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imagej-elphel
Commit cb607a02 authored by Andrey Filippov's avatar Andrey Filippov
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prepared ers data for fitting

parent 2d7ac7b8
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Showing with 467 additions and 95 deletions
src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java
View file @ cb607a02
......@@ -708,6 +708,8 @@ private Panel panel1,
addButton("LWIR_TEST", panelClt_GPU, color_conf_process);
addButton("LWIR_ACQUIRE", panelClt_GPU, color_conf_process);
addButton("IMU main", panelClt_GPU, color_conf_process);
addButton("IMU aux", panelClt_GPU, color_conf_process_aux);
plugInFrame.add(panelClt_GPU);
}
......@@ -4955,6 +4957,12 @@ private Panel panel1,
QuadCLT dbg_QUAD_CLT_AUX = QUAD_CLT_AUX;
return;
/* ======================================================================== */
} else if (label.equals("IMU main")) {
editIMU(false);
/* ======================================================================== */
} else if (label.equals("IMU aux")) {
editIMU(true);
/* ======================================================================== */
} else if (label.equals("LIST extrinsics")) {
DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
......@@ -5145,6 +5153,38 @@ private Panel panel1,
}
}
/* ======================================================================== */
public boolean editIMU(boolean aux) {
if (aux) {
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");
}
}
return QUAD_CLT_AUX.editExtrinsicCorr();
} else {
if (QUAD_CLT == null){
QUAD_CLT = new QuadCLT (
QuadCLT.PREFIX,
PROPERTIES,
EYESIS_CORRECTIONS,
CORRECTION_PARAMETERS);
if (DEBUG_LEVEL > 0){
System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
}
}
return QUAD_CLT.editExtrinsicCorr();
}
}
public boolean mainToAux(boolean use_img) {
if (QUAD_CLT == null){
......
src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java
View file @ cb607a02
......@@ -1519,6 +1519,12 @@ public class Corr2dLMA {
return stats;
}
public double [] getStats(int num_good_tiles){
double [] stats = {total_weight/num_good_tiles, 1.0*total_tiles/num_good_tiles, last_rms[0]};
return stats;
}
//
public void getDdNd(double [][] ddnd){ // this.all_pars should be current
if (ddnd != null) {
......
src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java
View file @ cb607a02
......@@ -41,12 +41,16 @@ public class GeometryCorrection {
public static String RIG_PREFIX = "rig-";
static double SCENE_UNITS_SCALE = 0.001; // meters from mm
static String SCENE_UNITS_NAME = "m";
static final String [] CORR_NAMES = {"tilt0","tilt1","tilt2","azimuth0","azimuth1","azimuth2","roll0","roll1","roll2","roll3","zoom0","zoom1","zoom2"};
static final String [] CORR_NAMES = {"tilt0","tilt1","tilt2","azimuth0","azimuth1","azimuth2","roll0","roll1","roll2","roll3","zoom0","zoom1","zoom2",
"omega_tilt", "omega_azimuth", "omega_roll"};
public int debugLevel = 0;
public double line_time = 26.5E-6; // duration of sensor scan line (for ERS)
public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
public int pixelCorrectionHeight=1936;
public double focalLength; // =FOCAL_LENGTH;
public double pixelSize; // = PIXEL_SIZE; //um
public double distortionRadius; // = DISTORTION_RADIUS; // mm - half width of the sensor
......@@ -1019,12 +1023,13 @@ public class GeometryCorrection {
public class CorrVector{
static final int LENGTH = 13; // 10;
static final int LENGTH = 16; // 10;
static final int LENGTH_ANGLES =10;
static final int TILT_INDEX = 0;
static final int AZIMUTH_INDEX = 3;
static final int ROLL_INDEX = 6;
static final int ZOOM_INDEX = 10;
static final int ZOOM_INDEX = 10;
static final int IMU_INDEX = 13; // d_tilt/dt (rad/s), d_az/dt, d_roll/dt for ERS correction
static final double ROT_AZ_SGN = -1.0; // sign of first sin for azimuth rotation
static final double ROT_TL_SGN = 1.0; // sign of first sin for tilt rotation
static final double ROT_RL_SGN = 1.0; // sign of first sin for roll rotation
......@@ -1180,16 +1185,18 @@ public class GeometryCorrection {
}
public CorrVector (// not used in lwir
double tilt0, double tilt1, double tilt2,
double azimuth0, double azimuth1, double azimuth2,
double roll0, double roll1, double roll2, double roll3,
double zoom0, double zoom1, double zoom2)
double tilt0, double tilt1, double tilt2,
double azimuth0, double azimuth1, double azimuth2,
double roll0, double roll1, double roll2, double roll3,
double zoom0, double zoom1, double zoom2,
double omega_tilt, double omega_azimuth, double omega_roll)
{
double [] v = {
tilt0, tilt1, tilt2,
azimuth0, azimuth1, azimuth2,
roll0, roll1, roll2, roll3,
zoom0, zoom1, zoom2};
tilt0, tilt1, tilt2,
azimuth0, azimuth1, azimuth2,
roll0, roll1, roll2, roll3,
zoom0, zoom1, zoom2,
omega_tilt, omega_azimuth, omega_roll};
this.vector = v;
}
......@@ -1212,14 +1219,16 @@ public class GeometryCorrection {
* @param azimuth for subcameras 0..2, radians, positive - right (subcamera 3 so sum == 0)
* @param roll for subcameras 0..3, radians, positive - CW looking to the target
* @param zoom for subcameras 0..2, difference from 1.0 . Positive - image is too small, needs to be zoomed in by (1.0 + scale)
* @param imu angular velocities for ERS correction
*/
public CorrVector (double [] tilt, double [] azimuth, double [] roll, double [] zoom)// not used in lwir
public CorrVector (double [] tilt, double [] azimuth, double [] roll, double [] zoom, double [] imu)// not used in lwir
{
double [] vector = {
tilt[0], tilt[1], tilt[2],
azimuth[0], azimuth[1], azimuth[2],
roll[0], roll[1], roll[2], roll[3],
zoom[0], zoom[1], zoom[2]};
zoom[0], zoom[1], zoom[2],
imu[0], imu[1], imu[2]};
this.vector = vector;
}
......@@ -1227,8 +1236,6 @@ public class GeometryCorrection {
