Improved DID_INS_* interpolation by local correction of ts_master to GPS (b9a32b13) · Commits · Elphel / imagej-elphel

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

+7 −1

Original line number	Original line	Diff line number	Diff line
	@@ -5525,14 +5525,20 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
	EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);		EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
	CLT_PARAMETERS.batch_run = true;		CLT_PARAMETERS.batch_run = true;
	String imx_logs = CORRECTION_PARAMETERS.getImsSourceDirectory(); // sourceImsDirectory;		String imx_logs = CORRECTION_PARAMETERS.getImsSourceDirectory(); // sourceImsDirectory;
			String debug_path = null; // CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"debug_local_master";
	if (EVENT_LOGGER == null) {		if (EVENT_LOGGER == null) {
	if ((imx_logs != null) && !imx_logs.equals("")) {		if ((imx_logs != null) && !imx_logs.equals("")) {
	EVENT_LOGGER = new EventLogger (imx_logs);		EVENT_LOGGER = new EventLogger (
			imx_logs,
			debug_path);
	} else {		} else {
	System.out.println("sourceImsDirectory is not set. Use Setup CLT Batch parameters to define it.");		System.out.println("sourceImsDirectory is not set. Use Setup CLT Batch parameters to define it.");
	}		}
	}		}
	if (EVENT_LOGGER != null) {		if (EVENT_LOGGER != null) {
			//print2Pps
			EVENT_LOGGER.print2Pps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"rec_1pps");
			EVENT_LOGGER.printStrobeInTime(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_strobe_in_time");
	EVENT_LOGGER.printPimu(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_pimu");		EVENT_LOGGER.printPimu(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_pimu");
	EVENT_LOGGER.printGps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_gps", 7);		EVENT_LOGGER.printGps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_gps", 7);
	EVENT_LOGGER.printDidIns1(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_ins1");		EVENT_LOGGER.printDidIns1(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_ins1");

src/main/java/com/elphel/imagej/ims/Did_ins.java

+8 −0

Original line number	Original line	Diff line number	Diff line
	@@ -28,6 +28,14 @@ public abstract class Did_ins <T extends Did_ins <T>>{
	return frac * v_next + (1.0 - frac) * v_this;		return frac * v_next + (1.0 - frac) * v_this;
	}		}

			public double getDoubleTime() {
			return ((double) week) * WEEK_SECONDS + timeOfWeek;
			}

			public int [] getWeekTimeMs() { // for compatibility with DID_STROBE_IN_TIME
			return new int [] { week, (int)Math.round(timeOfWeek * 1000.0)};
			}

	//https://www.swtestacademy.com/return-subclass-instance-java-generics/		//https://www.swtestacademy.com/return-subclass-instance-java-generics/
	public void interpolateBase(double frac, T next_did, T new_did) {		public void interpolateBase(double frac, T next_did, T new_did) {
	new_did.week = this.week;		new_did.week = this.week;

src/main/java/com/elphel/imagej/ims/Did_strobe_in_time.java

+24 −0

Original line number	Original line	Diff line number	Diff line
	@@ -2,6 +2,9 @@ package com.elphel.imagej.ims;

	import java.nio.ByteBuffer;		import java.nio.ByteBuffer;
	import java.nio.ByteOrder;		import java.nio.ByteOrder;
			import java.util.Properties;

			import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;

	/* (DID_STROBE_IN_TIME) Timestamp for input strobe.		/* (DID_STROBE_IN_TIME) Timestamp for input strobe.
	typedef struct PACKED		typedef struct PACKED
	@@ -121,4 +124,25 @@ public class Did_strobe_in_time {
	s += String.format("count: %d\n", count);		s += String.format("count: %d\n", count);
	return s;		return s;
	}		}


			public void getProperties(String prefix, Properties properties) {
			if (properties.getProperty(prefix+"week")!=null) this.week= Integer.parseInt(properties.getProperty(prefix+"week"));
			if (properties.getProperty(prefix+"timeOfWeekMs")!=null) this.timeOfWeekMs= Integer.parseInt(properties.getProperty(prefix+"week"));
			if (properties.getProperty(prefix+"pin")!=null) this.pin= Integer.parseInt(properties.getProperty(prefix+"pin"));
			if (properties.getProperty(prefix+"count")!=null) this.count= Integer.parseInt(properties.getProperty(prefix+"count"));
			}

			public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
			if (properties == null) {
			properties = new Properties();
			}
			properties.setProperty(prefix+"week", this.week+"");
			properties.setProperty(prefix+"timeOfWeekMs", this.timeOfWeekMs+"");
			properties.setProperty(prefix+"pin", this.pin+"");
			properties.setProperty(prefix+"count", this.count+"");
			return properties;
			}


