Finished (not yet tested/debugged) CorrVector update for number of

cameras > 4

src/main/java/com/elphel/imagej/tileprocessor/CorrVector.java

@@ -22,22 +22,14 @@ package com.elphel.imagej.tileprocessor;
  ** -----------------------------------------------------------------------------**
  */
 
+import java.util.ArrayList;
+
 import com.elphel.imagej.common.GenericJTabbedDialog;
 //import com.elphel.imagej.tileprocessor.GeometryCorrection.CorrVector;
 
 import Jama.Matrix;
 
 public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
-	// get rid of these !
-	/*
-	private static final int LENGTH =19; //  10; // was public
-	private static final int LENGTH_ANGLES =10;
-	private static final int TILT_INDEX =    0;
-	private static final int AZIMUTH_INDEX = 3;
-	private static final int ROLL_INDEX =    6;
-	private static final int ZOOM_INDEX =   10;
-	private static final int IMU_INDEX =    13; // d_tilt/dt (rad/s), d_az/dt, d_roll/dt for ERS correction, dx/dt, dy/dt, dz/dt
-	*/
 	
 	private static final double ROT_AZ_SGN = -1.0; // sign of first sin for azimuth rotation
 	private static final double ROT_TL_SGN =  1.0; // sign of first sin for tilt rotation
@@ -513,15 +505,6 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 		}
 	}
 
-	/*
-	public double setZoomsFromF(double f0, double f1, double f2, double f3) { // USED in lwir
-		double f_avg = (f0+f1+f2+f3)/4;
-		vector[10] = (f0 - f_avg)/f_avg;
-		vector[11] = (f1 - f_avg)/f_avg;
-		vector[12] = (f2 - f_avg)/f_avg;
-		return f_avg;
-	}
-	*/
 	public double setZoomsFromF(double [] f) { // USED in lwir
 		int indx = getZoomIndex();
 //		double f_avg = (f0+f1+f2+f3)/4;
@@ -537,15 +520,6 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 	}
 	
 	// Tilts in radians, theta in degrees
-	/*
-	public double setTiltsFromThetas(double t0, double t1, double t2, double t3) { // USED in lwir
-		double t_avg = (t0+t1+t2+t3)/4;
-		vector[0] = (t0 - t_avg)*Math.PI/180.0;
-		vector[1] = (t1 - t_avg)*Math.PI/180.0;
-		vector[2] = (t2 - t_avg)*Math.PI/180.0;
-		return t_avg;
-	}
-	*/
 	public double setTiltsFromThetas(double [] t) { // USED in lwir
 		int indx = getTiltIndex();
 		double t_avg = 0;
@@ -560,15 +534,6 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 	}
 	
 	// Azimuths in radians, headings in degrees
-	/*
-	public double setAzimuthsFromHeadings(double h0, double h1, double h2, double h3) { // USED in lwir
-		double h_avg = (h0+h1+h2+h3)/4;
-		vector[3] = (h0 - h_avg)*Math.PI/180.0;
-		vector[4] = (h1 - h_avg)*Math.PI/180.0;
-		vector[5] = (h2 - h_avg)*Math.PI/180.0;
-		return h_avg;
-	}
-	*/
 	public double setAzimuthsFromHeadings(double [] h) { // USED in lwir
 		int indx = getAzimuthIndex();
 		double h_avg = 0;
@@ -583,18 +548,6 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 	}
 
