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imagej-elphel
Commit a675f808 authored by Andrey Filippov's avatar Andrey Filippov
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debugging inconsistent pose fitting

parent e2a311fc
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Showing with 222 additions and 1443 deletions
src/main/java/com/elphel/imagej/tileprocessor/IntersceneMatchParameters.java
View file @ a675f808
......@@ -68,12 +68,6 @@ public class IntersceneMatchParameters {
public double [] pimu_gyr_offs = {-0.000360, -0.001173, -0.001418};
public double [] pimu_acc_offs = {0, 0, 0}; // camera x,y,z, (raw_ins_vxyz/corrected_vxyz -1)
@Deprecated
public double [] ims_scale_xyz = {1.0,1.0,1.0}; // {1.1, 1.1, 1.1};
@Deprecated
public double [] ims_scale_atr = {1.0,1.0,1.0}; // {1.1, 1.1, 1.1};
public boolean fmg_initial_en = true; // enable IMS-based FPN mitigation for initial orientation
public boolean fmg_reorient_en = true; // enable IMS-based FPN mitigation for readjustmnet orientation
public double fmg_distance = 10.0; // try to find other reference scene not closer than this pixels
......@@ -1384,11 +1378,6 @@ min_str_neib_fpn 0.35
gd.addStringField ("IMU accelerators gain", IntersceneMatchParameters.doublesToString(pimu_acc_offs), 80,
"IMU accelerators gain difference from 1. Negative values when IMU-reported velocities are smaller than actual");
gd.addStringField ("scale XYZ from IMS", IntersceneMatchParameters.doublesToString(ims_scale_xyz), 80,
"Scales for X, Y, and Z velocities when converting from IMS data, such as '1.1 1.1 1.1'.");
gd.addStringField ("scale ATR from IMS", IntersceneMatchParameters.doublesToString(ims_scale_atr), 80,
"Scales for Azimuth, Tilt, and Roll velocities when converting from IMS data, such as '1.1 1.1 1.1' (not needed).");
gd.addMessage ("IMS-based FPN mitigation for interscene matching");
gd.addCheckbox ("FPN mitigation for initial orientation", this.fmg_initial_en,
......@@ -3396,8 +3385,6 @@ min_str_neib_fpn 0.35
this.ims_mount_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
this.pimu_gyr_offs = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
this.pimu_acc_offs = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
this.ims_scale_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
this.ims_scale_atr = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
this.fmg_initial_en = gd.getNextBoolean();
this.fmg_reorient_en = gd.getNextBoolean();
this.fmg_distance = gd.getNextNumber();
......@@ -4582,8 +4569,6 @@ min_str_neib_fpn 0.35
properties.setProperty(prefix+"ims_mount_xyz", IntersceneMatchParameters.doublesToString(this.ims_mount_xyz));
properties.setProperty(prefix+"pimu_gyr_offs", IntersceneMatchParameters.doublesToString(this.pimu_gyr_offs));
properties.setProperty(prefix+"pimu_acc_offs", IntersceneMatchParameters.doublesToString(this.pimu_acc_offs));
properties.setProperty(prefix+"ims_scale_xyz", IntersceneMatchParameters.doublesToString(this.ims_scale_xyz));
properties.setProperty(prefix+"ims_scale_atr", IntersceneMatchParameters.doublesToString(this.ims_scale_atr));
properties.setProperty(prefix+"fmg_initial_en", this.fmg_initial_en + ""); // boolean
properties.setProperty(prefix+"fmg_reorient_en", this.fmg_reorient_en + ""); // boolean
properties.setProperty(prefix+"fmg_distance", this.fmg_distance+""); // double
......@@ -5710,8 +5695,6 @@ min_str_neib_fpn 0.35
if (properties.getProperty(prefix+"ims_mount_xyz")!=null) this.ims_mount_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_mount_xyz"),3);
if (properties.getProperty(prefix+"pimu_gyr_offs")!=null) this.pimu_gyr_offs= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"pimu_gyr_offs"),3);
if (properties.getProperty(prefix+"pimu_acc_offs")!=null) this.pimu_acc_offs= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"pimu_acc_offs"),3);
if (properties.getProperty(prefix+"ims_scale_xyz")!=null) this.ims_scale_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_scale_xyz"),3);
if (properties.getProperty(prefix+"ims_scale_atr")!=null) this.ims_scale_atr= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_scale_atr"),3);
if (properties.getProperty(prefix+"fmg_initial_en")!=null) this.fmg_initial_en=Boolean.parseBoolean(properties.getProperty(prefix+"fmg_initial_en"));
if (properties.getProperty(prefix+"fmg_reorient_en")!=null) this.fmg_reorient_en=Boolean.parseBoolean(properties.getProperty(prefix+"fmg_reorient_en"));
if (properties.getProperty(prefix+"fmg_distance")!=null) this.fmg_distance=Double.parseDouble(properties.getProperty(prefix+"fmg_distance"));
......@@ -6870,8 +6853,6 @@ min_str_neib_fpn 0.35
