implementing rig adjustment (84e61b79) · Commits · Elphel / imagej-elphel

src/main/java/AlignmentCorrection.java

+4 −0

Original line number	Diff line number	Diff line
		@@ -731,6 +731,7 @@ public class AlignmentCorrection {
		double centerY = tileY * qc.tp.getTileSize() + qc.tp.getTileSize()/2;//- shiftY;

		double [][] centersXY_disp = qc.geometryCorrection.getPortsCoordinatesAndDerivatives(
		qc.geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		@@ -739,6 +740,7 @@ public class AlignmentCorrection {
		centerY,
		disp_strength[2 * s.series + 0][s.tile]/magic_coeff); // disparity
		double [][] centersXY_inf = qc.geometryCorrection.getPortsCoordinatesAndDerivatives(
		qc.geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		@@ -2436,6 +2438,7 @@ System.out.println("test1234");
		double [][] deriv = new double [2 * NUM_SENSORS][];
		int dbg_index =dbg_index (pXY, dbg_decimate);
		geometryCorrection.getPortsCoordinatesAndDerivatives(
		geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		deriv_rots, // Matrix [][] deriv_rots,
		@@ -2600,6 +2603,7 @@ System.out.println("test1234");
		Mismatch mm = mismatch_list.get(indx);
		double [] pXY = mm.getPXY();
		double [][] f = geometryCorrection.getPortsCoordinatesAndDerivatives( // 4x2
		geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,

src/main/java/BiQuadParameters.java

+1 −1

Original line number	Diff line number	Diff line
		@@ -61,7 +61,7 @@ public class BiQuadParameters {
		public boolean rig_adjust_angle = true; //
		public boolean rig_adjust_distance = false; // distance between camera centers
		public boolean rig_adjust_forward = false; // aux camera forward from the principal plane (not implemented)
		public double rig_correction_scale= 1.0; // scale calcualated correction
		public double rig_correction_scale= 1.0; // scale calculaated correction

src/main/java/GeometryCorrection.java

+732 −64

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/ImageDtt.java

+5 −0

Original line number	Diff line number	Diff line
		@@ -981,6 +981,7 @@ public class ImageDtt {
		// centerY,
		// disparity);
		double [][] centersXY = geometryCorrection.getPortsCoordinatesAndDerivatives(
		geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		@@ -1749,6 +1750,7 @@ public class ImageDtt {

		} else {
		centersXY = geometryCorrection.getPortsCoordinatesAndDerivatives(
		geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		@@ -5968,6 +5970,7 @@ public class ImageDtt {

		} else {
		centersXY = geometryCorrection.getPortsCoordinatesAndDerivatives(
		geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		@@ -7808,6 +7811,7 @@ public class ImageDtt {
		disparity_bimap[BI_TARGET_INDEX][tIndex] = disparity_main;
		}
		centersXY_main = geometryCorrection_main.getPortsCoordinatesAndDerivatives(
		geometryCorrection_main, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots_main, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		@@ -7817,6 +7821,7 @@ public class ImageDtt {
		disparity_main); // + disparity_corr);

		centersXY_aux = geometryCorrection_aux.getPortsCoordinatesAndDerivatives(
		geometryCorrection_main, // GeometryCorrection gc_main,
		true, // boolean use_rig_offsets,
		corr_rots_aux, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,

src/main/java/TwoQuadCLT.java

+14 −1

Original line number	Diff line number	Diff line
		@@ -985,7 +985,20 @@ public class TwoQuadCLT {
		tilesX); // int tilesX

		// do actual adjustment step, update rig parameters

		quadCLT_aux.geometryCorrection.getRigCorrection(
		clt_parameters.rig.rig_adjust_orientation, // boolean adjust_orientation,
		clt_parameters.rig.rig_adjust_zoom, // boolean adjust_zoom,
		clt_parameters.rig.rig_adjust_angle, // boolean adjust_angle,
		clt_parameters.rig.rig_adjust_distance, // boolean adjust_distance,
		clt_parameters.rig.rig_adjust_forward, // boolean adjust_forward, // not used
		clt_parameters.rig.rig_correction_scale, // double scale_correction,
		tile_list, // ArrayList<Integer> tile_list,
		quadCLT_main, // QuadCLT qc_main,
		disparity_bimap[ImageDtt.BI_STR_CROSS_INDEX], // double [] strength,
		disparity_bimap[ImageDtt.BI_DISP_CROSS_DX_INDEX], // double [] diff_x, // used only with target_disparity == 0
		disparity_bimap[ImageDtt.BI_DISP_CROSS_DY_INDEX], // double [] diff_y,
		disparity_bimap[ImageDtt.BI_TARGET_INDEX], // double [] target_disparity,
		debugLevel+1);

		} // end of for (int num_short_cycle = 0; num_short_cycle < clt_parameters.rig.rig_adjust_short_cycles;num_short_cycle++) {

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