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imagej-elphel
Commit 9e5d5d56 authored by Andrey Filippov's avatar Andrey Filippov
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Working on orientation adjustment camera to IMS

parent b098f6c0
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Showing with 934 additions and 127 deletions
src/main/java/com/elphel/imagej/tileprocessor/Interscene.java
View file @ 9e5d5d56
......@@ -7922,6 +7922,12 @@ public class Interscene {
rms[3] = initial_rms[1];
if (rms.length >= 5) {
rms[4] = lma_result;
if ((rms.length >= 6) && (last_rms.length > 2)){
rms[5] = last_rms[2];
if ((rms.length >= 7) && (last_rms.length > 3)){
rms[6] = last_rms[3];
}
}
}
}
}
......@@ -8212,6 +8218,12 @@ public class Interscene {
rms[3] = initial_rms[1];
if (rms.length >= 5) {
rms[4] = lma_result;
if ((rms.length >= 6) && (last_rms.length > 2)){
rms[5] = last_rms[2];
if ((rms.length >= 7) && (last_rms.length > 3)){
rms[6] = last_rms[3];
}
}
}
}
}
......
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ 9e5d5d56
......@@ -1104,8 +1104,9 @@ min_str_neib_fpn 0.35
public double wser_inf_thresh = 0.5; // Undefined yet parameter to select which segments to use in infinity disparity adjustment
public boolean wser_orient_en = true; // per-series orientation dcamera-to-imu adjust enable
public double wser_orient_transl = 0.5; // weight of translations for orientation.
public double wser_orient_transl = 0.5; // weight of translations for orientation, AGL-corrected.
public boolean wser_orient_save = true; // Save per-series infinity adjustments data as CSV file
public boolean wser_orient_series = true; // Save per-series orientations and summary
public boolean wser_orient_apply = false; // Apply per-series infinity correction
public double wser_orient_thresh = 0.5; // Undefined yet parameter to select which segments to use in infinity disparity adjustment
......@@ -1138,7 +1139,8 @@ min_str_neib_fpn 0.35
public int quat_num_iter = 20;
public double quat_reg_w = 0.25;
public double quat_max_ratio = 5.0; // max derivatives difference
public double quat_max_ratio = 3.0; // 5.0; // max derivatives ratio
public double quat_max_damping = 0.5; // maximal regularization weight
public double quat_max_change = 0.1; // radians
public double quat_min_transl = 5.0; // meters to adjust by translation
public double quat_min_rot = 0.1; // radians to adjust by rotation
......@@ -1881,7 +1883,7 @@ min_str_neib_fpn 0.35
gd.addCheckbox ("Apply IMS orientation correction ", this.apply_quat_corr,
"Apply camera orientation correction from predicted by IMS when generating output files - used only for ground planes.");
gd.addCheckbox ("Use IMS orientation correction internally", this.use_quat_corr,
"Depreceted? Use camera orientation correction from predicted by IMS internally from the previous calculations.");
"Deprecated? Use camera orientation correction from predicted by IMS internally from the previous calculations.");
gd.addCheckbox ("Inertial only initial poses", this.inertial_only,
"Use only IMU (DID_PIMU) data for initial egomotion, not the GNSS-aided IMS output.");
......@@ -3253,8 +3255,10 @@ min_str_neib_fpn 0.35
"Per-series orientation dcamera-to-imu adjust enable.");
gd.addNumericField("Translations weight", this.wser_orient_transl, 5,7,"",
"Weight of translations for orientation (remaining - orintation).");
gd.addCheckbox ("Save per-series orientation correction", this.wser_orient_save,
"Save per-series orintation adjustments data as CSV file.");
gd.addCheckbox ("Save scene sequence orientation correction", this.wser_orient_save,
"Save scene sequence orintation adjustments data as CSV file.");
gd.addCheckbox ("Save per-series orientation correction", this.wser_orient_series,
"Save per-series orintation adjustments data as CSV files and their summary table in index scene folder.");
gd.addCheckbox ("Apply per-series orientation correction", this.wser_orient_apply,
"Apply per-series orientation correction.");
gd.addNumericField("Orientation adjustment thershold", this.wser_orient_thresh, 5,7,"",
......@@ -3318,6 +3322,8 @@ min_str_neib_fpn 0.35
gd.addNumericField("Maximal derivatives by axes ratio", this.quat_max_ratio, 3,5,"x",
"If difference is larger, add regularization to reduce it.");
gd.addNumericField("Maximal regularization fraction (<1)", this.quat_max_damping, 3,5,"x",
"If difference is larger, add regularization to reduce it.");
gd.addNumericField("Maximal correction angles change", this.quat_max_change, 3,5,"rad",
"Do not update corrections if any angle is above this limit. ");
gd.addNumericField("Minimal translation for mount calibration", this.quat_min_transl, 3,5,"m",
......@@ -4611,6 +4617,7 @@ min_str_neib_fpn 0.35
this.wser_orient_en = gd.getNextBoolean();
this.wser_orient_transl = gd.getNextNumber();
this.wser_orient_save = gd.getNextBoolean();
this.wser_orient_series = gd.getNextBoolean();
this.wser_orient_apply = gd.getNextBoolean();
this.wser_orient_thresh = gd.getNextNumber();
......@@ -4643,6 +4650,7 @@ min_str_neib_fpn 0.35
this.quat_reg_w = gd.getNextNumber();
this.quat_max_ratio = gd.getNextNumber();
this.quat_max_damping = gd.getNextNumber();
this.quat_max_change = gd.getNextNumber();
this.quat_min_transl = gd.getNextNumber();
