preparing macro tiles for optical flow with CLT (82ae5d53) · Commits · Elphel / imagej-elphel

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

+71 −13

Original line number	Diff line number	Diff line
		@@ -397,6 +397,8 @@ public class ErsCorrection extends GeometryCorrection {

		public void setupERS()
		{
		double ers_sign = 1.0; // -1.0; // invert all corrections to opposite?

		ers_xyz= new double [pixelCorrectionHeight][3];
		ers_xyz_dt= new double [pixelCorrectionHeight][3];
		ers_quaternion = new Quaternion [pixelCorrectionHeight];
		@@ -414,12 +416,12 @@ public class ErsCorrection extends GeometryCorrection {
		Quaternion quat_center2 = new Quaternion (0.0,ers_watr_center_d2t[1], ers_watr_center_d2t[0], ers_watr_center_d2t[2]); // angular velocity 1/s :tilt, az, roll

		// integration to the bottom of the image
		double dt = line_time;
		double dt = ers_sign*line_time;
		double [] wxy0 = ers_wxyz_center.clone();
		double [] wxy1 = ers_wxyz_center_dt.clone();
		double [] wxy2 = ers_wxyz_center_d2t.clone();
		// bottom half rotations
		dt = line_time;
		dt = ers_sign*line_time;
		Quaternion q0 = quat_center0.multiply(1.0); // clone() orientation
		Quaternion q1 = quat_center1.multiply(1.0); // clone() angular velocity (pure)
		Quaternion q2 = quat_center2.multiply(1.0); // clone() angular accelerations (pure)
		@@ -432,7 +434,7 @@ public class ErsCorrection extends GeometryCorrection {
		q1 = q1_next;
		}
		// top half-frame rotations
		dt = -line_time;
		dt = -ers_sign*line_time;
		q0 = quat_center0.multiply(1.0); // clone() orientation
		q1 = quat_center1.multiply(1.0); // clone() angular velocity (pure)
		q2 = quat_center2.multiply(1.0); // clone() angular accelerations (pure)
		@@ -470,7 +472,7 @@ public class ErsCorrection extends GeometryCorrection {
		wxy1[i] = wxy1_next;
		}
		}
		dt = -line_time;
		dt = -ers_sign*line_time;
		wxy0 = ers_wxyz_center.clone();
		wxy1 = ers_wxyz_center_dt.clone();
		for (int h = cent_h; h >= 0; h--) {
		@@ -502,10 +504,9 @@ public class ErsCorrection extends GeometryCorrection {

		public double [] getImageCoordinatesERS(
		QuadCLT cameraQuadCLT, // camera station that got image to be to be matched

		double px, // pixel coordinate X in this camera view
		double py, // pixel coordinate Y in this camera view
		double disparity, // this view disparity
		double px, // pixel coordinate X in the reference view
		double py, // pixel coordinate Y in the reference view
		double disparity, // this reference disparity
		boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
		double [] reference_xyz, // this view position in world coordinates (typically zero3)
		double [] reference_atr, // this view orientation relative to world frame (typically zero3)
		@@ -540,14 +541,14 @@ public class ErsCorrection extends GeometryCorrection {
		if (xyzw[2] > 0) {
		return null; // can not match object behind the camera
		}
		ErsCorrection ers_other = this;
		ErsCorrection ers_camera = this;
		if (cameraQuadCLT != null) {
		ers_other = cameraQuadCLT.getErsCorrection();
		ers_camera = cameraQuadCLT.getErsCorrection();
		}
		if (camera_xyz == null) camera_xyz = ers_other.camera_xyz;
		if (camera_atr == null) camera_atr = ers_other.camera_atr;
		if (camera_xyz == null) camera_xyz = ers_camera.camera_xyz;
		if (camera_atr == null) camera_atr = ers_camera.camera_atr;

		double [] pXpYD = ers_other.getImageCoordinatesERS( // USED in lwir
		double [] pXpYD = ers_camera.getImageCoordinatesERS( // USED in lwir
		xyzw,
		distortedCamera,
		camera_xyz, // camera center in world coordinates
		@@ -557,6 +558,63 @@ public class ErsCorrection extends GeometryCorrection {
		return pXpYD;
		}

