // default baseline value
			public double baseline = BASELINE; // mm, distance between camera centers
	public double aux_angle = 0.0; // radians, 0 - aux camera to the right of the main, pi/2 - up		public double aux_angle = 0.0; // radians, 0 - aux camera to the right of the main, pi/2 - up
	// consider aux_z small enough for now, will need for SfM		// consider aux_z small enough for now, will need for SfM
	public double aux_z = 0.0; // mm auxiliary camera distance from the plane of the main one (positive towards the scene)		public double aux_z = 0.0; // mm auxiliary camera distance from the plane of the main one (positive towards the scene)
	@@ -246,9 +252,19 @@ public class GeometryCorrection {
	double [] xy_vector = null;		double [] xy_vector = null;
	double [] d_vector = null;		double [] d_vector = null;
	int [] tile_vector = null; // just for debugging		int [] tile_vector = null; // just for debugging
			double [] par_scales = null; // scale vector components to have similar derivatives values
			int [] full_par_index;

	public RigOffset () {		public RigOffset () {
	System.out.println("created RigOffset");		System.out.println("created RigOffset");
			par_scales = new double [VECTOR_LENGTH];
			par_scales[AUX_AZIMUTH_INDEX] = 1000.0*FOCAL_LENGTH/PIXEL_SIZE;
			par_scales[AUX_TILT_INDEX] = 1000.0*FOCAL_LENGTH/PIXEL_SIZE;
			par_scales[AUX_ROLL_INDEX] = 1000.0*DISTORTION_RADIUS/PIXEL_SIZE;
			par_scales[AUX_ZOOM_INDEX] = 1000.0*DISTORTION_RADIUS/PIXEL_SIZE;
			par_scales[AUX_ANGLE_INDEX] = 1.0; // 1000.0*BASELINE/pixelSize;
			par_scales[AUX_BASELINE_INDEX] = 1.0/DISTORTION_RADIUS; // pixels per disparity pixel

	}		}

	@Override		@Override
	@@ -261,10 +277,13 @@ public class GeometryCorrection {
	ro.aux_tilt = this.aux_tilt;		ro.aux_tilt = this.aux_tilt;
	ro.aux_roll = this.aux_roll;		ro.aux_roll = this.aux_roll;
	ro.aux_zoom = this.aux_zoom;		ro.aux_zoom = this.aux_zoom;
			ro.full_par_index = this.full_par_index.clone();
			ro.par_scales = this.par_scales.clone();
	return ro;		return ro;
	}		}

	public void setPar(int index, double value) {		public void setParNorm(int index, double value) {
			value /= par_scales[index];
	switch (index) {		switch (index) {
	case AUX_AZIMUTH_INDEX: aux_azimuth = value; break;		case AUX_AZIMUTH_INDEX: aux_azimuth = value; break;
	case AUX_TILT_INDEX: aux_tilt = value; break;		case AUX_TILT_INDEX: aux_tilt = value; break;
	@@ -274,14 +293,14 @@ public class GeometryCorrection {
	case AUX_BASELINE_INDEX: baseline = value; break;		case AUX_BASELINE_INDEX: baseline = value; break;
	}		}
	}		}
	public double getPar(int index) {		public double getParNorm(int index) {
	switch (index) {		switch (index) {
	case AUX_AZIMUTH_INDEX: return aux_azimuth;		case AUX_AZIMUTH_INDEX: return aux_azimuth * par_scales[index];
	case AUX_TILT_INDEX: return aux_tilt;		case AUX_TILT_INDEX: return aux_tilt * par_scales[index];
	case AUX_ROLL_INDEX: return aux_roll;		case AUX_ROLL_INDEX: return aux_roll * par_scales[index];
	case AUX_ZOOM_INDEX: return aux_zoom;		case AUX_ZOOM_INDEX: return aux_zoom * par_scales[index];
	case AUX_ANGLE_INDEX: return aux_angle;		case AUX_ANGLE_INDEX: return aux_angle * par_scales[index];
	case AUX_BASELINE_INDEX: return baseline;		case AUX_BASELINE_INDEX: return baseline * par_scales[index];
	}		}
	return Double.NaN;		return Double.NaN;
	}		}
	@@ -307,35 +326,41 @@ public class GeometryCorrection {
	int num_pars = 0;		int num_pars = 0;
	for (int i = 0; i < par_select.length; i++) if (par_select[i]) num_pars++;		for (int i = 0; i < par_select.length; i++) if (par_select[i]) num_pars++;
	vector = new double[num_pars];		vector = new double[num_pars];
			full_par_index = new int [num_pars];

