working on cartesian-defined multi-cameras (c9ee2c7d) · Commits · Elphel / imagej-elphel

src/main/java/Aberration_Calibration.java

+2 −1

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

src/main/java/DistortionCalibrationData.java

+92 −39

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Preview size limit exceeded, changes collapsed.

src/main/java/Distortions.java

+16 −2

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src/main/java/EyesisCameraParameters.java

+207 −18

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src/main/java/EyesisSubCameraParameters.java

+50 −1

Original line number	Original line	Diff line number	Diff line
	@@ -25,12 +25,17 @@ import java.util.Properties;

	public class EyesisSubCameraParameters{		public class EyesisSubCameraParameters{
	// origin is on the rotation axis of the tube body closest to the goniometer horizontal axis		// 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 int lensDistortionModel=0;
	public boolean enableNoLaser=true; // enable images for this channel w/o matched laser pointer		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 azimuth; // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	public double radius; // mm, distance from the rotation axis		public double radius; // mm, distance from the rotation axis
	public double height; // mm, up - from the origin point		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 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 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;		public double focalLength=4.5;
	@@ -68,8 +73,12 @@ import java.util.Properties;
	*/		*/

	public EyesisSubCameraParameters(		public EyesisSubCameraParameters(
			boolean cartesian,
	int lensDistortionModel,		int lensDistortionModel,
	boolean enableNoLaser,		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 azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	double radius, // mm, distance from the rotation axis		double radius, // mm, distance from the rotation axis
	double height, // mm, up from the origin point		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 [][] r_od, // elongation for c,b,a,a5,a6,a7,a8
	double channelWeightDefault		double channelWeightDefault
	){		){
			this.cartesian = cartesian;
	this.lensDistortionModel=lensDistortionModel;		this.lensDistortionModel=lensDistortionModel;
	this.enableNoLaser=enableNoLaser;		this.enableNoLaser=enableNoLaser;
			this.right = right;
			this.forward = forward;
			this.heading = heading;

	this.azimuth=azimuth;		this.azimuth=azimuth;
	this.radius=radius;		this.radius=radius;
	this.height=height;		this.height=height;
	@@ -123,12 +137,17 @@ import java.util.Properties;
	this.defectsXY=null; // pixel defects coordinates list (starting with worst)		this.defectsXY=null; // pixel defects coordinates list (starting with worst)
	this.defectsDiff=null; // pixel defects value (diff from average of neighbors), matching defectsXY		this.defectsDiff=null; // pixel defects value (diff from average of neighbors), matching defectsXY

			updateCartesian(); // set alternative
	}		}
	// defects are not cloned!		// defects are not cloned!
	public EyesisSubCameraParameters clone() {		public EyesisSubCameraParameters clone() {
	return new EyesisSubCameraParameters(		return new EyesisSubCameraParameters(
			this.cartesian,
	this.lensDistortionModel,		this.lensDistortionModel,
	this.enableNoLaser,		this.enableNoLaser,
			this.right,
			this.forward,
			this.heading,
	this.azimuth,		this.azimuth,
	this.radius,		this.radius,
	this.height,		this.height,
	@@ -160,8 +179,12 @@ import java.util.Properties;
	}		}
	// TODO: add/restore new properties		// TODO: add/restore new properties
	public void setProperties(String prefix,Properties properties){		public void setProperties(String prefix,Properties properties){
			properties.setProperty(prefix+"cartesian",this.cartesian+"");
	properties.setProperty(prefix+"lensDistortionModel",this.lensDistortionModel+"");		properties.setProperty(prefix+"lensDistortionModel",this.lensDistortionModel+"");
	properties.setProperty(prefix+"enableNoLaser",this.enableNoLaser+"");		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+"azimuth",this.azimuth+"");
	properties.setProperty(prefix+"radius",this.radius+"");		properties.setProperty(prefix+"radius",this.radius+"");
	properties.setProperty(prefix+"height",this.height+"");		properties.setProperty(prefix+"height",this.height+"");
	@@ -194,8 +217,17 @@ import java.util.Properties;
	getProperties(prefix,properties, -1);		getProperties(prefix,properties, -1);
	}		}
	public void getProperties(String prefix,Properties properties, int channel){		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)		if (properties.getProperty(prefix+"lensDistortionModel")!=null)
	this.lensDistortionModel=Integer.parseInt(properties.getProperty(prefix+"lensDistortionModel"));		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)		if (properties.getProperty(prefix+"azimuth")!=null)
	this.azimuth=Double.parseDouble(properties.getProperty(prefix+"azimuth"));		this.azimuth=Double.parseDouble(properties.getProperty(prefix+"azimuth"));
	if (properties.getProperty(prefix+"radius")!=null)		if (properties.getProperty(prefix+"radius")!=null)
	@@ -264,4 +296,21 @@ import java.util.Properties;
	public double getChannelWeightDefault(){		public double getChannelWeightDefault(){
	return this.channelWeightDefault;		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.forwardthis.forward + this.rightthis.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;
			}
	}		}

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