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Commit 9cd3391f authored by Andrey Filippov's avatar Andrey Filippov
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working on derivatives

parent ef835205
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src/main/java/LensDistortionParameters.java
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...@@ -711,35 +711,28 @@ dPXmmc/dphi= ...@@ -711,35 +711,28 @@ dPXmmc/dphi=
13, // 13 public double distortionA=0.0; // r^4 (normalized to focal length or to sensor half width?) 13, // 13 public double distortionA=0.0; // r^4 (normalized to focal length or to sensor half width?)
14, // 14 public double distortionB=0.0; // r^3 14, // 14 public double distortionB=0.0; // r^3
15, // 15 public double distortionC=0.0; // r^2 15, // 15 public double distortionC=0.0; // r^2
18, // 16 Orthogonal elongation for r^2" 18, // 16 Orthogonal elongation for r^2"
19, // 17 Diagonal elongation for r^2" 19, // 17 Diagonal elongation for r^2"
20, // 18 Distortion center shift X for r^3" 20, // 18 Distortion center shift X for r^3"
21, // 19 Distortion center shift Y for r^3" 21, // 19 Distortion center shift Y for r^3"
22, // 20 Orthogonal elongation for r^3" 22, // 20 Orthogonal elongation for r^3"
23, // 21 Diagonal elongation for r^3" 23, // 21 Diagonal elongation for r^3"
24, // 22 Distortion center shift X for r^4" 24, // 22 Distortion center shift X for r^4"
25, // 23 Distortion center shift Y for r^4" 25, // 23 Distortion center shift Y for r^4"
26, // 24 Orthogonal elongation for r^4" 26, // 24 Orthogonal elongation for r^4"
27, // 25 Diagonal elongation for r^4" 27, // 25 Diagonal elongation for r^4"
28, // 26 Distortion center shift X for r^5" 28, // 26 Distortion center shift X for r^5"
29, // 27 Distortion center shift Y for r^5" 29, // 27 Distortion center shift Y for r^5"
30, // 28 Orthogonal elongation for r^5" 30, // 28 Orthogonal elongation for r^5"
31, // 29 Diagonal elongation for r^5" 31, // 29 Diagonal elongation for r^5"
32, // 30 Distortion center shift X for r^6" 32, // 30 Distortion center shift X for r^6"
33, // 31 Distortion center shift Y for r^6" 33, // 31 Distortion center shift Y for r^6"
34, // 32 Orthogonal elongation for r^6" 34, // 32 Orthogonal elongation for r^6"
35, // 33 Diagonal elongation for r^6" 35, // 33 Diagonal elongation for r^6"
36, // 34 Distortion center shift X for r^7" 36, // 34 Distortion center shift X for r^7"
37, // 35 Distortion center shift Y for r^7" 37, // 35 Distortion center shift Y for r^7"
