Commit b47dba20 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

tested new extrinsic adjustment including ERS rotation

parent cb607a02

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+25 −5
Original line number Original line Diff line number Diff line
@@ -179,8 +179,12 @@ public class CLTParameters { 
	public boolean    ly_diff_roll_en = true;    // Adjust differential rolls (3 of 4 angles)

	public boolean    ly_diff_roll_en = true;    // Adjust differential rolls (3 of 4 angles)

	public boolean    ly_focalLength=   true;    // Correct scales (focal length temperature? variations)

	public boolean    ly_focalLength=   true;    // Correct scales (focal length temperature? variations)

	public boolean    ly_com_roll=      false;   // Enable common roll (valid for high disparity range only)

	public boolean    ly_com_roll=      false;   // Enable common roll (valid for high disparity range only)

	public boolean    ly_ers_rot=       true;    // Enable ERS correction of the camera rotation

	public boolean    ly_ers_lin=       false;   // Enable ERS correction of the camera linear movement

	public int        ly_par_sel   =    0;       // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use checkbox selections above)

	public int        ly_par_sel   =    0;       // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use checkbox selections above)





	public int        ly_debug_level =  0;       // LY debug level



	public boolean    ly_right_left=    false;   // equalize weights of right/left FoV (use with horizon in both halves and gross infinity correction)

	public boolean    ly_right_left=    false;   // equalize weights of right/left FoV (use with horizon in both halves and gross infinity correction)





	public int        ly_per_quad =     10;      // minimal tiles per quadrant (not counting the worst) tp proceed

	public int        ly_per_quad =     10;      // minimal tiles per quadrant (not counting the worst) tp proceed
@@ -966,8 +970,12 @@ public class CLTParameters { 
		properties.setProperty(prefix+"ly_diff_roll_en",            this.ly_diff_roll_en+"");

		properties.setProperty(prefix+"ly_diff_roll_en",            this.ly_diff_roll_en+"");

		properties.setProperty(prefix+"ly_focalLength",             this.ly_focalLength+"");

		properties.setProperty(prefix+"ly_focalLength",             this.ly_focalLength+"");

		properties.setProperty(prefix+"ly_com_roll",                this.ly_com_roll+"");

		properties.setProperty(prefix+"ly_com_roll",                this.ly_com_roll+"");



		properties.setProperty(prefix+"ly_ers_rot",                 this.ly_ers_rot+"");

		properties.setProperty(prefix+"ly_ers_lin",                 this.ly_ers_lin+"");

		properties.setProperty(prefix+"ly_par_sel",                 this.ly_par_sel+"");

		properties.setProperty(prefix+"ly_par_sel",                 this.ly_par_sel+"");

		properties.setProperty(prefix+"ly_debug_level",             this.ly_debug_level+"");





		properties.setProperty(prefix+"ly_right_left",              this.ly_right_left+"");

		properties.setProperty(prefix+"ly_right_left",              this.ly_right_left+"");





		properties.setProperty(prefix+"ly_per_quad",                this.ly_per_quad +"");

		properties.setProperty(prefix+"ly_per_quad",                this.ly_per_quad +"");
@@ -1683,8 +1691,11 @@ public class CLTParameters { 
		if (properties.getProperty(prefix+"ly_diff_roll_en")!=null)               this.ly_diff_roll_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_diff_roll_en"));

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

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

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

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

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



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

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

		if (properties.getProperty(prefix+"ly_par_sel")!=null)                    this.ly_par_sel=Integer.parseInt(properties.getProperty(prefix+"ly_par_sel"));

		if (properties.getProperty(prefix+"ly_par_sel")!=null)                    this.ly_par_sel=Integer.parseInt(properties.getProperty(prefix+"ly_par_sel"));

		if (properties.getProperty(prefix+"ly_debug_level")!=null)                this.ly_debug_level=Integer.parseInt(properties.getProperty(prefix+"ly_debug_level"));



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

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





		if (properties.getProperty(prefix+"ly_per_quad")!=null)                   this.ly_per_quad=Integer.parseInt(properties.getProperty(prefix+"ly_per_quad"));

		if (properties.getProperty(prefix+"ly_per_quad")!=null)                   this.ly_per_quad=Integer.parseInt(properties.getProperty(prefix+"ly_per_quad"));
@@ -2436,7 +2447,7 @@ public class CLTParameters { 
		gd.addTab         ("Lazy eye", "Lazy eye parameters");

		gd.addTab         ("Lazy eye", "Lazy eye parameters");





		gd.addMessage     ("--- main-to-aux depth map parameters ---");

		gd.addMessage     ("--- main-to-aux depth map parameters ---");

		gd.addNumericField("Minimal reference (main) channel orrelation strength",                              this.ly_gt_strength,        3);

		gd.addNumericField("Minimal reference (main) channel correlation strength",                              this.ly_gt_strength,        3);