return new CorrVector(vector);
}
public double [] toArray() // USED in lwir
{
return vector;
......@@ -1275,6 +1282,23 @@ public class GeometryCorrection {
else return vector[10 + indx];
}
public double [] getIMU() {
double [] imu = {vector[IMU_INDEX + 0], vector[IMU_INDEX + 1], vector[IMU_INDEX + 2]};
return imu;
}
public double [] getIMU(int chn) {
// considering all sensors parallel, if needed process all angles
double [] imu = {vector[IMU_INDEX + 0], vector[IMU_INDEX + 1], vector[IMU_INDEX + 2]};
return imu;
}
public void setIMU(double [] imu) {
vector [IMU_INDEX + 0] = imu[0];
vector [IMU_INDEX + 1] = imu[1];
vector [IMU_INDEX + 2] = imu[2];
}
public double setZoomsFromF(double f0, double f1, double f2, double f3) { // USED in lwir
double f_avg = (f0+f1+f2+f3)/4;
vector[10] = (f0 - f_avg)/f_avg;
......@@ -1301,7 +1325,6 @@ public class GeometryCorrection {
return h_avg;
}
// Include factory calibration rolls
public double [] getFullRolls() // USED in lwir
{
......@@ -1327,7 +1350,9 @@ public class GeometryCorrection {
if (indx <0) return Double.NaN;
if (indx < ROLL_INDEX) return vector[indx]* (inPix? (1000.0*focalLength /pixelSize): 1.0); // tilt and azimuth
if (indx < LENGTH_ANGLES) return vector[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // rolls
if (indx < LENGTH) return vector[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // zooms
if (indx < IMU_INDEX) return vector[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // zooms
if (indx < (IMU_INDEX+2)) return vector[indx]* (inPix? (1000.0*focalLength /pixelSize): 1.0); // omega_tilt and omega_azimuth
if (indx < LENGTH) return vector[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // omega_roll
return Double.NaN;
}
public double getExtrinsicSymParameterValue(int indx, boolean inPix) { // not used in lwir
......@@ -1335,7 +1360,9 @@ public class GeometryCorrection {
if (indx <0) return Double.NaN;
if (indx < ROLL_INDEX) return sym_vect[indx]* (inPix? (1000.0*focalLength /pixelSize): 1.0); // tilt and azimuth
if (indx < LENGTH_ANGLES) return sym_vect[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // rolls
if (indx < LENGTH) return sym_vect[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // zooms
if (indx < IMU_INDEX) return sym_vect[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // zooms
if (indx < (IMU_INDEX+2)) return sym_vect[indx]* (inPix? (1000.0*focalLength /pixelSize): 1.0); // omega_tilt and omega_azimuth
if (indx < LENGTH) return sym_vect[indx]* (inPix? (1000.0*distortionRadius/pixelSize): 1.0); // omega_roll
return Double.NaN;
}
......@@ -1354,11 +1381,20 @@ public class GeometryCorrection {
v[i] = vector[i]*1000.0*distortionRadius/pixelSize; // rolls
sv[i] = sym_vect[i]*1000.0*distortionRadius/pixelSize; // combined rolls
}
for (int i = LENGTH_ANGLES; i < LENGTH; i++){
for (int i = LENGTH_ANGLES; i < IMU_INDEX; i++){
v[i] = vector[i]*1000.0*distortionRadius/pixelSize; // zooms
sv[i] = sym_vect[i]*1000.0*distortionRadius/pixelSize; // zooms
}
for (int i = IMU_INDEX; i < IMU_INDEX+2; i++){
v[i] = vector[i]* 1000.0*focalLength/pixelSize; // omega_tilt and omega_azimuth
sv[i] = sym_vect[i]*1000.0*focalLength/pixelSize; // omega_tilt and omega_azimuth
}
for (int i = IMU_INDEX+2; i < LENGTH; i++){
v[i] = vector[i]*1000.0*distortionRadius/pixelSize; // omega_roll
sv[i] = sym_vect[i]*1000.0*distortionRadius/pixelSize; // omega_rolls
}
s = String.format("tilt (up): %8.5fpx %8.5fpx %8.5fpx %8.5fpx (shift of the image center)\n" , v[0], v[1], v[2], -(v[0] + v[1] + v[2]) );
s += String.format("azimuth (right): %8.5fpx %8.5fpx %8.5fpx %8.5fpx (shift of the image center)\n" , v[3], v[4], v[5], -(v[3] + v[4] + v[5]) );
s += String.format("roll (CW): %8.5fpx %8.5fpx %8.5fpx %8.5fpx (shift at the image half-width from the center)\n" , v[6], v[7], v[8], v[9] );
......@@ -1369,6 +1405,9 @@ public class GeometryCorrection {
s += String.format(" 0:%9.6fpx 1:%8.5fpx 2:%8.5fpx 3:%8.5fpx 4:%8.5fpx 5:%8.5fpx 6:%8.5fpx 7:%8.5fpx 8:%8.5fpx 9:%8.5fpx 10: %8.5fpx 11:%8.5fpx 12:%8.5fpx\n" ,
sv[0], sv[1], sv[2], sv[3], sv[4], sv[5], sv[6], sv[7], sv[8], sv[9], sv[10], sv[11], sv[12] );
s += String.format("omega_tilt = %9.4f pix/s, omega_azimuth = %9.4f pix/s, omega_roll = %9.4f pix/s\n", sv[13], sv[14], sv[15]);
return s;
}
......@@ -1382,9 +1421,12 @@ public class GeometryCorrection {
if (i < LENGTH_ANGLES) {
v[i] = vector[i]*180/Math.PI;
sv[i] = sym_vect[i]*180/Math.PI;
} else {
} else if (i < IMU_INDEX){
v[i] = vector[i];
sv[i] = sym_vect[i];
} else {
v[i] = vector[i]*180/Math.PI;
sv[i] = sym_vect[i]*180/Math.PI;
}
}
......@@ -1399,10 +1441,29 @@ public class GeometryCorrection {
s += String.format(" 0:%9.6f° 1:%8.5f° 2:%8.5f° 3:%8.5f° 4:%8.5f° 5:%8.5f° 6:%8.5f° 7:%8.5f° 8:%8.5f° 9:%8.5f° 10: %8.5f‰ 11:%8.5f‰ 12:%8.5f‰\n" ,
sv[0], sv[1], sv[2], sv[3], sv[4], sv[5], sv[6], sv[7], sv[8], sv[9], 1000*sv[10], 1000*sv[11], 1000*sv[12] );
s += String.format("omega_tilt = %9.4°/s, omega_azimuth = %9.4°/s, omega_roll = %9.4°/s\n", sv[13], sv[14], sv[15]);
return s;
}
public boolean editIMU() {
double par_scales_tlaz = 1000.0*focalLength/pixelSize;
double par_scales_roll = 1000.0*distortionRadius/pixelSize;
GenericJTabbedDialog gd = new GenericJTabbedDialog("Set camera angular velocities (in pix/sec)",800,300);
gd.addNumericField("Angular rotation azimuth (positive - rotate camera the right)", par_scales_tlaz * vector[IMU_INDEX + 0], 3,6,"pix/s",
"Horizonatal camera rotation (reasonable value ~1000 pix/s)");
gd.addNumericField("Angular rotation tilt (positive - rotate camera up)", par_scales_tlaz * vector[IMU_INDEX + 1], 3,6,"pix/s",
"Vertical camera rotation (reasonable value ~1000 pix/s)");
gd.addNumericField("Angular rotation tilt (positive - clockwise)", par_scales_roll * vector[IMU_INDEX + 2], 3,6,"pix/s",
