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Elphel
imagej-elphel
Commits
8f04633f
Commit
8f04633f
authored
Oct 14, 2020
by
Andrey Filippov
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debugging
parent
4c3e69f5
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-61
ErsCorrection.java
...n/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
+31
-61
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src/main/java/com/elphel/imagej/tileprocessor/ErsCorrection.java
View file @
8f04633f
...
...
@@ -858,7 +858,7 @@ public class ErsCorrection extends GeometryCorrection {
int
DP_DX
=
12
;
// dw_dx, (m)
int
DP_DY
=
13
;
// dw_dy, (m)
int
DP_DZ
=
14
;
// dw_dz}; (m)
double
scale_delta
=
0.1
;
// 0.5;
double
scale_delta
=
1.0
;
//
0.1; // 0.5;
double
[]
deltas
=
deltas0
.
clone
();
for
(
int
i
=
0
;
i
<
deltas
.
length
;
i
++)
deltas
[
i
]
*=
scale_delta
;
int
dbg_tile
=
16629
;
...
...
@@ -919,13 +919,17 @@ public class ErsCorrection extends GeometryCorrection {
pXpYD_original
[
nTile
]
=
new
double
[]
{
centerX
,
centerY
,
disparity
};
// find derivatives by pX, pY, pZ
if
(
nTile
==
dbg_tile
)
{
System
.
out
.
println
(
"compareDSItoWorldDerivatives()_0: nTile = "
+
nTile
+
" ("
+
tileX
+
"/"
+
tileY
+
")"
);
}
double
[][][]
xyz_pm
=
{
{
getWorldCoordinatesERS
(
centerX
+
deltas
[
DP_DPX
],
centerY
,
disparity
,
true
),
getWorldCoordinatesERS
(
centerX
-
deltas
[
DP_DPX
],
centerY
,
disparity
,
true
)
},{
getWorldCoordinatesERS
(
centerX
,
centerY
+
deltas
[
DP_DPY
],
disparity
,
true
),
getWorldCoordinatesERS
(
centerX
,
centerY
-
deltas
[
DP_DPY
],
disparity
,
true
)
},{
getWorldCoordinatesERS
(
centerX
,
centerY
,
disparity
+
deltas
[
DP_DD
],
true
),
getWorldCoordinatesERS
(
centerX
,
centerY
,
disparity
-
deltas
[
DP_DD
],
true
)}};
{
getWorldCoordinatesERS
(
centerX
+
deltas
[
DP_DPX
],
centerY
,
disparity
,
true
,
camera_xyz
,
camera_atr
),
getWorldCoordinatesERS
(
centerX
-
deltas
[
DP_DPX
],
centerY
,
disparity
,
true
,
camera_xyz
,
camera_atr
)
},{
getWorldCoordinatesERS
(
centerX
,
centerY
+
deltas
[
DP_DPY
],
disparity
,
true
,
camera_xyz
,
camera_atr
),
getWorldCoordinatesERS
(
centerX
,
centerY
-
deltas
[
DP_DPY
],
disparity
,
true
,
camera_xyz
,
camera_atr
)
},{
getWorldCoordinatesERS
(
centerX
,
centerY
,
disparity
+
deltas
[
DP_DD
],
true
,
camera_xyz
,
camera_atr
),
getWorldCoordinatesERS
(
centerX
,
centerY
,
disparity
-
deltas
[
DP_DD
],
true
,
camera_xyz
,
camera_atr
)}};
for
(
int
n
=
0
;
n
<
3
;
n
++)
{
int
par_index
=
DP_DPX
+
n
;
if
((
xyz_pm
[
n
][
0
]
!=
null
)
&&
(
xyz_pm
[
n
][
1
]
!=
null
))
{
...
...