 	// Include factory calibration rolls
-	/*
-	public double [] getFullRolls() // USED in lwir
-	{
-		double d2r= Math.PI/180.0;
-		double [] rolls =     {
-				vector[6] + d2r * geometryCorrection.roll[0],
-				vector[7] + d2r * geometryCorrection.roll[1],
-				vector[8] + d2r * geometryCorrection.roll[2],
-				vector[9] + d2r * geometryCorrection.roll[3]};
-		return rolls;
-	}
-	*/
 	public double [] getFullRolls() // USED in lwir
 	{
 		int indx =getRollIndex();
@@ -944,6 +897,7 @@ Vector #  3 [-|+|-|+] 1.00<1.00  [1.0  | 1.0  | 1.0  | 1.0 ]  l= 1.0 n=1(1)
 	 *  0: |⇗ ⇖|  1: |⇙ ⇖|  2: |⇖ ⇙|  3: |⇖ ⇗|  4:  |⇗ ⇙|  5: |⇘  ⇖|
 	 *
 	 */
+	/*
 	public double [][] dSym_j_dTar_i() // USED in lwir
 	{
 		double [][] tar_to_sym = {
@@ -979,6 +933,8 @@ Vector #  3 [-|+|-|+] 1.00<1.00  [1.0  | 1.0  | 1.0  | 1.0 ]  l= 1.0 n=1(1)
 		//			Matrix sym_to_tar = new Matrix(symToTARArray());
 		//			Matrix tar_to_sym = sym_to_tar.inverse();
 		//			return tar_to_sym.getArray();
+		 */
+	
 		/*
 a=[
 [-2.0, -2.0,  2.0, -2.0,  0.0,  0.0, 0.0,   0.0,  0.0,  0.0,  0.0,  0.0,  0.0],
@@ -1010,6 +966,7 @@ matrix([[-0.125, -0.125,  0.125,  0.125, -0.125,  0.125, -0.   , -0.   ,   -0.
     [-0.   , -0.   , -0.   , -0.   , -0.   , -0.   , -0.   , -0.   ,   -0.   , -0.   , -0.5  , -0.5  ,  0.5  ],
     [ 0.   ,  0.   ,  0.   ,  0.   ,  0.   ,  0.   ,  0.   ,  0.   ,    0.   ,  0.   , -0.5  ,  0.5  ,  0.5  ]])
 */
+	/*
 		double [][] sym_to_tar=	{ // USED in lwir
 				// t0     t1     t2     a0     a1     a2     r0    r1    r2    r3    s0    s1    s2
 				{-0.125,-0.125, 0.125, 0.125,-0.125, 0.125, 0.0,  0.0,  0.0,  0.0,  0.0,  0.0,  0.0,   0.0,  0.0,  0.0,   0.0,  0.0,  0.0 },  // sym0
@@ -1034,7 +991,7 @@ matrix([[-0.125, -0.125,  0.125,  0.125, -0.125,  0.125, -0.   , -0.   ,   -0.
 		        } ;
 		return sym_to_tar;
 	}
-
+*/
 	public boolean [] getParMask( // USED in lwir
 			boolean use_disparity,
 			boolean use_aztilts,       // Adjust azimuths and tilts excluding disparity
@@ -1122,11 +1079,27 @@ matrix([[-0.125, -0.125,  0.125,  0.125, -0.125,  0.125, -0.   , -0.   ,   -0.
 	 *  UPDATE
 	 * @return
 	 */
-
 	public double [][] getJtPartial( // USED in lwir
 			double [][] port_coord_deriv,
 			boolean []  par_mask)
 	{
+		Matrix from_sym = symmVectorsSet.from_sym;
+		if (par_mask != null) {
+			ArrayList<Integer> par_list = new ArrayList<Integer>();
+			for (int i = 0; i < par_mask.length; i++) {
+				if (par_mask[i]) {
+					par_list.add(i);
+				}
+			}
+			if (par_list.size() < par_mask.length) {
+				int[] sub_pars = par_list.stream().mapToInt(i -> i).toArray(); // Java8
+				from_sym = from_sym.getMatrix(0, par_mask.length,sub_pars); // remove masked columns
+			}
+		}
+		Matrix pcd = new Matrix (port_coord_deriv); // rows: px0,py0,... px[n-1], py[n-1], columns: tar
+		Matrix mjt_part = pcd.times(from_sym).transpose(); // rows: sym0..., columns: px0,py0,... px[n-1], py[n-1]
+		return mjt_part.getArray();
+		/*
 		int num_pars = 0;
 		for (int npar = 0; npar < getLength(); npar++) if ((par_mask==null) || par_mask[npar]) {
 			num_pars++;
@@ -1143,14 +1116,18 @@ matrix([[-0.125, -0.125,  0.125,  0.125, -0.125,  0.125, -0.   , -0.   ,   -0.
 			opar++;
 		}
 		return jt_part;
+		*/
 	}
 