	int par_index = 0;		int par_index = 0;
	for (int i = 0; i < par_select.length; i++) if (par_select[i]) {		for (int i = 0; i < par_select.length; i++) if (par_select[i]) {
	switch(i) {		switch(i) {
	case AUX_AZIMUTH_INDEX: vector[par_index] = aux_azimuth; break;		case AUX_AZIMUTH_INDEX: vector[par_index] = aux_azimuth * par_scales[i]; break;
	case AUX_TILT_INDEX: vector[par_index] = aux_tilt; break;		case AUX_TILT_INDEX: vector[par_index] = aux_tilt * par_scales[i]; break;
	case AUX_ROLL_INDEX: vector[par_index] = aux_roll; break;		case AUX_ROLL_INDEX: vector[par_index] = aux_roll * par_scales[i]; break;
	case AUX_ZOOM_INDEX: vector[par_index] = aux_zoom; break;		case AUX_ZOOM_INDEX: vector[par_index] = aux_zoom * par_scales[i]; break;
	case AUX_ANGLE_INDEX: vector[par_index] = aux_angle; break;		case AUX_ANGLE_INDEX: vector[par_index] = aux_angle * par_scales[i]; break;
	case AUX_BASELINE_INDEX: vector[par_index] = baseline; break;		case AUX_BASELINE_INDEX: vector[par_index] = baseline * par_scales[i]; break;
	}		}
			full_par_index[par_index] = i;
	par_index++;		par_index++;
	}		}
			//full_par_index
	}		}
	public void commitVector(double [] v) {		public void commitVector(double [] v) {
	vector = v;		vector = v;
	int par_index = 0;		int par_index = 0;
	for (int i = 0; i < par_select.length; i++) if (par_select[i]) {		for (int i = 0; i < par_select.length; i++) if (par_select[i]) {
	switch(i) {		switch(i) {
	case AUX_AZIMUTH_INDEX: aux_azimuth = vector[par_index]; break;		case AUX_AZIMUTH_INDEX: aux_azimuth = vector[par_index]/par_scales[i]; break;
	case AUX_TILT_INDEX: aux_tilt = vector[par_index]; break;		case AUX_TILT_INDEX: aux_tilt = vector[par_index]/par_scales[i]; break;
	case AUX_ROLL_INDEX: aux_roll = vector[par_index]; break;		case AUX_ROLL_INDEX: aux_roll = vector[par_index]/par_scales[i]; break;
	case AUX_ZOOM_INDEX: aux_zoom = vector[par_index]; break;		case AUX_ZOOM_INDEX: aux_zoom = vector[par_index]/par_scales[i]; break;
	case AUX_ANGLE_INDEX: aux_angle = vector[par_index]; break;		case AUX_ANGLE_INDEX: aux_angle = vector[par_index]/par_scales[i]; break;
	case AUX_BASELINE_INDEX: baseline = vector[par_index]; break;		case AUX_BASELINE_INDEX: baseline = vector[par_index]/par_scales[i]; break;
	}		}
	par_index++;		par_index++;
	}		}
			recalcRXY();
	}		}
	public double setupYW(		public double setupYW(
			double infinity_importance, // of all measurements
	ArrayList<Integer> tile_list,		ArrayList<Integer> tile_list,
	QuadCLT qc,		QuadCLT qc,
	double [] strength,		double [] strength,
	@@ -347,8 +372,9 @@ public class GeometryCorrection {
	xy_vector = new double[2*tile_list.size()];		xy_vector = new double[2*tile_list.size()];
	d_vector = new double[tile_list.size()];		d_vector = new double[tile_list.size()];
	tile_vector= new int[tile_list.size()];		tile_vector= new int[tile_list.size()];
	double sum_w = 0.0;		boolean [] is_inf = new boolean[tile_list.size()];
	double sum2 = 0.0;		double sumw_inf = 0.0,sumw_near=0.0;
			double sum2_inf = 0.0,sum2_near = 0.0;
	int tilesX = qc.tp.getTilesX();		int tilesX = qc.tp.getTilesX();
	double tileSize = qc.tp.getTileSize();		double tileSize = qc.tp.getTileSize();