@@ -989,7 +993,7 @@ public class ErsCorrection extends GeometryCorrection {
if
(
disparity
<
max_inf_disparity
)
{
// or only for abs() ?
disparity
=
0.0
;
}
ers_pm
[
n
][
sign01
][
nTile
]=
getWorldCoordinatesERS
(
centerX
,
centerY
,
disparity
,
true
);
ers_pm
[
n
][
sign01
][
nTile
]=
getWorldCoordinatesERS
(
centerX
,
centerY
,
disparity
,
true
,
camera_xyz
,
camera_atr
);
}
}
}
...
...
@@ -1229,7 +1233,6 @@ public class ErsCorrection extends GeometryCorrection {
if
(
Double
.
isNaN
(
pXpYD
[
2
]))
{
return
null
;
}
// boolean is_infinity = Math.abs(pXpYD[2]) < THRESHOLD; // Maybe all negative - too?
int
line
=
(
int
)
Math
.
round
(
pXpYD
[
1
]);
if
(
line
<
0
)
{
line
=
0
;
...
...
@@ -1262,12 +1265,9 @@ public class ErsCorrection extends GeometryCorrection {
double
d_rDn_d_pX
=
pXcd
*
(
r_scale
*
r_scale
)
/
rDn
;
double
d_rDn_d_pY
=
pYcd
*
(
r_scale
*
r_scale
)
/
rDn
;
// double d_rDn_d_disparity= 0.0;
// double pXc = pXcd * rND2RD;
double
d_pXc_d_pX
=
rND2RD
+
pXcd
*
d_rND2rD_d_rDn
*
d_rDn_d_pX
;
double
d_pXc_d_pY
=
pXcd
*
d_rND2rD_d_rDn
*
d_rDn_d_pY
;
// double pYc = pYcd * rND2RD;
double
d_pYc_d_pX
=
pYcd
*
d_rND2rD_d_rDn
*
d_rDn_d_pX
;
double
d_pYc_d_pY
=
rND2RD
+
pYcd
*
d_rND2rD_d_rDn
*
d_rDn_d_pY
;
...
...
@@ -1281,9 +1281,7 @@ public class ErsCorrection extends GeometryCorrection {
double
d_yh_d_py
=
-
SCENE_UNITS_SCALE
*
d_pYc_d_pY
*
this
.
disparityRadius
;
double
[]
xyz
=
{
xh
,
yh
,
zh
};
// Matrix dWdP;
Vector3D
[]
dWdP
=
new
Vector3D
[
3
];
if
(
is_infinity
)
{
dWdP
[
0
]
=
new
Vector3D
(
new
double
[]
{
d_xh_d_px
,
d_yh_d_px
,
0.0
});
dWdP
[
1
]
=
new
Vector3D
(
new
double
[]
{
d_xh_d_py
,
d_yh_d_py
,
0.0
});
...
...
@@ -1305,7 +1303,7 @@ public class ErsCorrection extends GeometryCorrection {
Rotation
cam_orient_now_local
=
new
Rotation
(
qpix
.
getQ0
(),
qpix
.
getQ1
(),
qpix
.
getQ2
(),
qpix
.
getQ3
(),
true
);
// boolean needsNormalization)
Vector3D
dw_dpX
=
cam_orient_now_local
.
applyInverseTo
(
dWdP
[
0
]);
Vector3D
dw_dpY
=
cam_orient_now_local
.
applyInverseTo
(
dWdP
[
1
]);
Vector3D
dw_dd
=
cam_orient_now_local
.
applyInverseTo
(
dWdP
[
2
]);
Vector3D
dw_dd
=
cam_orient_now_local
.
applyInverseTo
(
dWdP
[
2
]);
Vector3D
v3
=
new
Vector3D
(
xyz
);
Vector3D
cam_center_now_local
=
cam_orient_now_local
.
applyInverseTo
(
v3
);
// undone rotation relative to center
...
...
