Done with individual quad-cam adjustment using rig "GT" data (a2bb43cd) · Commits · Elphel / imagej-elphel

src/main/java/AlignmentCorrection.java

+23 −10

Original line number	Diff line number	Diff line
		@@ -2056,7 +2056,7 @@ B = \|+dy0 -dy1 -2*dy3 \|
		(new showDoubleFloatArrays()).showArrays(dbg_img, tilesX, tilesY, true, "hist_filt_ds"); // , titles);
		}
		}
		// combine infinity and lasy eye scan data into a single array
		// combine infinity and lazy eye scan data into a single array
		double [][] inf_and_ly = new double [2 * NUM_SLICES][];
		for (int i = 0; i < NUM_SLICES; i++){
		inf_and_ly[i] = inf_scan[i];
		@@ -2076,7 +2076,9 @@ B = \|+dy0 -dy1 -2*dy3 \|
		}

		// static final int INDEX_10_WEIGHT = 1;
		if (debugLevel > 0) {
		System.out.println("test123");
		}
		if ((debugLevel > -1) && (hist_smpl_side > 0)) { // 0) {
		String [] prefixes = {"disparity", "strength", "dx0", "dy0", "dx1", "dy1", "dx2", "dy2", "dx3", "dy3"};
		String [] titles = new String [2 * NUM_SLICES];
		@@ -2128,7 +2130,9 @@ B = \|+dy0 -dy1 -2*dy3 \|
		}
		(new showDoubleFloatArrays()).showArrays(dbg_img, tilesX1, tilesY1, true, "inf_and_ly8",titles);
		}
		if (debugLevel > 0) {
		System.out.println("test1234");
		}
		// create list for infinity data
		// /clt_parameters.ly_inf_en,
		ArrayList<Sample> inf_samples_list;
		@@ -2275,6 +2279,7 @@ System.out.println("test1234");
		clt_parameters.ly_par_sel, //int manual_par_sel, // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
		mismatch_list, // ArrayList<Mismatch> mismatch_list,
		qc.geometryCorrection, // GeometryCorrection geometryCorrection,
		null, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
		qc.geometryCorrection.getCorrVector(), // GeometryCorrection.CorrVector corr_vector,
		old_new_rms, // double [] old_new_rms, // should be double[2]
		// 2); // debugLevel); // 2); // 1); // int debugLevel)
		@@ -2323,6 +2328,7 @@ System.out.println("test1234");


		public double [][][] lazyEyeCorrectionFromGT(
		final GeometryCorrection geometryCorrection_main, // if not null - this is an AUX camera of a rig
		final boolean use_poly, // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor
		final boolean restore_disp_inf, // Restore subtracted disparity for scan #0 (infinity) always true
		final double fcorr_radius,
		@@ -2360,7 +2366,7 @@ System.out.println("test1234");
		int debugLevel){

		// final double lazyEyeDispRelVariation = 0.02;

		//geometryCorrection_main
		final int dbg_nTile = -34145; // 37005; // -59038;
		final int num_scans = scans_14.length/NUM_ALL_SLICES;
		final int num_tiles = scans_14[0].length;
		@@ -2368,6 +2374,8 @@ System.out.println("test1234");
		final boolean [] center_mask = getCenterMask(fcorr_radius, tilesX, tilesY);
		final double [][] scans = new double [num_scans * NUM_SLICES][];
		// final double [][] comp_strength_rms = new double [num_scans][num_tiles];


		for (int ns = 0; ns < num_scans; ns++){
		final double [] min_weights = new double [num_tiles];
		for (int nTile = 0; nTile < num_tiles; nTile++){
		@@ -2478,7 +2486,7 @@ System.out.println("test1234");
		double [][] combo_mismatch = new double [NUM_SLICES][num_tiles];
		for (int ns = 0; ns < num_scans; ns++){
		for (int nTile = 0; nTile < num_tiles; nTile++) {
		if ((nTile == dbg_nTile) \|\| (nTile == 24971)){
		if (nTile == dbg_nTile) { // \|\| (nTile == 24971)){
		System.out.println("lazyEyeCorrectionFromGT().1: nTile="+nTile); // filtered_scans[2][37005] = NaN
		}
		// double w = filtered_scans[ns * NUM_SLICES + 1][nTile];
		@@ -2588,7 +2596,9 @@ System.out.println("test1234");
		}