 	// convert tilt0,... roll3 array to symmetrical coordinates [0] - to the center (disparity)
+	// Use   public void setMatrix (int[] r, int[] c, Matrix X) ? 
+
+	// symmVectorsSet.from_sym, symmVectorsSet.to_sym;
 	public double [] toSymArray(boolean [] par_mask) // USED in lwir
 	{
 		return toSymArray(this.vector, par_mask);
 	}
-
+    /*
 	public double [] toSymArray( // USED in lwir
 			double [] tar_array,
 			boolean [] par_mask)
@@ -1186,4 +1163,49 @@ matrix([[-0.125, -0.125,  0.125,  0.125, -0.125,  0.125, -0.   , -0.   ,   -0.
 		}
 		return tar_array;
 	}
+	*/
+	public double [] toSymArray( // USED in lwir
+			double [] tar_array,
+			boolean [] par_mask)
+	{
+		Matrix to_sym = symmVectorsSet.to_sym;
+		if (par_mask != null) {
+			ArrayList<Integer> par_list = new ArrayList<Integer>();
+			for (int i = 0; i < par_mask.length; i++) {
+				if (par_mask[i]) {
+					par_list.add(i);
+				}
+			}
+			if (par_list.size() < par_mask.length) {
+				int[] sub_pars = par_list.stream().mapToInt(i -> i).toArray(); // Java8
+				to_sym = to_sym.getMatrix(sub_pars, 0, par_mask.length); // remove masked rows
+			}
+		}
+		Matrix tar = new Matrix(tar_array,tar_array.length);
+		Matrix sym = to_sym.times(tar);
+		return sym.getColumnPackedCopy();
+	}
+
+	public double [] toTarArray( // USED in lwir
+			double [] sym_array,
+			boolean [] par_mask)
+	{
+		Matrix from_sym = symmVectorsSet.from_sym;
+		if (par_mask != null) {
+			ArrayList<Integer> par_list = new ArrayList<Integer>();
+			for (int i = 0; i < par_mask.length; i++) {
+				if (par_mask[i]) {
+					par_list.add(i);
+				}
+			}
+			if (par_list.size() < par_mask.length) {
+				int[] sub_pars = par_list.stream().mapToInt(i -> i).toArray(); // Java8
+				from_sym = from_sym.getMatrix(0, par_mask.length,sub_pars); // remove masked columns
+			}
+		}
+		Matrix sym = new Matrix(sym_array,sym_array.length);
+		Matrix tar = from_sym.times(sym);
+		return tar.getColumnPackedCopy();
+	}
+	
 }

src/main/java/com/elphel/imagej/tileprocessor/SymmVector.java

@@ -3,6 +3,8 @@ package com.elphel.imagej.tileprocessor;
 import java.util.ArrayList;
 import java.util.HashMap;
 
+import Jama.Matrix;
+
 /**
  **
  ** SymmVector - Generating symmetrical geometry correction vectors for multi-camera
@@ -28,6 +30,9 @@ import java.util.HashMap;
  */
 
 public class SymmVector {
+	public static int TILT_SIGN =   -1;
+	public static int AZIMUTH_SIGN = 1;
+	public static int NUM_ERS = 6;
 	public static int R_MINUS = 0; // radial inwards
 	public static int T_PLUS =  1; // tangential clockwise
 	public static int R_PLUS =  2; // radial outwards
@@ -102,6 +107,9 @@ public class SymmVector {
 		rvs.dir_rt = sv.exportDirRT();
 		rvs.rots =   sv.exportRZ(false); // include common roll
 		rvs.zooms =  sv.exportRZ(true);  // no common zoom
+		Matrix[] fts = sv.fromToSym();
+		rvs.from_sym = fts[0];
+		rvs.to_sym =   fts[1];
 		return rvs;
 	}
 	
