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imagej-elphel
Commit 726f3d95 authored by Andrey Filippov's avatar Andrey Filippov
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Finished debugging of teh reference camera bundle adjustment

parent acf7af6f
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Showing with 341 additions and 76 deletions
src/main/java/com/elphel/imagej/calibration/Aberration_Calibration.java
View file @ 726f3d95
......@@ -1019,6 +1019,7 @@ if (MORE_BUTTONS) {
addButton("LWIR grids", panelLWIR,color_process);
addButton("Import Subsystem", panelLWIR,color_configure);
addButton("Select LWIR grids", panelLWIR,color_configure);
addButton("Grid offset", panelLWIR,color_process);
addButton("Manual hint", panelLWIR,color_configure);
add(panelLWIR);
......@@ -5921,7 +5922,7 @@ if (MORE_BUTTONS) {
return;
}
GenericDialog gd=new GenericDialog ("Select list mode");
gd.addNumericField("Mode 0 - old, 1 - shift/Rots", 0, 0);
gd.addNumericField("Mode 0 - pointers, 1 - shift/Rots, 2 - points/extra, 3 - rms", 0, 0);
gd.showDialog();
if (gd.wasCanceled()) return;
int listMode= (int) gd.getNextNumber();
......@@ -9466,7 +9467,11 @@ if (MORE_BUTTONS) {
return;
}
if (label.equals("Grid offset")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
offsetGrids(0, 0, null);
return;
}
/* ======================================================================== */
IJ.showMessage("Not yet implemented");
......@@ -9475,6 +9480,136 @@ if (MORE_BUTTONS) {
}
/* ===== Other methods ==================================================== */
public boolean offsetGrids(int ichoice, int inum, int [] uv_shift_rot) {
if (LENS_DISTORTIONS == null) {
System.out.println("LENS_DISTORTIONS is null");
return false;
}
if (PATTERN_PARAMETERS == null) {
System.out.println("PATTERN_PARAMETERS is null");
return false;
}
DistortionCalibrationData dcd = LENS_DISTORTIONS.getDistortionCalibrationData();
if (dcd == null) {
dcd = DISTORTION_CALIBRATION_DATA;
}
if (dcd == null) {
System.out.println("dcd is null");
return false;
}
boolean auto = false;
if (uv_shift_rot == null) {
uv_shift_rot = new int[3];
auto = true;
}
if (ichoice == 0) {
auto = true;
}
boolean has_lwir = dcd.hasSmallSensors();
String [] choices_nolwir = {"-- please select --","Image number","Image set number"};
String [] choices_lwir = {"-- please select --","Image number","Image set number (all images)", "Image set (EO only)","Image set (LWIR only)"};
String [] choices = has_lwir ? choices_lwir : choices_nolwir;
GenericDialog gd = new GenericDialog("Manually offset single grid or multiple grids in a set");
gd. addChoice("Next number is: ",
choices,
choices[ichoice]);
gd.addNumericField("Image/set number", inum, 0);
gd.addCheckbox ("Auto calculate UV", auto);
if (has_lwir) {
gd.addCheckbox ("Auto from EO grid", true);
}
gd.addNumericField("Grid offset U", uv_shift_rot[0], 0);
gd.addNumericField("Grid offset V", uv_shift_rot[1], 0);
gd.addNumericField("Grid offset Rot", uv_shift_rot[2], 0);
gd.showDialog();
if (gd.wasCanceled()) return false;
ichoice = gd.getNextChoiceIndex();
inum = (int) gd.getNextNumber();
auto = gd.getNextBoolean();
boolean auto_from_EO=false;
if (has_lwir) {
auto_from_EO = gd.getNextBoolean();
}
uv_shift_rot[0] = (int) gd.getNextNumber();
uv_shift_rot[1] = (int) gd.getNextNumber();
uv_shift_rot[2] = (int) gd.getNextNumber();
if (ichoice == 0) {
return offsetGrids(ichoice, inum, uv_shift_rot);
}
int ichoicemod = ichoice;
if (auto && auto_from_EO) {
if (ichoicemod > 1) {
ichoicemod = 3; // adjust from high-res sensors
}
}
int [] img_nums = null;
switch (ichoicemod) {
case 1:
img_nums = new int [1];
img_nums[0] = inum;
break;
case 2:
img_nums = new int [dcd.getNumChannels()];
for (int i = 0; i < img_nums.length; i++) {
img_nums[i] = dcd.getImageNumber(inum, i);