		// static final int INDEX_10_WEIGHT = 1;
		if (debugLevel > 0) {
		System.out.println("test123");
		}
		if ((debugLevel > -1) && (hist_smpl_side > 0)) { // 0) {
		String [] titles = {"disparity", "strength", "dx0", "dy0", "dx1", "dy1", "dx2", "dy2", "dx3", "dy3"};
		(new showDoubleFloatArrays()).showArrays(combo_mismatch, tilesX, tilesY, true, "inf_and_ly",titles);
		@@ -2628,7 +2638,9 @@ System.out.println("test1234");
		}
		(new showDoubleFloatArrays()).showArrays(dbg_img, tilesX1, tilesY1, true, "inf_and_ly8",titles);
		}
		if (debugLevel > 0) {
		System.out.println("test1234a");
		}
		// create list for infinity data
		// /clt_parameters.ly_inf_en,

		@@ -2732,6 +2744,7 @@ System.out.println("test1234");
		System.out.println("Are null - non-null are for poly correction only");
		}
		}
		// TODO: use geometryCorrection_main (if not null)
		if (!use_poly && (mismatch_list != null)){
		double [] old_new_rms = new double[1];
		boolean apply_extrinsic = true;
		@@ -2746,6 +2759,7 @@ System.out.println("test1234");
		clt_parameters.ly_par_sel, // int manual_par_sel, // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
		mismatch_list, // ArrayList<Mismatch> mismatch_list,
		qc.geometryCorrection, // GeometryCorrection geometryCorrection,
		geometryCorrection_main, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
		qc.geometryCorrection.getCorrVector(), // GeometryCorrection.CorrVector corr_vector,
		old_new_rms, // double [] old_new_rms, // should be double[2]
		// 2); // debugLevel); // 2); // 1); // int debugLevel)
		@@ -3278,10 +3292,9 @@ System.out.println("test1234");
		boolean common_roll, // Enable common roll (valid for high disparity range only)
		boolean corr_focalLength, // Correct scales (focal length temperature? variations)
		int manual_par_sel, // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)


		ArrayList<Mismatch> mismatch_list,
		GeometryCorrection geometryCorrection,
		GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
		GeometryCorrection.CorrVector corr_vector,
		double [] old_new_rms, // should be double[2]
		int debugLevel)

src/main/java/BiScan.java

+1 −1

Original line number	Diff line number	Diff line
		@@ -512,7 +512,7 @@ public class BiScan {
		int dbg_x = 193;
		int dbg_y = 162;
		int debugLevel = -1;
		final int dbg_tile = (debugLevel>-2)?(dbg_x + tnImage.sizeX*dbg_y):-1;
		final int dbg_tile = (debugLevel>-1)?(dbg_x + tnImage.sizeX*dbg_y):-1;

		ai.set(0);
		// find definitely trusted and conditionally trusted tiles

src/main/java/EyesisCorrectionParameters.java

+49 −8

Original line number	Diff line number	Diff line
		@@ -122,6 +122,10 @@ public class EyesisCorrectionParameters {
		public int rig_batch_adjust_aux = 0;
		public int rig_batch_adjust_rig = 0;

		public int rig_batch_adjust_main_gt = 0; // adjust main camera using rig disparity as ground truth
		public int rig_batch_adjust_aux_gt = 0; // adjust aux camera using rig disparity as ground truth (TODO: finish geometry in derivatives)
		public int rig_batch_adjust_rig_gt = 0; // adjust rig after main and aux are adjusted with rig GT (late rig adjustment)

		public boolean clt_batch_apply_man = false; // Apply (and disable) manual pixel shift
		public boolean clt_batch_extrinsic = false; // Calibrate extrinsic parameters for each set
		public boolean clt_batch_poly = false; // Calculate fine polynomial correction for each set
		@@ -132,8 +136,6 @@ public class EyesisCorrectionParameters {
		public boolean clt_batch_gen3d = true; // Generate 3d output: x3d and/or obj+mtl
		public boolean clt_batch_dbg1 = true; // Generate debug images if a single set is selected



		public String x3dModelVersion="v01";
		public String jp4SubDir="jp4";