	@@ -360,22 +386,44 @@ public class GeometryCorrection {
	if (target_disparity[nTile] == 0.0) { // only for infinity tiles		if (target_disparity[nTile] == 0.0) { // only for infinity tiles
	y_vector[2*i + 0] = diff_x[nTile];		y_vector[2*i + 0] = diff_x[nTile];
	w_vector[2*i + 0] = strength[nTile];		w_vector[2*i + 0] = strength[nTile];
	sum_w += strength[nTile];
	sum2 += strength[nTile]diff_x[nTile]diff_x[nTile];
	}
	y_vector[2*i + 1] = diff_y[nTile];		y_vector[2*i + 1] = diff_y[nTile];
	w_vector[2*i + 1] = strength[nTile];		w_vector[2*i + 1] = strength[nTile];
	sum_w += strength[nTile];		sumw_inf += 2*strength[nTile];
	sum2 += strength[nTile]diff_y[nTile]diff_y[nTile];		sum2_inf += strength[nTile](diff_x[nTile]diff_x[nTile]+diff_y[nTile]*diff_y[nTile]);
			is_inf[i] = true;
			} else {
			y_vector[2*i + 1] = diff_y[nTile];
			w_vector[2*i + 1] = strength[nTile];
			sumw_near += strength[nTile];
			sum2_near += strength[nTile]diff_y[nTile]diff_y[nTile];
			}
	xy_vector[2i + 0] = (tileX + 0.5) tileSize;		xy_vector[2i + 0] = (tileX + 0.5) tileSize;
	xy_vector[2i + 1] = (tileY + 0.5) tileSize;		xy_vector[2i + 1] = (tileY + 0.5) tileSize;
	d_vector[i] = target_disparity[nTile];		d_vector[i] = target_disparity[nTile];
	tile_vector[i] = nTile;		tile_vector[i] = nTile;
	}		}
	if (sum_w > 0) {		if (infinity_importance > 1.0) infinity_importance = 1.0;
	double k = 1.0/sum_w;		else if (infinity_importance < 0.0) infinity_importance =0.0;
	sum2 *= k;		double k_inf = 0.0, k_near = 0.0;
	for (int i = 0; i < w_vector.length; i++) w_vector[i] *= k;		if ((sumw_inf > 0.0) && (sumw_near > 0.0)){
			k_inf = infinity_importance/sumw_inf;
			k_near = (1.0 - infinity_importance)/sumw_near;
			} else if (sumw_inf > 0.0){
			infinity_importance = 1.0;
			k_inf = infinity_importance/sumw_inf;
			} else if (sumw_near > 0.0) {
			infinity_importance = 0.0;
			k_near = (1.0 - infinity_importance)/sumw_near;
			}
			double sum2 = k_infsum2_inf+k_nearsum2_near;

			for (int i = 0; i < is_inf.length; i++) {
			if (is_inf[i]) {
			w_vector[2 * i + 0] *= k_inf;
			w_vector[2 * i + 1] *= k_inf;
			} else {
			w_vector[2 * i + 1] *= k_near;
			}
	}		}
	return Math.sqrt(sum2); // RMS		return Math.sqrt(sum2); // RMS
	}		}
	@@ -402,11 +450,10 @@ public class GeometryCorrection {
	d_vector[i >> 1]); // double disparity);		d_vector[i >> 1]); // double disparity);
	int npar = 0;		int npar = 0;
	for (int j = 0; j < VECTOR_LENGTH; j++) if (par_select[j]) {		for (int j = 0; j < VECTOR_LENGTH; j++) if (par_select[j]) {
	jt[npar][i + 0] = pXYderiv[0][j];		jt[npar][i + 0] = pXYderiv[0][j]/par_scales[full_par_index[npar]];
	jt[npar][i + 1] = pXYderiv[1][j];		jt[npar][i + 1] = pXYderiv[1][j]/par_scales[full_par_index[npar]];
	npar++;		npar++;
	}		}