		gd.addCheckbox    ("Use window for AUX tiles to reduce weight of the hi-res tiles near low-res tile boundaries", this.ly_gt_use_wnd);

		gd.addCheckbox    ("Use window for AUX tiles to reduce weight of the hi-res tiles near low-res tile boundaries", this.ly_gt_use_wnd);

		gd.addNumericField("Aux disparity thershold to split FG and BG (and disable AUX tile for adjustment)",  this.ly_gt_rms,        3);

		gd.addNumericField("Aux disparity thershold to split FG and BG (and disable AUX tile for adjustment)",  this.ly_gt_rms,        3);

		gd.addMessage     ("--- others ---");

		gd.addMessage     ("--- others ---");
@@ -2446,9 +2457,15 @@ public class CLTParameters { 
		gd.addCheckbox    ("Adjust differential rolls",                                                         this.ly_diff_roll_en,"Adjust differential rolls (3 of 4 rolls, keeping average roll)");

		gd.addCheckbox    ("Adjust differential rolls",                                                         this.ly_diff_roll_en,"Adjust differential rolls (3 of 4 rolls, keeping average roll)");

		gd.addCheckbox    ("Correct scales (focal length temperature? variations)",                             this.ly_focalLength);

		gd.addCheckbox    ("Correct scales (focal length temperature? variations)",                             this.ly_focalLength);

		gd.addCheckbox    ("Enable common roll adjustment (valid for high disparity range scans only)",         this.ly_com_roll);

		gd.addCheckbox    ("Enable common roll adjustment (valid for high disparity range scans only)",         this.ly_com_roll);



		gd.addCheckbox    ("Enable ERS correction of the camera rotation",                                      this.ly_ers_rot);

		gd.addCheckbox    ("Enable ERS correction of the camera linear movement",                               this.ly_ers_lin);

		gd.addNumericField("Manual parameter mask selection (0 use checkboxes above)",                          this.ly_par_sel,  0, 5,"",

		gd.addNumericField("Manual parameter mask selection (0 use checkboxes above)",                          this.ly_par_sel,  0, 5,"",

				"bit 0 - sym0, bit1 - sym1, ...");

				"bit 0 - sym0, bit1 - sym1, ...");

		gd.addNumericField("Debug level for lazy eye/ers processing",                                           this.ly_debug_level,  0, 5,"",

				"Active when global debug level > -1");







		gd.addCheckbox    ("Equalize weights of right/left FoV",           this.ly_right_left,

		gd.addCheckbox    ("Equalize weights of right/left FoV",           this.ly_right_left,

				"Use this mode use with horizon visible in both FoV halves when gross infinity correction is needed");

				"Use this mode use with horizon visible in both FoV halves when gross infinity correction is needed");
@@ -3273,7 +3290,10 @@ public class CLTParameters { 
		this.ly_diff_roll_en=       gd.getNextBoolean();

		this.ly_diff_roll_en=       gd.getNextBoolean();

		this.ly_focalLength=        gd.getNextBoolean();

		this.ly_focalLength=        gd.getNextBoolean();

		this.ly_com_roll=           gd.getNextBoolean();

		this.ly_com_roll=           gd.getNextBoolean();

		this.ly_ers_rot=            gd.getNextBoolean();

		this.ly_ers_lin=            gd.getNextBoolean();

		this.ly_par_sel=      (int) gd.getNextNumber();

		this.ly_par_sel=      (int) gd.getNextNumber();

		this.ly_debug_level=  (int) gd.getNextNumber();





		this.ly_right_left=         gd.getNextBoolean();

		this.ly_right_left=         gd.getNextBoolean();

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

+17 −2
Original line number Original line Diff line number Diff line
@@ -709,7 +709,9 @@ private Panel panel1, 
			addButton("LWIR_TEST",                  panelClt_GPU, color_conf_process);

			addButton("LWIR_TEST",                  panelClt_GPU, color_conf_process);

			addButton("LWIR_ACQUIRE",               panelClt_GPU, color_conf_process);

			addButton("LWIR_ACQUIRE",               panelClt_GPU, color_conf_process);

			addButton("IMU main",                   panelClt_GPU, color_conf_process);

			addButton("IMU main",                   panelClt_GPU, color_conf_process);

			addButton("ERS main",                   panelClt_GPU, color_process);

			addButton("IMU aux",                    panelClt_GPU, color_conf_process_aux);

			addButton("IMU aux",                    panelClt_GPU, color_conf_process_aux);

			addButton("ERS aux",                    panelClt_GPU, color_process_aux);





			plugInFrame.add(panelClt_GPU);

			plugInFrame.add(panelClt_GPU);

		}

		}
@@ -4318,7 +4320,8 @@ private Panel panel1, 
    } else if (label.equals("CLT 4 images") ||