"Rollc amera rotation (reasonable value ~1000 pix/s)");
gd.showDialog();
if (gd.wasCanceled()) return false;
vector[IMU_INDEX + 0] = gd.getNextNumber()/par_scales_tlaz;
vector[IMU_INDEX + 1] = gd.getNextNumber()/par_scales_tlaz;
vector[IMU_INDEX + 2] = gd.getNextNumber()/par_scales_roll;
return true;
}
// returns false if any component is NaN, in that case do not increment
public boolean incrementVector(double [] incr, // USED in lwir
......@@ -1457,22 +1518,26 @@ public class GeometryCorrection {
public double [][] dSym_j_dTar_i() // USED in lwir
{
double [][] tar_to_sym = {
{-2.0, -2.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // t0
{-2.0, 0.0, 0.0, -2.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // t1
{ 0.0, -2.0, 2.0, 0.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // t2
{ 2.0, 2.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // a0
{ 0.0, 2.0, 2.0, 0.0, 2.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // a1
{ 2.0, 0.0, 0.0, -2.0, 2.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // a2
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.5, 0.0, 0.25, 0.0, 0.0, 0.0}, // roll 0
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.5, -0.25, 0.0, 0.0, 0.0}, // roll 1
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, -0.5, -0.25, 0.0, 0.0, 0.0}, // roll 2
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, -0.5, 0.0, 0.25, 0.0, 0.0, 0.0}, // roll 3
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, -1.0, 0.0}, // scale 0
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 1.0}, // scale 1
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0} // scale 2
{-2.0, -2.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // t0
{-2.0, 0.0, 0.0, -2.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // t1
{ 0.0, -2.0, 2.0, 0.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // t2
{ 2.0, 2.0, 2.0, -2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // a0
{ 0.0, 2.0, 2.0, 0.0, 2.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // a1
{ 2.0, 0.0, 0.0, -2.0, 2.0, 2.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // a2
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.5, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // roll 0
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, 0.5, -0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // roll 1
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, 0.0, -0.5, -0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // roll 2
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25, -0.5, 0.0, 0.25, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}, // roll 3
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, -1.0, 0.0, 0.0, 0.0, 0.0}, // scale 0
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.0, 0.0, 0.0}, // scale 1
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0, 0.0}, // scale 2
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0}, // omega_tilt
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0}, // omega_azimuth
{ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0} // omega_roll
};
return tar_to_sym;
......@@ -1514,52 +1579,72 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
*/
double [][] sym_to_tar= { // USED in lwir
// t0 t1 t2 a0 a1 a2 r0 r1 r2 r3 s0 s1 s2
{-0.125,-0.125, 0.125, 0.125,-0.125, 0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym0
{-0.125, 0.125,-0.125, 0.125, 0.125,-0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym1
{ 0.125,-0.125, 0.125, 0.125, 0.125,-0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym2
{-0.125,-0.125, 0.125,-0.125, 0.125,-0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym3
{-0.125, 0.125, 0.125,-0.125, 0.125, 0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym4
{ 0.125,-0.125,-0.125,-0.125, 0.125, 0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym5
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0 }, // sym6 = (r0+r1+r2+r3)/4
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0 }, // sym7 = (r0-r3)/2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 1.0, -1.0, 0.0, 0.0, 0.0, 0.0 }, // sym8 = (r1-r2)/2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0, -1.0, -1.0, 1.0, 0.0, 0.0, 0.0 }, // sym9 = (r0+r3-r1-r2)/4
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, -1.0, 1.0, -0.5, 0.5, -0.5 }, // sym10 = -s0 - s2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, -1.0, 1.0, -0.5, -0.5, 0.5 }, // sym11 = -s0 - s1
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, -1.0, 1.0, -0.5, 0.5, 0.5 } // sym12 = s1 + s2
{-0.125,-0.125, 0.125, 0.125,-0.125, 0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym0
{-0.125, 0.125,-0.125, 0.125, 0.125,-0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym1
{ 0.125,-0.125, 0.125, 0.125, 0.125,-0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym2
{-0.125,-0.125, 0.125,-0.125, 0.125,-0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym3
{-0.125, 0.125, 0.125,-0.125, 0.125, 0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym4
{ 0.125,-0.125,-0.125,-0.125, 0.125, 0.125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym5
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym6 = (r0+r1+r2+r3)/4
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym7 = (r0-r3)/2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 1.0, -1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym8 = (r1-r2)/2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 1.0, -1.0, -1.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }, // sym9 = (r0+r3-r1-r2)/4
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, -1.0, 1.0, -0.5, 0.5, -0.5, 0.0, 0.0, 0.0 }, // sym10 = -s0 - s2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, -1.0, 1.0, -0.5, -0.5, 0.5, 0.0, 0.0, 0.0 }, // sym11 = -s0 - s1
