more on extrinsics adjustment

7607de8a · Andrey Filippov · f6e85676 · 7607de8a · 7607de8a · 7607de8a
Commit 7607de8a authored Aug 02, 2017 by Andrey Filippov
3 changed files
--- a/src/main/java/AlignmentCorrection.java
+++ b/src/main/java/AlignmentCorrection.java
@@ -45,17 +45,7 @@ public class AlignmentCorrection {

 		}
 	}
-	/*
-	static double [][]dMismatch_dXY = {
-			{ 0.0 ,  1.0 , 0.0 ,  0.0 , 0.0 ,  0.0 ,  0.0 , 0.0  }, // mv0 = dy0 
-			{ 0.0 ,  0.0 , 0.0 ,  1.0 , 0.0 ,  0.0 ,  0.0 , 0.0  }, // mv1 = dy1
-			{ 0.0 ,  0.0 , 0.0 ,  0.0 , 1.0 ,  0.0 ,  0.0 , 0.0  }, // mv2 = dx2
-			{ 0.0 ,  0.0 , 0.0 ,  0.0 , 0.0 ,  0.0 ,  1.0 , 0.0  }, // mv3 = dx3
-			{-0.5 ,  0.0 , 0.5 ,  0.0 , 0.0 ,  0.0 ,  0.0 , 0.0  }, // mv4 = (dx1 - dx0)/2;
-			{ 0.0 ,  0.0 , 0.0 ,  0.0 , 0.0 , -0.5 ,  0.0 , 0.5  }, // mv5 = (dy3 - dy2)/2;
-			{ 0.25,  0.0 , 0.25,  0.0 , 0.0 , -0.25,  0.0 ,-0.25 }, // mv6 = (dx0 + dx1 -dy2 - dy3)/4;
-			{ 0.125, 0.0 , 0.125, 0.0 , 0.0 ,  0.125, 0.0 , 0.125}};  // mv6 = (dx0 + dx1 +dy2 + dy3)/8;
-	*/
+
 	public class Mismatch{
 		public boolean   use_disparity; // adjust dx0+dx1+dy0+dy1 == 0
 		public double [] pXY; // tile center x,y
@@ -122,6 +112,21 @@ public class AlignmentCorrection {
 		 * @return 8 components
 		 */
 		public double [] getY()
+		{
+			double [] y = {
+					offsets[0][1], //dy0;
+					offsets[1][1], //dy1;
+					offsets[2][0], //dx2;
+					offsets[3][0], //dx3;
+					0.5*(offsets[1][0] - offsets[0][0]), //(dx1 - dx0)/2; 0.5/magic is already applied
+					0.5*(offsets[3][1] - offsets[2][1]), //(dy3 - dy2)/2;
+					0.25* (offsets[0][0] + offsets[1][0] - offsets[2][1] - offsets[3][1]), //(dx0 + dx1 -dy2 - dy3)/4;
+					use_disparity ? (0.125* (offsets[0][0] + offsets[1][0] + offsets[2][1] + offsets[3][1])) : 0.0 // only when disparity is known to be 0
+			};
+			return y;
+		}
+/*
+		public double [] getY()
 		{
 			double [] y = {
 					offsets[0][1], //dy0;
@@ -136,6 +141,7 @@ public class AlignmentCorrection {
 			return y;
 		}
 		
+ */
 		public void copyToY(
 				double [] y,
 				int n_sample)
@@ -1705,7 +1711,7 @@ B = |+dy0   -dy1      -2*dy3 |
 			}
 		}

-		if (debugLevel > 100) {
+		if (debugLevel > 0) { //  100) {
 			(new showDoubleFloatArrays()).showArrays(combo_comp_rms, tilesX, tilesY, "combo_comp_rms");
 		}