}
break;
case 3:
img_nums = new int [dcd.getNumChannels()];
for (int i = 0; i < img_nums.length; i++) {
img_nums[i] = dcd.getImageNumber(inum, i);
if (dcd.isSmallSensor(img_nums[i])) {
img_nums[i] = -1;
}
}
break;
case 4:
img_nums = new int [dcd.getNumChannels()];
for (int i = 0; i < img_nums.length; i++) {
img_nums[i] = dcd.getImageNumber(inum, i);
if (!dcd.isSmallSensor(img_nums[i])) {
img_nums[i] = -1;
}
}
break;
}
if (auto) { // calculate suggested offset, re-run this method
// find first enabled image
for (int n:img_nums) {
if (n >= 0) {
int [] auto_uvr = dcd. suggestOffset (
n, // int num_img,
true, // boolean non_estimated,
true, // boolean even,
PATTERN_PARAMETERS); // PatternParameters patternParameters)
return offsetGrids(ichoice, inum, auto_uvr);
}
}
}
int [][] new_uv_shift_rots = new int [img_nums.length][];
for (int i = 0; i < img_nums.length; i++) if (img_nums[i] >=0) {
new_uv_shift_rots[i] = dcd.offsetGrid(
img_nums[i], // int img_num,
uv_shift_rot,
PATTERN_PARAMETERS); // PatternParameters patternParameters)
}
for (int i = 0; i < img_nums.length; i++) if (img_nums[i] >=0) {
System.out.print(i+":"+img_nums[i]+" ("+dcd.getImageSet(img_nums[i])+")");
if (new_uv_shift_rots[i] != null) {
System.out.println("U="+new_uv_shift_rots[i][0]+", V="+new_uv_shift_rots[i][1]+" (rot="+new_uv_shift_rots[i][2]+")");
} else {
System.out.println("<null>");
}
}
return true;
}
public boolean selectLwirGrids(LwirReaderParameters lwirReaderParameters) {
//DistortionProcessConfiguration
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
......@@ -9571,20 +9706,6 @@ if (MORE_BUTTONS) {
true, // boolean read_grids
MASTER_DEBUG_LEVEL);
/// if (MASTER_DEBUG_LEVEL <100) return true;
// patterns are not yet read here!
/*
PATTERN_PARAMETERS.debugLevel=MASTER_DEBUG_LEVEL;
EYESIS_CAMERA_PARAMETERS.updateNumstations (numStations);
//if (MASTER_DEBUG_LEVEL==0) return; //TODO: Remove - just debugging
DISTORTION_CALIBRATION_DATA=new DistortionCalibrationData(
gridFileDirs,
PATTERN_PARAMETERS,
EYESIS_CAMERA_PARAMETERS,
MASTER_DEBUG_LEVEL);
*/
LENS_DISTORTIONS.initImageSet(
DISTORTION_CALIBRATION_DATA,
EYESIS_CAMERA_PARAMETERS
......@@ -9597,51 +9718,6 @@ if (MORE_BUTTONS) {
}
/* ======================================================================== */
/*
if (label.equals("Select Grid Files")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
LENS_DISTORTIONS=new Distortions(LENS_DISTORTION_PARAMETERS,PATTERN_PARAMETERS,REFINE_PARAMETERS,this.SYNC_COMMAND.stopRequested);
String [] extensions={".tif",".tiff"};
CalibrationFileManagement.MultipleExtensionsFileFilter gridFilter =
new CalibrationFileManagement.MultipleExtensionsFileFilter("grid",extensions,"Calibrated grid files");
GenericDialog gd = new GenericDialog("Setup Goniometer/Camera Stations");
gd.addMessage("Setting up calibration that includes multiple camera tripod or goniometer positions.");
gd.addMessage("File selection dialog will open for each station separateley.");
gd.addNumericField("Number of goniometer/camera stations", 1,0);
gd.showDialog();
if (gd.wasCanceled()) return;
int numStations= (int) gd.getNextNumber();
String [][] gridFiles= new String [numStations][];
for (int numStation=0;numStation<numStations;numStation++){
gridFiles[numStation]=CalibrationFileManagement.selectFiles(false,
"Select Calibrated Grid Files for Station "+numStation+ "("+(numStation+1)+" of "+numStations+")",
"Select",
gridFilter,
null); // String [] defaultPaths);
if ((gridFiles[numStation]==null) || (gridFiles[numStation].length==0)) {
if (!IJ.showMessageWithCancel("No files selected","Retry? (Cancel will abort the command)")) return;
numStation--;
}
}
PATTERN_PARAMETERS.debugLevel=MASTER_DEBUG_LEVEL;
EYESIS_CAMERA_PARAMETERS.updateNumstations (numStations);