38, // 36 Orthogonal elongation for r^6" 38, // 36 Orthogonal elongation for r^6"
39, // 37 Diagonal elongation for r^6" 39, // 37 Diagonal elongation for r^6"
40, // 38 Distortion center shift X for r^8" 40, // 38 Distortion center shift X for r^8"
41, // 29 Distortion center shift Y for r^8" 41, // 29 Distortion center shift Y for r^8"
42, // 40 Orthogonal elongation for r^8" 42, // 40 Orthogonal elongation for r^8"
...@@ -1299,7 +1292,7 @@ dPXmmc/dphi= ...@@ -1299,7 +1292,7 @@ dPXmmc/dphi=
double [][] dXeYeZe=null; //[14]; double [][] dXeYeZe=null; //[14];
double [][] dPXYmmc=null; double [][] dPXYmmc=null;
/* /*
Modifying to accommodate for eccentricity of different terms (2 parameters per term) and elliptical shape (another 2 terms). When all are Modifying to accommodate for eccentricity of different terms (2 parameters per term) and elliptical shape (another 2 terms). When all are
zeroes, the old parameters are in effect: zeroes, the old parameters are in effect:
Rdist/R=A8*R^7+A7*R^6+A6*R^5+A5*R^4+A*R^3+B*R^2+C*R+(1-A6-A7-A6-A5-A-B-C)"); Rdist/R=A8*R^7+A7*R^6+A6*R^5+A5*R^4+A*R^3+B*R^2+C*R+(1-A6-A7-A6-A5-A-B-C)");
...@@ -1440,26 +1433,40 @@ dPXmmc/dphi= ...@@ -1440,26 +1433,40 @@ dPXmmc/dphi=
// double csi=rel_to_pix*a[i]*(i+1)*rr_pow_i; // double csi=rel_to_pix*a[i]*(i+1)*rr_pow_i;
// drr_dx=x/rr, drr_dy=y/r // drr_dx=x/rr, drr_dy=y/r
// ki=a[i]*(rr^(i+1-1.0) +ki1*rr^i+ki2*rr^(i-1) // ki=a[i]*(rr^(i+1-1.0) +ki1*rr^i+ki2*rr^(i-1)
// dki_dx=a[i]*(i+1)*(rr^i)+ (dki1_dx*rr^i+ ki1*i* rr^(i-1)*x/r) + (dki2_dx+ ki2*(i-1)*rr^(i-2)*x/r)= // dki_dx=a[i]*(i+1)*(rr^i)*x/rr+ (dki1_dx*rr^i+ ki1*i* rr^(i-1)*x/r) + (dki2_dx+ ki2*(i-1)*rr^(i-2)*x/r)= // (WAS)
// (a[i]*(i+1)*(rr^i)/rr)*x + // dki_dx=a[i]*(i+1)*(rr^i)+ (dki1_dx*rr^i+ ki1*i* rr^(i-1)*x/r) + (dki2_dx*rr^(i-1) + ki2*(i-1)*rr^(i-2)*x/r)= // (CORRECTED)
// (axi*r^(i-1) + (axi*x+ayi*y)/r*i)) * x + // (a[i]*(i+1)*(rr^i)/rr)*x + // OK
// 2*(adi*y - aoi*x)*rr^(i-1)+ // (axi*r^(i-1) + (axi*x+ayi*y)/r*i)) * x + // (WAS)
// (aoi*(y^2-x^2)+2*adi*x*y)*(i-1)/r^3 * x // (axi*r^i + (axi*x+ayi*y)*i*rr^(i-2) * x) + // (CORRECTED)
// 2*(adi*y - aoi*x)*rr^(i-1)+ // OK
// (aoi*(y^2-x^2)+2*adi*x*y)*(i-1)/r^3 * x // (WAS)
// (aoi*(y^2-x^2)+2*adi*x*y)*(i-1)*r^(i-3) * x // (CORRECTED)
// dki_dy= // dki_dy=
// (a[i]*(i+1)*(rr^i)/rr)*y + // (a[i]*(i+1)*(rr^i)/rr)*y + // OK
// (ayi*r^(i-1)*y + (axi*x+ayi*y)/r*i)) * y + // (ayi*r^(i-1)*y + (axi*x+ayi*y)/r*i)) * y + // (WAS)
// 2*(adi*x + aoi*y)*rr^(i-1)+ // (ayi*r^i + (axi*x+ayi*y)*i*rr^(i-2) * x) + // (CORRECTED)
