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Commit c8fd13f4 authored by Andrey Filippov's avatar Andrey Filippov
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Tested rig (2 quad cameras) matrices and manual adjustment

parent e59c6d14
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Showing with 361 additions and 45 deletions
src/main/java/AlignmentCorrection.java
View file @ c8fd13f4
......@@ -731,6 +731,7 @@ public class AlignmentCorrection {
double centerY = tileY * qc.tp.getTileSize() + qc.tp.getTileSize()/2;//- shiftY;
double [][] centersXY_disp = qc.geometryCorrection.getPortsCoordinatesAndDerivatives(
false, // boolean use_rig_offsets,
corr_rots, // Matrix [] rots,
null, // Matrix [][] deriv_rots,
null, // double [][] pXYderiv, // if not null, should be double[8][]
......@@ -738,6 +739,7 @@ public class AlignmentCorrection {
centerY,
disp_strength[2 * s.series + 0][s.tile]/magic_coeff); // disparity
double [][] centersXY_inf = qc.geometryCorrection.getPortsCoordinatesAndDerivatives(
false, // boolean use_rig_offsets,
corr_rots, // Matrix [] rots,
null, // Matrix [][] deriv_rots,
null, // double [][] pXYderiv, // if not null, should be double[8][]
......@@ -2434,6 +2436,7 @@ System.out.println("test1234");
double [][] deriv = new double [2 * NUM_SENSORS][];
int dbg_index =dbg_index (pXY, dbg_decimate);
geometryCorrection.getPortsCoordinatesAndDerivatives(
false, // boolean use_rig_offsets,
corr_rots, // Matrix [] rots,
deriv_rots, // Matrix [][] deriv_rots,
deriv, // boolean calc_deriv,
......@@ -2458,6 +2461,7 @@ System.out.println("test1234");
double [][] deriv_dbg = new double [2 * NUM_SENSORS][];
double [] dbg_a_vector= null;
geometryCorrection.getPortsCoordinatesAndDerivatives(
false, // boolean use_rig_offsets,
dbg_a_vector, // double [] dbg_a_vector, // replace actual radial distortion coefficients
1E-9, // 1E-8, //6, // double delta, // 1e-6
corr_vector, // CorrVector corr_vector,
......@@ -2596,6 +2600,7 @@ System.out.println("test1234");
Mismatch mm = mismatch_list.get(indx);
double [] pXY = mm.getPXY();
double [][] f = geometryCorrection.getPortsCoordinatesAndDerivatives( // 4x2
false, // boolean use_rig_offsets,
corr_rots, // Matrix [] rots,
null, // Matrix [][] deriv_rots,
null, // boolean calc_deriv,
......
src/main/java/EyesisCorrectionParameters.java
View file @ c8fd13f4
......@@ -730,7 +730,7 @@ public class EyesisCorrectionParameters {
updateAuxFromMain();
gd.addTab ("File paths", "Select files and directories paths (common to main and optional auxilliary)");
gd.addTab ("File paths", "Select files and directories paths (common to main and optional auxiliary)");
gd.addMessage ("============ Common to the main and optional auxiliary camera============");
gd.addCheckbox ("Save current settings with results", this.saveSettings); // 1
......