imp.ims_mount_xyz = this.ims_mount_xyz.clone();
imp.pimu_gyr_offs = this.pimu_gyr_offs.clone();
imp.pimu_acc_offs = this.pimu_acc_offs.clone();
imp.ims_scale_xyz = this.ims_scale_xyz.clone();
imp.ims_scale_atr = this.ims_scale_atr.clone();
imp.fmg_initial_en = this.fmg_initial_en;
imp.fmg_reorient_en = this.fmg_reorient_en;
imp.fmg_distance = this.fmg_distance;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ a675f808
......@@ -6138,7 +6138,7 @@ if (debugLevel < -100) {
return quadCLT;
}
public QuadCLT spawnNoModelQuadCLT(
public QuadCLT spawnNoModelQuadCLT( // copies quat_corr from this
String set_name,
CLTParameters clt_parameters,
ColorProcParameters colorProcParameters, //
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ a675f808
......@@ -224,10 +224,7 @@ public class QuadCLTCPU {
public String ims_last_path = null;
public double [] quat_corr = null; // correction for IMS camera frame to actual camera frame (for reference frames)
public double [] enu_corr_metric = null; // GNSS correction - add metrix offset to GNSS of the reference scene
@Deprecated
public double [][] pimu_offsets = new double[2][3]; // linear and angular velocities offsets to DID_PIMU outputs (subtract from IMU data)
// public boolean quat_corr_active = false; // correction for IMS camera frame to actual camera frame (for reference frames)
// latest (or any? first also?) scene in a sequence has a timestamp of the reference scene
public String timestamp_reference = null;
// only reference scene has a pair of first/last scene in a sequence
......@@ -1665,11 +1662,11 @@ public class QuadCLTCPU {
prev_scene = nscene;
}
}
if (debugLevel>0) {
if (debugLevel>0) { // null pointer at com.elphel.imagej.tileprocessor.QuadCLTCPU.integratePIMU(QuadCLTCPU.java:1676)
System.out.println(String.format(
"%3s\t%9s\t%9s\t%9s\t%9s\t%9s\t%9s",
"N","X","Y","Z","A","T","R"));
for (int nscene = 0; nscene < quadCLTs.length; nscene++) if (quadCLTs[nscene] != null) {
for (int nscene = 0; nscene < quadCLTs.length; nscene++) if ((quadCLTs[nscene] != null) && (xyzatr[nscene] != null)){
System.out.println(String.format(
"%3d\t%9.5f\t%9.5f\t%9.5f\t%9.5f\t%9.5f\t%9.5f",
nscene,
......@@ -1704,7 +1701,7 @@ public class QuadCLTCPU {
// scenes_xyzatr[ref_index] = new double[2][3]; // all zeros
Did_ins_2 d2_ref = did_ins_2;
if (d2_ref == null) {
d2_ref=quadCLTs[quadCLTs.length-1].did_ins_2;
d2_ref=quadCLTs[quadCLTs.length-1].did_ins_2;
}
// apply correction to orientation - better not to prevent extra loops.
// And it only applies to rotations
......@@ -1724,12 +1721,12 @@ public class QuadCLTCPU {
for (int nscene = 0; nscene < quadCLTs.length; nscene++) if (quadCLTs[nscene] != null) {
QuadCLT scene = quadCLTs[nscene];
Did_ins_2 d2 = scene.did_ins_2;
double [] enu = Imx5.enuFromLla (d2.lla, d2_ref.lla); // East-North-Up
double [] cam_quat_enu =Imx5.quaternionImsToCam(
double [] enu = Imx5.enuFromLla (d2.lla, d2_ref.lla); // East-North-Up May have inacurate altitude
double [] cam_quat_enu =Imx5.quaternionImsToCam( //per scene rotation from enu (from lla) to camera
d2.getQEnu(),
ims_mount_atr,
ims_ortho);
if (quat_corr != null) {
if (quat_corr != null) { // with correction if exists
cam_quat_enu=Imx5.applyQuaternionToQuaternion(quat_corr, cam_quat_enu, false);
}
double [] cam_xyz_enu = Imx5.applyQuaternionTo(
......@@ -3198,7 +3195,7 @@ public class QuadCLTCPU {
}
return geometryCorrection.getNumSensors();
}
public QuadCLTCPU(
public QuadCLTCPU( // copies quat_corr
QuadCLTCPU qParent,
String name
){
......@@ -6878,12 +6875,6 @@ public class QuadCLTCPU {
if (this.enu_corr_metric != null) {
properties.setProperty(prefix+"enu_corr_metric", IntersceneMatchParameters.doublesToString(this.enu_corr_metric));
}
if (this.pimu_offsets != null) {
properties.setProperty(prefix+"pimu_offsets_lin", IntersceneMatchParameters.doublesToString(this.pimu_offsets[0]));
properties.setProperty(prefix+"pimu_offsets_ang", IntersceneMatchParameters.doublesToString(this.pimu_offsets[1]));
}
return properties;
}
......@@ -7065,14 +7056,7 @@ public class QuadCLTCPU {
if (properties.getProperty(prefix+"enu_corr_metric")!=null) {
this.enu_corr_metric= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"enu_corr_metric"),3);
}
if (properties.getProperty(prefix+"pimu_offsets_lin")!=null) {
this.pimu_offsets[0]= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"pimu_offsets_lin"),3);
}
if (properties.getProperty(prefix+"pimu_offsets_ang")!=null) {
this.pimu_offsets[1]= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"pimu_offsets_ang"),3);
}
}
public void setKernelImageFile(ImagePlus img_kernels){ // not used in lwir
......
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