working on cartesian-defined multi-cameras

src/main/java/Aberration_Calibration.java

@@ -412,6 +412,7 @@ public static MatchSimulatedPattern.DistortionParameters DISTORTION =new MatchSi
     public static EyesisCameraParameters EYESIS_CAMERA_PARAMETERS=new EyesisCameraParameters(
     		1,    //int numStations,
     		true, //false, // boolean isTripod=false; // when true - make goniometerHorizontal rotation around "vertical" axis and "goniometerAxial" - around
+    		false, //	boolean cartesian,
 	    	0.0, // double goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
 	    	0.0, // double goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
 			1, // 26, // 1,   // int numSubCameras,

src/main/java/Distortions.java

@@ -2975,8 +2975,10 @@ For each point in the image
 //		double [] parVector=fittingStrategy.distortionCalibrationData.eyesisCameraParameters.getParametersVector(stationNumber,subCamera);
 //		System.out.println("setupLensDistortionParameters(): subCamera="+subCamera+", goniometerHorizontal="+goniometerHorizontal+", goniometerAxial="+goniometerAxial);
     	boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
+    	boolean cartesian=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian;
 		LensDistortionParameters lensDistortionParameters = new LensDistortionParameters (
 	    		isTripod,
+	    		cartesian,
 	            null, //double [][] interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 //	            this.fittingStrategy.distortionCalibrationData.pars[numImg], //parVector,
 	            this.fittingStrategy.distortionCalibrationData.getParameters(numImg), //parVector,
@@ -3001,8 +3003,10 @@ For each point in the image
 		if (!Double.isNaN(goniometerAxial))parVector[goniometerAxialIndex]=goniometerAxial;
 //		System.out.println("setupLensDistortionParameters(): subCamera="+subCamera+", goniometerHorizontal="+goniometerHorizontal+", goniometerAxial="+goniometerAxial);
     	boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
+    	boolean cartesian=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian;
 		LensDistortionParameters lensDistortionParameters = new LensDistortionParameters (
 	    		isTripod,
+	    		cartesian,
 	            null, //double [][] interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 	    		parVector,
 	    		null, //boolean [] mask, // calculate only selected derivatives (all parVect values are still
@@ -3152,6 +3156,7 @@ For each point in the image
 		this.lensDistortionParameters.lensCalcInterParamers(
 				this.lensDistortionParameters, // 22-long parameter vector for the image
 				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 				null, // this.interParameterDerivatives, // [22][]
 				parVector,
 				null); // if no derivatives, null is OK
@@ -3276,6 +3281,7 @@ For each point in the image
 		this.lensDistortionParameters.lensCalcInterParamers(
 				this.lensDistortionParameters,
 				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 				this.interParameterDerivatives, // [22][]
 				imgVector,
 				imgMask); // calculate only selected derivatives (all parVect values are still
@@ -3299,6 +3305,7 @@ For each point in the image
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					null, // this.interParameterDerivatives, // just values, no derivatives
 					vector_delta, 
 					imgMask);
@@ -3386,6 +3393,7 @@ For each point in the image
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					calcJacobian?this.interParameterDerivatives:null, // [22][]
 					imgVector,
 					imgMask); // imgMask may be null if no derivativescalculate only selected derivatives (all parVect values are still
@@ -3399,7 +3407,7 @@ For each point in the image
 				if (fullIndex>=this.targetXYZ.length){
 					System.out.println("BUG: calculateFxAndJacobian() imgNum="+imgNum+" pointNum="+pointNum+" fullIndex="+fullIndex+" this.targetXYZ.length="+this.targetXYZ.length);
 				}
-				double [][]derivatives15=  lensDistortionParameters.calcPartialDerivatives(
+				double [][]derivatives15=  lensDistortionParameters.calcPartialDerivatives( // [NaN, NaN]
 						this.targetXYZ[fullIndex][0], // target point horizontal, positive - right,  mm
 						this.targetXYZ[fullIndex][1], // target point vertical,   positive - down,  mm
 						this.targetXYZ[fullIndex][2], // target point horizontal, positive - away from camera,  mm
@@ -3503,6 +3511,7 @@ For each point in the image
 		lensDistortionParameters.lensCalcInterParamers(
 				lensDistortionParameters,
 				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 				calcJacobian?interParameterDerivatives:null, // [22][]
 						imgVector,
 						imgMask); // calculate only selected derivatives (all parVect values are still
@@ -3586,6 +3595,7 @@ For each point in the image
 				this.lensDistortionParameters.lensCalcInterParamers(
 						this.lensDistortionParameters,
 						this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+						this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 						null, //this.interParameterDerivatives, // [22][]
 						imgVector,
 						imgMask); // calculate only selected derivatives (all parVect values are still
@@ -3681,7 +3691,7 @@ List calibration
 