		public double [] getImageCoordinatesReferenceERS(
		QuadCLT cameraQuadCLT, // camera station that got image to be to be matched
		double px, // pixel coordinate X in this camera view
		double py, // pixel coordinate Y in this camera view
		double disparity, // this view disparity
		boolean distortedView, // This camera view is distorted (diff.rect), false - rectilinear
		double [] reference_xyz, // this view position in world coordinates (typically zero3)
		double [] reference_atr, // this view orientation relative to world frame (typically zero3)
		boolean distortedCamera, // camera view is distorted (false - rectilinear)
		double [] camera_xyz, // camera center in world coordinates
		double [] camera_atr, // camera orientation relative to world frame
		double line_err) // threshold error in scan lines (1.0)
		{
		if (reference_xyz == null) reference_xyz = this.camera_xyz;
		if (reference_atr == null) reference_atr = this.camera_atr;
		ErsCorrection ers_camera = this;
		if (cameraQuadCLT != null) {
		ers_camera = cameraQuadCLT.getErsCorrection();
		}
		if (camera_xyz == null) camera_xyz = ers_camera.camera_xyz;
		if (camera_atr == null) camera_atr = ers_camera.camera_atr;

		// Find world coordinates of the camera pixel
		double [] xyzw = ers_camera.getWorldCoordinatesERS( // {x - left,y - up, z (0 at camera, negative away), 1} for real, {x,y,z,0} - for infinity
		px,
		py,
		disparity,
		distortedView, // correct distortion (will need corrected background too !)
		camera_xyz, // camera center in world coordinates
		camera_atr); // camera orientation relative to world frame
		if (xyzw == null) {
		return null;
		}
		if (xyzw[3] == 0.0) { // infinity
		/*
		if (xyzw[2] > 0) {
		for (int i = 0; i < 3; i++) {
		xyzw[i] = -xyzw[i];
		}
		}
		*/
		}
		if (xyzw[2] > 0) {
		return null; // can not match object behind the camera
		}

		double [] pXpYD = ers_camera.getImageCoordinatesERS( // USED in lwir
		xyzw,
		distortedCamera,
		reference_xyz, // camera center in world coordinates
		reference_atr, // camera orientation relative to world frame
		line_err); // threshold error in scan lines (1.0)

		return pXpYD;
		}



		/**
		* Get real world coordinates from pixel coordinates and nominal disparity

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

+314 −173

File changed.

Preview size limit exceeded, changes collapsed.

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

+6 −3

Original line number	Diff line number	Diff line
		@@ -8262,17 +8262,20 @@ if (debugLevel > -100) return true; // temporarily !
		OpticalFlow opticalFlow = new OpticalFlow(
		threadsMax, // int threadsMax, // maximal number of threads to launch
		updateStatus); // boolean updateStatus);
		int margin = 4; // extra margins over 16x16 tiles to accommodate distorted destination tiles
		// int margin = 4; // extra margins over 16x16 tiles to accommodate distorted destination tiles
		/*

		double tolerance_absolute = 0.25; // absolute disparity half-range in each tile
		double tolerance_relative = 0.2; // relative disparity half-range in each tile
		double center_occupancy = 0.25; // fraction of remaining tiles in the center 8x8 area (<1.0)

		int num_passes = 100;
		double max_change = 0.005 ;
		*/

		for (int i = 1; i < quadCLTs.length; i++) {
		QuadCLT qPrev = (i > 0) ? quadCLTs[i - 1] : null;

		/*
		double [][][] source_tiles = opticalFlow.prepareReferenceTiles(
		quadCLTs[i], // final QuadCLT qthis,
		// margin, // final int margin, // extra margins over 16x16 tiles to accommodate distorted destination tiles
		@@ -8289,7 +8292,7 @@ if (debugLevel > -100) return true; // temporarily !
		num_passes, // final int num_passes,
		max_change, // final double max_change,
		2); // final int debug_level)

		*/


		double [][][] pair_sets =

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