Finished (not yet tested/debugged) CorrVector update for number of (7ba9c309) · Commits · Elphel / imagej-elphel

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

+74 −52

Original line number	Diff line number	Diff line
		@@ -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

+89 −0

Original line number	Diff line number	Diff line
		@@ -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;
		}

		@@ -1111,8 +1119,87 @@ 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(2N, 2N-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, 2N-3, 0, 2N-3).transpose(); // drop last two columns
		// reorder and change sign (for tilts
		Matrix xy2ta = new Matrix (2N-2, 2N-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 {
		// int num_sensors;
		@@ -1121,5 +1208,7 @@ class SymmVectorsSet {
		int [][] dir_rt;
		double [][] rots;
		double [][] zooms;
		Matrix from_sym;
		Matrix to_sym;
		}