src/main/java/Eyesis_Correction.java
View file @ c8fd13f4
......@@ -578,6 +578,7 @@ private Panel panel1,
panelClt4.setLayout(new GridLayout(1, 0, 5, 5)); // rows, columns, vgap, hgap
addButton("Import Aux", panelClt4, color_restore);
addButton("Setup CLT Batch parameters", panelClt4, color_configure);
addButton("CLT rig edit", panelClt4, color_configure);
addButton("CLT 2*4 images", panelClt4, color_conf_process);
addButton("CLT 2*4 images - 2", panelClt4, color_conf_process);
addButton("CLT 2*4 images - 3", panelClt4, color_conf_process);
......@@ -4490,11 +4491,28 @@ private Panel panel1,
}
}
QUAD_CLT_AUX.showExtrinsicCorr("aux");// show_fine_corr("aux");
// QuadCLT dbg_QUAD_CLT = QUAD_CLT;
// QuadCLT dbg_QUAD_CLT_AUX = QUAD_CLT_AUX;
QuadCLT dbg_QUAD_CLT = QUAD_CLT;
QuadCLT dbg_QUAD_CLT_AUX = QUAD_CLT_AUX;
return;
/* ======================================================================== */
} else if (label.equals("CLT rig edit")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
if (QUAD_CLT_AUX == null){
if (EYESIS_CORRECTIONS_AUX == null) {
EYESIS_CORRECTIONS_AUX = new EyesisCorrections(SYNC_COMMAND.stopRequested,CORRECTION_PARAMETERS.getAux());
}
QUAD_CLT_AUX = new QuadCLT (
QuadCLT.PREFIX_AUX,
PROPERTIES,
EYESIS_CORRECTIONS_AUX,
CORRECTION_PARAMETERS.getAux());
if (DEBUG_LEVEL > 0){
System.out.println("Created new QuadCLT instance, will need to read CLT kernels for aux camera");
}
}
QUAD_CLT_AUX.editRig();
return;
//JTabbedTest
// End of buttons code
}
......@@ -4559,8 +4577,6 @@ private Panel panel1,
CHANNEL_GAINS_PARAMETERS_AUX = new CorrectionColorProc.ColorGainsParameters();
}
CHANNEL_GAINS_PARAMETERS_AUX.getProperties("CHANNEL_GAINS_PARAMETERS.", aux_properties);
// QUAD_CLT_AUX.getProperties(QuadCLT.PREFIX);
// QUAD_CLT_AUX.setProperties(QuadCLT.PREFIX_AUX);
/*
* public void copyPropertiesFrom(Properties other_properties, String other_prefix, String this_prefix){ // save
......@@ -4834,6 +4850,9 @@ private Panel panel1,
TWO_QUAD_CLT = new TwoQuadCLT();
}
if (new_mode) {
if (DEBUG_LEVEL > -2){
System.out.println("++++++++++++++ Calculating combined correlations ++++++++++++++");
}
try {
TWO_QUAD_CLT.processCLTQuadCorrPairs(
QUAD_CLT, // QuadCLT quadCLT_main,
......@@ -4852,6 +4871,9 @@ private Panel panel1,
e.printStackTrace();
} //final int debugLevel);
} else {
if (DEBUG_LEVEL > -2){
System.out.println("++++++++++++++ Calculating per quad camera correlations ++++++++++++++");
}
try {
TWO_QUAD_CLT.processCLTQuadCorrs(
QUAD_CLT, // QuadCLT quadCLT_main,
......
src/main/java/GeometryCorrection.java
View file @ c8fd13f4
This diff is collapsed.
src/main/java/ImageDtt.java
View file @ c8fd13f4
This diff is collapsed.
src/main/java/QuadCLT.java
View file @ c8fd13f4
......@@ -67,6 +67,7 @@ public class QuadCLT {
String image_name = null;
double [][][] image_data = null;
boolean [][] saturation_imp = null; // (near) saturated pixels or null
boolean is_aux = false;
// magic scale should be set before using TileProcessor (calculated disparities depend on it)
......@@ -96,6 +97,7 @@ public class QuadCLT {
this.eyesisCorrections= eyesisCorrections;
this.correctionsParameters = correctionsParameters;
this.properties = properties;
is_aux = prefix.equals(PREFIX_AUX);
// this.properties_prefix = prefix;
// System.out.println("new QuadCLT(), prefix = "+prefix);
getProperties(prefix);
......@@ -125,6 +127,9 @@ public class QuadCLT {
properties.setProperty(name, gc.getCorrVector().toArray()[i]+"");
// System.out.println("setProperties():"+i+": setProperty("+name+","+gc.getCorrVector().toArray()[i]+"");
}
if (is_aux && (gc.rigOffset != null)) {
gc.rigOffset.setProperties(prefix,properties);
}
}
......@@ -197,8 +202,17 @@ public class QuadCLT {
}
}
}
}
// if (is_aux && (geometryCorrection != null)) {
// geometryCorrection.setRigOffsetFromProperies(prefix, properties);
// }