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, -1.0, 1.0, -0.5, 0.5, 0.5, 0.0, 0.0, 0.0 }, // sym12 = s1 + s2
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0}, // sym13 = omega_tilt
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0}, // sym14 = omega_azimuth
{ 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0} // sym15 = omega_roll
};
return sym_to_tar;
}
public boolean [] getParMask( // USED in lwir
boolean use_disparity,
// boolean use_other_extr,
boolean use_aztilts, // Adjust azimuths and tilts excluding disparity
boolean use_diff_rolls, // Adjust differential rolls (3 of 4 angles)
// boolean disparity_only,
// boolean use_disparity,
boolean common_roll,
boolean corr_focalLength,
int manual_par_sel) // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
{
// common_roll &= !disparity_only;
// corr_focalLength &= !disparity_only;
// use_disparity |= disparity_only;
return getParMask( // USED in lwir
use_disparity,
use_aztilts, // Adjust azimuths and tilts excluding disparity
use_diff_rolls, // Adjust differential rolls (3 of 4 angles)
common_roll,
corr_focalLength,
false, // boolean corr_imu,
manual_par_sel);
}
public boolean [] getParMask( // USED in lwir
boolean use_disparity,
boolean use_aztilts, // Adjust azimuths and tilts excluding disparity
boolean use_diff_rolls, // Adjust differential rolls (3 of 4 angles)
boolean common_roll,
boolean corr_focalLength,
boolean corr_imu,
int manual_par_sel) // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
{
boolean [] par_mask = {
use_disparity, //sym0
use_aztilts, //sym1
use_aztilts, //sym2
use_aztilts, //sym3
use_aztilts, //sym4
use_aztilts, //sym5
use_aztilts, //sym1
use_aztilts, //sym2
use_aztilts, //sym3
use_aztilts, //sym4
use_aztilts, //sym5
common_roll, //sym6 // common roll
use_diff_rolls, //sym7
use_diff_rolls, //sym8
use_diff_rolls, //sym9
use_diff_rolls, //sym7
use_diff_rolls, //sym8
use_diff_rolls, //sym9
corr_focalLength, //sym10
corr_focalLength, //sym11
corr_focalLength //sym12
corr_focalLength, //sym12
corr_imu, //sym13
corr_imu, //sym14
corr_imu //sym15
};
if (manual_par_sel != 0) { // not used in lwir
for (int i = 0; i < par_mask.length; i++) {
......@@ -1582,20 +1667,22 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
*
* Result is transposed Jacobian (rows (9 , 10,12 or 13) - parameters, columns - port coordinate components (8). Parameters
* here are symmetrical, 0 is disparity-related (all to the center), remaining 9 preserve disparity and
* are only responsible for the "lazy eye" (last 4 are were roll, now differential zooms are added):
* are only responsible for the "lazy eye" (last 4 were roll, now differential zooms are added):
*
* |↘ ↙| |↘ ↗| |↗ ↘| |↙ ↘| |↙ ↗| |↖ ↘|
* 0: |↗ ↖| 1: |↙ ↖| 2: |↖ ↙| 3: |↖ ↗| 4: |↗ ↙| 5: |↘ ↖|
*
* @param port_coord_deriv result of getPortsCoordinatesAndDerivatives: first index: port0x, port0y... port3y,
* second index - parameters [tilt0, tilt1, ..., roll3]
* @param par_mask array of 10 elements - which parameters to use (normally all true or all but first
* @param par_mask array of 10->13->16 elements - which parameters to use (normally all true or all but first
*
* UPDATE
* @return
*/
public double [][] getJtPartial( // USED in lwir
double [][] port_coord_deriv,
boolean [] par_mask)
boolean [] par_mask)
{
int num_pars = 0;
for (int npar = 0; npar < LENGTH; npar++) if ((par_mask==null) || par_mask[npar]) {
......@@ -2360,7 +2447,12 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
* 3) apply rotations and zoom
* 4) re-apply distortion
* 5) return port center X and Y
* line_time
*/
if ((disp_dist == null) && (pXYderiv != null)) {
disp_dist = new double [numSensors][4];
}
double [][] rXY = getRXY(use_rig_offsets); // may include rig offsets
double [][] pXY = new double [numSensors][2];
......@@ -2434,8 +2526,8 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
double pXid = pXci * rD2rND;
double pYid = pYci * rD2rND;
double pXid_dbg = pXci_dbg * rD2rND_dbg; // Should be the same as pXcd
double pYid_dbg = pYci_dbg * rD2rND_dbg; //
/// double pXid_dbg = pXci_dbg * rD2rND_dbg; // Should be the same as pXcd
/// double pYid_dbg = pYci_dbg * rD2rND_dbg; //
pXY[i][0] = pXid + this.pXY0[i][0];
......@@ -2443,14 +2535,37 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
// used when calculating derivatives, TODO: combine calculations !
double drD2rND_dri = 0.0;
Matrix drvi_daz = null;
Matrix drvi_dtl = null;
Matrix drvi_drl = null;
double dpXci_dazimuth = 0.0;
double dpYci_dazimuth = 0.0;
double dpXci_dtilt = 0.0;
double dpYci_dtilt = 0.0;
double dpXci_droll = 0.0;
double dpYci_droll = 0.0;
if ((disp_dist != null) || (pXYderiv != null)) {
rri = 1.0;
for (int j = 0; j < rad_coeff.length; j++){
drD2rND_dri += rad_coeff[j] * (j+1) * rri;
rri *= ri;
}
if (deriv_rots != null) {
// needed for derivatives and IMU
drvi_daz = deriv_rots[i][0].times(vi);
drvi_dtl = deriv_rots[i][1].times(vi);
drvi_drl = deriv_rots[i][2].times(vi);
dpXci_dazimuth = drvi_daz.get(0, 0) * norm_z - pXci * drvi_daz.get(2, 0) / rvi.get(2, 0);
dpYci_dazimuth = drvi_daz.get(1, 0) * norm_z - pYci * drvi_daz.get(2, 0) / rvi.get(2, 0);
dpXci_dtilt = drvi_dtl.get(0, 0) * norm_z - pXci * drvi_dtl.get(2, 0) / rvi.get(2, 0);
dpYci_dtilt = drvi_dtl.get(1, 0) * norm_z - pYci * drvi_dtl.get(2, 0) / rvi.get(2, 0);
dpXci_droll = drvi_drl.get(0, 0) * norm_z - pXci * drvi_drl.get(2, 0) / rvi.get(2, 0);
dpYci_droll = drvi_drl.get(1, 0) * norm_z - pYci * drvi_drl.get(2, 0) / rvi.get(2, 0);
}
}
double delta_t = 0.0;
double [] imu = null;
if (disp_dist != null) {
disp_dist[i] = new double [4]; // dx/d_disp, dx_d_ccw_disp
// Not clear - what should be in Z direction before rotation here?