@@ -1327,35 +1325,19 @@ public class ErsCorrection extends GeometryCorrection {
Vector3D
cam_center_local
=
(
is_infinity
)
?
cam_center_now_local
:
cam_center_now_local
.
add
(
cam_now_local
);
// skip translation for infinity
// undo camera rotation during acquisition of the center line.
Rotation
cam_orient_center
=
new
Rotation
(
RotationOrder
.
YXZ
,
ROT_CONV
,
camera_atr
[
0
],
camera_atr
[
1
],
camera_atr
[
2
]);
Vector3D
cam_center_world0
=
cam_orient_center
.
applyInverseTo
(
cam_center_local
);
Rotation
cam_orient_center
=
new
Rotation
(
RotationOrder
.
YXZ
,
ROT_CONV
,
camera_atr
[
0
],
camera_atr
[
1
],
camera_atr
[
2
]);
Vector3D
cam_center_world
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
cam_center_local
);
if
(
debug_level
>
1
)
{
System
.
out
.
println
(
"\nrot_deriv_matrices[0]:"
);
rot_deriv_matrices
[
0
].
print
(
8
,
6
);
System
.
out
.
println
(
"\nrot_deriv_matrices[1]:"
);
rot_deriv_matrices
[
1
].
print
(
8
,
6
);
System
.
out
.
println
(
"\nrot_deriv_matrices[2]:"
);
rot_deriv_matrices
[
2
].
print
(
8
,
6
);
System
.
out
.
println
(
"\nrot_deriv_matrices[3]:"
);
rot_deriv_matrices
[
3
].
print
(
8
,
6
);
Matrix
rotation_matrix
=
new
Matrix
(
cam_orient_center
.
getMatrix
());
System
.
out
.
println
(
"\nrotation_matrix:"
);
rotation_matrix
.
print
(
8
,
6
);
System
.
out
.
println
(
"\nrotation_matrix.inverse():"
);
rotation_matrix
.
inverse
().
print
(
8
,
6
);
// Vector3D v1 = matrixTimesVector(rotation_matrix, cam_center_local);
// Vector3D v1i = matrixTimesVector(rotation_matrix.inverse(), cam_center_local);
System
.
out
.
println
(
"cam_center_world0="
+
cam_center_world0
.
toString
());
// System.out.println("v1="+v1.toString());
// System.out.println("v1i="+v1i.toString());
// Vector3D v2 = matrixTimesVector(rot_deriv_matrices[0], cam_center_local);
System
.
out
.
println
(
"cam_center_world="
+
cam_center_world
.
toString
());
}
// double [] dbg_angles = cam_orient_center.getAngles(RotationOrder.YXZ, ROT_CONV);
// Apply same rotation to the d_d* vectors
/**/
Vector3D
dw_dpX0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
dw_dpX
);
Vector3D
dw_dpY0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
dw_dpY
);
Vector3D
dw_dd0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
dw_dd
);
/* */
/* */
dw_dpX
=
cam_orient_center
.
applyInverseTo
(
dw_dpX
);
dw_dpY
=
cam_orient_center
.
applyInverseTo
(
dw_dpY
);
dw_dd
=
cam_orient_center
.
applyInverseTo
(
dw_dd
);
/* */
// convert coordinates to the real world coordinates
Vector3D
world_xyz
=
(
is_infinity
)
?
cam_center_world
:
cam_center_world
.
add
(
new
Vector3D
(
camera_xyz
));
double
[]
wxyz
=
world_xyz
.
toArray
();
...
...
@@ -1380,6 +1362,7 @@ public class ErsCorrection extends GeometryCorrection {
Vector3D
d_vy
=
new
Vector3D
(
0.0
,
delta_t_xyz
,
0.0
);
Vector3D
d_vz
=
new
Vector3D
(
0.0
,
0.0
,
delta_t_xyz
);
/* */
Vector3D
dw_dvaz
=
cam_orient_center
.
applyInverseTo
(
Vector3D
.
crossProduct
(
d_vaz
,
cam_center_now_local
));
Vector3D
dw_dvtl
=
cam_orient_center
.
applyInverseTo
(
Vector3D
.
crossProduct
(
d_vtl
,
cam_center_now_local
));
Vector3D
dw_dvrl
=
cam_orient_center
.
applyInverseTo
(
Vector3D
.
crossProduct
(
d_vrl
,
cam_center_now_local
));
...