@@ -1730,16 +1736,16 @@ B = |+dy0   -dy1      -2*dy3 |
 			String [] prefixes = {"disparity", "strength", "dx0", "dy0", "dx1", "dy1", "dx2", "dy2", "dx3", "dy3"};
 			(new showDoubleFloatArrays()).showArrays(combo_mismatch, tilesX, combo_mismatch[0].length/tilesX, true, "combo_mismatch" , prefixes);
 		}
-
-		combo_mismatch =  filterLazyEyePairs (
-				combo_mismatch, // final double[][] samples_in,
-				8,              // final int        smpl_side, // 8 x8 masked, 16x16 sampled
-				0.25,           // final double     rms_max, TODO: find reasonable one mot critical?
-				0.5,            // final double     frac_keep,
-				5,              // final int        min_samples,
-				true,           // final boolean    norm_center, // if there are more tiles that fit than minsamples, replace with a single equal weight
-				tilesX);        // final int        tilesX);
-
+		if (clt_parameters.lyf_filter) {
+			combo_mismatch =  filterLazyEyePairs (
+					combo_mismatch, // final double[][] samples_in,
+					clt_parameters.lyf_smpl_side ,   // 8,              // final int        smpl_side, // 8 x8 masked, 16x16 sampled
+					clt_parameters.lyf_rms_max ,     // 0.25,           // final double     rms_max, TODO: find reasonable one not critical?
+					clt_parameters.lyf_frac_keep ,   // 0.5,            // final double     frac_keep,
+					clt_parameters.lyf_min_samples , // 5,              // final int        min_samples,
+					clt_parameters.lyf_norm_center , // true,           // final boolean    norm_center, // if there are more tiles that fit than minsamples, replace with a single equal weight
+					tilesX);        // final int        tilesX);
+		}
 		if (debugLevel > 0) {
 			String [] prefixes = {"disparity", "strength", "dx0", "dy0", "dx1", "dy1", "dx2", "dy2", "dx3", "dy3"};
 			(new showDoubleFloatArrays()).showArrays(combo_mismatch, tilesX, combo_mismatch[0].length/tilesX, true, "filtered_mismatch" , prefixes);

--- a/src/main/java/EyesisCorrectionParameters.java
+++ b/src/main/java/EyesisCorrectionParameters.java
@@ -2043,7 +2043,7 @@ public class EyesisCorrectionParameters {
  		public boolean    ih_norm_center =  true;    // Replace samples with a single average with equal weight

  		// Lazy eye parameters
-  		public int        ly_smpl_side =    3;       // Sample size (side of a square)
+  		public int        ly_smpl_side =    3;       // Sample size (side of a square) disp/strength filter
  		public int        ly_smpl_num =     5;       // Number after removing worst (should be >1)
 		public double     ly_meas_disp =    1.5;     // Maximal measured relative disparity
 		public double     ly_smpl_rms =     0.2;     // 1;     // Maximal RMS of the remaining tiles in a sample
@@ -2052,9 +2052,14 @@ public class EyesisCorrectionParameters {
  		public boolean    ly_on_scan =      true;    // Calculate and apply lazy eye correction after disparity scan (poly or extrinsic) 
  		public boolean    ly_inf_en =       true;    // Simultaneously correct disparity at infinity (both poly and extrinsic) 
  		public boolean    ly_inf_force=     false;   // Force convergence correction during extrinsic, even with no infinity data 
-  		public boolean    ly_poly =         false;   // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor 
-  		
+  		public boolean    ly_poly =         false;   // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor
  		
+  		public boolean    lyf_filter =      true;    // Filter lazy eye pairs by their values
+  		public int        lyf_smpl_side =   8;       // 8 x8 masked, 16x16 sampled
+  		public double     lyf_rms_max =     0.25;    // Maximal RMS (all components to components average) 
+  		public double     lyf_frac_keep =   0.5;     // Keep best fit samples, discard worst
+  		public int        lyf_min_samples = 5;       // Minimal number of tiles remaining in the sample
+  		public boolean    lyf_norm_center = true;    // Replace samples with a single average with equal weight

  		// old fcorr parameters, reuse?
 // 		public int        fcorr_sample_size = 32;    // Use square this size side to detect outliers
@@ -2684,6 +2689,13 @@ public class EyesisCorrectionParameters {
 			properties.setProperty(prefix+"ly_inf_force",     this.ly_inf_force+"");
 			properties.setProperty(prefix+"ly_poly",          this.ly_poly+"");