......@@ -2458,11 +2573,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
{-rXY[i][0], rXY[i][1], 0.0},
{-rXY[i][1], -rXY[i][0], 0.0},
{ 0.0, 0.0, 0.0}}; // what is last element???
/*
{1.0, 0.0, 0.0},
{0.0, 1.0, 0.0},
{0.0, 0.0, 0.0}}; // what is last element???
*/
Matrix dd0 = new Matrix(add0);
Matrix dd1 = rots[i].times(dd0).getMatrix(0, 1,0,1).times(norm_z); // get top left 2x2 sub-matrix
//// Matrix dd1 = dd0.getMatrix(0, 1,0,1); // get top left 2x2 sub-matrix
......@@ -2485,9 +2595,17 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
disp_dist[i][0] = dd2.get(0, 0);
disp_dist[i][1] = dd2.get(0, 1);
disp_dist[i][2] = dd2.get(1, 0);
disp_dist[i][2] = dd2.get(1, 0); // d_py/d_disp
disp_dist[i][3] = dd2.get(1, 1);
imu = extrinsic_corr.getIMU(i); // currently it is common for all channels
delta_t = dd2.get(1, 0) * disparity * line_time; // positive for top cameras, negative - for bottom
double ers_Xci = delta_t* (dpXci_dtilt * imu[0] + dpXci_dazimuth * imu[1] + dpXci_droll * imu[2]);
double ers_Yci = delta_t* (dpYci_dtilt * imu[0] + dpYci_dazimuth * imu[1] + dpYci_droll * imu[2]);
pXY[i][0] += ers_Xci * rD2rND; // added correction to pixel X
pXY[i][1] += ers_Yci * rD2rND; // added correction to pixel Y
// TODO: calculate derivatives of pX, pY by 3 imu omegas
}
......@@ -2495,19 +2613,19 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
if (pXYderiv != null) {
pXYderiv[2 * i] = new double [CorrVector.LENGTH];
pXYderiv[2 * i+1] = new double [CorrVector.LENGTH];
Matrix drvi_daz = deriv_rots[i][0].times(vi);
Matrix drvi_dtl = deriv_rots[i][1].times(vi);
Matrix drvi_drl = deriv_rots[i][2].times(vi);
/// Matrix drvi_daz = deriv_rots[i][0].times(vi);
/// Matrix drvi_dtl = deriv_rots[i][1].times(vi);
/// Matrix drvi_drl = deriv_rots[i][2].times(vi);
Matrix drvi_dzm = deriv_rots[i][3].times(vi);
double dpXci_dazimuth = drvi_daz.get(0, 0) * norm_z - pXci * drvi_daz.get(2, 0) / rvi.get(2, 0);
double dpYci_dazimuth = drvi_daz.get(1, 0) * norm_z - pYci * drvi_daz.get(2, 0) / rvi.get(2, 0);
/// double dpXci_dazimuth = drvi_daz.get(0, 0) * norm_z - pXci * drvi_daz.get(2, 0) / rvi.get(2, 0);
/// double dpYci_dazimuth = drvi_daz.get(1, 0) * norm_z - pYci * drvi_daz.get(2, 0) / rvi.get(2, 0);
double dpXci_dtilt = drvi_dtl.get(0, 0) * norm_z - pXci * drvi_dtl.get(2, 0) / rvi.get(2, 0);
double dpYci_dtilt = drvi_dtl.get(1, 0) * norm_z - pYci * drvi_dtl.get(2, 0) / rvi.get(2, 0);
/// double dpXci_dtilt = drvi_dtl.get(0, 0) * norm_z - pXci * drvi_dtl.get(2, 0) / rvi.get(2, 0);
/// double dpYci_dtilt = drvi_dtl.get(1, 0) * norm_z - pYci * drvi_dtl.get(2, 0) / rvi.get(2, 0);
double dpXci_droll = drvi_drl.get(0, 0) * norm_z - pXci * drvi_drl.get(2, 0) / rvi.get(2, 0);
double dpYci_droll = drvi_drl.get(1, 0) * norm_z - pYci * drvi_drl.get(2, 0) / rvi.get(2, 0);
/// double dpXci_droll = drvi_drl.get(0, 0) * norm_z - pXci * drvi_drl.get(2, 0) / rvi.get(2, 0);
/// double dpYci_droll = drvi_drl.get(1, 0) * norm_z - pYci * drvi_drl.get(2, 0) / rvi.get(2, 0);
double dpXci_dzoom = drvi_dzm.get(0, 0) * norm_z - pXci * drvi_dzm.get(2, 0) / rvi.get(2, 0);
double dpYci_dzoom = drvi_dzm.get(1, 0) * norm_z - pYci * drvi_dzm.get(2, 0) / rvi.get(2, 0);
......@@ -2545,6 +2663,17 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
double dpXid_dzoom = dpXci_dzoom * rD2rND + pXci * drD2rND_dzoom; // new second term
double dpYid_dzoom = dpYci_dzoom * rD2rND + pYci * drD2rND_dzoom; // new second term
// assuming drD2rND_imu* is zero (rD2rND does not depend on imu_*
if (imu != null) {
// dpX_d = delta_t * rD2rND * (dpXci_dtilt * imu[0] + dpXci_dazimuth * imu[1] + dpXci_droll * imu[2]);
// dpX_d = delta_t * rD2rND * (dpYci_dtilt * imu[0] + dpYci_dazimuth * imu[1] + dpYci_droll * imu[2]);
pXYderiv[2 * i + 0][CorrVector.IMU_INDEX+0] = delta_t * rD2rND * dpXci_dtilt * imu[0];
pXYderiv[2 * i + 1][CorrVector.IMU_INDEX+0] = delta_t * rD2rND * dpYci_dtilt * imu[0];
pXYderiv[2 * i + 0][CorrVector.IMU_INDEX+1] = delta_t * rD2rND * dpXci_dazimuth * imu[0];