...
@@ -1387,33 +1370,20 @@ public class ErsCorrection extends GeometryCorrection {
Vector3D
dw_dvx
=
cam_orient_center
.
applyInverseTo
(
d_vx
);
Vector3D
dw_dvy
=
cam_orient_center
.
applyInverseTo
(
d_vy
);
Vector3D
dw_dvz
=
cam_orient_center
.
applyInverseTo
(
d_vz
);
/* */
Vector3D
dw_dvaz0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
Vector3D
.
crossProduct
(
d_vaz
,
cam_center_now_local
));
Vector3D
dw_dvtl0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
Vector3D
.
crossProduct
(
d_vtl
,
cam_center_now_local
));
Vector3D
dw_dvrl0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
Vector3D
.
crossProduct
(
d_vrl
,
cam_center_now_local
));
Vector3D
dw_dvx0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
d_vx
);
Vector3D
dw_dvy0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
d_vy
);
Vector3D
dw_dvz0
=
matrixTimesVector
(
rot_deriv_matrices
[
0
],
d_vz
);
// overall rotations and offsets
Vector3D
dw_daz0
=
cam_orient_center
.
applyInverseTo
(
Vector3D
.
crossProduct
((
new
Vector3D
(
0.0
,
1.0
,
0.0
)),
cam_center_world
));
Vector3D
dw_dtl0
=
cam_orient_center
.
applyInverseTo
(
Vector3D
.
crossProduct
((
new
Vector3D
(
1.0
,
0.0
,
0.0
)),
cam_center_world
));
Vector3D
dw_drl0
=
cam_orient_center
.
applyInverseTo
(
Vector3D
.
crossProduct
((
new
Vector3D
(
0.0
,
0.0
,
1.0
)),
cam_center_world
));
/*
Vector3D dw_daz = cam_orient_center.applyInverseTo(Vector3D.crossProduct((new Vector3D(1.0, 0.0, 0.0)), cam_center_world));
Vector3D dw_dtl = cam_orient_center.applyInverseTo(Vector3D.crossProduct((new Vector3D(0.0, 1.0, 0.0)), cam_center_world));
Vector3D dw_drl = cam_orient_center.applyInverseTo(Vector3D.crossProduct((new Vector3D(0.0, 0.0, 1.0)), cam_center_world));
*/
Vector3D
dw_daz
=
matrixTimesVector
(
rot_deriv_matrices
[
1
],
cam_center_local
);
Vector3D
dw_dtl
=
matrixTimesVector
(
rot_deriv_matrices
[
2
],
cam_center_local
);
Vector3D
dw_drl
=
matrixTimesVector
(
rot_deriv_matrices
[
3
],
cam_center_local
);
if
(
debug_level
>
1
)
{
System
.
out
.
println
(
"dw_daz0="
+
dw_daz0
.
toString
());
System
.
out
.
println
(
"dw_dtl0="
+
dw_dtl0
.
toString
());
System
.
out
.
println
(
"dw_drl0="
+
dw_drl0
.
toString
());
System
.
out
.
println
(
"dw_daz="
+
dw_daz
.
toString
());
System
.
out
.
println
(
"dw_dtl="
+
dw_dtl
.
toString
());
System
.
out
.
println
(
"dw_drl="
+
dw_drl
.
toString
());
}
Vector3D
dw_dx
=
is_infinity
?
Vector3D
.
ZERO
:
Vector3D
.
PLUS_I
;
Vector3D
dw_dy
=
is_infinity
?
Vector3D
.
ZERO
:
Vector3D
.
PLUS_J
;
...
...
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