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imagej-elphel
Commit 9982a7ba authored by Andrey Filippov's avatar Andrey Filippov
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fixing ground planes

parent 009eb8ea
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Showing with 123 additions and 145 deletions
src/main/java/com/elphel/imagej/tileprocessor/GroundPlane.java
View file @ 9982a7ba
......@@ -546,27 +546,6 @@ public class GroundPlane {
double [][] virtual_camera_from_ground_xyz = ErsCorrection.invertXYZATR(new double [][] {ground_xyzatr[0],new double[3]});
double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz);
//??? seems opposite rotation
virtual_camera_from_camera[1] = to_ground_xyzatr[1];
/*
double [][] to_ground_xyz = {to_ground_xyzatr[0],new double[3]};
double [][] to_ground_atr = {new double[3], to_ground_xyzatr[1]};
double [][] from_ground_xyz = ErsCorrection.invertXYZATR(to_ground_xyz);
// calculate rotated around ground relative to the reference frame (see if z-sign is correct, or swap to/from
//combineXYZATR
double [][] to_ground_xyzatr1 = ErsCorrection.combineXYZATR(to_ground_xyz, ErsCorrection.invertXYZATR(to_ground_atr));
/// double [][] to_ground_xyzatr1 = ErsCorrection.combineXYZATR(to_ground_atr,to_ground_xyz);
double [][] to_ground_xyzatr_centered = ErsCorrection.combineXYZATR(to_ground_xyzatr1, from_ground_xyz);
/// double [][] to_ground_xyzatr_centered = ErsCorrection.combineXYZATR(from_ground_xyz, to_ground_xyzatr1);
double [][] to_ground_xyzatr_centered1 = ErsCorrection.combineXYZATR(from_ground_xyz,
ErsCorrection.combineXYZATR(to_ground_atr, to_ground_xyz));
to_ground_xyzatr_centered = new double [][] {
{-to_ground_xyzatr_centered[0][0],-to_ground_xyzatr_centered[0][1],-to_ground_xyzatr_centered[0][2]},
to_ground_xyzatr_centered[1]
};
*/
if ((dbg_title != null) || (gnd_disp != null)) {
// expand macrotiles results to match tiles
// rotate ref_disparity and show
......@@ -588,7 +567,6 @@ public class GroundPlane {
int tilesY = wxyz.length/width;
int mtile_half = mtile_size/2;
int mtilesX = (tilesX - mtile_size)/mtile_half + 1;
// int mtilesY = (tilesY - mtile_size)/mtile_half + 1;
double [][] macro_exp = new double [tilesX * tilesY][];
double [][] macro_wexp = new double [tilesX * tilesY][];
for (int mtile = 0; mtile < macroplanes.length; mtile++){
......@@ -691,16 +669,10 @@ public class GroundPlane {
if (good_tiles != null) {
System.arraycopy(macro_mask, 0, good_tiles, 0, macro_mask.length);
}
ErsCorrection.printVectors(virtual_camera_from_camera); // to_ground_xyzatr_centered);
/// ref_Clt.getErsCorrection().printVectors (to_ground_xyzatr_centered[0], to_ground_xyzatr_centered[1]);
ref_Clt.getErsCorrection().printVectors (virtual_camera_from_camera[0], virtual_camera_from_camera[1]);
//num_good2
/// return new double[][] {to_ground_xyzatr_centered[0],to_ground_xyzatr_centered[1], {1.0*num_good2/ref_disparity.length}};
// return new double[][] {virtual_camera_from_camera[0],virtual_camera_from_camera[1], {1.0*num_good2/ref_disparity.length}};
return new double[][] {to_ground_xyzatr[0], to_ground_xyzatr[1], {1.0*num_good2/ref_disparity.length}};
// return to_ground_xyzatr_centered;
}
public static boolean [] getMaskFromMacro(
......@@ -1141,7 +1113,7 @@ public class GroundPlane {
int [] xy0 = {tilesX/2, tilesY/2};
double inf_disparity = ref_Clt.getDispInfinityRef();
double [] disparity_tilts = gp.getDisparityTilts();
