Prepareing data for rig bundle adjustment (c5b6a7a7) · Commits · Elphel / imagej-elphel

src/main/java/BiQuadParameters.java

+201 −34

Original line number	Diff line number	Diff line
		@@ -38,6 +38,33 @@ public class BiQuadParameters {
		public double inf_max_disp_aux = 0.15;
		public double inf_max_disp_rig = 0.5; // maybe even higher (2.0) to lock to initially high mismatch

		public double first_max_disp_main = 0.5; // before refinement
		public double first_max_disp_aux = 0.5;
		public double first_max_disp_rig = 4.0; //

		public int num_refine_master = 5; // Number of disparity refinement passes
		public int num_refine_inter = 2; // Number of disparity refinement passes
		public double near_max_disp_main = 0.3; // ater refinement
		public double near_max_disp_aux = 0.2;
		public double near_max_disp_rig = 0.5; //

		public double refine_min_strength = 0.1; //
		public double refine_tolerance = 0.03; //

		public double rig_disp_range = 10.0; // maximal disparity to try to adjust auxiliary camera pose
		public int rig_num_disp_steps = 2; // number of disparity vaues to try - 1 - only infinity, 2 - infinity and near, ...
		public int rig_adjust_full_cycles= 1; // number of full rig adjustment steps (with re-creating tiles lists)
		public int rig_adjust_short_cycles= 15; // maximal number of full rig adjustment steps (with current tiles lists)
		public double rig_adjust_short_threshold= 0.00001;// rms relative improvement to exit short cycle
		public boolean rig_adjust_orientation = true; //
		public boolean rig_adjust_zoom = true; //
		public boolean rig_adjust_angle = true; //
		public boolean rig_adjust_distance = false; // distance between camera centers
		public boolean rig_adjust_forward = false; // aux camera forward from the principal plane (not implemented)
		public double rig_correction_scale= 1.0; // scale calcualated correction



		public void dialogQuestions(GenericJTabbedDialog gd) {
		gd.addCheckbox ("Debug rig/bi-camera functionality ", this.rig_mode_debug,"Enable debugging of the methods related to dual camera rig");
		gd.addCheckbox ("Use poly for main/aux/rig correlations (false - CM)", this.use_poly,"Use LMA/polynomial if correlation is strong enough");
		@@ -59,6 +86,50 @@ public class BiQuadParameters {
		"Do not use tile for infinity adjustment if absolute value of the main camera disparity is too high");
		gd.addNumericField("Maximal absolute value of inter-camera disparity to use for infinity rig adjustment", this.inf_max_disp_rig, 3,6,"pix",
		"Do not use tile for infinity adjustment if absolute value of the inter-camera disparity is too high");


		gd.addNumericField("Maximal absolute value of main camera disparity difference near objects, before refinement", this.first_max_disp_main, 3,6,"pix",
		"First pass for near objects, before refinement pass");
		gd.addNumericField("Maximal absolute value of aux camera disparity difference near objects, before refinement", this.first_max_disp_aux, 3,6,"pix",
		"First pass for near objects, before refinement pass");
		gd.addNumericField("Maximal absolute value of inter-camera disparity difference near objects, before refinement",this.first_max_disp_rig, 3,6,"pix",
		"First pass for near objects, before refinement pass");

		gd.addNumericField("Number of disparity refinement passes for the non-infinity measurements, master camera", this.num_refine_master, 0,3,"",
		"Remeasure after setting per-tile expected disparity (phase shift before correlation)");
		gd.addNumericField("Number of disparity refinement passes for the non-infinity measurements, inter-cameras", this.num_refine_inter, 0,3,"",
		"Remeasure after setting per-tile expected disparity (phase shift before correlation)");

		gd.addNumericField("Maximal absolute value of main camera disparity difference near objects, after refinement", this.near_max_disp_main, 3,6,"pix",
		"After refinement pass (target disparity set to the measured one");
		gd.addNumericField("Maximal absolute value of aux camera disparity difference near objects, after refinement", this.near_max_disp_aux, 3,6,"pix",
		"After refinement pass (target disparity set to the measured one");
		gd.addNumericField("Maximal absolute value of inter-camera disparity difference near objects, after refinement", this.near_max_disp_rig, 3,6,"pix",
		"After refinement pass (target disparity set to the measured one");

