implemented 'neck' parameters (rotating/shifting camera as a whole), old bug fixes (cde73fef) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/calibration/Aberration_Calibration.java

+17 −9

Original line number	Diff line number	Diff line
		@@ -109,7 +109,7 @@ public class Aberration_Calibration extends PlugInFrame implements ActionListene
		private Panel panelGoniometer;
		private Panel panelPixelMapping, panelStereo,panelStereo1;
		private Panel panelLWIR;
		private Panel panelLWIR16;
		// private Panel panelLWIR16;

		private ShowDoubleFloatArrays SDFA_INSTANCE; // just for debugging?
		JP46_Reader_camera JP4_INSTANCE;
		@@ -508,6 +508,9 @@ public static MatchSimulatedPattern.DistortionParameters DISTORTION =new MatchSi
		0.0,
		0.0,
		0.0, 0.0, 2360, //double [] GXYZ // coordinates (in mm) of the goniometer horizontal axis closest to the moving one in target system
		0.0,
		0.0,
		0.0, 0.0,
		2592, // int sensorWidth= 2592;
		1936, //int sensorHeight= 1936;
		2, //int shrinkGridForMask=2; //shrink detected grids by one point for/vert this number of times before calculating masks
		@@ -696,6 +699,7 @@ public static MatchSimulatedPattern.DistortionParameters DISTORTION =new MatchSi
		addButton("Save Selected", panelRun);
		addButton("Restore", panelRun,color_restore);
		addButton("Restore no autoload",panelRun);
		addButton("Properties clear", panelRun, color_stop);
		addButton("Restore SFE Latest", panelRun, color_restore);
		addButton("List SFE", panelRun,color_report);
		addButton("Stop", panelRun,color_stop);
		@@ -1257,6 +1261,10 @@ if (MORE_BUTTONS) {
		} else if (label.equals("Restore") \|\| label.equals("Restore no autoload")) {
		restore(label.equals("Restore no autoload"));
		return;
		/* ======================================================================== */
		} else if (label.equals("Properties clear")) {
		PROPERTIES=new Properties();
		return;
		/* ======================================================================== */
		} else if (label.equals("Process Calibration Files")) {
		processCalibrationFiles();
		@@ -5977,7 +5985,7 @@ if (MORE_BUTTONS) {
		return;
		}
		GenericDialog gd=new GenericDialog ("Select list mode");
		gd.addNumericField("Mode 0 - pointers, 1 - shift/Rots, 2 - points/extra, 3 - rms", 3, 0);
		gd.addNumericField("Mode 0 - pointers, 1 - shift/Rots, 2 - points/extra, 3 - rms, 4 - image numbers", 3, 0);
		gd.showDialog();
		if (gd.wasCanceled()) return;
		int listMode= (int) gd.getNextNumber();

src/main/java/com/elphel/imagej/calibration/DistortionCalibrationData.java

+182 −205

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/com/elphel/imagej/calibration/Distortions.java

+80 −1

Original line number	Diff line number	Diff line
		@@ -27,6 +27,7 @@ import java.awt.Point;
		import java.awt.Rectangle;
		import java.awt.geom.Point2D;
		import java.util.ArrayList;
		import java.util.Arrays;
		//import java.util.Arrays;
		//import java.io.StringWriter;
		import java.util.List;
		@@ -3321,10 +3322,12 @@ For each point in the image
		int numSuccess=0;
		DistortionCalibrationData dcd=fittingStrategy.distortionCalibrationData;
		for (int numGridImage=0;numGridImage<dcd.gIP.length;numGridImage++) {
		/*
		if (numGridImage >= 1680) {
		System.out.println("Processing debug image "+numGridImage);
		System.out.println("Processing debug image "+numGridImage);
		}
		*/
		int set_number = dcd.gIP[numGridImage].getSetNumber();
		if ((set_number >= start_set) &&
		(set_number <= end_set) &&
		@@ -10747,17 +10750,31 @@ M * V = B
		EyesisCameraParameters eyesisCameraParameters
		){
		boolean resetParametersToZero=false;
		boolean updateAllSubcameras = false;
		boolean [] parameterMask= new boolean[distortionCalibrationData.getNumParameters()];
		boolean [] channelMask= new boolean[distortionCalibrationData.getNumSubCameras()];
		boolean [] stationMask= new boolean[distortionCalibrationData.getNumStations()];
		String [] source_stations = new String[stationMask.length+1];
		source_stations[0] = "---";
		for (int i = 0; i < stationMask.length; i++) {
		source_stations[i+1]=""+i;
		}
		for (int i=0;i<parameterMask.length;i++) parameterMask[i]=false;
		for (int i=0;i<channelMask.length;i++) channelMask[i]= true;
		for (int i=0;i<stationMask.length;i++) stationMask[i]= true;
		GenericDialog gd=new GenericDialog("Update (new) image settings from known data");
		//
		gd.addCheckbox("Reset selected parameters to zero (false - update from camera parameters)", resetParametersToZero);
		if (stationMask.length > 1) {
		gd.addChoice("Copy selected parameters from tis station to all other stations" , source_stations, source_stations[0]);
		}
		gd.addMessage("Select which individual image parameters to be updated from the camera parameters (or reset to 0)");
		for (int i=0;i<parameterMask.length;i++) gd.addCheckbox(i+": "+distortionCalibrationData.getParameterName(i), parameterMask[i]);