	}		}
			No newline at end of file

src/main/java/com/elphel/imagej/ims/EventLogger.java

+64 −44

Original line number	Original line	Diff line number	Diff line
	@@ -14,8 +14,7 @@ import ij.Prefs;

	public class EventLogger {		public class EventLogger {
	public EventLoggerFileInfo [] logger_files;		public EventLoggerFileInfo [] logger_files;
			public EventLogger (String dir, String debug_prefix) { // dir should contain only event logger files
	public EventLogger (String dir) { // dir should contain only event logger files
	if (!dir.endsWith(Prefs.getFileSeparator())) {		if (!dir.endsWith(Prefs.getFileSeparator())) {
	dir+=Prefs.getFileSeparator();		dir+=Prefs.getFileSeparator();
	}		}
	@@ -26,8 +25,9 @@ public class EventLogger {
	.collect(Collectors.toSet()));		.collect(Collectors.toSet()));
	logger_files = new EventLoggerFileInfo [files.size()];		logger_files = new EventLoggerFileInfo [files.size()];
	for (int nf = 0; nf < logger_files.length; nf++) { // may use threads (per file)		for (int nf = 0; nf < logger_files.length; nf++) { // may use threads (per file)
			String debug_path= (debug_prefix != null) ? (debug_prefix+nf+".csv") : null;
	try {		try {
	logger_files[nf] = new EventLoggerFileInfo(dir+files.get(nf), false);		logger_files[nf] = new EventLoggerFileInfo(dir+files.get(nf), false, debug_path);
	} catch (IOException e) {		} catch (IOException e) {
	logger_files[nf] = null;		logger_files[nf] = null;
	e.printStackTrace();		e.printStackTrace();
	@@ -38,43 +38,6 @@ public class EventLogger {
	// testInterpolateDidIns1();		// testInterpolateDidIns1();
	// testInterpolateDidIns1();		// testInterpolateDidIns1();
	// testInterpolateDidIns1();		// testInterpolateDidIns1();
	/*
	// String out_did_gps_path = "/home/elphel/lwir16-proc/office_04/did_gps";
	String out_did_gps_path = dir+"../did_gps/did_gps";
	out_did_gps_path = Paths.get(out_did_gps_path).normalize().toString();
	Path op_did_gps = Paths.get(out_did_gps_path);
	op_did_gps=op_did_gps.normalize();
	(new File(op_did_gps.getParent().toString())).mkdirs();
	int gps_mask = 7; // +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
	for (int nf = 0; nf < logger_files.length; nf++) {
	String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".out";
	System.out.println("Printing all DID_GPS data in "+logger_files[nf].abs_path+" to "+out_path);
	try {
	logger_files[nf].listGPS(out_path, gps_mask, false);
	} catch (IOException e) {
	// TODO Auto-generated catch block
	e.printStackTrace();
	}
	}
	*/
	// String out_did1_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich/ims/test_out/did_ins1";
	/*
	String out_did1_path = dir+"../did_ins1/did_ins1";
	out_did1_path = Paths.get(out_did1_path).normalize().toString();
	Path op_did1 = Paths.get(out_did1_path);
	op_did1=op_did1.normalize();
	(new File(op_did1.getParent().toString())).mkdirs();
	for (int nf = 0; nf < logger_files.length; nf++) {
	String out_path= out_did1_path+"-"+String.format("%03d", nf)+".out";
	System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
	try {
	logger_files[nf].listDid1(out_path,false);
	} catch (IOException e) {
	// TODO Auto-generated catch block
	e.printStackTrace();
	}
	}
	*/
	System.out.println("Processed "+logger_files.length+" event log files");		System.out.println("Processed "+logger_files.length+" event log files");
	}		}