		@@ -248,6 +250,9 @@ public class EyesisCorrectionParameters {
		cp.rig_batch_adjust_aux= this.rig_batch_adjust_aux;
		cp.rig_batch_adjust_rig= this.rig_batch_adjust_rig;

		cp.rig_batch_adjust_main_gt = this.rig_batch_adjust_main_gt;
		cp.rig_batch_adjust_aux_gt = this.rig_batch_adjust_aux_gt;
		cp.rig_batch_adjust_rig_gt = this.rig_batch_adjust_rig_gt;

		cp.clt_batch_apply_man= this.clt_batch_apply_man;
		cp.clt_batch_extrinsic= this.clt_batch_extrinsic;
		@@ -393,6 +398,11 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"rig_batch_adjust_aux", this.rig_batch_adjust_aux+"");
		properties.setProperty(prefix+"rig_batch_adjust_rig", this.rig_batch_adjust_rig+"");


		properties.setProperty(prefix+"rig_batch_adjust_main_gt", this.rig_batch_adjust_main_gt+"");
		properties.setProperty(prefix+"rig_batch_adjust_aux_gt", this.rig_batch_adjust_aux_gt+"");
		properties.setProperty(prefix+"rig_batch_adjust_rig_gt", this.rig_batch_adjust_rig_gt+"");

		properties.setProperty(prefix+"clt_batch_apply_man", this.clt_batch_apply_man+"");
		properties.setProperty(prefix+"clt_batch_extrinsic", this.clt_batch_extrinsic+"");
		properties.setProperty(prefix+"clt_batch_poly", this.clt_batch_poly+"");
		@@ -533,6 +543,9 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"rig_batch_adjust_main")!=null) this.rig_batch_adjust_main=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_main"));
		if (properties.getProperty(prefix+"rig_batch_adjust_aux")!=null) this.rig_batch_adjust_aux=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_aux"));
		if (properties.getProperty(prefix+"rig_batch_adjust_rig")!=null) this.rig_batch_adjust_rig=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_rig"));
		if (properties.getProperty(prefix+"rig_batch_adjust_main_gt")!=null) this.rig_batch_adjust_main_gt=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_main_gt"));
		if (properties.getProperty(prefix+"rig_batch_adjust_aux_gt")!=null) this.rig_batch_adjust_aux_gt=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_aux_gt"));
		if (properties.getProperty(prefix+"rig_batch_adjust_rig_gt")!=null) this.rig_batch_adjust_rig_gt=Integer.parseInt(properties.getProperty(prefix+"rig_batch_adjust_rig_gt"));

		if (properties.getProperty(prefix+"clt_batch_apply_man")!= null) this.clt_batch_apply_man=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_apply_man"));
		if (properties.getProperty(prefix+"clt_batch_extrinsic")!= null) this.clt_batch_extrinsic=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_extrinsic"));
		@@ -869,9 +882,13 @@ public class EyesisCorrectionParameters {


		gd.addTab ("Batch", "Select Batch parameters");
		gd.addNumericField("Repeat main camera field adjustment", this.rig_batch_adjust_main, 0);
		gd.addNumericField("Repeat aux camera field adjustment", this.rig_batch_adjust_aux, 0);
		gd.addNumericField("Repeat 2-quad camera rig field adjustment", this.rig_batch_adjust_rig, 0);
		gd.addNumericField("Repeat main camera field adjustment (early, before rig)", this.rig_batch_adjust_main, 0);
		gd.addNumericField("Repeat aux camera field adjustment (early, before rig)", this.rig_batch_adjust_aux, 0);
		gd.addNumericField("Repeat 2-quad camera rig field adjustment (early, before late main/aux)", this.rig_batch_adjust_rig, 0);