pXYderiv[2 * i + 1][CorrVector.IMU_INDEX+1] = delta_t * rD2rND * dpYci_dazimuth * imu[0];
pXYderiv[2 * i + 0][CorrVector.IMU_INDEX+2] = delta_t * rD2rND * dpYci_droll * imu[0];
pXYderiv[2 * i + 1][CorrVector.IMU_INDEX+2] = delta_t * rD2rND * dpYci_droll * imu[0];
}
// verify that d/dsym are well, symmetrical
if (i < (numSensors - 1)){
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ cb607a02
......@@ -1513,7 +1513,9 @@ public class ImageDtt {
}
// removing macro and FPGA modes
public double [][][][][][] clt_aberrations_quad_corr_min( // USED in LWIR
// public double [][][][][][] clt_aberrations_quad_corr_min( // USED in LWIR
// public double [][] clt_aberrations_quad_corr_min( // returns d,s lazy eye parameters
public double [][] cltMeasureLazyEye ( // returns d,s lazy eye parameters
final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
// final int macro_scale, // to correlate tile data instead of the pixel data: 1 - pixels, 8 - tiles
final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
......@@ -1594,6 +1596,8 @@ public class ImageDtt {
final int clustersX= (tilesX + tileStep - 1) / tileStep;
final int clustersY= (tilesY + tileStep - 1) / tileStep;
final double [][] lazy_eye_data = new double [clustersY*clustersX][];
// final int nTilesInChn=tilesX*tilesY;
final int nClustersInChn=clustersX * clustersY;
final int clustSize = tileStep*tileStep;
......@@ -1754,12 +1758,16 @@ public class ImageDtt {
sdfa_instance.showArrays(lt_window, 2*transform_size, 2*transform_size, "lt_window");
}
Matrix [] corr_rots_aux = null;
Matrix [][] deriv_rots_aux = null;
if (geometryCorrection_main != null) {
corr_rots_aux = geometryCorrection.getCorrVector().getRotMatrices(geometryCorrection.getRotMatrix(true));
deriv_rots_aux = geometryCorrection.getCorrVector().getRotDeriveMatrices();
}
final boolean use_main = corr_rots_aux != null;
final Matrix [] corr_rots = use_main ? corr_rots_aux : geometryCorrection.getCorrVector().getRotMatrices(); // get array of per-sensor rotation matrices
final Matrix [][] deriv_rots = use_main ? deriv_rots_aux : geometryCorrection.getCorrVector().getRotDeriveMatrices();
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
@Override
......@@ -1806,6 +1814,73 @@ public class ImageDtt {
int clust_lma_debug_level = debugCluster? imgdtt_params.lma_debug_level : -5;
// filter only tiles with similar disparity to enable lazy eye for the ERS.
int num_good_tiles = 0;
while (true) {
int mnTx = -1, mnTy = -1, mxTx = -1, mxTy = -1;
double mn = Double.NaN;
double mx = Double.NaN;
double avg= 0.0;
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
tileY = clustY * tileStep + cTileY ;
if (tileY < tilesY) {
for (int cTileX = 0; cTileX < tileStep; cTileX++) {
tileX = clustX * tileStep + cTileX ;
if ((tileX < tilesX) && (tile_op[tileY][tileX] != 0)) {
// cTile = cTileY * tileStep + cTileX;
double d = disparity_array [tileY][tileX];
avg += d;
if (!(d <= mx)) {
mx = d;
mxTx = tileX;
mxTy = tileY;
}
if (!(d >= mn)) {
mn = d;
mnTx = tileX;
mnTy = tileY;
}
num_good_tiles++;
}
}
}
}
if (num_good_tiles ==0) {
break;
}
if ((mx-mn) <= imgdtt_params.lma_disp_range ) {
break;
}
avg /= num_good_tiles;
if ((mx-avg) > (avg-mn)) {
tile_op[mxTy][mxTx] = 0;
} else {
tile_op[mnTy][mnTx] = 0;
}
//imgdtt_params.lma_disp_range
}
if (num_good_tiles == 0) {
// fill out empty ...
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
tileY = clustY * tileStep + cTileY ;
if (tileY < tilesY) {
for (int cTileX = 0; cTileX < tileStep; cTileX++) {
tileX = clustX * tileStep + cTileX ;
if (tileX < tilesX) {
cTile = cTileY * tileStep + cTileX;
tIndex = tileY * tilesX + tileX;
// int nTile = tileY * tilesX + tileX; // how is it different from tIndex?
for (int cam = 0; cam < quad; cam++) {
clt_mismatch[3*cam + 0][tIndex] = Double.NaN;
clt_mismatch[3*cam + 1][tIndex] = Double.NaN;
}
}
}
}
}
continue;
}
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
......@@ -1823,7 +1898,10 @@ public class ImageDtt {
tIndex = tileY * tilesX + tileX;
int nTile = tileY * tilesX + tileX; // how is it different from tIndex?