@@ -1111,7 +1119,86 @@ public class SymmVector {
 	 * 
 	 * No need for _extra?
 	 * 
+	public static int TILT_SIGN =   -1;
+	public static int AZIMUTH_SIGN = 1;
+	 * 
+	 */
+	
+	public Matrix taToSym() {
+		// restore last tilt, azimuth, reorder to {-tilt[0], azimuth[0], ... -tilt[N-1], azimuth[N-1]
+		Matrix ta2xy = new Matrix(2*N, 2*N-2);
+		for (int i = 0; i < N - 1; i++) {
+			ta2xy.set(2 * i + 0, N -1 + i,  AZIMUTH_SIGN);
+			ta2xy.set(2 * N - 2, N -1 + i, -AZIMUTH_SIGN);
+			ta2xy.set(2 * i + 1,        i,  TILT_SIGN);
+			ta2xy.set(2 * N - 1,        i, -TILT_SIGN);
+		}
+		// convert from "X,Y"
+		
+		return null;
+	}
+
+
+	/**
+	 * Create a submatrix to convert 2*N-2 sym vectors to concatenated {tilt[0:N-2],azimuth[0:N-2]}. 
+	 * @param xy alternating XY components of "symmetrical" vectors as generated
+	 * @return
 	 */
+	public Matrix symToTA(double [][] xy) {
+		// rows - "symmetrical" vectors, columns {x0,y0,..., x{N-2],y[N-2] 
+		Matrix sym2xy = (new Matrix(xy)).getMatrix(0, 2*N-3, 0, 2*N-3).transpose(); // drop last two columns
+		// reorder and change sign (for tilts
+		Matrix xy2ta = new Matrix (2*N-2, 2*N-2);
+		for (int i = 0; i < N - 1; i++) {
+			xy2ta.set(    i, 2* i + 1, TILT_SIGN);
+			xy2ta.set(N-1+i, 2 *i + 0, AZIMUTH_SIGN);
+		}		
+		return xy2ta.times(sym2xy);
+	}
+	
+	/**
+	 * Convert N symmetrical rotation vectors to individual cameras rolls
+	 * @param rots symmetrical rotation vectors
+	 * @return conversion Matrix
+	 */
+	public Matrix symToRoll(double [][] rots) {
+		return (new Matrix(rots)).transpose(); // columns - sym. vectors, rows - rolls of individual cameras
+	}
+
+	/**
+	 * Convert N-1 symmetrical zoom vectors to zooms of the first N-1 cameras
+	 * @param  zooms symmetrical zoom vectors
+	 * @return conversion matrix
+	 */
+	public Matrix symToZoom(double [][] zooms) { // average zoom == 0, 
+		return (new Matrix(zooms)).getMatrix(0, N-2, 0, N-2).transpose(); // drop zooms of the last camera
+	}
+	
+	public Matrix[] fromToSym() {
+		Matrix sym2ta =   symToTA(exportXY());             // 2*N-2
+		Matrix sym2roll = symToRoll(exportRZ(false));      // N
+		Matrix sym2zoom = symToRoll(exportRZ(true));       // N-1
+		Matrix sym2ers =  Matrix.identity(NUM_ERS,NUM_ERS);// NUM_ERS
+		int i0 = 0;
+		int i1 = i0 + sym2ta.getColumnDimension();
+		int i2 = i1 + sym2roll.getColumnDimension();
+		int i3 = i2 + sym2zoom.getColumnDimension();
+		int i4 = i3 + sym2ers.getColumnDimension();
+		Matrix from_sym = new Matrix(i4,i4);
+		from_sym.setMatrix(i0,i1-1,i0,i1-1, sym2ta);
+		from_sym.setMatrix(i1,i2-1,i1,i2-1, sym2roll);
+		from_sym.setMatrix(i2,i3-1,i2,i3-1, sym2zoom);
+		from_sym.setMatrix(i3,i4-1,i4,i4-1, sym2ers);
+
+		Matrix to_sym = new Matrix(i4,i4);
+		to_sym.setMatrix(i0,i1-1,i0,i1-1, sym2ta.inverse());
+		to_sym.setMatrix(i1,i2-1,i1,i2-1, sym2roll.inverse());
+		to_sym.setMatrix(i2,i3-1,i2,i3-1, sym2zoom.inverse());
+		to_sym.setMatrix(i3,i4-1,i4,i4-1, sym2ers.inverse());
+		return new Matrix[] {from_sym,to_sym};
+	}
+	//getColumnDimension
+	
 	
 }
 class SymmVectorsSet {
@@ -1121,5 +1208,7 @@ class SymmVectorsSet {
 	int    [][] dir_rt;
 	double [][] rots;
 	double [][] zooms;
+	Matrix from_sym;
+	Matrix to_sym;
 }