bug fixes (b7b5500e) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/calibration/DistortionCalibrationData.java

+76 −11

Original line number	Diff line number	Diff line
		@@ -1121,6 +1121,10 @@ import ij.text.TextWindow;
		this.gIP[numFile].gridImage = imp_grid; // Save all images?
		this.gIP[numFile].laserPixelCoordinates = MatchSimulatedPattern.getPointersXYUV(imp_grid, laserPointers);
		this.gIP[numFile].motors = getMotorPositions(imp_grid, this.numMotors);
		if (this.gIP[numFile].motors == null) {
		System.out.println("BUG");
		continue;
		}
		this.gIS[nis].motors= this.gIP[numFile].motors.clone();
		this.gIP[numFile].matchedPointers = getUsedPonters(imp_grid);
		if (this.gIP[numFile].matchedPointers > 0) {
		@@ -1802,10 +1806,24 @@ import ij.text.TextWindow;
		}
		public void listCameraParameters(){
		boolean is_lwir16 = (getNumEo()==4) && (getNumLwir()==16);
		double eoRollDegPerTurn = -0.45/33.5*180/Math.PI; // -0.769644799429464 deg/turn, CW screw increases roll, degrees per 1 screw turn
		if (is_lwir16) eoRollDegPerTurn = -0.35/34.3*180/Math.PI; // -0.769644799429464 deg/turn, CW screw increases roll, degrees per 1 screw turn
		double eoHeadDegPerTurn = 0.45/34.5*180/Math.PI; // 0.7473362545184652 deg/turn, both screws CW decreases heading (degree/turn)
		double eoElevDegPerTurn = 0.45/14*180/Math.PI; // 1.8416500557776463 deg/turn, top CW, bottom CCW decreases elevation (degree/turn)
		double M25PITCH = 0.45; // mm
		double M16PITCH = 0.35; // mm
		double eoRollDegPerTurn = -M25PITCH/33.5*180/Math.PI; // -0.769644799429464 deg/turn, CW screw increases roll, degrees per 1 screw turn
		if (is_lwir16) eoRollDegPerTurn = +M16PITCH/34.3*180/Math.PI; // -0.769644799429464 deg/turn, CW screw decreases roll, degrees per 1 screw turn
		double eoHeadDegPerTurn = M25PITCH/34.5*180/Math.PI; // 0.7473362545184652 deg/turn, both screws CW decreases heading (degree/turn)
		double eoElevDegPerTurn = M25PITCH/14*180/Math.PI; // 1.8416500557776463 deg/turn, top CW, bottom CCW decreases elevation (degree/turn)

		//View from the target to the front of camera
		// S1: LWIR top segment, left screw
		// S2: LWIR right segment, top screw
		// S3: LWIR bottom segment, right screw
		// S4: LWIR left segment, bottom screw (other 4 screws moved accordingly)
		double lwir_rrot = 11.591; // mm, screws from the optical axis
		double lwir_rdirect = 31.0; // mm, screws z distance from the rotation center
		// 45 degree cross orientation - movements of the screws when cross moves up/down, right-left are reduced be sqrt(2)
		double lwirTurnsPerRollDegree = lwir_rrot/M16PITCH*Math.PI/180.0;
		double lwirTurnsPerDirectDegree = lwir_rdirect/M16PITCH*Math.PI/180.0/Math.sqrt(2.0); // reduced for 45 degree cross


		int numSubCameras=getNumSubCameras();
		if (this.gIP!=null) {
		@@ -1894,6 +1912,7 @@ import ij.text.TextWindow;
		if (is_lwir16) {
		int num_lwir = getNumLwir(); // 16
		int num_eo = getNumEo(); // 4
		int lwir0 = 0;
		int eo0 = num_lwir; // 16
		double [] eoRollCorrTurns = new double[num_eo];
		double [] eoTopCorrTurns = new double[num_eo];
		@@ -1908,8 +1927,30 @@ import ij.text.TextWindow;
		cameraPars[i + eo0][getParameterIndexByName("subcamHeading")] / eoHeadDegPerTurn -
		cameraPars[i + eo0][getParameterIndexByName("subcamElevation")] / eoElevDegPerTurn;
		}
		double [][] lwir_screw = new double [num_lwir][4];
		// for some reason, LWIR roll was overcorrected, scaling it down:
		double scale_roll_correction = 0.6;

		sb.append("---"); for (int i=-1;i<numSubCameras;i++) sb.append("\t"); sb.append("\n");
		for (int i = 0; i < num_lwir; i++) {
		lwir_screw[i][0] = -lwirTurnsPerRollDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamRoll")]*scale_roll_correction;
		lwir_screw[i][1] = -lwirTurnsPerRollDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamRoll")]*scale_roll_correction;
		lwir_screw[i][2] = -lwirTurnsPerRollDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamRoll")]*scale_roll_correction;
		lwir_screw[i][3] = -lwirTurnsPerRollDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamRoll")]*scale_roll_correction;

		lwir_screw[i][0] += +lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamHeading")];
		lwir_screw[i][1] += +lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamHeading")];
		lwir_screw[i][2] += -lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamHeading")];
		lwir_screw[i][3] += -lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamHeading")];

		lwir_screw[i][0] += -lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamElevation")];
		lwir_screw[i][1] += lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamElevation")];
		lwir_screw[i][2] += lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamElevation")];
		lwir_screw[i][3] += -lwirTurnsPerDirectDegree * cameraPars[lwir0 + i][getParameterIndexByName("subcamElevation")];
		}