		gd.addCheckbox("Update all subcamera parameters", updateAllSubcameras);

		for (int i=0;i<parameterMask.length;i++) {
		gd.addCheckbox(i+": "+distortionCalibrationData.getParameterName(i), parameterMask[i]);
		}
		gd.addMessage("----------");
		gd.addMessage("Select which channels (sub-cameras) to update");
		for (int i=0;i<channelMask.length;i++) gd.addCheckbox("Subcamera "+i, channelMask[i]);
		@@ -10776,6 +10793,12 @@ M * V = B
		gd.showDialog();
		if (gd.wasCanceled()) return false;
		resetParametersToZero=gd.getNextBoolean();
		int source_station = -1;
		if (stationMask.length > 1) {
		source_station = gd.getNextChoiceIndex() - 1;
		}

		updateAllSubcameras = gd.getNextBoolean();
		for (int i=0;i<parameterMask.length;i++) parameterMask[i]= gd.getNextBoolean();
		for (int i=0;i<channelMask.length;i++) channelMask[i]= gd.getNextBoolean();
		if (stationMask.length>1) {
		@@ -10784,6 +10807,25 @@ M * V = B
		boolean updateFromTimestamps= gd.getNextBoolean();
		boolean allowClosest= gd.getNextBoolean();
		boolean reCenterVertically= gd.getNextBoolean();

		if (updateAllSubcameras) {
		resetParametersToZero = false; // just for safety
		for (int i=0;i<parameterMask.length;i++) {
		parameterMask[i] \|= distortionCalibrationData.isSubcameraParameter(i);
		}
		}

		if (source_station >= 0) {
		updateOtherStations(
		eyesisCameraParameters,
		source_station,
		parameterMask,
		channelMask,
		stationMask);
		}



		if (reCenterVertically){
		eyesisCameraParameters.recenterVertically(channelMask, stationMask);
		for (int i=0;i<channelMask.length;i++) channelMask[i]= true;
		@@ -10904,6 +10946,38 @@ M * V = B
		}


		/**
		* Update selected parameters from sourceStation to selected (stationMask) stations, filtered by channelMask
		* @param eyesisCameraParameters
		* @param sourceStation
		* @param parameterMask
		* @param channelMask
		* @param stationMask
		*/
		public void updateOtherStations(
		EyesisCameraParameters eyesisCameraParameters,
		int sourceStation,
		boolean [] parameterMask,
		boolean [] channelMask,
		boolean [] stationMask
		) {
		for (int stationNumber = 0; stationNumber < stationMask.length; stationNumber++) if (stationMask[stationNumber]) {
		for (int subCam=0; subCam < channelMask.length; subCam++) if (channelMask[subCam]) {
		double [] oldVector=eyesisCameraParameters.getParametersVector(stationNumber,subCam);
		double [] newVector=eyesisCameraParameters.getParametersVector(sourceStation,subCam);
		for (int j=0;j<oldVector.length;j++) if (parameterMask[j]){
		oldVector[j]=newVector[j];
		}
		eyesisCameraParameters.setParametersVector(
		newVector,
		parameterMask,
		stationNumber,
		subCam);
		}
		}
		}