// (aoi*(y^2-x^2)+2*adi*x*y)*(i-1)/r^3 * y // 2*(adi*x + aoi*y)*rr^(i-1)+ // OK
// (aoi*(y^2-x^2)+2*adi*x*y)*(i-1)/r^3 * y // (WAS)
// (aoi*(y^2-x^2)+2*adi*x*y)*(i-1)*r^(i-3) * x // (CORRECTED)
// Below may speed up by branching for i==0, i==1 - starting with commonn code // Below may speed up by branching for i==0, i==1 - starting with commonn code
double ai_iplus1_rr_pow_i_minus_1= a[i]*(i+1)*rr_pow_i_minus_1; double ai_iplus1_rr_pow_i_minus_1= a[i]*(i+1)*rr_pow_i_minus_1;
double ki1_div_r_mul_i=i*ki1/rr; double rr_pow_i_minus_2=rr_pow_i_minus_1/rr;
double ki2_div_r3_mul_im1=(i-1)*ki2/(rr*rr*rr); // double ki1_div_r_mul_i=i*ki1/rr;
double ki1_r_pow_im2_mul_i=i*ki1*rr_pow_i_minus_2; // (axi*x+ayi*y)*i*rr^(i-2)
// double ki2_div_r3_mul_im1=(i-1)*ki2/(rr*rr*rr);
double ki2_r_pow_im3_mul_im1=(i-1)*ki2*rr_pow_i_minus_2/rr; // (aoi*(y^2-x^2)+2*adi*x*y)* (i-1)*r^(i-3)
// double dki_dx= x*(ai_iplus1_rr_pow_i_minus_1 +
// r_xyod[i][0]*rr_pow_i_minus_1 + ki1_div_r_mul_i+ki2_div_r3_mul_im1)+
// 2*(r_xyod[i][3]*y - r_xyod[i][2]*x)/rr_pow_i_minus_1;
double dki_dx= x*(ai_iplus1_rr_pow_i_minus_1 + double dki_dx= x*(ai_iplus1_rr_pow_i_minus_1 +
r_xyod[i][0]*rr_pow_i_minus_1 + ki1_div_r_mul_i+ki2_div_r3_mul_im1)+ ki1_r_pow_im2_mul_i + ki2_r_pow_im3_mul_im1)+ // r_xyod[i][0]*rr_pow_i_minus_1 +
2*(r_xyod[i][3]*y - r_xyod[i][2]*x)/rr_pow_i_minus_1; r_xyod[i][0]*rr_pow_i + 2*(r_xyod[i][3]*y - r_xyod[i][2]*x)/rr_pow_i_minus_1;
// double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 +
// r_xyod[i][1]*rr_pow_i_minus_1 + ki1_div_r_mul_i + ki2_div_r3_mul_im1)+
// 2*(r_xyod[i][3]*x + r_xyod[i][2]*y)/rr_pow_i_minus_1;
double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 + double dki_dy= y*(ai_iplus1_rr_pow_i_minus_1 +
r_xyod[i][1]*rr_pow_i_minus_1 + ki1_div_r_mul_i + ki2_div_r3_mul_im1)+ ki1_r_pow_im2_mul_i + ki2_r_pow_im3_mul_im1)+ // r_xyod[i][1]*rr_pow_i_minus_1 +
2*(r_xyod[i][3]*x + r_xyod[i][2]*y)/rr_pow_i_minus_1; r_xyod[i][1]*rr_pow_i + 2*(r_xyod[i][3]*x + r_xyod[i][2]*y)/rr_pow_i_minus_1;
// double ai_iplus1_rr_pow_i= a[i]*(i+1)*rr_pow_i; // double ai_iplus1_rr_pow_i= a[i]*(i+1)*rr_pow_i;
// double dki_dxmmc= ai_iplus1_rr_pow_i*(x*(1.0-r_xyod[i][2])+y*r_xyod[i][3])/rr; // double dki_dxmmc= ai_iplus1_rr_pow_i*(x*(1.0-r_xyod[i][2])+y*r_xyod[i][3])/rr;
// double dki_dymmc= ai_iplus1_rr_pow_i*(y*(1.0+r_xyod[i][2])+x*r_xyod[i][3])/rr; // double dki_dymmc= ai_iplus1_rr_pow_i*(y*(1.0+r_xyod[i][2])+x*r_xyod[i][3])/rr;
......
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