		gd.addNumericField("Minimal correlation strength to try to refine disparity", this.refine_min_strength, 3,6,"",
		"Re-scan tile with updated expected disparity if previously measured strength was above this");
		gd.addNumericField("Refine tolerance - do not try to refine if residual disparity is lower", this.refine_tolerance, 3,6,"pix",
		"Re-scan tile only if residual disparity absolute value is lower that this");


		gd.addNumericField("Maximal disparity to try for the rig adjustment", this.rig_disp_range, 3,6,"pix",
		"Maximal disparity of the main camera when adjusting auxiliary camera pose");
		gd.addNumericField("Number of disparity values to try between zero (infinity) and the maximal one", this.rig_num_disp_steps, 0,3,"",
		"1 - only infinity, 2 - infinity and maximal, 3 - infinuty, half-maximal and maximal");
		gd.addNumericField("Number of full rig adjustment cycles", this.rig_adjust_full_cycles, 0,3,"",
		"Includes full-frame scanning and re-creating the sample tile list");
		gd.addNumericField("Number of short rig adjustment cycles", this.rig_adjust_short_cycles, 0,3,"",
		"Re-scan only previously selected tiles");
		gd.addNumericField("Minimal RMS improvement after short cycle to exit", this.rig_adjust_short_threshold, 3,6,"",
		"Short cycle iteration finish after relative RMS improvement is less than this of maximal number of steps is exceeded");
		gd.addCheckbox ("Adjust orientation (azimuth, tilt, roll) of the auxiliary camera", this.rig_adjust_orientation,"3 angles, most basic adjustment");
		gd.addCheckbox ("Adjust orientation relative zoom of the auxiliary camera", this.rig_adjust_zoom,"Not likely to change, may be frozen");
		gd.addCheckbox ("Adjust position of the aux camera in the main camera pricipal plane", this.rig_adjust_angle,"0 - exactly to the right, positive - higher than main");
		gd.addCheckbox ("Adjust aux camera distance from the main", this.rig_adjust_distance,"Normally not practical, rely on direct measurement");
		gd.addCheckbox ("Adjust aux camera distance from the main principal plane", this.rig_adjust_forward,"Not implemented, assumed zero");
		gd.addNumericField("Scale calculated correction before applying", this.rig_correction_scale, 3,6,"",
		"Debug feature");
		}
		public void dialogAnswers(GenericJTabbedDialog gd) {
		this.rig_mode_debug= gd.getNextBoolean();
		@@ -72,7 +143,32 @@ public class BiQuadParameters {
		this.inf_max_disp_main= gd.getNextNumber();
		this.inf_max_disp_aux= gd.getNextNumber();
		this.inf_max_disp_rig= gd.getNextNumber();

		this.first_max_disp_main= gd.getNextNumber();
		this.first_max_disp_aux= gd.getNextNumber();
		this.first_max_disp_rig= gd.getNextNumber();
		this.num_refine_master= (int) gd.getNextNumber();
		this.num_refine_inter= (int) gd.getNextNumber();
		this.near_max_disp_main= gd.getNextNumber();
		this.near_max_disp_aux= gd.getNextNumber();
		this.near_max_disp_rig= gd.getNextNumber();

		this.refine_min_strength= gd.getNextNumber();
		this.refine_tolerance= gd.getNextNumber();

		this.rig_disp_range= gd.getNextNumber();
		this.rig_num_disp_steps= (int) gd.getNextNumber();
		this.rig_adjust_full_cycles= (int) gd.getNextNumber();
		this.rig_adjust_short_cycles= (int) gd.getNextNumber();
		this.rig_adjust_short_threshold= gd.getNextNumber();
		this.rig_adjust_orientation= gd.getNextBoolean();
		this.rig_adjust_zoom= gd.getNextBoolean();
		this.rig_adjust_angle= gd.getNextBoolean();
		this.rig_adjust_distance= gd.getNextBoolean();
		this.rig_adjust_forward= gd.getNextBoolean();
		this.rig_correction_scale= gd.getNextNumber();
		}