    } else if (label.equals("CLT 4 images") ||

    		label.equals("CLT apply fine corr") ||

    		label.equals("CLT apply fine corr") ||

    		label.equals("CLT infinity corr") ||

    		label.equals("CLT infinity corr") ||

    		label.equals("CORR TEST" )) {

    		label.equals("CORR TEST" ) ||

    		label.equals("ERS main")) {

    	boolean apply_corr = label.equals("CLT apply fine corr");

    	boolean apply_corr = label.equals("CLT apply fine corr");

    	boolean infinity_corr = label.equals("CLT infinity corr");

    	boolean infinity_corr = label.equals("CLT infinity corr");

    	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;

    	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
@@ -4377,7 +4380,19 @@ private Panel panel1, 
        int num_infinity_corr = infinity_corr? CLT_PARAMETERS.inf_repeat : 1;

        int num_infinity_corr = infinity_corr? CLT_PARAMETERS.inf_repeat : 1;

        if ( num_infinity_corr < 1) num_infinity_corr = 1;

        if ( num_infinity_corr < 1) num_infinity_corr = 1;

        for (int i_infinity_corr = 0;  i_infinity_corr < num_infinity_corr; i_infinity_corr++) {

        for (int i_infinity_corr = 0;  i_infinity_corr < num_infinity_corr; i_infinity_corr++) {

        	if (label.equals("CORR TEST")) {

        	if (label.equals("ERS main")) {

        		QUAD_CLT.processCLTQuadCorrsTestERS(

        				CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,

        				DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,

        				COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,

        				CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters     channelGainParameters,

        				RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters             rgbParameters,

        				apply_corr,

        				infinity_corr, // calculate and apply geometry correction at infinity

        				THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch

        				UPDATE_STATUS, //final boolean    updateStatus,

        				DEBUG_LEVEL); //final int        debugLevel);

        	} else if (label.equals("CORR TEST")) {

        		QUAD_CLT.processCLTQuadCorrsTest(

        		QUAD_CLT.processCLTQuadCorrsTest(

        				CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,

        				CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,

        				DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,

        				DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

+5 −5
Original line number Original line Diff line number Diff line
@@ -100,6 +100,7 @@ public class Corr2dLMA { 
	private double []         weights; // normalized so sum is 1.0 for all - samples and extra regularization terms

	private double []         weights; // normalized so sum is 1.0 for all - samples and extra regularization terms

	private double            pure_weight; // weight of samples only

	private double            pure_weight; // weight of samples only

	private double []         values;

	private double []         values;



	// next values are only updated after success

	// next values are only updated after success

	private double []         last_rms =        null; // {rms, rms_pure}, matching this.vector

	private double []         last_rms =        null; // {rms, rms_pure}, matching this.vector

	private double []         good_or_bad_rms = null; // just for diagnostics, to read last (failed) rms

	private double []         good_or_bad_rms = null; // just for diagnostics, to read last (failed) rms
@@ -763,7 +764,7 @@ public class Corr2dLMA { 
		return dbg_img;

		return dbg_img;

	}

	}





	private double [] getFxJt( // USED in lwir

	private double [] getFxJt(

			double []   vector,

			double []   vector,

			double [][] jt) { // should be either [vector.length][samples.size()] or null - then only fx is calculated

			double [][] jt) { // should be either [vector.length][samples.size()] or null - then only fx is calculated

		if (this.gaussian_mode) return getFxJt_gaussian(vector, jt);

		if (this.gaussian_mode) return getFxJt_gaussian(vector, jt);
@@ -1318,7 +1319,7 @@ public class Corr2dLMA { 




////////////////////////////////////////////////////////////////////////

////////////////////////////////////////////////////////////////////////





	private boolean debugJt( // not used in lwir

	private boolean debugJt(

    		double      delta,

    		double      delta,

    		double []   vector) {

    		double []   vector) {

    	int num_points = this.values.length;

    	int num_points = this.values.length;
@@ -1653,7 +1654,7 @@ public class Corr2dLMA { 
		return wjtymfx;

		return wjtymfx;

	}

	}





	public boolean runLma( // USED in lwir

	public boolean runLma(

			double lambda,           // 0.1

			double lambda,           // 0.1

			double lambda_scale_good,// 0.5

			double lambda_scale_good,// 0.5

			double lambda_scale_bad, // 8.0

			double lambda_scale_bad, // 8.0
@@ -1713,7 +1714,7 @@ public class Corr2dLMA { 








	// returns {success, done}

	// returns {success, done}

	public boolean [] lmaStep( // USED in lwir

	public boolean [] lmaStep(

			double lambda,

			double lambda,

			double rms_diff,

			double rms_diff,

			int debug_level) {

			int debug_level) {
@@ -1821,5 +1822,4 @@ public class Corr2dLMA { 
		}

		}

		return rslt;

		return rslt;

	}

	}



}
 
}

src/main/java/com/elphel/imagej/tileprocessor/ExtrinsicAdjustment.java

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+867 −0

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src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java

+496 −61

File changed.

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