     		gd.addCheckbox("Show physical camera parameters",                      this.showEyesisParameters);
     		gd.addCheckbox("Show intrinsic lens/sensor parameters ",               this.showIntrinsicParameters);
-    		gd.addCheckbox("Show intrinsic lens/sensor parameters",                this.showExtrinsicParameters);
+    		gd.addCheckbox("Show extrinsic lens/sensor parameters",                this.showExtrinsicParameters);
     		gd.addNumericField("Extra decimal places (precision) in the list",     this.extraDecimals, 0);
     		gd.showDialog();
     		if (gd.wasCanceled()) return false;
@@ -4132,6 +4142,7 @@ List calibration
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					null, //this.interParameterDerivatives, // [22][]
 //					fittingStrategy.distortionCalibrationData.pars[imgNum], // 22-long parameter vector for the image
 					fittingStrategy.distortionCalibrationData.getParameters(imgNum), // 22-long parameter vector for the image
@@ -7628,6 +7639,7 @@ D2=
 			final boolean updateStatus
 			){
 		final boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
+		final boolean cartesian=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian;
 		final int [][] dirs=            {{0,0},{-1,0},{1,0},{0,-1},{0,1}}; // possible to make 8 directions
 		final double [][][] derivatives={ // for of /du, /dv 3 variants, depending on which neighbors are available
 				{
@@ -7680,6 +7692,7 @@ D2=
 						lensDistortionParameters.lensCalcInterParamers(
 								lensDistortionParameters,
 								isTripod,
+								cartesian,
 								null, //this.interParameterDerivatives, // [22][]
 //								fittingStrategy.distortionCalibrationData.pars[imgNum], // 22-long parameter vector for the image
 								fittingStrategy.distortionCalibrationData.getParameters(imgNum), // 22-long parameter vector for the image
@@ -7876,6 +7889,7 @@ D2=
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					null, //this.interParameterDerivatives, // [22][]
 //					fittingStrategy.distortionCalibrationData.pars[imgNum], // 22-long parameter vector for the image
 					fittingStrategy.distortionCalibrationData.getParameters(imgNum), // 22-long parameter vector for the image

src/main/java/EyesisSubCameraParameters.java

@@ -25,12 +25,17 @@ import java.util.Properties;
 
     public class EyesisSubCameraParameters{
     	// origin is on the rotation axis of the tube body closest to the goniometer horizontal axis
+    	public boolean cartesian = false; // cartesian coordinates mode (false - cylindrical)
     	public int    lensDistortionModel=0;
     	public boolean enableNoLaser=true; // enable images for this channel w/o matched laser pointer
+    	public double right;   // distance to the right (radius*sin(azimuth))
+    	public double forward; // distance forward (radius*cos(azimuth))
+    	public double heading;   // absolute heading in degrees (used in cartesian mode)
+
     	public double azimuth; // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
     	public double radius;  // mm, distance from the rotation axis
     	public double height;       // mm, up - from the origin point
-    	public double phi;     // degrees, optical axis from azimuth/r vector, clockwise
+    	public double phi;     // degrees, optical axis from azimuth/r vector, clockwise (absolute if cylindrical = false)
     	public double theta;   // degrees, optical axis from the eyesis horizon, positive - up
     	public double psi;     // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
 		public double focalLength=4.5;
@@ -68,8 +73,12 @@ import java.util.Properties;
 		*/		
 		
     	public EyesisSubCameraParameters(
+    			boolean cartesian,
     			int lensDistortionModel,
     			boolean enableNoLaser,
+    	    	double right,   // distance to the right (radius*sin(azimuth))
+    	    	double forward, // distance forward (radius*cos(azimuth))
+    	    	double heading, // used in cartesian mode
     			double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
     			double radius,  // mm, distance from the rotation axis
     			double height,  // mm, up from the origin point
@@ -92,8 +101,13 @@ import java.util.Properties;
 				double [][] r_od,     // elongation for c,b,a,a5,a6,a7,a8
     			double channelWeightDefault
     	){
+    		this.cartesian = cartesian;
     		this.lensDistortionModel=lensDistortionModel;
     		this.enableNoLaser=enableNoLaser;
+    		this.right =   right;
+    		this.forward = forward;
+    		this.heading = heading;
+    		
     		this.azimuth=azimuth;
     		this.radius=radius;
     		this.height=height;
@@ -123,12 +137,17 @@ import java.util.Properties;
     		this.defectsXY=null; // pixel defects coordinates list (starting with worst)
     		this.defectsDiff=null; // pixel defects value (diff from average of neighbors), matching defectsXY
 