		public void setProperties(String prefix,Properties properties){
		properties.setProperty(prefix+"rig_mode_debug", this.rig_mode_debug+"");
		properties.setProperty(prefix+"use_poly", this.use_poly+"");
		@@ -85,6 +181,31 @@ public class BiQuadParameters {
		properties.setProperty(prefix+"inf_max_disp_main", this.inf_max_disp_main+"");
		properties.setProperty(prefix+"inf_max_disp_aux", this.inf_max_disp_aux+"");
		properties.setProperty(prefix+"inf_max_disp_rig", this.inf_max_disp_rig+"");

		properties.setProperty(prefix+"first_max_disp_main", this.first_max_disp_main+"");
		properties.setProperty(prefix+"first_max_disp_aux", this.first_max_disp_aux+"");
		properties.setProperty(prefix+"first_max_disp_rig", this.first_max_disp_rig+"");
		properties.setProperty(prefix+"num_refine_master", this.num_refine_master+"");
		properties.setProperty(prefix+"num_refine_inter", this.num_refine_inter+"");
		properties.setProperty(prefix+"near_max_disp_main", this.near_max_disp_main+"");
		properties.setProperty(prefix+"near_max_disp_aux", this.near_max_disp_aux+"");
		properties.setProperty(prefix+"near_max_disp_rig", this.near_max_disp_rig+"");

		properties.setProperty(prefix+"refine_min_strength", this.refine_min_strength+"");
		properties.setProperty(prefix+"refine_tolerance", this.refine_tolerance+"");

		properties.setProperty(prefix+"rig_disp_range", this.rig_disp_range+"");
		properties.setProperty(prefix+"rig_num_disp_steps", this.rig_num_disp_steps+"");
		properties.setProperty(prefix+"rig_adjust_full_cycles", this.rig_adjust_full_cycles+"");
		properties.setProperty(prefix+"rig_adjust_short_cycles", this.rig_adjust_short_cycles+"");
		properties.setProperty(prefix+"rig_adjust_short_threshold",this.rig_adjust_short_threshold+"");
		properties.setProperty(prefix+"rig_adjust_orientation", this.rig_adjust_orientation+"");
		properties.setProperty(prefix+"rig_adjust_zoom", this.rig_adjust_zoom+"");
		properties.setProperty(prefix+"rig_adjust_angle", this.rig_adjust_angle+"");
		properties.setProperty(prefix+"rig_adjust_distance", this.rig_adjust_distance+"");
		properties.setProperty(prefix+"rig_adjust_forward", this.rig_adjust_forward+"");
		properties.setProperty(prefix+"rig_correction_scale", this.rig_correction_scale+"");

		}
		public void getProperties(String prefix,Properties properties){
		if (properties.getProperty(prefix+"rig_mode_debug")!=null) this.rig_mode_debug=Boolean.parseBoolean(properties.getProperty(prefix+"rig_mode_debug"));
		@@ -98,6 +219,29 @@ public class BiQuadParameters {
		if (properties.getProperty(prefix+"inf_max_disp_main")!=null) this.inf_max_disp_main=Double.parseDouble(properties.getProperty(prefix+"inf_max_disp_main"));
		if (properties.getProperty(prefix+"inf_max_disp_aux")!=null) this.inf_max_disp_aux=Double.parseDouble(properties.getProperty(prefix+"inf_max_disp_aux"));
		if (properties.getProperty(prefix+"inf_max_disp_rig")!=null) this.inf_max_disp_rig=Double.parseDouble(properties.getProperty(prefix+"inf_max_disp_rig"));