		gd.addNumericField("Repeat main camera field adjustment (late, with GT disparity from rig)", this.rig_batch_adjust_main_gt, 0);
		gd.addNumericField("Repeat aux camera field adjustment (late, with GT disparity from rig)", this.rig_batch_adjust_aux_gt, 0);
		gd.addNumericField("Repeat 2-quad camera rig field adjustment (late, after all others)", this.rig_batch_adjust_rig_gt, 0);

		gd.addCheckbox ("Apply (and disable) manual pixel shift", this.clt_batch_apply_man); // 21
		gd.addCheckbox ("Calibrate extrinsic parameters for each set", this.clt_batch_extrinsic); // 22
		@@ -938,6 +955,10 @@ public class EyesisCorrectionParameters {
		this.rig_batch_adjust_aux = (int) gd.getNextNumber();
		this.rig_batch_adjust_rig = (int) gd.getNextNumber();

		this.rig_batch_adjust_main_gt = (int) gd.getNextNumber();
		this.rig_batch_adjust_aux_gt = (int) gd.getNextNumber();
		this.rig_batch_adjust_rig_gt = (int) gd.getNextNumber();

		this.clt_batch_apply_man= gd.getNextBoolean(); // 21
		this.clt_batch_extrinsic= gd.getNextBoolean(); // 22
		this.clt_batch_poly= gd.getNextBoolean(); // 23
		@@ -2610,6 +2631,9 @@ public class EyesisCorrectionParameters {
		public int lyf_min_samples = 5; // Minimal number of tiles remaining in the sample
		public boolean lyf_norm_center = true; // Replace samples with a single average with equal weight
		public double ly_corr_scale = 1.0; // Scale calculated correction vector
		public boolean lyr_filter_ds = false; // true;
		public boolean lyr_filter_lyf = false; // ~clt_parameters.lyf_filter, but may be different, now off for a single cameras


		// old fcorr parameters, reuse?
		// public int fcorr_sample_size = 32; // Use square this size side to detect outliers
		@@ -2965,7 +2989,7 @@ public class EyesisCorrectionParameters {
		// comparing merge quality for plane pairs
		public double plCostDist = 4.0; // Disparity (pix) - closer cost will use more of the real world, farther - disparity
		public double plCostKrq = 0.8; // Cost of merge quality sqrt(weighted*equal) in disparity space
		public double plCostKrqEq = 0.2; // Cost of merge quality averaje of weighted and equal weight in disparity space
		public double plCostKrqEq = 0.2; // Cost of merge quality average of weighted and equal weight in disparity space
		public double plCostWrq = 0.8; // Cost of merge quality sqrt(weighted*equal) in world space
		public double plCostWrqEq = 0.2; // Cost of merge quality average of weighted and equal weight in world space
		public double plCostSin2 = 10.0; // Cost of sin squared between normals
		@@ -3323,6 +3347,9 @@ public class EyesisCorrectionParameters {
		properties.setProperty(prefix+"lyf_norm_center", this.lyf_norm_center+"");
		properties.setProperty(prefix+"ly_corr_scale", this.ly_corr_scale +"");

		properties.setProperty(prefix+"lyr_filter_ds", this.lyr_filter_ds +"");
		properties.setProperty(prefix+"lyr_filter_lyf", this.lyr_filter_lyf +"");

		properties.setProperty(prefix+"corr_magic_scale", this.corr_magic_scale +"");
		properties.setProperty(prefix+"corr_select", this.corr_select +"");

		@@ -3986,6 +4013,9 @@ public class EyesisCorrectionParameters {
		if (properties.getProperty(prefix+"lyf_norm_center")!=null) this.lyf_norm_center=Boolean.parseBoolean(properties.getProperty(prefix+"lyf_norm_center"));
		if (properties.getProperty(prefix+"ly_corr_scale")!=null) this.ly_corr_scale=Double.parseDouble(properties.getProperty(prefix+"ly_corr_scale"));

		if (properties.getProperty(prefix+"lyr_filter_ds")!=null) this.lyr_filter_ds=Boolean.parseBoolean(properties.getProperty(prefix+"lyr_filter_ds"));
		if (properties.getProperty(prefix+"lyr_filter_lyf")!=null) this.lyr_filter_lyf=Boolean.parseBoolean(properties.getProperty(prefix+"lyr_filter_lyf"));

		if (properties.getProperty(prefix+"corr_magic_scale")!=null) this.corr_magic_scale=Double.parseDouble(properties.getProperty(prefix+"corr_magic_scale"));
		if (properties.getProperty(prefix+"corr_select")!=null) this.corr_select=Integer.parseInt(properties.getProperty(prefix+"corr_select"));