	}		}
	return jt;		return jt;
	}		}
	@@ -424,10 +471,10 @@ public class GeometryCorrection {
	double [][][] aux_offset_derivs_m = new double[RigOffset.VECTOR_LENGTH][][];		double [][][] aux_offset_derivs_m = new double[RigOffset.VECTOR_LENGTH][][];
	for (int npar = 0; npar < RigOffset.VECTOR_LENGTH; npar++ ) {		for (int npar = 0; npar < RigOffset.VECTOR_LENGTH; npar++ ) {
	RigOffset ro = rigOffsetClone();		RigOffset ro = rigOffsetClone();
	rigOffestSetPar(ro, npar, rigOffestGetPar(ro, npar) +delta);		rigOffestSetParNorm(ro, npar, rigOffestGetParNorm(ro, npar) +delta);
	aux_offset_derivs_p[npar] = ro.getAuxOffsetAndDerivatives(gc_main);		aux_offset_derivs_p[npar] = ro.getAuxOffsetAndDerivatives(gc_main);
	aux_rot_p[npar]= ro.getRotMatrix();		aux_rot_p[npar]= ro.getRotMatrix();
	rigOffestSetPar(ro, npar, rigOffestGetPar(ro, npar) - 2 * delta);		rigOffestSetParNorm(ro, npar, rigOffestGetParNorm(ro, npar) - 2 * delta);
	aux_offset_derivs_m[npar] = ro.getAuxOffsetAndDerivatives(gc_main);		aux_offset_derivs_m[npar] = ro.getAuxOffsetAndDerivatives(gc_main);
	aux_rot_m[npar]= ro.getRotMatrix();		aux_rot_m[npar]= ro.getRotMatrix();
	}		}
	@@ -446,9 +493,9 @@ public class GeometryCorrection {
	d_vector[i >> 1]); // double disparity);		d_vector[i >> 1]); // double disparity);
	double [] xy_m = getRigAuxCoordinatesAndDerivatives(		double [] xy_m = getRigAuxCoordinatesAndDerivatives(
	gc_main, // GeometryCorrection gc_main,		gc_main, // GeometryCorrection gc_main,
	aux_rot_p[npar], // Matrix aux_rot,		aux_rot_m[npar], // Matrix aux_rot,
	null, // Matrix [] aux_rot_derivs,		null, // Matrix [] aux_rot_derivs,
	aux_offset_derivs_p[npar], // double [][] aux_offset_derivs,		aux_offset_derivs_m[npar], // double [][] aux_offset_derivs,
	null, // double [][] pXYderiv, // if not null, should be double[6][]		null, // double [][] pXYderiv, // if not null, should be double[6][]
	xy_vector[i + 0], // double px,		xy_vector[i + 0], // double px,
	xy_vector[i + 1], // double py,		xy_vector[i + 1], // double py,
	@@ -498,6 +545,7 @@ public class GeometryCorrection {
	}		}

	public double [] getRigCorrection(		public double [] getRigCorrection(
			double infinity_importance, // of all measurements
	boolean adjust_orientation,		boolean adjust_orientation,
	boolean adjust_zoom,		boolean adjust_zoom,
	boolean adjust_angle,		boolean adjust_angle,
	@@ -518,7 +566,9 @@ public class GeometryCorrection {
	adjust_distance,		adjust_distance,
	adjust_forward); // not used		adjust_forward); // not used

	double rms = setupYW(tile_list,		double rms = setupYW(
			infinity_importance, // of all measurements
			tile_list,
	qc_main,		qc_main,
	strength,		strength,
	diff_x, // used only with target_disparity == 0		diff_x, // used only with target_disparity == 0
	@@ -530,7 +580,7 @@ public class GeometryCorrection {
	double [][] jt = getJacobianTransposed( // npe		double [][] jt = getJacobianTransposed( // npe
	qc_main.geometryCorrection, // GeometryCorrection gc_main,		qc_main.geometryCorrection, // GeometryCorrection gc_main,
	debugLevel); // int debugLevel)		debugLevel); // int debugLevel)
	if (debugLevel > -2) {		if (debugLevel > 2) {
	double [][] jt_delta = getJacobianTransposed(		double [][] jt_delta = getJacobianTransposed(
	1.0E-6,		1.0E-6,
	qc_main.geometryCorrection, // GeometryCorrection gc_main,		qc_main.geometryCorrection, // GeometryCorrection gc_main,
	@@ -645,6 +695,10 @@ public class GeometryCorrection {
	{ xc_pix, yc_pix},		{ xc_pix, yc_pix},
	{dxc_dangle, dyc_dangle},		{dxc_dangle, dyc_dangle},
	{dxc_baseline, dyc_baseline}};		{dxc_baseline, dyc_baseline}};
			/* double [][] rslt = {
			{ -xc_pix, -yc_pix},
			{-dxc_dangle, -dyc_dangle},
			{-dxc_baseline, -dyc_baseline}}; */
	return rslt;		return rslt;
	}		}