		if (properties.getProperty(prefix+"first_max_disp_main")!=null) this.first_max_disp_main=Double.parseDouble(properties.getProperty(prefix+"first_max_disp_main"));
		if (properties.getProperty(prefix+"first_max_disp_aux")!=null) this.first_max_disp_aux=Double.parseDouble(properties.getProperty(prefix+"first_max_disp_aux"));
		if (properties.getProperty(prefix+"first_max_disp_rig")!=null) this.first_max_disp_rig=Double.parseDouble(properties.getProperty(prefix+"first_max_disp_rig"));
		if (properties.getProperty(prefix+"num_refine_master")!=null) this.num_refine_master=Integer.parseInt(properties.getProperty(prefix+"num_refine_master"));
		if (properties.getProperty(prefix+"num_refine_inter")!=null) this.num_refine_inter=Integer.parseInt(properties.getProperty(prefix+"num_refine_inter"));
		if (properties.getProperty(prefix+"near_max_disp_main")!=null) this.near_max_disp_main=Double.parseDouble(properties.getProperty(prefix+"near_max_disp_main"));
		if (properties.getProperty(prefix+"near_max_disp_aux")!=null) this.near_max_disp_aux=Double.parseDouble(properties.getProperty(prefix+"near_max_disp_aux"));
		if (properties.getProperty(prefix+"near_max_disp_rig")!=null) this.near_max_disp_rig=Double.parseDouble(properties.getProperty(prefix+"near_max_disp_rig"));
		if (properties.getProperty(prefix+"refine_min_strength")!=null) this.refine_min_strength=Double.parseDouble(properties.getProperty(prefix+"refine_min_strength"));
		if (properties.getProperty(prefix+"refine_tolerance")!=null) this.refine_tolerance=Double.parseDouble(properties.getProperty(prefix+"refine_tolerance"));
		if (properties.getProperty(prefix+"rig_disp_range")!=null) this.rig_disp_range=Double.parseDouble(properties.getProperty(prefix+"rig_disp_range"));
		if (properties.getProperty(prefix+"rig_num_disp_steps")!=null) this.rig_num_disp_steps=Integer.parseInt(properties.getProperty(prefix+"rig_num_disp_steps"));
		if (properties.getProperty(prefix+"rig_adjust_full_cycles")!=null) this.rig_adjust_full_cycles=Integer.parseInt(properties.getProperty(prefix+"rig_adjust_full_cycles"));
		if (properties.getProperty(prefix+"rig_adjust_short_cycles")!=null) this.rig_adjust_short_cycles=Integer.parseInt(properties.getProperty(prefix+"rig_adjust_short_cycles"));
		if (properties.getProperty(prefix+"rig_adjust_short_threshold")!=null) this.rig_adjust_short_threshold=Double.parseDouble(properties.getProperty(prefix+"rig_adjust_short_threshold"));
		if (properties.getProperty(prefix+"rig_adjust_orientation")!=null) this.rig_adjust_orientation=Boolean.parseBoolean(properties.getProperty(prefix+"rig_adjust_orientation"));
		if (properties.getProperty(prefix+"rig_adjust_zoom")!=null) this.rig_adjust_zoom=Boolean.parseBoolean(properties.getProperty(prefix+"rig_adjust_zoom"));
		if (properties.getProperty(prefix+"rig_adjust_angle")!=null) this.rig_adjust_angle=Boolean.parseBoolean(properties.getProperty(prefix+"rig_adjust_angle"));
		if (properties.getProperty(prefix+"rig_adjust_distance")!=null) this.rig_adjust_distance=Boolean.parseBoolean(properties.getProperty(prefix+"rig_adjust_distance"));
		if (properties.getProperty(prefix+"rig_adjust_forward")!=null) this.rig_adjust_forward=Boolean.parseBoolean(properties.getProperty(prefix+"rig_adjust_forward"));
		if (properties.getProperty(prefix+"rig_correction_scale")!=null) this.rig_correction_scale=Double.parseDouble(properties.getProperty(prefix+"rig_correction_scale"));