+			properties.setProperty(prefix+"lyf_filter",       this.lyf_filter+"");
+			properties.setProperty(prefix+"lyf_smpl_side",    this.lyf_smpl_side+"");
+			properties.setProperty(prefix+"lyf_rms_max",      this.lyf_rms_max +"");
+			properties.setProperty(prefix+"lyf_frac_keep",    this.lyf_frac_keep +"");
+			properties.setProperty(prefix+"lyf_min_samples",  this.lyf_min_samples+"");
+			properties.setProperty(prefix+"lyf_norm_center",  this.lyf_norm_center+"");
+
 			properties.setProperty(prefix+"corr_magic_scale", this.corr_magic_scale +"");
  			
 			properties.setProperty(prefix+"show_textures",    this.show_textures+"");
@@ -3262,12 +3274,19 @@ public class EyesisCorrectionParameters {
  			if (properties.getProperty(prefix+"ly_on_scan")!=null)        this.ly_on_scan=Boolean.parseBoolean(properties.getProperty(prefix+"ly_on_scan"));
  			if (properties.getProperty(prefix+"ly_inf_en")!=null)         this.ly_inf_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_en"));
  			if (properties.getProperty(prefix+"ly_inf_force")!=null)      this.ly_inf_force=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_force"));
-  			if (properties.getProperty(prefix+"ly_poly")!=null)           this.ly_poly=Boolean.parseBoolean(properties.getProperty(prefix+" "));
+  			if (properties.getProperty(prefix+"ly_poly")!=null)           this.ly_poly=Boolean.parseBoolean(properties.getProperty(prefix+"ly_poly"));
 			
+  			if (properties.getProperty(prefix+"lyf_filter")!=null)        this.lyf_filter=Boolean.parseBoolean(properties.getProperty(prefix+"lyf_filter"));
+			if (properties.getProperty(prefix+"lyf_smpl_side")!=null)     this.lyf_smpl_side=Integer.parseInt(properties.getProperty(prefix+"lyf_smpl_side"));
+			if (properties.getProperty(prefix+"lyf_rms_max")!=null)       this.lyf_rms_max=Double.parseDouble(properties.getProperty(prefix+"lyf_rms_max"));
+			if (properties.getProperty(prefix+"lyf_frac_keep")!=null)     this.lyf_frac_keep=Double.parseDouble(properties.getProperty(prefix+"lyf_frac_keep"));
+			if (properties.getProperty(prefix+"lyf_min_samples")!=null)   this.lyf_min_samples=Integer.parseInt(properties.getProperty(prefix+"lyf_min_samples"));
+  			if (properties.getProperty(prefix+"lyf_norm_center")!=null)   this.lyf_norm_center=Boolean.parseBoolean(properties.getProperty(prefix+"lyf_norm_center"));
+
  			if (properties.getProperty(prefix+"corr_magic_scale")!=null)  this.corr_magic_scale=Double.parseDouble(properties.getProperty(prefix+"corr_magic_scale"));

-  			if (properties.getProperty(prefix+"show_textures")!=null)      this.show_textures=Boolean.parseBoolean(properties.getProperty(prefix+"show_textures"));
-  			if (properties.getProperty(prefix+"debug_filters")!=null)      this.debug_filters=Boolean.parseBoolean(properties.getProperty(prefix+"debug_filters"));
+  			if (properties.getProperty(prefix+"show_textures")!=null)     this.show_textures=Boolean.parseBoolean(properties.getProperty(prefix+"show_textures"));
+  			if (properties.getProperty(prefix+"debug_filters")!=null)     this.debug_filters=Boolean.parseBoolean(properties.getProperty(prefix+"debug_filters"));