	@@ -806,23 +860,23 @@ public class GeometryCorrection {
	"Directly to the right - 0°, directly up - 90°, ...");		"Directly to the right - 0°, directly up - 90°, ...");
	gd.addNumericField("Auxilliary camera forward from the plane of the main one (not used)", this.aux_z, 3,6,"mm",		gd.addNumericField("Auxilliary camera forward from the plane of the main one (not used)", this.aux_z, 3,6,"mm",
	"Distance from the plane perpendicualr to the main camera axis to the auxiliary camera (positive for aux moved forward)");		"Distance from the plane perpendicualr to the main camera axis to the auxiliary camera (positive for aux moved forward)");
	gd.addNumericField("Auxilliary camera azimuth (positive - to the right)", 1000.0focalLength/pixelSize this.aux_azimuth, 3,6,"pix",		gd.addNumericField("Auxilliary camera azimuth (positive - to the right)", par_scales[AUX_AZIMUTH_INDEX] * this.aux_azimuth, 3,6,"pix",
	"Relative to the main camera axis, shift of the center of the image in pixels");		"Relative to the main camera axis, shift of the center of the image in pixels");
	gd.addNumericField("Auxilliary camera tilt (positive - looking up)", 1000.0focalLength/pixelSize this.aux_tilt, 3,6,"pix",		gd.addNumericField("Auxilliary camera tilt (positive - looking up)", par_scales[AUX_TILT_INDEX] * this.aux_tilt, 3,6,"pix",
	"Relative to the main camera, shift of the center of the image in pixels");		"Relative to the main camera, shift of the center of the image in pixels");
	gd.addNumericField("Auxilliary camera roll (positive - clockwise)", 1000.0distortionRadius/pixelSize this.aux_roll, 3,6,"pix",		gd.addNumericField("Auxilliary camera roll (positive - clockwise)", par_scales[AUX_ROLL_INDEX] * this.aux_roll, 3,6,"pix",
	"Roll of a camera as a whole relative to the main camera, shift at the image half-width from the center");		"Roll of a camera as a whole relative to the main camera, shift at the image half-width from the center");
	gd.addNumericField("Relative zoom - difference from 1.0 in parts parts per 1/1000", 1000.0distortionRadius/pixelSize this.aux_zoom, 3,6,"pix",		gd.addNumericField("Relative zoom - difference from 1.0 in parts parts per 1/1000", par_scales[AUX_ZOOM_INDEX] * this.aux_zoom, 3,6,"pix",
	"Zoom ratio, shift at the image half-width from the center");		"Zoom ratio, shift at the image half-width from the center");
	gd.showDialog();		gd.showDialog();
	if (gd.wasCanceled()) return false;		if (gd.wasCanceled()) return false;
	this.baseline= gd.getNextNumber();		this.baseline= gd.getNextNumber();
	this.aux_angle= gd.getNextNumber() * Math.PI/180;		this.aux_angle= gd.getNextNumber() * Math.PI/180;
	this.aux_z= gd.getNextNumber();		this.aux_z= gd.getNextNumber();
	this.aux_azimuth= gd.getNextNumber()/(1000.0*focalLength/pixelSize) ;		this.aux_azimuth= gd.getNextNumber()/par_scales[AUX_AZIMUTH_INDEX] ;
	this.aux_tilt= gd.getNextNumber()/(1000.0*focalLength/pixelSize);		this.aux_tilt= gd.getNextNumber()/par_scales[AUX_TILT_INDEX];
	this.aux_roll= gd.getNextNumber()/(1000.0*distortionRadius/pixelSize);		this.aux_roll= gd.getNextNumber()/par_scales[AUX_ROLL_INDEX];
	this.aux_zoom= gd.getNextNumber()/(1000.0*distortionRadius/pixelSize);		this.aux_zoom= gd.getNextNumber()/par_scales[AUX_ZOOM_INDEX];
	recalcRXY();		recalcRXY();
	return true;		return true;
	}		}

src/main/java/TwoQuadCLT.java

+46 −26

File changed.

Preview size limit exceeded, changes collapsed.