		}
		@Override
		public BiQuadParameters clone() throws CloneNotSupportedException {
		@@ -113,6 +257,29 @@ public class BiQuadParameters {
		bqp.inf_max_disp_main = this.inf_max_disp_main;
		bqp.inf_max_disp_aux = this.inf_max_disp_aux;
		bqp.inf_max_disp_rig = this.inf_max_disp_rig;

		bqp.first_max_disp_main= this.first_max_disp_main;
		bqp.first_max_disp_aux= this.first_max_disp_aux;
		bqp.first_max_disp_rig= this.first_max_disp_rig;
		bqp.num_refine_master= this.num_refine_master;
		bqp.num_refine_inter= this.num_refine_inter;
		bqp.near_max_disp_main= this.near_max_disp_main;
		bqp.near_max_disp_aux= this.near_max_disp_aux;
		bqp.near_max_disp_rig= this.near_max_disp_rig;
		bqp.refine_min_strength= this.refine_min_strength;
		bqp.refine_tolerance= this.refine_tolerance;
		bqp.rig_disp_range= this.rig_disp_range;
		bqp.rig_num_disp_steps= this.rig_num_disp_steps;
		bqp.rig_adjust_full_cycles= this.rig_adjust_full_cycles;
		bqp.rig_adjust_short_cycles= this.rig_adjust_short_cycles;
		bqp.rig_adjust_short_threshold= this.rig_adjust_short_threshold;
		bqp.rig_adjust_orientation= this.rig_adjust_orientation;
		bqp.rig_adjust_zoom= this.rig_adjust_zoom;
		bqp.rig_adjust_angle= this.rig_adjust_angle;
		bqp.rig_adjust_distance= this.rig_adjust_distance;
		bqp.rig_adjust_forward= this.rig_adjust_forward;
		bqp.rig_correction_scale= this.rig_correction_scale;

		return bqp;

src/main/java/GeometryCorrection.java

+5 −0

Original line number	Diff line number	Diff line
		@@ -100,6 +100,11 @@ public class GeometryCorrection {
		public double getDisparityRadius() {
		return disparityRadius;
		}
		public double getBaseline() {
		return (rigOffset==null)?Double.NaN:rigOffset.baseline;
		}


		// correction of cameras mis-alignment
		public CorrVector getCorrVector(double [] vector){
		return new CorrVector(vector);

src/main/java/ImageDtt.java

+22 −17

Original line number	Diff line number	Diff line
		@@ -117,6 +117,7 @@ public class ImageDtt {
		static int BI_ASTR_DIAGM_INDEX = 21; //21 - strength for main diagonal pair of the aux camera
		static int BI_ASTR_DIAGO_INDEX = 22; //22 - strength for main diagonal pair of the aux camera
		static int BI_STR_CROSS_INDEX = 23; //23 - strength between the main the aux camera
		static int BI_TARGET_INDEX = 24; //24 - target disparity

		static String [] BIDISPARITY_TITLES = {
		"disparity","disp_hor","disp_vert","disp_diagm","disp_diago",
		@@ -124,7 +125,7 @@ public class ImageDtt {
		"bi-disparity","bi-disparity-dx","bi-disparity-dy",
		"strength", "str_hor", "str_vert", "str_diagm", "str_diago",
		"astrength", "astr_hor", "astr_vert", "astr_diagm", "astr_diago",
		"bi-strength"};
		"bi-strength", "target"};

		static int DISP_FULL_INDEX = 0; // 0 - disparity for all directions of the main camera
		static int DISP_HOR_INDEX = 1; // 1 - disparity for 2 horizontal pairs of the main camera
		@@ -7572,8 +7573,9 @@ public class ImageDtt {