	@@ -86,7 +49,7 @@ public class EventLogger {
	op_did_gps=op_did_gps.normalize();		op_did_gps=op_did_gps.normalize();
	(new File(op_did_gps.getParent().toString())).mkdirs();		(new File(op_did_gps.getParent().toString())).mkdirs();
	for (int nf = 0; nf < logger_files.length; nf++) {		for (int nf = 0; nf < logger_files.length; nf++) {
	String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".out";		String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".csv";
	System.out.println("Printing all DID_GPS data in "+logger_files[nf].abs_path+" to "+out_path);		System.out.println("Printing all DID_GPS data in "+logger_files[nf].abs_path+" to "+out_path);
	try {		try {
	logger_files[nf].listGPS(out_path, gps_mask, false);		logger_files[nf].listGPS(out_path, gps_mask, false);
	@@ -104,7 +67,7 @@ public class EventLogger {
	op_did1=op_did1.normalize();		op_did1=op_did1.normalize();
	(new File(op_did1.getParent().toString())).mkdirs();		(new File(op_did1.getParent().toString())).mkdirs();
	for (int nf = 0; nf < logger_files.length; nf++) {		for (int nf = 0; nf < logger_files.length; nf++) {
	String out_path= out_did1_path+"-"+String.format("%03d", nf)+".out";		String out_path= out_did1_path+"-"+String.format("%03d", nf)+".csv";
	System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);		System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
	try {		try {
	logger_files[nf].listDidIns1(out_path,false);		logger_files[nf].listDidIns1(out_path,false);
	@@ -121,7 +84,7 @@ public class EventLogger {
	op_did2=op_did2.normalize();		op_did2=op_did2.normalize();
	(new File(op_did2.getParent().toString())).mkdirs();		(new File(op_did2.getParent().toString())).mkdirs();
	for (int nf = 0; nf < logger_files.length; nf++) {		for (int nf = 0; nf < logger_files.length; nf++) {
	String out_path= out_did2_path+"-"+String.format("%03d", nf)+".out";		String out_path= out_did2_path+"-"+String.format("%03d", nf)+".csv";
	System.out.println("Printing all DID_INS_2 data in "+logger_files[nf].abs_path+" to "+out_path);		System.out.println("Printing all DID_INS_2 data in "+logger_files[nf].abs_path+" to "+out_path);
	try {		try {
	logger_files[nf].listDidIns2(out_path,false);		logger_files[nf].listDidIns2(out_path,false);
	@@ -138,7 +101,7 @@ public class EventLogger {
	op_pimu=op_pimu.normalize();		op_pimu=op_pimu.normalize();
	(new File(op_pimu.getParent().toString())).mkdirs();		(new File(op_pimu.getParent().toString())).mkdirs();
	for (int nf = 0; nf < logger_files.length; nf++) {		for (int nf = 0; nf < logger_files.length; nf++) {
	String out_path= out_pimu_path+"-"+String.format("%03d", nf)+".out";		String out_path= out_pimu_path+"-"+String.format("%03d", nf)+".csv";
	System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);		System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
	try {		try {
	logger_files[nf].listPimu(out_path,false);		logger_files[nf].listPimu(out_path,false);
	@@ -149,6 +112,40 @@ public class EventLogger {
	}		}
	}		}

			public void printStrobeInTime(String out_sit_path) {
			out_sit_path = Paths.get(out_sit_path).normalize().toString();
			Path op_sit = Paths.get(out_sit_path);
			op_sit=op_sit.normalize();
			(new File(op_sit.getParent().toString())).mkdirs();
			for (int nf = 0; nf < logger_files.length; nf++) {
			String out_path= out_sit_path+"-"+String.format("%03d", nf)+".csv";
			System.out.println("Printing all DID_STROBE_IN_TIME data in "+logger_files[nf].abs_path+" to "+out_path);
			try {
			logger_files[nf].listStrobeInTime(out_path,false);
			} catch (IOException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			}
			}
			}

			public void print2Pps(String out_1pps_path) {
			out_1pps_path = Paths.get(out_1pps_path).normalize().toString();
			Path op_1pps = Paths.get(out_1pps_path);
			op_1pps=op_1pps.normalize();
			(new File(op_1pps.getParent().toString())).mkdirs();
			for (int nf = 0; nf < logger_files.length; nf++) {
			String out_path= out_1pps_path+"-"+String.format("%03d", nf)+".csv";
			System.out.println("Printing all DID_STROBE_IN_TIME data in "+logger_files[nf].abs_path+" to "+out_path);
			try {
			logger_files[nf].list1Pps(out_path,false);
			} catch (IOException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			}
			}
			}


	public void testInterpolateDidIns1() {		public void testInterpolateDidIns1() {
	boolean exit_now = false;		boolean exit_now = false;
	@@ -353,6 +350,29 @@ public class EventLogger {
	}		}
	return Double.NaN;		return Double.NaN;
	}		}
			// if it is DID_INS_1 or DID_INS_2 use TOW for calculating fraction
			if ((did == Imx5.DID_INS_1) \|\| (did == Imx5.DID_INS_2)) {
			double tow_corr = logger_files[file_index_below].getTimeOfWeekCorrection(ts_master);
			int week0, week1;
			double tow0, tow1;
			if (!Double.isNaN(tow_corr)) {
			double tow = logger_files[file_index_below].getLinearTimeOfWeek(ts_master) - tow_corr;
			@SuppressWarnings("rawtypes")
			Did_ins did_ins_0 = (did == Imx5.DID_INS_2) ?
			(new Did_ins_2(ByteBuffer.wrap(payload[0]))) : (new Did_ins_1(ByteBuffer.wrap(payload[0])));
			@SuppressWarnings("rawtypes")
			Did_ins did_ins_1 = (did == Imx5.DID_INS_2) ?
			(new Did_ins_2(ByteBuffer.wrap(payload[1]))) : (new Did_ins_1(ByteBuffer.wrap(payload[1])));
			tow0 = did_ins_0.timeOfWeek;
			tow1 = did_ins_1.timeOfWeek;
			if (did_ins_1.week > did_ins_0.week) {
			tow1+= Did_ins.WEEK_SECONDS;
			}
			frac = (tow - tow0) /(tow1-tow0);
			} else {
			System.out.println("ERROR: getDidAtTS(): tow_corr is NaN, keeping frac="+frac);
			}
			}
	return frac;		return frac;
	}		}