if (tile_op[tileY][tileX] == 0) continue; // nothing to do for this tile
if (tile_op[tileY][tileX] == 0) {
disp_str[cTile] = null;
continue; // nothing to do for this tile
}
boolean debugTile =(tileX == debug_tileX) && (tileY == debug_tileY);
......@@ -1840,13 +1918,16 @@ public class ImageDtt {
System.out.println("Bug with disparity_array !!!");
continue; // nothing to do for this tile
}
if ((globalDebugLevel > -2) && debugTile) {
System.out.println ("Calculating offsets");
}
if (use_main) { // this is AUX camera that uses main coordinates // not used in lwir
centersXY[cTile] = geometryCorrection.getPortsCoordinatesAndDerivatives(
geometryCorrection_main, // GeometryCorrection gc_main,
true, // boolean use_rig_offsets,
corr_rots, // Matrix [] rots,
null, // Matrix [][] deriv_rots,
deriv_rots, // Matrix [][] deriv_rots,
null, // double [][] pXYderiv, // if not null, should be double[8][]
disp_dist[cTile], // used to correct 3D correlations
centerX,
......@@ -1859,7 +1940,7 @@ public class ImageDtt {
geometryCorrection, // GeometryCorrection gc_main,
false, // boolean use_rig_offsets,
corr_rots, // Matrix [] rots,
null, // Matrix [][] deriv_rots,
deriv_rots, // Matrix [][] deriv_rots,
null, // double [][] pXYderiv, // if not null, should be double[8][]
disp_dist[cTile], // used to correct 3D correlations
centerX,
......@@ -1867,7 +1948,7 @@ public class ImageDtt {
disparity_array[tileY][tileX] + disparity_corr);
}
if (((globalDebugLevel > 0) || debug_distort) || debugTile) {
if (((globalDebugLevel > 0) || debug_distort) || (debugTile && (globalDebugLevel > -2))) {
for (int i = 0; i < quad; i++) {
System.out.println("clt_aberrations_quad_corr(): tileX="+tileX+", tileY="+tileY+
" centerX="+centerX+" centerY="+centerY+" disparity="+disparity_array[tileY][tileX]+
......@@ -2165,7 +2246,51 @@ public class ImageDtt {
clustY ); // int tileY
if (lma2 != null) {
double [][] ddnd = lma2.getDdNd();
double [] stats = lma2.getStats();
double [] stats = lma2.getStats(num_good_tiles);
double [][] lma_ds = lma2.lmaDisparityStrength(
imgdtt_params.lma_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lma_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
imgdtt_params.lma_min_ac, // minimal of A and C coefficients maximum (measures sharpest point/line)
imgdtt_params.lma_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
1.0, // imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
0.0); // imgdtt_params.lma_str_offset); // convert lma-generated strength to match previous ones - add to result
double [][] extra_stats = lma2.getTileStats();
// final double [][] lazy_eye_data = new double [clustersY*clustersX][];
// calculate average disparity per cluster using a sum of the disparity_array and the result of the LMA
double sum_wd = 0, sum_w = 0;
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
tileY = clustY * tileStep + cTileY ;
if (tileY < tilesY) {
for (int cTileX = 0; cTileX < tileStep; cTileX++) {
tileX = clustX * tileStep + cTileX ;
if (tileX < tilesX) {
cTile = cTileY * tileStep + cTileX;
tIndex = tileY * tilesX + tileX;
if ((lma_ds[cTile] != null) && (lma_ds[cTile][1]> 0.0)) {
double d = lma_ds[cTile][0] + disparity_array[tileY][tileX] + disparity_corr;
double w = lma_ds[cTile][1];
sum_wd += w * d;
sum_w += w;
}
}
}
}
}
if (sum_w > 0.0) {
lazy_eye_data[nCluster] = new double [2+ 2 * ddnd.length];
lazy_eye_data[nCluster][0] = sum_wd / sum_w;
lazy_eye_data[nCluster][1] = stats[0];
for (int cam = 0; cam < ddnd.length; cam++) {
if (ddnd[cam] != null) { //convert to x,y from dd/nd
lazy_eye_data[nCluster][2 * cam + 2] = ddnd[cam][0] * rXY[cam][0] - ddnd[cam][1] * rXY[cam][1];
lazy_eye_data[nCluster][2 * cam + 3] = ddnd[cam][0] * rXY[cam][1] + ddnd[cam][1] * rXY[cam][0];
} else {
lazy_eye_data[nCluster][2 * cam + 2] = Double.NaN;
lazy_eye_data[nCluster][2 * cam + 3] = 0.0;
}
}
}
double [][] lma2_ds = lma2.lmaDisparityStrength(
imgdtt_params.lma_max_rel_rms, // maximal relative (to average max/min amplitude LMA RMS) // May be up to 0.3)
imgdtt_params.lma_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
......@@ -2173,7 +2298,7 @@ public class ImageDtt {
imgdtt_params.lma_max_area, //double lma_max_area, // maximal half-area (if > 0.0)
imgdtt_params.lma_str_scale, // convert lma-generated strength to match previous ones - scale
imgdtt_params.lma_str_offset); // convert lma-generated strength to match previous ones - add to result
double [][] extra_stats = lma2.getTileStats();
for (int cTileY = 0; cTileY < tileStep; cTileY++) {
tileY = clustY * tileStep + cTileY ;
if (tileY < tilesY) {
......@@ -2204,7 +2329,8 @@ public class ImageDtt {
if ((lma2_ds != null) && ((lma2_ds[cTile] != null))) {
disparity_map[DISPARITY_INDEX_VERT][tIndex] = lma2_ds[cTile][0];
disparity_map[DISPARITY_INDEX_VERT_STRENGTH][tIndex] = lma2_ds[cTile][1];
clt_mismatch[3*0 + 2][tIndex] = lma2_ds[cTile][1];
clt_mismatch[3*0 + 2][tIndex] =
(lma2_ds[cTile][1] - imgdtt_params.lma_str_offset)/imgdtt_params.lma_str_scale - imgdtt_params.lma_min_strength;
}
}
if (extra_stats != null) {
......@@ -2247,7 +2373,7 @@ public class ImageDtt {
(new showDoubleFloatArrays()).showArrays(dbg_ports_coords, tilesX, tilesY, true, "ports_coordinates", dbg_titles);
}
*/
return clt_data;
return lazy_eye_data; // clt_data;
}
public double [][][][][][] clt_aberrations_quad_corr_new( // USED in LWIR
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttParameters.java
View file @ cb607a02
......@@ -99,6 +99,7 @@ public class ImageDttParameters {
public double corr_wndx_blur = 5.0; // 100% to 0 % vertical transition range
// LMA parameters
public double lma_disp_range = 2.0; // disparity range to combine in one cluster (to mitigate ERS