		@@ -4690,7 +4720,14 @@ public class EyesisCorrectionParameters {
		gd.addNumericField("Minimal number of tiles remaining in the sample", this.lyf_min_samples, 0);
		gd.addCheckbox ("Replace samples with a single average with equal weight", this.lyf_norm_center);
		gd.addNumericField("Scale calculated correction vector", this.ly_corr_scale, 3);
		gd.addMessage ("---");
		gd.addMessage ("--- Parameters specific to LY adjustments with dual-camera rig data (as ground truth ---");

		gd.addCheckbox ("Use samples filter with rig data", this.lyr_filter_ds,
		"Raw measured data may not need filtering when ground truth disparity is available");
		gd.addCheckbox ("Filter lazy eye pairs by their values wen GT data is available", this.lyr_filter_lyf,
		"Same as \"Filter lazy eye pairs by their values\" above, but for the rig-guided adjustments");


		// gd.addNumericField("Use square this size side to detect outliers", this.fcorr_sample_size, 0);
		// gd.addNumericField("Keep tiles only if there are more in each square", this.fcorr_mintiles, 0);
		// gd.addNumericField("Remove this fraction of tiles from each sample", this.fcorr_reloutliers, 3);
		@@ -5090,7 +5127,7 @@ public class EyesisCorrectionParameters {
		gd.addMessage ("--- Planes merge costs ---");
		gd.addNumericField(" Disparity (pix) - closer cost will use more of the real world, farther - disparity",this.plCostDist, 6);
		gd.addNumericField("Cost of merge quality sqrt(weighted*equal) in disparity space", this.plCostKrq, 6);
		gd.addNumericField("Cost of merge quality averaje of weighted and equal weight in disparity space",this.plCostKrqEq, 6);
		gd.addNumericField("Cost of merge quality average of weighted and equal weight in disparity space",this.plCostKrqEq, 6);
		gd.addNumericField("Cost of merge quality sqrt(weighted*equal) in world space", this.plCostWrq, 6);
		gd.addNumericField("Cost of merge quality average of weighted and equal weight in world space", this.plCostWrqEq, 6);
		gd.addNumericField("Cost of sin squared between normals", this.plCostSin2, 6);
		@@ -5438,6 +5475,10 @@ public class EyesisCorrectionParameters {
		this.lyf_min_samples= (int) gd.getNextNumber();
		this.lyf_norm_center= gd.getNextBoolean();
		this.ly_corr_scale= gd.getNextNumber();

		this.lyr_filter_ds= gd.getNextBoolean();
		this.lyr_filter_lyf= gd.getNextBoolean();

		// this.fcorr_sample_size= (int)gd.getNextNumber();
		// this.fcorr_mintiles= (int) gd.getNextNumber();
		// this.fcorr_reloutliers= gd.getNextNumber();

src/main/java/Eyesis_Correction.java

+75 −21

Original line number	Diff line number	Diff line
		@@ -570,7 +570,7 @@ private Panel panel1,
		addButton("CLT batch process", panelClt3, color_process);
		addButton("CM Test", panelClt3, color_stop);
		addButton("Show scan", panelClt3, color_configure);

		addButton("Show all scans", panelClt3, color_configure);
		add(panelClt3);
		}

		@@ -4480,6 +4480,10 @@ private Panel panel1,
		showScan();
		return;
		/* ======================================================================== */
		} else if (label.equals("Show all scans")) {
		showAllScans();
		return;
		/* ======================================================================== */