+    		updateCartesian(); // set alternative
     	}
     	// defects are not cloned!
     	public EyesisSubCameraParameters clone() {
     		return new EyesisSubCameraParameters(
+    	    		this.cartesian,
     				this.lensDistortionModel,
     				this.enableNoLaser,
+    	    		this.right,
+    	    		this.forward,
+    	    		this.heading,
     				this.azimuth,
     				this.radius,
     				this.height,
@@ -160,8 +179,12 @@ import java.util.Properties;
     	}
 // TODO: add/restore new properties
     	public void setProperties(String prefix,Properties properties){
+    		properties.setProperty(prefix+"cartesian",this.cartesian+"");
     		properties.setProperty(prefix+"lensDistortionModel",this.lensDistortionModel+"");
     		properties.setProperty(prefix+"enableNoLaser",this.enableNoLaser+"");
+    		properties.setProperty(prefix+"right",this.right+"");
+    		properties.setProperty(prefix+"heading",this.heading+"");
+    		properties.setProperty(prefix+"forward",this.forward+"");
     		properties.setProperty(prefix+"azimuth",this.azimuth+"");
     		properties.setProperty(prefix+"radius",this.radius+"");
     		properties.setProperty(prefix+"height",this.height+"");
@@ -194,8 +217,17 @@ import java.util.Properties;
     		getProperties(prefix,properties, -1);
     	}
     	public void getProperties(String prefix,Properties properties, int channel){
+    		if (properties.getProperty(prefix+"cartesian")!=null)
+    			this.cartesian=Boolean.parseBoolean(properties.getProperty(prefix+"cartesian"));
     		if (properties.getProperty(prefix+"lensDistortionModel")!=null)
     			this.lensDistortionModel=Integer.parseInt(properties.getProperty(prefix+"lensDistortionModel"));
+    		if (properties.getProperty(prefix+"right")!=null)
+    			this.right=Double.parseDouble(properties.getProperty(prefix+"right"));
+    		if (properties.getProperty(prefix+"forward")!=null)
+    			this.forward=Double.parseDouble(properties.getProperty(prefix+"forward"));
+    		if (properties.getProperty(prefix+"heading")!=null)
+    			this.heading=Double.parseDouble(properties.getProperty(prefix+"heading"));
+
     		if (properties.getProperty(prefix+"azimuth")!=null)
     			this.azimuth=Double.parseDouble(properties.getProperty(prefix+"azimuth"));
     		if (properties.getProperty(prefix+"radius")!=null)
@@ -264,4 +296,21 @@ import java.util.Properties;
     	public double getChannelWeightDefault(){
     		return this.channelWeightDefault;
     	}
+    	
+    	public void updateCartesian(){ // set alternative parameters
+    		if (cartesian) {
+    			this.azimuth = Math.atan2(this.right, this.forward)*180.0/Math.PI;
+    			this.radius = Math.sqrt(this.forward*this.forward + this.right*this.right);
+    			this.phi = this.heading - this.azimuth; 
+    		} else {
+    			this.forward = this.radius * Math.cos(Math.PI*this.azimuth/180.0); 
+    			this.right =   this.radius * Math.sin(Math.PI*this.azimuth/180.0); 
+    			this.heading = this.phi +  this.azimuth;
+    		}
+    	}
+    	public void setCartesian(boolean cartesian){
+    		if (this.cartesian == cartesian) return; // already in this mode
+    		updateCartesian();
+    		this.cartesian = cartesian;
+    	}
     }

src/main/java/Goniometer.java

@@ -900,10 +900,11 @@ horizontal axis:
 		distortionCalibrationData.initImageSet(eyesisCameraParameters);
 		
 		// Set initial azimuth and elevation
-		double [] initialAzEl=distortionCalibrationData.getAzEl(imgWithMaxPointers);
+		// Set initial heading and elevation
+		double [] initialHeadEl=distortionCalibrationData.getHeadEl(imgWithMaxPointers);
         // set goniometer horizontal axis angle and goniometer axial angles in all images 
-		distortionCalibrationData.setGHGA(-initialAzEl[1], -initialAzEl[0]);
-		if (debug_level > 1) System.out.println("Initial Azimuth and Elevation are set to az="+IJ.d2s(-initialAzEl[0],2)+", elvation="+IJ.d2s(-initialAzEl[1],2)); 
+		distortionCalibrationData.setGHGA(-initialHeadEl[1], -initialHeadEl[0]);
+		if (debug_level > 1) System.out.println("Initial Heading and Elevation are set to heading="+IJ.d2s(-initialHeadEl[0],2)+", elvation="+IJ.d2s(-initialHeadEl[1],2)); 
 		
 		lensDistortions.copySensorConstants(eyesisCameraParameters); // copy from the first channel
 		// lensDistortions.fittingStrategy will be defined later, no need to