		/**
		* Copies selected parameters from the camera parameters to per-image parameters (i.e. for new/previously disabled images)
		* @param distortionCalibrationData grid distortionCalibrationData
		@@ -11078,6 +11152,10 @@ M * V = B
		int numSeries=allImages?(-1):this.fittingStrategy.currentSeriesNumber;
		boolean [] selectedImages=fittingStrategy.selectedImages(numSeries); // all enabled
		boolean [] selectedImagesDebug=null;
		boolean include_disabled = allImages;
		if (include_disabled) {
		Arrays.fill(selectedImages, true);
		}
		boolean debugThis=false;
		int maxDebugImages=10;
		if (this.debugLevel>0) System.out.println("updateCameraParametersFromCalculated("+allImages+")");
		@@ -11108,6 +11186,7 @@ M * V = B
		System.out.println(i+": "+fittingStrategy.distortionCalibrationData.getParameterName(i)+" = "+par[i]);
		}
		}
		// System.out.println(numImg+"[21]: "+fittingStrategy.distortionCalibrationData.getParameterName(21)+" = "+par[21]);
		}
		if (this.debugLevel>1) System.out.println("updateCameraParametersFromCalculated("+allImages+") for series="+numSeries);
		// Next line is not needed anymore (will harm as will set orientationEstimated for all unselected sets)

src/main/java/com/elphel/imagej/calibration/FittingStrategy.java

+63 −38

Original line number	Diff line number	Diff line
		@@ -669,6 +669,9 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		*/

		public int buildParameterMap (int numSeries){
		return buildParameterMap (numSeries, true);
		}
		public int buildParameterMap (int numSeries, boolean mark_disabled){
		int numPars=this.distortionCalibrationData.getNumParameters();
		int numImg=this.distortionCalibrationData.getNumImages();
		int numTPars=this.parameterMode[numSeries].length;
		@@ -681,7 +684,11 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		// int [][] tmpMap=new int[numTPars][3]; // temporary array parameterMap[][] (will be truncated)
		int [][] tmpMap=new int[numPars*numImg][3]; // temporary array parameterMap[][] (will be truncated)
		double masterTS=this.distortionCalibrationData.getImageTimestamp(this.masterImages[numSeries]); // timestamp of the master image
		int [] masterVectorIndices = new int [numTPars];
		int [] masterVectorIndices = new int [numTPars]; //[855]
		// all but [4][21] are 0,[4][21] is 2 (modeSupercommon),
		// [4][63,105,147,189,231,273,315,357,399,441,483,525,567,609,651,]=10
		// [4][693]= 2 EO(==16)?
		// [4][733,777,819]= 26
		// iterate through all global/subcamera parameters
		for (int numTPar=0;numTPar<numTPars;numTPar++) if (this.parameterMode[numSeries][numTPar]!=modeFixed){ // skip "fixed"
		boolean isCommon=
		@@ -695,7 +702,7 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		int numPar=this.parameterList[numTPar][1]; // number of per-image parameter for this total parameter index
		boolean isSubCamera=this.distortionCalibrationData.isSubcameraParameter(numPar);
		// is it "same as" ?
		int sameAs = this.parameterMode[numSeries][numTPar] - this.definedModesAll.length; // number of subcamera to use
		int sameAs = this.parameterMode[numSeries][numTPar] - this.definedModesAll.length; // number of subcamera to use (this.definedModesAll.length==10)
		int numTParMaster = -1;
		int vectorIndexMaster = -1;
		if (sameAs < 0 ) {
		@@ -713,20 +720,26 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		vectorIndexMaster = masterVectorIndices[numTParMaster]; // use as vectorIndex for slaves
		}

		if (this.debugLevel>2) System.out.println("numTPar="+numTPar+" numSub="+numSub+" numPar="+numPar+" numTParMaster="+numTParMaster);
		if (this.debugLevel > 2) System.out.println("numTPa = "+numTPar+" numSub="+numSub+" numPar="+numPar+" numTParMaster="+numTParMaster);
		// iterate through available images
		for (int numThisImg=0;numThisImg<numImg;numThisImg++) {
		if ((selectedEnabledImages[numThisImg]) &&
		(!isSubCamera \|\| (numSub==this.distortionCalibrationData.getImageSubcamera(numThisImg))) &&
		// if ((selectedEnabledImages[numThisImg]) &&
		// (!isSubCamera \|\| (numSub==this.distortionCalibrationData.getImageSubcamera(numThisImg))) &&
		// (this.reverseParameterMap[numThisImg][numPar]<0)){ // image used, this cell is not (yet) defined