if ((test_bottom >0) && (test_bottom < 1)) {
if ((test_bottom > 0) && (test_bottom < 1)) {
int y1 = (int) ((terrain_plane.length/tilesX) * test_bottom);
if (disparity_tilts != null) {
for (int i = 0; i < terrain_plane.length; i++) {
......@@ -1174,13 +1146,7 @@ public class GroundPlane {
to_ground_xyzatr); // double [][] to_ground_xyzatr
double [][] stereo_xyzatr = ErsCorrection.invertXYZATR(virt_camera);
// double [][] center_rot_xyzatr = {new double [3],stereo_xyzatr[1]};
/*
double [] terrain_plane = rotateRefDisparity(
ref_Clt, // final QuadCLT ref_Clt,
terrain_plane, // double [] terrain,
stereo_xyzatr); // virt_camera); // final double [][] scene_xyzatr)
*/
ref_Clt.setTerrain(
clt_parameters, // CLTParameters clt_parameters,
terrain_plane, // double [] terrain,
......@@ -1194,20 +1160,9 @@ public class GroundPlane {
double [][] ground_xyzatr = ErsCorrection.invertXYZATR(to_ground_xyzatr); // straight down from the camera, then rotated
double [][] virtual_camera_from_ground_xyz = ErsCorrection.invertXYZATR(new double [][] {ground_xyzatr[0],new double[3]});
double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz);
/// double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(virtual_camera_from_ground_xyz, ground_xyzatr);
// double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz);
virtual_camera_from_camera[1] = to_ground_xyzatr[1];
virtual_camera_from_camera[1] = to_ground_xyzatr[1]; // *******????????
return virtual_camera_from_camera;
}
/*
double [][] ground_xyzatr = ErsCorrection.invertXYZATR(to_ground_xyzatr); // straight down from the camera, then rotated
double [][] virtual_camera_from_ground_xyz = ErsCorrection.invertXYZATR(new double [][] {ground_xyzatr[0],new double[3]});
double [][] virtual_camera_from_camera = ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz);
//??? seems opposite rotation
virtual_camera_from_camera[1] = to_ground_xyzatr[1];
*/
public static double [] getPlaneDualPass( // returns tiltX, tiltY, disp_center, frac_good
final CLTParameters clt_parameters,
......@@ -1669,7 +1624,24 @@ public class GroundPlane {
if (debugLevel > -3) {
System.out.println("Found ground plane: level="+z_tilts[0]+", tiltX="+z_tilts[1]+", tiltY="+z_tilts[2]);
}
double [][] ground_xyzatr = new double [][] {{0, 0, use_parallel_proj?0:z_tilts[0]},{Math.asin(z_tilts[1]), -Math.asin(z_tilts[2]), 0.0}};
/// double [][] ground_xyzatr = new double [][] {{0, 0, use_parallel_proj?0:z_tilts[0]},{Math.asin(z_tilts[1]), -Math.asin(z_tilts[2]), 0.0}};
/// double [][] ground_xyzatr00 = new double [][] {{0, 0, use_parallel_proj?0:z_tilts[0]},{-Math.asin(z_tilts[1]), Math.asin(z_tilts[2]), 0.0}};
// or opposite order?
boolean invert_order = false;
if (debugLevel > -3) {
System.out.println("Using "+(invert_order?"inverted":"direct")+" azimuth/tilt order when convertingtiltX/tiltY to angles.");
}
double tl = 0, az=0;
if (invert_order) {
tl = -Math.atan(-z_tilts[2]/Math.sqrt(1+z_tilts[1]*z_tilts[1]));
az = -Math.atan(z_tilts[1]);
} else {
az = Math.atan(-z_tilts[1]/Math.sqrt(1+z_tilts[2]*z_tilts[2]));
tl = Math.atan(z_tilts[2]);
}
double [][] ground_xyzatr = new double [][] {{0, 0, use_parallel_proj?0:z_tilts[0]},{az, tl, 0.0}};
// It is approximate for small angles. OK for now
double [][] to_ground_xyzatr = ErsCorrection.invertXYZATR(ground_xyzatr);
return to_ground_xyzatr; // from the camera coordinates to in-plane coordinates
......
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