		} else if (label.equals("Import Aux")) {
		importAux();
		@@ -5944,8 +5948,6 @@ private Panel panel1,
		}
		}



		public boolean getDCTShiftwDialog(double [] shiftXY) {
		GenericDialog gd = new GenericDialog("Set DCT shift");
		gd.addNumericField("X-shift", shiftXY[0], 2); //2
		@@ -5968,8 +5970,8 @@ private Panel panel1,
		System.out.println(msg);
		return false;
		}
		int scan_index = 0;
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set CLT parameters",400,100);
		int scan_index = QUAD_CLT.tp.clt_3d_passes.size()-1;
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Select scan to show",400,100);
		gd.addNumericField("Scan index (0..."+(QUAD_CLT.tp.clt_3d_passes.size()-1), scan_index, 0, 2, "",
		"Display scan by index");

		@@ -5982,6 +5984,58 @@ private Panel panel1,

		}

		public boolean showAllScans() {
		if ((QUAD_CLT == null) \|\| (QUAD_CLT.tp == null) \|\| (QUAD_CLT.tp.clt_3d_passes == null)) {
		String msg = "DSI data is not available. Please run \"CLT 3D\" first";
		IJ.showMessage("Error",msg);
		System.out.println(msg);
		return false;
		}
		int scan_index = 0;
		String [] titles = QUAD_CLT.tp.getScanTitles();

		GenericJTabbedDialog gd = new GenericJTabbedDialog("Select scan slice to show",400,800);
		gd.addMessage("Select scan types to show");
		gd.addCheckbox("All scans", true, "Include all types of scans");
		gd.addCheckbox("Measured scans", false,"Include measured scans");
		gd.addCheckbox("Processed scans", false,"Include processed scans");
		gd.addCheckbox("Combo scans", false,"Include combo scans");
		gd.addMessage("Select slice to show (only first selected will be shown)");
		for (int i = 0; i < titles.length; i++ ) {
		gd.addCheckbox(i+": "+titles[i], false); // 0
		}

		gd.showDialog();
		if (gd.wasCanceled()) return false;
		boolean all = gd.getNextBoolean();
		boolean measured = gd.getNextBoolean();
		boolean processed = gd.getNextBoolean();
		boolean combo = gd.getNextBoolean();
		boolean [] bslice = new boolean [titles.length];
		for (int i = 0; i < titles.length;i++) {
		bslice[i] = gd.getNextBoolean();
		}
		int slice =-1;
		for (int i = 0; i < bslice.length; i++) if (bslice[i]) {
		slice = i;
		break;
		}

		if (slice < 0) {
		System.out.println("Slice not selected");
		return false;
		}
		QUAD_CLT.tp.showAllScans(
		"SCANS", // String title,
		slice, // int slice,
		all, // boolean all,
		measured, // boolean measured,
		processed, // boolean processed,
		combo); // boolean combo);
		return true;
		}


		public boolean cm_test() {
		double hsize_x = 1.5;
		double hsize_y = 1.5;

src/main/java/GeometryCorrection.java

+3 −3

Original line number	Diff line number	Diff line
		@@ -610,8 +610,8 @@ public class GeometryCorrection {
		diff_x, // used only with target_disparity == 0
		diff_y,
		target_disparity);
		if (debugLevel>-1) {
		System.out.println("getRigCorrection(): Current RMS = "+rms);
		if (debugLevel>-4) {
		System.out.println("getRigCorrection(): Current RMS = "+rms+ "(debugLevel= "+debugLevel+")");
		};
		double [][] jt = getJacobianTransposed( // npe
		qc_main.geometryCorrection, // GeometryCorrection gc_main,
		@@ -707,7 +707,7 @@ public class GeometryCorrection {
		rXY_aux[i][0] = xc_pix + Math.cos(aux_roll)rXY[i][0] + ssrMath.sin(aux_roll)*rXY[i][1];
		rXY_aux[i][1] = yc_pix - ssrMath.sin(aux_roll)rXY[i][0] + Math.cos(aux_roll)*rXY[i][1];
		}
		if (debugLevel > -2) {
		if (debugLevel > 0) {
		System.out.println("Auxiliary camera offsets per 1 nominal disparity pixel");
		for (int i = 0; i <rXY_aux.length;i++) {
		System.out.println(String.format("Camera %1d x = %8f y = %8f",i,rXY_aux[i][0],rXY_aux[i][1]));

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