this.quat_min_rot = gd.getNextNumber();
......@@ -5853,6 +5861,7 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"wser_orient_en", this.wser_orient_en+""); // boolean
properties.setProperty(prefix+"wser_orient_transl", this.wser_orient_transl+""); // double
properties.setProperty(prefix+"wser_orient_save", this.wser_orient_save+""); // boolean
properties.setProperty(prefix+"wser_orient_series", this.wser_orient_series+""); // boolean
properties.setProperty(prefix+"wser_orient_apply", this.wser_orient_apply+""); // boolean
properties.setProperty(prefix+"wser_orient_thresh", this.wser_orient_thresh+""); // double
......@@ -5884,6 +5893,7 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"quat_reg_w", this.quat_reg_w+""); // double
properties.setProperty(prefix+"quat_max_ratio", this.quat_max_ratio+""); // double
properties.setProperty(prefix+"quat_max_damping", this.quat_max_damping+""); // double
properties.setProperty(prefix+"quat_max_change", this.quat_max_change+""); // double
properties.setProperty(prefix+"quat_min_transl", this.quat_min_transl+""); // double
properties.setProperty(prefix+"quat_min_rot", this.quat_min_rot+""); // double
......@@ -7079,6 +7089,7 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"wser_orient_en")!=null) this.wser_orient_en=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_en"));
if (properties.getProperty(prefix+"wser_orient_transl")!=null) this.wser_orient_transl=Double.parseDouble (properties.getProperty(prefix+"wser_orient_transl"));
if (properties.getProperty(prefix+"wser_orient_save")!=null) this.wser_orient_save=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_save"));
if (properties.getProperty(prefix+"wser_orient_series")!=null) this.wser_orient_series=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_series"));
if (properties.getProperty(prefix+"wser_orient_apply")!=null) this.wser_orient_apply=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_apply"));
if (properties.getProperty(prefix+"wser_orient_thresh")!=null) this.wser_orient_thresh=Double.parseDouble (properties.getProperty(prefix+"wser_orient_thresh"));
......@@ -7110,6 +7121,7 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"quat_reg_w")!=null) this.quat_reg_w=Double.parseDouble(properties.getProperty(prefix+"quat_reg_w"));
if (properties.getProperty(prefix+"quat_max_ratio")!=null) this.quat_max_ratio=Double.parseDouble(properties.getProperty(prefix+"quat_max_ratio"));
if (properties.getProperty(prefix+"quat_max_damping")!=null) this.quat_max_damping=Double.parseDouble(properties.getProperty(prefix+"quat_max_damping"));
if (properties.getProperty(prefix+"quat_max_change")!=null) this.quat_max_change=Double.parseDouble(properties.getProperty(prefix+"quat_max_change"));
if (properties.getProperty(prefix+"quat_min_transl")!=null) this.quat_min_transl=Double.parseDouble(properties.getProperty(prefix+"quat_min_transl"));
if (properties.getProperty(prefix+"quat_min_rot")!=null) this.quat_min_rot=Double.parseDouble(properties.getProperty(prefix+"quat_min_rot"));
......@@ -8284,6 +8296,7 @@ min_str_neib_fpn 0.35
imp.wser_orient_en = this.wser_orient_en;
imp.wser_orient_transl = this.wser_orient_transl;
imp.wser_orient_save = this.wser_orient_save;
imp.wser_orient_series = this.wser_orient_series;
imp.wser_orient_apply = this.wser_orient_apply;
imp.wser_orient_thresh = this.wser_orient_thresh;
......@@ -8316,6 +8329,7 @@ min_str_neib_fpn 0.35
imp.quat_reg_w = this.quat_reg_w;
imp.quat_max_ratio = this.quat_max_ratio;
imp.quat_max_damping = this.quat_max_damping;
imp.quat_max_change = this.quat_max_change;
imp.quat_min_transl = this.quat_min_transl;
imp.quat_min_rot = this.quat_min_rot;
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 9e5d5d56
......@@ -8673,6 +8673,7 @@ if (debugLevel > -100) return true; // temporarily !
boolean air_mode_en = clt_parameters.imp.air_mode_en; // fast airplane mode
boolean save_series_infinity = clt_parameters.imp.wser_inf_save; // true; // Save per-series infinity adjustments data as CSV file
boolean save_series_orient = clt_parameters.imp.wser_orient_save;
boolean process_segments = clt_parameters.imp.wser_orient_series;
if (run_pre_series) {
if (debugLevel > -4) {
System.out.println("===== Conditions met for all segment of the scene series, will run per-series calibrations =====");
......@@ -8697,13 +8698,14 @@ if (debugLevel > -100) return true; // temporarily !
// TODO: implement
// for testing running adjustImuOrient for the last segment in this series
double [][] orient_rslt = save_series_orient ? (new double [ref_scenes.length][]) : null;
double [] infinity_multi = SeriesInfinityCorrection.adjustImuOrientMulti(
double [] quatcorr_multi = SeriesInfinityCorrection.adjustImuOrientMulti(
clt_parameters, // CLTParameters clt_parameters,
ref_scenes, // QuadCLT [] quadCLTs,
index_scenes[0], // QuadCLT index_CLT, // normally - just the last in quadCLTs
save_series_orient, // boolean save_series_orient,
save_series_orient, // boolean save_sequence_orient,
process_segments, // boolean process_segments,
orient_rslt, // double [][] orient_rslt,
debugLevel); // int debugLevel)
debugLevel+1); // int debugLevel)
if (orient_rslt != null) {
}
}
......
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