		if((!isSubCamera \|\| (numSub==this.distortionCalibrationData.getImageSubcamera(numThisImg))) &&
		(this.reverseParameterMap[numThisImg][numPar]<0)){ // image used, this cell is not (yet) defined
		if (this.debugLevel>2){
		System.out.println("buildParameterMap("+numSeries+"): numThisImg="+numThisImg+", numPar="+numPar+", vectorIndex="+vectorIndex);
		}
		// is it "same as" ?
		// is it "same as" ? // "same as" is only applicable to subcamera parameters
		if (vectorIndexMaster >= 0){
		if (mark_disabled \|\| selectedEnabledImages[numThisImg]) {
		this.reverseParameterMap[numThisImg][numPar] = vectorIndexMaster;
		}
		// does not look for same parameter in later images - leave it for the master?
		} else {
		if (selectedEnabledImages[numThisImg]) {
		// assign it a new parameter
		this.reverseParameterMap[numThisImg][numPar]=vectorIndex;
		masterVectorIndices[numTPar] = vectorIndex;
		@@ -739,9 +752,14 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		double minDist=Math.abs(this.distortionCalibrationData.getImageTimestamp(numThisImg)-masterTS);
		if (this.debugLevel>2) System.out.println("vectorIndex="+vectorIndex+" numThisImg="+numThisImg);
		// see if same parameter in some other (later) image(s) is shared
		for (int numOtherImg=numThisImg + 1; numOtherImg < numImg; numOtherImg++)
		if ((selectedEnabledImages[numOtherImg]) && // OOB 1
		(!isSubCamera \|\| (numSub==this.distortionCalibrationData.getImageSubcamera(numOtherImg))) &&
		// for (int numOtherImg=numThisImg + 1; numOtherImg < numImg; numOtherImg++) {
		boolean proc_disabled = mark_disabled && (isCommon \|\| isStation \|\| isGroup);
		for (int numOtherImg=0; numOtherImg < numImg; numOtherImg++) {
		// 06.03.2021: old way for enabled images - only assign to later images
		// disabled or unselected images - assign to even earlier ones
		if ((selectedEnabledImages[numOtherImg] && (numOtherImg > numThisImg)) \|\| (proc_disabled && !selectedEnabledImages[numOtherImg])) {
		// if ((selectedEnabledImages[numOtherImg]) && // OOB 1
		if ((!isSubCamera \|\| (numSub==this.distortionCalibrationData.getImageSubcamera(numOtherImg))) &&
		(this.reverseParameterMap[numOtherImg][numPar]<0)){ // image used, this cell is not (yet) defined
		if ((this.distortionCalibrationData.getImageTimestamp(numOtherImg)==thisTS) \|\| // same parameter same timestamp - same group even if is set differently
		(isStation && (this.distortionCalibrationData.gIP[numOtherImg].getStationNumber()==thisStation)) \|\| // new
		@@ -757,10 +775,15 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		}
		}
		}
		}
		}
		vectorIndex++;
		}
		}
		}
		}
		// second pass


		}
		// reverseParameterMap built, vectorIndex equals to the total number of parameters needed for fitting
		@@ -1140,7 +1163,9 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		" nSub="+nSub+" distortionCalibrationData.getImageSubcamera("+numImg+")="+distortionCalibrationData.getImageSubcamera(numImg)+
		" vector["+vPar+"]="+vector[vPar]);
		}
		if ((!isSubCamera) \|\| (nSub==this.distortionCalibrationData.getImageSubcamera(numImg))) {
		// if ((!isSubCamera) \|\| (nSub==this.distortionCalibrationData.getImageSubcamera(numImg))) {
		if ((!isSubCamera) \|\| (nSub==this.distortionCalibrationData.getImageSubcamera(numImg)) \|\|
		(this.reverseParameterMap[numImg][nPar] == vPar)) { // 06.03.2021
		// this.distortionCalibrationData.pars[numImg][nPar]=vector[vPar];
		this.distortionCalibrationData.setParameterValue(numImg,nPar,vector[vPar],true);
		}
		@@ -1170,7 +1195,7 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit
		return vector;
		}
		/**
		* Calculates which of all parameters for the particular sensor are to be adjusted (to reduce calcualtions)
		* Calculates which of all parameters for the particular sensor are to be adjusted (to reduce calculations)
		* @param numImg number of image
		* @param vector parameters vector
		* @return mask vector to be used with the results of getImageParametersVector()
		@@ -2334,7 +2359,7 @@ I* - special case when the subcamera is being adjusted/replaced. How to deal wit


		thisChoice = theseChoices[indx];
		System.out.println("selectStrategyStep(): this.parameterMode["+numSeries+"]["+i+"]=" + this.parameterMode[numSeries][i]+" indx = "+indx);
		// System.out.println("selectStrategyStep(): this.parameterMode["+numSeries+"]["+i+"]=" + this.parameterMode[numSeries][i]+" indx = "+indx);
		}
		gd.addChoice( // ArrayIndexOutOfBoundsException: 9
		(this.distortionCalibrationData.isSubcameraParameter(parIndex)?"":"* ") +

src/main/java/com/elphel/imagej/calibration/LensDistortionParameters.java

+283 −152

File changed.

Preview size limit exceeded, changes collapsed.

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