  			if (properties.getProperty(prefix+"min_smth")!=null)          this.min_smth=Double.parseDouble(properties.getProperty(prefix+"min_smth"));
  			if (properties.getProperty(prefix+"sure_smth")!=null)         this.sure_smth=Double.parseDouble(properties.getProperty(prefix+"sure_smth"));
@@ -3858,6 +3877,14 @@ public class EyesisCorrectionParameters {
  			gd.addCheckbox    ("Use infinity disparity (disable if there is not enough of infinity data), both poly and extrinsic", this.ly_inf_en);
  			gd.addCheckbox    ("Force convergence correction during extrinsic, even with no infinity data", this.ly_inf_force);
  			gd.addCheckbox    ("*Use polynomial correction, false - correct tilt/azimuth/roll of each sensor)", this.ly_poly);
+
+  			gd.addMessage     ("--- Lazy eye samples filter ---");
+  			gd.addCheckbox    ("Filter lazy eye pairs by their values",                                   this.lyf_filter);
+			gd.addNumericField("Fileter sample side (if 8, 8 x8 masked, 16x16 sampled)",                  this.lyf_smpl_side,  0);
+			gd.addNumericField("Maximal RMS (all components to components average)",                      this.lyf_rms_max,  3);
+			gd.addNumericField("Keep best fit samples, discard worst",                                    this.lyf_frac_keep,  3);
+			gd.addNumericField("Minimal number of tiles remaining in the sample",                         this.lyf_min_samples,  0);
+  			gd.addCheckbox    ("Replace samples with a single average with equal weight",                 this.lyf_norm_center);
  			gd.addMessage     ("---");
 //  			gd.addNumericField("Use square this size side to detect outliers",                            this.fcorr_sample_size,  0);
 //  			gd.addNumericField("Keep tiles only if there are more in each square",                        this.fcorr_mintiles,     0);
@@ -4476,6 +4503,12 @@ public class EyesisCorrectionParameters {
  			this.ly_inf_force=          gd.getNextBoolean();
  			this.ly_poly=               gd.getNextBoolean();
  			
+  			this.lyf_filter=            gd.getNextBoolean();
+			this.lyf_smpl_side=   (int) gd.getNextNumber();
+			this.lyf_rms_max=           gd.getNextNumber();
+			this.lyf_frac_keep=         gd.getNextNumber();
+			this.lyf_min_samples= (int) gd.getNextNumber();
+  			this.lyf_norm_center=       gd.getNextBoolean();
 //  			this.fcorr_sample_size= (int)gd.getNextNumber();
 //  			this.fcorr_mintiles= (int)  gd.getNextNumber();
 //  			this.fcorr_reloutliers=     gd.getNextNumber();

--- a/src/main/java/GeometryCorrection.java
+++ b/src/main/java/GeometryCorrection.java
@@ -241,25 +241,6 @@ public class GeometryCorrection {
 		 */
 		public double [][] dSym_j_dTar_i()
 		{
-/*			double [][] sym_to_tar = {
-					{-1.0, -1.0,  1.0, -1.0, -1.0,  1.0, 0.0, 0.0, 0.0, 0.0}, // t0
-					{-1.0,  1.0, -1.0, -1.0,  1.0, -1.0, 0.0, 0.0, 0.0, 0.0}, // t1
-					{ 1.0, -1.0,  1.0,  1.0,  1.0, -1.0, 0.0, 0.0, 0.0, 0.0}, // t2
-					{ 1.0,  1.0,  1.0, -1.0, -1.0, -1.0, 0.0, 0.0, 0.0, 0.0}, // a0
-					{-1.0,  1.0,  1.0,  1.0,  1.0,  1.0, 0.0, 0.0, 0.0, 0.0}, // a1
-					{ 1.0, -1.0, -1.0, -1.0,  1.0,  1.0, 0.0, 0.0, 0.0, 0.0}, // a2
-					{ 0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 1.0, 0.0, 0.0, 0.0}, // roll 0
-					{ 0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 0.0, 1.0, 0.0, 0.0}, // roll 1
-					{ 0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 0.0, 0.0, 1.0, 0.0}, // roll 2
-					{ 0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 0.0, 0.0, 0.0, 1.0}};// roll 3
-					
-					[[-2, -2,  2, -2,  0,  0],
-					 [-2,  0,  0, -2,  2, -2],
-					 [ 0, -2,  2,  0,  2, -2],
-					 [ 2,  2,  2, -2,  0,  0],
-					 [ 0,  2,  2,  0,  2,  2],
-					 [ 2,  0,  0, -2,  2,  2]]
-*/
 			//Previous does not consider movement of the 4-th sensor, so t3 = -t0+t1+t2), a3 = -(a0+a1+a2) 					
 			double [][] tar_to_sym = {
 					{-2.0, -2.0,  2.0, -2.0,  0.0,  0.0, 0.0, 0.0, 0.0, 0.0}, // t0