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imagej-elphel
Commit be9da419 authored by Andrey Filippov's avatar Andrey Filippov
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AUX (LWIR) extrinsic adjustments with main camera ground truth

parent 5075dfa3
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Showing with 318 additions and 208 deletions
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ be9da419
......@@ -163,6 +163,15 @@ public class CLTParameters {
public boolean ih_norm_center = true; // Replace samples with a single average with equal weight
public boolean inf_restore_disp = true; // Add disparity back to d{x,y}[i] (debug feature)
// Lazy eye parameters
public double ly_gt_strength = 0.18; // use some configurable parameters
public boolean ly_gt_use_wnd = true;
public double ly_gt_rms = 0.2; // split small source samples tp FG/BG if all aux tile RMS exceeds this value
// boolean split_fg_bg = true;
// boolean for_adjust = false;
public boolean ly_on_scan = true; // Calculate and apply lazy eye correction after disparity scan (poly or extrinsic)
public boolean ly_inf_en = true; // Simultaneously correct disparity at infinity (both poly and extrinsic)
public boolean ly_aztilt_en = true; // Adjust azimuths and tilts
......@@ -922,6 +931,10 @@ public class CLTParameters {
properties.setProperty(prefix+"ih_norm_center", this.ih_norm_center+"");
properties.setProperty(prefix+"inf_restore_disp", this.inf_restore_disp+"");
properties.setProperty(prefix+"ly_gt_strength", this.ly_gt_strength+"");
properties.setProperty(prefix+"ly_gt_use_wnd", this.ly_gt_use_wnd+"");
properties.setProperty(prefix+"ly_gt_rms", this.ly_gt_rms+"");
properties.setProperty(prefix+"ly_on_scan", this.ly_on_scan+"");
properties.setProperty(prefix+"ly_inf_en", this.ly_inf_en+"");
properties.setProperty(prefix+"ly_aztilt_en", this.ly_aztilt_en+"");
......@@ -1627,6 +1640,9 @@ public class CLTParameters {
if (properties.getProperty(prefix+"ih_norm_center")!=null) this.ih_norm_center=Boolean.parseBoolean(properties.getProperty(prefix+"ih_norm_center"));
if (properties.getProperty(prefix+"inf_restore_disp")!=null) this.inf_restore_disp=Boolean.parseBoolean(properties.getProperty(prefix+"inf_restore_disp"));
if (properties.getProperty(prefix+"ly_gt_strength")!=null) this.ly_gt_strength=Double.parseDouble(properties.getProperty(prefix+"ly_gt_strength"));
if (properties.getProperty(prefix+"ly_gt_use_wnd")!=null) this.ly_gt_use_wnd=Boolean.parseBoolean(properties.getProperty(prefix+"ly_gt_use_wnd"));
if (properties.getProperty(prefix+"ly_gt_rms")!=null) this.ly_gt_rms=Double.parseDouble(properties.getProperty(prefix+"ly_gt_rms"));
if (properties.getProperty(prefix+"ly_on_scan")!=null) this.ly_on_scan=Boolean.parseBoolean(properties.getProperty(prefix+"ly_on_scan"));
if (properties.getProperty(prefix+"ly_inf_en")!=null) this.ly_inf_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_en"));
if (properties.getProperty(prefix+"ly_aztilt_en")!=null) this.ly_aztilt_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_aztilt_en"));
......@@ -2373,6 +2389,11 @@ public class CLTParameters {
gd.addTab ("Lazy eye", "Lazy eye parameters");
gd.addMessage ("--- main-to-aux depth map parameters ---");
gd.addNumericField("Minimal reference (main) channel orrelation 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.addNumericField("Aux disparity thershold to split FG and BG (and disable AUX tile for adjustment)", this.ly_gt_rms, 3);
gd.addMessage ("--- others ---");
gd.addCheckbox ("Calculate and apply lazy eye correction after disparity scan (poly or extrinsic), may repeat", this.ly_on_scan);
gd.addCheckbox ("Adjust disparity using objects at infinity by changing individual tilt and azimuth ", this.ly_inf_en," disable if there are no really far objects in the scene");
gd.addCheckbox ("Adjust azimuths and tilts", this.ly_aztilt_en,"Adjust azimuths and tilts excluding those that change disparity");
......@@ -3164,7 +3185,6 @@ public class CLTParameters {
this.inf_disp_apply= gd.getNextBoolean();
this.inf_repeat= (int) gd.getNextNumber();
// this.inf_mism_apply= gd.getNextBoolean();
this.inf_iters= (int) gd.getNextNumber();
this.inf_final_diff= gd.getNextNumber();
this.inf_far_pull= gd.getNextNumber();
......@@ -3184,6 +3204,9 @@ public class CLTParameters {
this.ih_norm_center= gd.getNextBoolean();
this.inf_restore_disp= gd.getNextBoolean();
this.ly_gt_strength= gd.getNextNumber();
this.ly_gt_use_wnd= gd.getNextBoolean();
this.ly_gt_rms= gd.getNextNumber();
this.ly_on_scan= gd.getNextBoolean();
this.ly_inf_en= gd.getNextBoolean();
this.ly_aztilt_en= gd.getNextBoolean();
......
