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Commit b9a32b13 authored by Andrey Filippov's avatar Andrey Filippov
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Improved DID_INS_* interpolation by local correction of ts_master to GPS 

time using near 1pps sample
parent 2b8ae048
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Showing with 702 additions and 291 deletions
src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java
View file @ b9a32b13
......@@ -5525,14 +5525,20 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
CLT_PARAMETERS.batch_run = true;
String imx_logs = CORRECTION_PARAMETERS.getImsSourceDirectory(); // sourceImsDirectory;
String debug_path = null; // CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"debug_local_master";
if (EVENT_LOGGER == null) {
if ((imx_logs != null) && !imx_logs.equals("")) {
EVENT_LOGGER = new EventLogger (imx_logs);
EVENT_LOGGER = new EventLogger (
imx_logs,
debug_path);
} else {
System.out.println("sourceImsDirectory is not set. Use Setup CLT Batch parameters to define it.");
}
}
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.printGps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_gps", 7);
EVENT_LOGGER.printDidIns1(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_ins1");
......
src/main/java/com/elphel/imagej/ims/Did_ins.java
View file @ b9a32b13
......@@ -28,6 +28,14 @@ public abstract class Did_ins <T extends Did_ins <T>>{
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/
public void interpolateBase(double frac, T next_did, T new_did) {
new_did.week = this.week;
......
src/main/java/com/elphel/imagej/ims/Did_strobe_in_time.java
View file @ b9a32b13
......@@ -2,6 +2,9 @@ package com.elphel.imagej.ims;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.util.Properties;
import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
/* (DID_STROBE_IN_TIME) Timestamp for input strobe.
typedef struct PACKED
......@@ -121,4 +124,25 @@ public class Did_strobe_in_time {
s += String.format("count: %d\n", count);
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
View file @ b9a32b13
......@@ -14,8 +14,7 @@ import ij.Prefs;
public class EventLogger {
public EventLoggerFileInfo [] logger_files;
public EventLogger (String dir) { // dir should contain only event logger files
public EventLogger (String dir, String debug_prefix) { // dir should contain only event logger files
if (!dir.endsWith(Prefs.getFileSeparator())) {
dir+=Prefs.getFileSeparator();
}
......@@ -26,8 +25,9 @@ public class EventLogger {
.collect(Collectors.toSet()));
logger_files = new EventLoggerFileInfo [files.size()];
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 {
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) {
logger_files[nf] = null;
e.printStackTrace();
......@@ -38,43 +38,6 @@ public class EventLogger {
// 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");
}
......@@ -86,7 +49,7 @@ public class EventLogger {
op_did_gps=op_did_gps.normalize();
(new File(op_did_gps.getParent().toString())).mkdirs();
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);
try {
logger_files[nf].listGPS(out_path, gps_mask, false);
......@@ -104,7 +67,7 @@ public class EventLogger {
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";
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);
try {
logger_files[nf].listDidIns1(out_path,false);
......@@ -121,7 +84,7 @@ public class EventLogger {
op_did2=op_did2.normalize();
(new File(op_did2.getParent().toString())).mkdirs();
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);
try {
logger_files[nf].listDidIns2(out_path,false);
......@@ -138,7 +101,7 @@ public class EventLogger {
op_pimu=op_pimu.normalize();
(new File(op_pimu.getParent().toString())).mkdirs();
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);
try {
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() {
boolean exit_now = false;
......@@ -353,6 +350,29 @@ public class EventLogger {
}
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;
}
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java
View file @ b9a32b13
......@@ -2264,7 +2264,7 @@ public class QuadCLTCPU {
if (Eyesis_Correction.EVENT_LOGGER == null) {
System.out.println("Preparing IMS data as it is needed but does not exist");
String imx_logs = correctionsParameters.getImsSourceDirectory(); // sourceImsDirectory;
Eyesis_Correction.EVENT_LOGGER = new EventLogger (imx_logs);
Eyesis_Correction.EVENT_LOGGER = new EventLogger (imx_logs, null);
}
EventLogger eventLogger = Eyesis_Correction.EVENT_LOGGER;
double ims_timestamp = this_ts + this.ims_offs + 3600 * gmt_plus;
......@@ -2380,14 +2380,14 @@ public class QuadCLTCPU {
null, // Properties properties)
true); // boolean silent)
// temporary to recalculate if no did_ins_2:
{
if (ims_properties != null){ // may become null, so
Did_ins_2 did_ins_2 = new Did_ins_2("did_ins_2-", ims_properties);
if ((did_ins_2.lla == null) || ((did_ins_2.lla[0]==0) && (did_ins_2.lla[1]==0))) {
ims_properties = null;
System.out.println("restoreIms(): no did_ins_2 - invalidating and recalculating config");
}
}
if (ims_properties == null) {
if (ims_properties == null) { // may become null above
if (create) {
saveIms(ims_offset, gmt_plus, ims_path, debugLevel);
ims_properties = loadProperties(
......
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