		sb.append("--- EO screws"); for (int i=-1;i<numSubCameras;i++) sb.append("\t"); sb.append("\n");
		sb.append("Screw roll"+"\t"+"turns CW");
		for (int i = 0; i < eo0; i++) sb.append("\t");
		for (int i=0;i<num_eo;i++) sb.append("\t"+IJ.d2s(eoRollCorrTurns[i],2));
		@@ -1925,8 +1966,32 @@ import ij.text.TextWindow;
		for (int i=0;i<num_eo;i++) sb.append("\t"+IJ.d2s(eoBotCorrTurns[i],2));
		sb.append("\n");

		sb.append("---"); for (int i=-1;i<numSubCameras;i++) sb.append("\t"); sb.append("\n");
		sb.append("--- LWIR screws\t(view from target)"); for (int i=0;i<numSubCameras;i++) sb.append("\t"); sb.append("\n");
		/*
		double lwirTurnsPerRollDegree = lwir_rrot/M16PITCH*Math.PI/180.0;
		double lwirTurnsPerDirectDegree = lwir_rdirect/M16PITCH*Math.PI/180.0/Math.sqrt(2.0); // reduced for 45 degree cross

		*/
		sb.append("S1: top segment, left screw"+"\t"+"turns CW");
		for (int i=0;i<num_lwir;i++) sb.append("\t"+IJ.d2s(lwir_screw[i][0],2));
		for (int i = 0; i < num_eo; i++) sb.append("\t");
		sb.append("\n");

		sb.append("S2: Right segment, top screw"+"\t"+"turns CW");
		for (int i=0;i<num_lwir;i++) sb.append("\t"+IJ.d2s(lwir_screw[i][1],2));
		for (int i = 0; i < num_eo; i++) sb.append("\t");
		sb.append("\n");

		sb.append("S3: bottom segment, right screw"+"\t"+"turns CW");
		for (int i=0;i<num_lwir;i++) sb.append("\t"+IJ.d2s(lwir_screw[i][2],2));
		for (int i = 0; i < num_eo; i++) sb.append("\t");
		sb.append("\n");

		sb.append("S4: left segment, bottom screw"+"\t"+"turns CW");
		for (int i=0;i<num_lwir;i++) sb.append("\t"+IJ.d2s(lwir_screw[i][3],2));
		for (int i = 0; i < num_eo; i++) sb.append("\t");
		sb.append("\n");
		sb.append("---"); for (int i=-1;i<numSubCameras;i++) sb.append("\t"); sb.append("\n");
		}

		}
		@@ -2240,7 +2305,7 @@ import ij.text.TextWindow;
		int num_avg=0;
		double sum_avg=0.0;
		for (int i_avg=i_low;i_avg < i_high; i_avg++){
		if (!Double.isNaN(this.gIS[i_avg].goniometerTilt)){
		if (!Double.isNaN(this.gIS[i_avg].goniometerTilt) && !this.gIS[i_avg].orientationEstimated){
		num_avg++;
		sum_avg += this.gIS[i_avg].goniometerTilt;
		}
		@@ -2256,8 +2321,8 @@ import ij.text.TextWindow;
		sb.append("\t"+(Double.isNaN(this.gIS[i].goniometerAxial)?"---":((this.gIS[i].orientationEstimated?"(":"")+IJ.d2s(axial_corr_sign,3)+(this.gIS[i].orientationEstimated?")":""))));
		sb.append("\t"+(Double.isNaN(this.gIS[i].goniometerTilt)?"---":((this.gIS[i].orientationEstimated?"(":"")+IJ.d2s(this.gIS[i].goniometerTilt,3)+(this.gIS[i].orientationEstimated?")":""))));

		sb.append("\t"+(Double.isNaN(dTilt)?"---":IJ.d2s(dTilt,3)));
		sb.append("\t"+(Double.isNaN(firstInterAxisAngle)?"---":IJ.d2s(firstInterAxisAngle,3)));
		sb.append("\t"+(Double.isNaN(dTilt)?"---":((this.gIS[i].orientationEstimated?"(":"")+IJ.d2s(dTilt,3)+(this.gIS[i].orientationEstimated?")":"") )));
		sb.append("\t"+(Double.isNaN(firstInterAxisAngle)?"---":((this.gIS[i].orientationEstimated?"(":"")+IJ.d2s(firstInterAxisAngle,3)+ (this.gIS[i].orientationEstimated?")":"") )));

		if (showXYZ) {
		sb.append(String.format("\t%.1f\t%.1f\t%.1f", this.gIS[i].GXYZ[0], this.gIS[i].GXYZ[1], this.gIS[i].GXYZ[2]));

src/main/java/com/elphel/imagej/lwir/Lwir16Reader.java

+7 −1

Original line number	Diff line number	Diff line
		@@ -1162,7 +1162,13 @@ public class Lwir16Reader {
		if (dt==null) {
		System.out.println("i="+i+", dt is NULL!");
		}
		try {
		img_seconds[i] = Double.parseDouble(dt.substring(dt.lastIndexOf(":")+1));
		} catch (Exception e) {
		System.out.println("i="+i+", dt="+dt);
		System.out.println("i="+i+", dt="+dt);
		}

		try {
		img_numbers[i] = Integer.parseInt((String) imps[i].getProperty("STD_Image_Number"));
		} catch (Exception e) {

Admin message