Original line number	Original line	Diff line number	Diff line
	@@ -36,7 +36,9 @@ public class BiQuadParameters {
	public double inf_min_strength_rig = 0.25;		public double inf_min_strength_rig = 0.25;
	public double inf_max_disp_main = 0.15;		public double inf_max_disp_main = 0.15;
	public double inf_max_disp_aux = 0.15;		public double inf_max_disp_aux = 0.15;
	public double inf_max_disp_rig = 0.5; // maybe even higher (2.0) to lock to initially high mismatch		public double inf_max_disp_rig = 0.2; // maybe even higher (2.0) to lock to initially high mismatch
			public double inf_neg_tolerance = 2.5; // increase negative disparity for infinity tolerance
			public double inf_weight = 0.7; // weight of infinity measurements of all measurements

	public double first_max_disp_main = 0.5; // before refinement		public double first_max_disp_main = 0.5; // before refinement
	public double first_max_disp_aux = 0.5;		public double first_max_disp_aux = 0.5;
	@@ -86,6 +88,10 @@ public class BiQuadParameters {
	"Do not use tile for infinity adjustment if absolute value of the main camera disparity is too high");		"Do not use tile for infinity adjustment if absolute value of the main camera disparity is too high");
	gd.addNumericField("Maximal absolute value of inter-camera disparity to use for infinity rig adjustment", this.inf_max_disp_rig, 3,6,"pix",		gd.addNumericField("Maximal absolute value of inter-camera disparity to use for infinity rig adjustment", this.inf_max_disp_rig, 3,6,"pix",
	"Do not use tile for infinity adjustment if absolute value of the inter-camera disparity is too high");		"Do not use tile for infinity adjustment if absolute value of the inter-camera disparity is too high");
			gd.addNumericField("Loosen negative disparity tolerance for infinity", this.inf_neg_tolerance, 3,6,"",
			"Allow farther negative than positive disparity tiles for infinity (only for main/rig pair)");
			gd.addNumericField("Weight of infinity measurements in all measurements", this.inf_weight, 3,6,"",
			"Set importance of infinity matching among all measurements");


	gd.addNumericField("Maximal absolute value of main camera disparity difference near objects, before refinement", this.first_max_disp_main, 3,6,"pix",		gd.addNumericField("Maximal absolute value of main camera disparity difference near objects, before refinement", this.first_max_disp_main, 3,6,"pix",
	@@ -143,7 +149,8 @@ public class BiQuadParameters {
	this.inf_max_disp_main= gd.getNextNumber();		this.inf_max_disp_main= gd.getNextNumber();
	this.inf_max_disp_aux= gd.getNextNumber();		this.inf_max_disp_aux= gd.getNextNumber();
	this.inf_max_disp_rig= gd.getNextNumber();		this.inf_max_disp_rig= gd.getNextNumber();
			this.inf_neg_tolerance= gd.getNextNumber();
			this.inf_weight= gd.getNextNumber();
	this.first_max_disp_main= gd.getNextNumber();		this.first_max_disp_main= gd.getNextNumber();
	this.first_max_disp_aux= gd.getNextNumber();		this.first_max_disp_aux= gd.getNextNumber();
	this.first_max_disp_rig= gd.getNextNumber();		this.first_max_disp_rig= gd.getNextNumber();
	@@ -181,6 +188,9 @@ public class BiQuadParameters {
	properties.setProperty(prefix+"inf_max_disp_main", this.inf_max_disp_main+"");		properties.setProperty(prefix+"inf_max_disp_main", this.inf_max_disp_main+"");
	properties.setProperty(prefix+"inf_max_disp_aux", this.inf_max_disp_aux+"");		properties.setProperty(prefix+"inf_max_disp_aux", this.inf_max_disp_aux+"");
	properties.setProperty(prefix+"inf_max_disp_rig", this.inf_max_disp_rig+"");		properties.setProperty(prefix+"inf_max_disp_rig", this.inf_max_disp_rig+"");
			properties.setProperty(prefix+"inf_neg_tolerance", this.inf_neg_tolerance+"");
			properties.setProperty(prefix+"inf_weight", this.inf_weight+"");


	properties.setProperty(prefix+"first_max_disp_main", this.first_max_disp_main+"");		properties.setProperty(prefix+"first_max_disp_main", this.first_max_disp_main+"");
	properties.setProperty(prefix+"first_max_disp_aux", this.first_max_disp_aux+"");		properties.setProperty(prefix+"first_max_disp_aux", this.first_max_disp_aux+"");

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