		public double [][][][][][][] clt_bi_quad(
		final EyesisCorrectionParameters.CLTParameters clt_parameters,
		final int [][] tile_op_main, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		final int [][] tile_op_aux, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		// final int [][] tile_op_main, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		// final int [][] tile_op_aux, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		final double [][] disparity_array, // [tilesY][tilesX] - individual per-tile expected disparity
		final double [][][] image_data_main, // first index - number of image in a quad
		final double [][][] image_data_aux, // first index - number of image in a quad
		@@ -7772,21 +7774,21 @@ public class ImageDtt {
		tileY = nTile /tilesX;
		tileX = nTile % tilesX;
		tIndex = tileY * tilesX + tileX;
		if ((tile_op_main[tileY][tileX] == 0) && (tile_op_main[tileY][tileX] == 0)) continue; // nothing to do for this tile
		int img_mask_main = getImgMask(tile_op_main[tileY][tileX]); // which images to use
		int corr_mask_main = getPairMask(tile_op_main[tileY][tileX]); // which pairs to combine in the combo: 1 - top, 2 bottom, 4 - left, 8 - right
		int img_mask_aux = getImgMask(tile_op_aux[tileY][tileX]); // which images to use
		int corr_mask_aux = getPairMask(tile_op_aux[tileY][tileX]); // which pairs to combine in the combo: 1 - top, 2 bottom, 4 - left, 8 - right
		if (tile_op[tileY][tileX] == 0) {
		if (disparity_bimap != null){
		disparity_bimap[BI_TARGET_INDEX][tIndex] = Double.NaN;
		}
		continue; // nothing to do for this tile
		}
		int img_mask = getImgMask(tile_op[tileY][tileX]); // which images to use
		int corr_mask = getPairMask(tile_op[tileY][tileX]); // which pairs to combine in the combo: 1 - top, 2 bottom, 4 - left, 8 - right
		// mask out pairs that use missing channels

		// Is it currently used with diagonals?
		// TODO: use masks from tile task
		for (int i = 0; i< corr_pairs.length; i++){
		if ((((1 << corr_pairs[i][0]) & img_mask_main) == 0) \|\| (((1 << corr_pairs[i][1]) & img_mask_main) == 0)) {
		corr_mask_main &= ~ (1 << i);
		}
		if ((((1 << corr_pairs[i][0]) & img_mask_aux) == 0) \|\| (((1 << corr_pairs[i][1]) & img_mask_aux) == 0)) {
		corr_mask_aux &= ~ (1 << i);
		if ((((1 << corr_pairs[i][0]) & img_mask) == 0) \|\| (((1 << corr_pairs[i][1]) & img_mask) == 0)) {
		corr_mask &= ~ (1 << i);
		}
		}
		// boolean debugTile =(tileX == debug_tileX) && (tileY == debug_tileY);
		@@ -7802,6 +7804,9 @@ public class ImageDtt {
		double [][] centersXY_aux;
		double disparity_main = disparity_array[tileY][tileX];
		double disparity_aux = disparity_main * geometryCorrection_aux.getDisparityRadius()/geometryCorrection_main.getDisparityRadius();
		if (disparity_bimap != null){
		disparity_bimap[BI_TARGET_INDEX][tIndex] = disparity_main;
		}
		centersXY_main = geometryCorrection_main.getPortsCoordinatesAndDerivatives(
		false, // boolean use_rig_offsets,
		corr_rots_main, // Matrix [] rots,
		@@ -8058,8 +8063,8 @@ public class ImageDtt {
		extra_disparity_main, // final double extra_disparity,
		quad_main, // final int quad, // number of subcameras
		numcol, // final int numcol, // number of colors
		img_mask_main, // int img_mask,
		tile_op_main, // final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		img_mask, // _main, // int img_mask,
		tile_op, // _main, // final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		clt_data_main, // final double [][][][] clt_data,
		texture_tiles_main, // final double [][][][] texture_tiles, // [tilesY][tilesX]["RGBA".length()][]; null - will skip images combining
		filter, // final double [] filter,
		@@ -8077,8 +8082,8 @@ public class ImageDtt {
		extra_disparity_aux, // final double extra_disparity,
		quad_aux, // final int quad, // number of subcameras
		numcol, // final int numcol, // number of colors
		img_mask_aux, // int img_mask,
		tile_op_aux, // final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		img_mask, // _aux, // int img_mask,
		tile_op, // _aux, // final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
		clt_data_aux, // final double [][][][] clt_data,
		texture_tiles_aux, // final double [][][][] texture_tiles, // [tilesY][tilesX]["RGBA".length()][]; null - will skip images combining
		filter, // final double [] filter,

src/main/java/TwoQuadCLT.java

+529 −53

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