if (geometryCorrection == null) {
geometryCorrection = new GeometryCorrection(this.extrinsic_corr);
}
if (is_aux) {
geometryCorrection.setRigOffsetFromProperies(prefix, properties);
}
}
public void setKernelImageFile(ImagePlus img_kernels){
eyesisKernelImage = img_kernels;
......@@ -212,10 +226,13 @@ public class QuadCLT {
return clt_kernels != null;
}
public boolean geometryCorrectionAvailable(){
return geometryCorrection != null;
return (geometryCorrection != null) && geometryCorrection.isInitialized();
}
public boolean initGeometryCorrection(int debugLevel){
geometryCorrection = new GeometryCorrection(extrinsic_corr);
// keep rig offsets if edited
if (geometryCorrection == null) {
geometryCorrection = new GeometryCorrection(extrinsic_corr);
}
PixelMapping.SensorData [] sensors = eyesisCorrections.pixelMapping.sensors;
// verify that all sensors have the same distortion parameters
int numSensors = sensors.length;
......@@ -4527,6 +4544,32 @@ public class QuadCLT {
System.out.println(geometryCorrection.getCorrVector().toString());
}
}
public boolean editRig()
{
if (!is_aux) {
System.out.println("Rig offsets can only be edited for the auxiliary camera, not for the amin one");
return false;
}
// GeometryCorrection gc = this.geometryCorrection;
if (this.geometryCorrection == null){
System.out.println("geometryCorrection is not set, creating one");
this.geometryCorrection = new GeometryCorrection(this.extrinsic_corr);
}
boolean edited = this.geometryCorrection.editRig();
// if (edited) {
// gc.rigOffset.setProperties(prefix,properties);
// }
return edited;
}
/*
if (is_aux && (gc.rigOffset != null)) {
gc.rigOffset.setProperties(prefix,properties);
}
*/
public void resetExtrinsicCorr(
EyesisCorrectionParameters.CLTParameters clt_parameters)
{
......
src/main/java/TwoQuadCLT.java
View file @ c8fd13f4
......@@ -381,7 +381,7 @@ public class TwoQuadCLT {
quadCLT_main.getGeometryCorrection(), // final GeometryCorrection geometryCorrection_main,
quadCLT_aux.getGeometryCorrection(), // final GeometryCorrection geometryCorrection_aux,
quadCLT_main.getCLTKernels(), // final double [][][][][][] clt_kernels_main, // [channel_in_quad][color][tileY][tileX][band][pixel] , size should match image (have 1 tile around)
quadCLT_main.getCLTKernels(), // final double [][][][][][] clt_kernels_aux, // [channel_in_quad][color][tileY][tileX][band][pixel] , size should match image (have 1 tile around)
quadCLT_aux.getCLTKernels(), // final double [][][][][][] clt_kernels_aux, // [channel_in_quad][color][tileY][tileX][band][pixel] , size should match image (have 1 tile around)
clt_parameters.corr_magic_scale, // final double corr_magic_scale, // still not understood coefficient that reduces reported disparity value. Seems to be around 0.85
true, // final boolean keep_clt_data,
threadsMax, // final int threadsMax, // maximal number of threads to launch
......@@ -496,7 +496,7 @@ public class TwoQuadCLT {
colorProcParameters,
rgbParameters,
name+"-texture", // String name,
"-D"+clt_parameters.disparity, //String suffix, // such as disparity=...
"-D"+clt_parameters.disparity+"-MAIN", //String suffix, // such as disparity=...
toRGB,
!quadCLT_main.correctionsParameters.jpeg, // boolean bpp16, // 16-bit per channel color mode for result
true, // boolean saveShowIntermediate, // save/show if set globally
......@@ -511,7 +511,7 @@ public class TwoQuadCLT {
colorProcParameters,
rgbParameters,
name+"-texture", // String name,
"-D"+clt_parameters.disparity, //String suffix, // such as disparity=...
"-D"+clt_parameters.disparity+"-AUX", //String suffix, // such as disparity=...
toRGB,
!quadCLT_aux.correctionsParameters.jpeg, // boolean bpp16, // 16-bit per channel color mode for result
true, // boolean saveShowIntermediate, // save/show if set globally
......
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