Commit 77f4edc9 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

previous changes, not committed before

parent c500f3ad

src/main/java/EyesisDCT.java

+0 −95
Original line number Diff line number Diff line
@@ -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

+14 −1
Original line number Diff line number Diff line
@@ -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

+14 −14
Original line number Diff line number Diff line
@@ -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/QuadCLT.java

+10 −2
Original line number Diff line number Diff line
@@ -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