//if (MASTER_DEBUG_LEVEL==0) return; //TODO: Remove - just debugging
DISTORTION_CALIBRATION_DATA=new DistortionCalibrationData(
gridFiles,
PATTERN_PARAMETERS,
EYESIS_CAMERA_PARAMETERS,
MASTER_DEBUG_LEVEL);
LENS_DISTORTIONS.initImageSet(
DISTORTION_CALIBRATION_DATA,
EYESIS_CAMERA_PARAMETERS
);
// set initial orientation of the cameras from the sensors that see mpst of the matching pointers
// just for the LMA to start
DISTORTION_CALIBRATION_DATA.setInitialOrientation(true);
return;
}
*/
/* ======================================================================== */
// Add subcamera to the current system as a subsystem
public boolean importSystem(String path, String prefix) { // use null to ask
src/main/java/com/elphel/imagej/calibration/Distortions.java
View file @ 726f3d95
......@@ -237,6 +237,10 @@ public class Distortions {
}
*/
public DistortionCalibrationData getDistortionCalibrationData() {
return (fittingStrategy == null)?null:fittingStrategy.distortionCalibrationData;
}
public void resetGridImageMasks(){
int numImg=fittingStrategy.distortionCalibrationData.getNumImages();
System.out.println("resetGridImageMasks()");
......@@ -601,7 +605,7 @@ public class Distortions {
}
this.imageStartIndex[numImg]=index; // one after last
if ((pass==1) && (numSeries>=0) && !skipMinVal){
// count non-zero weight nodes for each image, disable image if this number uis less than
// count non-zero weight nodes for each image, disable image if this number is less than
int needReCalc=0;
for (int imgNum=0;imgNum<numImg;imgNum++) if (selectedImages[imgNum]) {
index=this.imageStartIndex[imgNum];
......@@ -784,6 +788,10 @@ public class Distortions {
int [] numSetPoints=new int [imageSets.length*(hasLWIR?2:1)];
double [] rmsPerSet=new double[imageSets.length*(hasLWIR?2:1)];
int [][] numImgPoints=new int [imageSets.length][this.fittingStrategy.distortionCalibrationData.getNumSubCameras()];
double [][] rmsPerImg=new double[imageSets.length][this.fittingStrategy.distortionCalibrationData.getNumSubCameras()];
boolean [] hasNaNInSet=new boolean[imageSets.length*(hasLWIR?2:1)];
if (hasLWIR) {
for (int setNum=0;setNum<imageSets.length;setNum++){
......@@ -795,6 +803,8 @@ public class Distortions {
int imgNum=imageSets[setNum][imgInSet];
int isLwir = this.fittingStrategy.distortionCalibrationData.isSmallSensor(imgNum)?1:0;
int num=numPairs[imgNum];
rmsPerImg[setNum][imgInSet] = errors[imgNum];
numImgPoints[setNum][imgInSet] = num;
if (Double.isNaN(errors[imgNum])){
hasNaNInSet[2 * setNum + isLwir]=true;
} else {
......@@ -816,6 +826,8 @@ public class Distortions {
for (int imgInSet=0;imgInSet<imageSets[setNum].length;imgInSet++) {
int imgNum=imageSets[setNum][imgInSet];
int num=numPairs[imgNum];
rmsPerImg[setNum][imgInSet] = errors[imgNum];
numImgPoints[setNum][imgInSet] = num;
if (Double.isNaN(errors[imgNum])){
hasNaNInSet[setNum]=true;
} else {
......@@ -831,7 +843,10 @@ public class Distortions {
mode,
numSetPoints,
rmsPerSet,
hasNaNInSet );
hasNaNInSet,
numImgPoints,
rmsPerImg
);
// this.fittingStrategy.setImageSelection(0, oldSelection); // restore original selection in series 0
}
......@@ -4310,7 +4325,7 @@ List calibration
if (this.debugLevel>0) System.out.println(" Removing imgages in image set "+numSet);
for (int i=0;i<imageSets[numSet].length;i++){
int numImg=imageSets[numSet][i];
if (this.debugLevel>0) System.out.println(n+":"+i+" "+IJ.d2s(errors[numImg],3)+" "+
if (this.debugLevel>0) System.out.println(n+":"+i+"("+numImg+")"+IJ.d2s(errors[numImg],3)+" "+
this.fittingStrategy.distortionCalibrationData.gIP[numImg].path);
this.fittingStrategy.distortionCalibrationData.gIP[numImg].enabled=false;
this.fittingStrategy.distortionCalibrationData.gIP[numImg].hintedMatch=-1; // so can be re-calibrated again w/o others
......
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