// LMA single parameters
public boolean lmas_gaussian = false; // model correlation maximum as a Gaussian (false - as a parabola)
public boolean lmas_adjust_wm = true; // used in new for width
......@@ -312,6 +313,9 @@ public class ImageDttParameters {
"Transition range, shifted sine is used");
gd.addTab("Corr LMA","Parameters for LMA fitting of the correlation maximum parameters");
gd.addNumericField("Cluster disparity range", this.lma_disp_range, 3, 6, "pix",
"Disparity range to combine in one cluster (to mitigate ERS");
gd.addMessage("Single-tile (no lazy eye) only parameters (some are common");
gd.addCheckbox ("Correlation maximum as gaussian", this.lmas_gaussian,
......@@ -533,6 +537,7 @@ public class ImageDttParameters {
this.corr_wndx_blur = gd.getNextNumber();
//LMA tab
this.lma_disp_range = gd.getNextNumber();
this.lmas_gaussian= gd.getNextBoolean();
this.lmas_adjust_wm= gd.getNextBoolean();
this.lmas_adjust_wy= gd.getNextBoolean();
......@@ -669,6 +674,8 @@ public class ImageDttParameters {
properties.setProperty(prefix+"corr_wndx_hwidth", this.corr_wndx_hwidth +"");
properties.setProperty(prefix+"corr_wndx_blur", this.corr_wndx_blur +"");
properties.setProperty(prefix+"lma_disp_range", this.lma_disp_range +"");
properties.setProperty(prefix+"lmas_gaussian", this.lmas_gaussian +"");
properties.setProperty(prefix+"lmas_adjust_wm", this.lmas_adjust_wm +"");
properties.setProperty(prefix+"lmas_adjust_wy", this.lmas_adjust_wy +"");
......@@ -811,6 +818,8 @@ public class ImageDttParameters {
if (properties.getProperty(prefix+"corr_wndx_hwidth")!=null) this.corr_wndx_hwidth=Double.parseDouble(properties.getProperty(prefix+"corr_wndx_hwidth"));
if (properties.getProperty(prefix+"corr_wndx_blur")!=null) this.corr_wndx_blur=Double.parseDouble(properties.getProperty(prefix+"corr_wndx_blur"));
if (properties.getProperty(prefix+"lma_disp_range")!=null) this.lma_disp_range=Double.parseDouble(properties.getProperty(prefix+"lma_disp_range"));
if (properties.getProperty(prefix+"lmas_gaussian")!=null) this.lmas_gaussian=Boolean.parseBoolean(properties.getProperty(prefix+"lmas_gaussian"));
if (properties.getProperty(prefix+"lmas_adjust_wm")!=null) this.lmas_adjust_wm=Boolean.parseBoolean(properties.getProperty(prefix+"lmas_adjust_wm"));
if (properties.getProperty(prefix+"lmas_adjust_wy")!=null) this.lmas_adjust_wy=Boolean.parseBoolean(properties.getProperty(prefix+"lmas_adjust_wy"));
......@@ -948,6 +957,7 @@ public class ImageDttParameters {
idp.corr_wndx_hwidth = this.corr_wndx_hwidth;
idp.corr_wndx_blur = this.corr_wndx_blur;
idp.lma_disp_range= this.lma_disp_range;
idp.lmas_gaussian = this.lmas_gaussian;
idp.lmas_adjust_wm = this.lmas_adjust_wm;
idp.lmas_adjust_wy = this.lmas_adjust_wy;
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ cb607a02
......@@ -4723,7 +4723,8 @@ public class QuadCLT {
z_correction +=clt_parameters.z_corr_map.get(name);// not used in lwir
}
final double disparity_corr = (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
double [][][][][][] clt_data = image_dtt.clt_aberrations_quad_corr_min(
// double [][][][][][] clt_data = image_dtt.clt_aberrations_quad_corr_min(
double [][] lazy_eye_data = image_dtt.cltMeasureLazyEye(
clt_parameters.img_dtt, // final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
// 1, // final int macro_scale, // to correlate tile data instead of the pixel data: 1 - pixels, 8 - tiles
tile_op, // per-tile operation bit codes
......@@ -4780,6 +4781,54 @@ public class QuadCLT {
// (clt_parameters.dbg_mode & 256) != 0, // transpose convolve
threadsMax,
debugLevel);
if (lazy_eye_data != null) {
int ns = 0;
for (int n = 0; n < lazy_eye_data.length; n++) {
if (lazy_eye_data[n] != null) {
ns = lazy_eye_data[n].length;
break;
}
}
if (ns > 0) {
String [] titles = new String [ns];
titles [0] = "disparity";
titles [1] = "strength";
for (int i = 0; i < (ns - 2)/2; i++) {
titles [2*i + 2] = "dx-"+i;
titles [2*i + 3] = "dy-"+i;
}
int clustersX= (tilesX + clt_parameters.tileStep - 1) / clt_parameters.tileStep;
int clustersY= (tilesY + clt_parameters.tileStep - 1) / clt_parameters.tileStep;
double [][] dbg_cluster = new double [ns][clustersY * clustersX];
for (int n = 0; n < lazy_eye_data.length; n++) {
if ((lazy_eye_data[n] != null) && (lazy_eye_data[n][1] >= clt_parameters.img_dtt.lma_diff_minw)) {
dbg_cluster[0][n] = lazy_eye_data[n][0]; // disparity
dbg_cluster[1][n] = lazy_eye_data[n][1] - clt_parameters.img_dtt.lma_diff_minw; // strength
for (int i = 0; i < (ns - 2)/2; i++) {
dbg_cluster[2 * i + 2][n] = lazy_eye_data[n][2 * i + 2]; // x
dbg_cluster[2 * i + 3][n] = lazy_eye_data[n][2 * i + 3]; // y
}
} else {
dbg_cluster[0][n] = Double.NaN;
dbg_cluster[1][n] = 0.0;
for (int i = 0; i < (ns - 2)/2; i++) {
dbg_cluster[2 * i + 2][n] = Double.NaN; // x
dbg_cluster[2 * i + 3][n] = Double.NaN; // y
}
}
}
//clt_parameters.img_dtt.lma_diff_minw
sdfa_instance.showArrays(
dbg_cluster,
clustersX,
clustersY,
true,
name+sAux()+"-CLT_MISMATCH-D"+clt_parameters.disparity+"_"+clt_parameters.tileStep+"x"+clt_parameters.tileStep,
titles);
}
}
if (disparity_map != null){
if (!batch_mode && clt_parameters.show_map && (debugLevel > -2)){
sdfa_instance.showArrays(
......@@ -5435,6 +5484,18 @@ public class QuadCLT {
}
}
public boolean editExtrinsicCorr() // not used in lwir
{
if (geometryCorrection == null){
System.out.println("are not set, will be:");
return new GeometryCorrection(this.extrinsic_vect).getCorrVector().editIMU();
} else {
return geometryCorrection.getCorrVector().editIMU();
}
}
public boolean editRig() // not used in lwir
{
if (!is_aux) {
......
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