src/main/java/com/elphel/imagej/tileprocessor/AlignmentCorrection.java
View file @ be9da419
......@@ -2311,7 +2311,7 @@ B = |+dy0 -dy1 -2*dy3 |
clt_parameters.ly_par_sel, //int manual_par_sel, // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
mismatch_list, // ArrayList<Mismatch> mismatch_list,
qc.geometryCorrection, // GeometryCorrection geometryCorrection,
null, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
/// null, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
qc.geometryCorrection.getCorrVector(), // GeometryCorrection.CorrVector corr_vector,
old_new_rms, // double [] old_new_rms, // should be double[2]
// 2); // debugLevel); // 2); // 1); // int debugLevel)
......@@ -2360,7 +2360,7 @@ B = |+dy0 -dy1 -2*dy3 |
public double [][][] lazyEyeCorrectionFromGT(
final GeometryCorrection geometryCorrection_main, // if not null - this is an AUX camera of a rig
// final GeometryCorrection geometryCorrection_main, // if not null - this is an AUX camera of a rig
final boolean use_poly, // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor
final boolean restore_disp_inf, // Restore subtracted disparity for scan #0 (infinity) always true
final double fcorr_radius,
......@@ -2398,7 +2398,6 @@ B = |+dy0 -dy1 -2*dy3 |
int debugLevel){
// final double lazyEyeDispRelVariation = 0.02;
//geometryCorrection_main
final int dbg_nTile = -34145; // 37005; // -59038;
final int num_scans = scans_14.length/NUM_ALL_SLICES;
final int num_tiles = scans_14[0].length;
......@@ -2791,7 +2790,7 @@ B = |+dy0 -dy1 -2*dy3 |
clt_parameters.ly_par_sel, // int manual_par_sel, // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
mismatch_list, // ArrayList<Mismatch> mismatch_list,
qc.geometryCorrection, // GeometryCorrection geometryCorrection,
geometryCorrection_main, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
/// geometryCorrection_main, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
qc.geometryCorrection.getCorrVector(), // GeometryCorrection.CorrVector corr_vector,
old_new_rms, // double [] old_new_rms, // should be double[2]
// 2); // debugLevel); // 2); // 1); // int debugLevel)
......@@ -3326,7 +3325,7 @@ B = |+dy0 -dy1 -2*dy3 |
int manual_par_sel, // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
ArrayList<Mismatch> mismatch_list,
GeometryCorrection geometryCorrection,
GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
/// GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
GeometryCorrection.CorrVector corr_vector,
double [] old_new_rms, // should be double[2]
int debugLevel)
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ be9da419
......@@ -3680,7 +3680,7 @@ if (debugLevel > -100) return true; // temporarily !
// Get DSI from the main camera
quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
// last but not including any rid data
// last but not including any rig data
CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes_size -1); // get last one
double [][] disparity_bimap = setBimapFromCLTPass3d(
scan_last, // CLTPass3d scan,
......@@ -7445,9 +7445,20 @@ if (debugLevel > -100) return true; // temporarily !
System.out.println("Adjusting main camera image set for "+quadCLT_main.image_name+
" (with rig DSI), pass "+(num_adjust_main+1)+" of "+quadCLT_main.correctionsParameters.rig_batch_adjust_main_gt);
}
double [][] gt_disp_strength = quadCLT_main.getRigDSFromTwoQuadCL(
this, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
clt_parameters,
debugLevelInner); // final int debugLevel)
// GeometryCorrection geometryCorrection_main = null;
// if (geometryCorrection.getRotMatrix(true) != null) {
// geometryCorrection_main = twoQuadCLT.quadCLT_main.getGeometryCorrection();
// }
quadCLT_main.extrinsicsCLTfromGT(
this, // TwoQuadCLT twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
// this, // TwoQuadCLT twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
null,
gt_disp_strength,
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
false,
threadsMax, //final int threadsMax, // maximal number of threads to launch
......@@ -7462,9 +7473,15 @@ if (debugLevel > -100) return true; // temporarily !
System.out.println("Adjusting aux camera image set for "+quadCLT_main.image_name+
" (with rig DSI), pass "+(num_adjust_aux+1)+" of "+quadCLT_main.correctionsParameters.rig_batch_adjust_aux_gt);
}
double [][] gt_disp_strength = quadCLT_aux.getRigDSFromTwoQuadCL(
this, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
clt_parameters,
debugLevelInner); // final int debugLevel)
quadCLT_aux.extrinsicsCLTfromGT(
this, // TwoQuadCLT twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
// this, // TwoQuadCLT twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
quadCLT_main.getGeometryCorrection(),
gt_disp_strength,
clt_parameters, // EyesisCorrectionParameters.CLTParameters clt_parameters,
false,
threadsMax, //final int threadsMax, // maximal number of threads to launch
......
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