Started correction of the tiles distortions for lens distortions during (d23797ed) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java

+6 −1

Original line number	Diff line number	Diff line
		@@ -733,6 +733,9 @@ public class GPUTileProcessor {
		// TODO: move port coordinates out of color channel loop
		double [][] centersXY_main = null;
		double [][] centersXY_aux = null;
		double [][] disp_dist_main = new double[2 * quad_main][]; // used to correct 3D correlations
		double [][] disp_dist_aux = new double[2 * quad_aux][]; // used to correct 3D correlations

		if (geometryCorrection_main != null) {
		centersXY_main = geometryCorrection_main.getPortsCoordinatesAndDerivatives(
		geometryCorrection_main, // GeometryCorrection gc_main,
		@@ -740,6 +743,7 @@ public class GPUTileProcessor {
		corr_rots_main, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_main, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_main); // + disparity_corr);
		@@ -756,6 +760,7 @@ public class GPUTileProcessor {
		corr_rots_aux, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_aux, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_aux); // + disparity_corr);

src/main/java/com/elphel/imagej/tileprocessor/AlignmentCorrection.java

+9 −3

Original line number	Diff line number	Diff line
		@@ -743,6 +743,7 @@ public class AlignmentCorrection {
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		null, // double [][] disp_dist used to correct 3D correlations
		centerX,
		centerY,
		disp_strength[2 * s.series + 0][s.tile]/magic_coeff); // disparity
		@@ -752,6 +753,7 @@ public class AlignmentCorrection {
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		null, // double [][] disp_dist used to correct 3D correlations
		centerX,
		centerY,
		0.0); // disparity
		@@ -3089,12 +3091,14 @@ B = \|+dy0 -dy1 -2*dy3 \|
		double [] pXY = mm.getPXY();
		double [][] deriv = new double [2 * NUM_SENSORS][];
		int dbg_index =dbg_index (pXY, dbg_decimate);
		double [][] disp_dist = new double[dbg_titles_xy.length][]; // used to correct 3D correlations
		geometryCorrection.getPortsCoordinatesAndDerivatives(
		geometryCorrection, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots, // Matrix [] rots,
		deriv_rots, // Matrix [][] deriv_rots,
		deriv, // boolean calc_deriv,
		disp_dist, // used to correct 3D correlations
		pXY[0], // double px,
		pXY[1], // double py,
		mm.getDisparityMeas()); // getDisparityTask()); // double disparity)
		@@ -3124,6 +3128,7 @@ B = \|+dy0 -dy1 -2*dy3 \|
		1E-9, // 1E-8, //6, // double delta, // 1e-6
		corr_vector, // CorrVector corr_vector,
		deriv_dbg, // j_partial_debug, //
		null, // disp_dist, // used to correct 3D correlations
		pXY[0], // double px,
		pXY[1], // double py,
		mm.getDisparityMeas()); // Task()); // double disparity)
		@@ -3263,6 +3268,7 @@ B = \|+dy0 -dy1 -2*dy3 \|
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // boolean calc_deriv,
		null, // disp_dist, // used to correct 3D correlations
		pXY[0], // double px,
		pXY[1], // double py,
		mm.getDisparityMeas()); // getDisparityTask()); // double disparity)

src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java

+36 −2

Original line number	Diff line number	Diff line
		@@ -2335,9 +2335,11 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		* @param use_rig_offsets - for the auxiliary camera - use offsets from the main one
		* @param rots misalignment correction (now includes zoom in addition to rotations
		* @param deriv_rots derivatives by d_az, f_elev, d_rot, d_zoom
		* @param pXYderiv - null or double[2 * number_of_cameras][] array to accommodate derivatives of px, py by each of the parameters
		* @param disp_dist - null or double[2 * number_of_cameras][] array to accommodate X,Y derivatives by disp and CCW90 of disp
		* @param px pixel X coordinate
		* @param py pixel Y coordinate
		* @param disparity disparity
		* @param disparity disparity (for non-distorted image space)
		* @return array of per port pairs of pixel shifts
		*/
		public double [][] getPortsCoordinatesAndDerivatives(
		@@ -2346,6 +2348,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		Matrix [] rots,
		Matrix [][] deriv_rots,
		double [][] pXYderiv, // if not null, should be double[8][]
		double [][] disp_dist, //
		double px,
		double py,
		double disparity)
		@@ -2405,7 +2408,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		rD2rND += rad_coeff[j]*(rri - 1.0); // Fixed
		}

		// Get port pixel coordiantes by scaling the 2d vector with Rdistorted/Dnondistorted coefficient)
		// Get port pixel coordinates by scaling the 2d vector with Rdistorted/Dnondistorted coefficient)
		double pXid = pXci * rD2rND;
		double pYid = pYci * rD2rND;

		@@ -2414,6 +2417,33 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		pXY[i][0] = pXid + this.pXY0[i][0];
		pXY[i][1] = pYid + this.pXY0[i][1];

		if (disp_dist != null) {
		disp_dist[2 * i] = new double [2]; // dx/d_disp, dx_d_ccw_disp
		disp_dist[2 * i+1] = new double [2]; // dy/d_disp, dy_d_ccw_disp
		double [][] add0 = {
		{-disparity * rXY[i][0], disparity * rXY[i][1]},
		{-disparity * rXY[i][1], -disparity * rXY[i][0]}};
		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
		// unity vector in the direction of radius
		double c_dist = pXci/rNDi;
		double s_dist = pYci/rNDi;
		double c2_dist = c_dist * c_dist;
		double s2_dist = s_dist * s_dist;
		double cs_dist = c_dist * s_dist;

		double [][] adist_dcorr = {
		{rD2rND * c2_dist + s2_dist, (rD2rND - 1)* cs_dist},
		{(rD2rND - 1)* cs_dist, rD2rND * s2_dist + c2_dist}};
		Matrix dist_dcorr = new Matrix(adist_dcorr);
		Matrix dd2 = dist_dcorr.times(dd1);

		disp_dist[2 * i ][0] = dd2.get(0, 0);
		disp_dist[2 * i ][1] = dd2.get(0, 1);
		disp_dist[2 * i+1][0] = dd2.get(1, 0);
		disp_dist[2 * i+1][1] = dd2.get(1, 1);
		}



		if (pXYderiv != null) {
		@@ -2691,6 +2721,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		double delta, // 1e-6
		CorrVector corr_vector,
		double [][] pXYderiv, // if not null, should be double[8][]
		double [][] disp_dist, //
		double px,
		double py,
		double disparity)
		@@ -2703,6 +2734,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		corr_rots, // Matrix [] rots,
		null, // deriv_rots, // Matrix [][] deriv_rots,
		null, // pXYderiv0, // null, // false, // boolean calc_deriv,
		disp_dist,
		px, // double px,
		py, // double py,
		disparity // double disparity
		@@ -2725,6 +2757,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		corr_rots_p, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // boolean calc_deriv,
		disp_dist,
		px, // double px,
		py, // double py,
		disparity // double disparity
		@@ -2735,6 +2768,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
		corr_rots_m, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // boolean calc_deriv,
		disp_dist,
		px, // double px,
		py, // double py,
		disparity // double disparity

src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java

+19 −4

Original line number	Diff line number	Diff line
		@@ -1046,6 +1046,7 @@ public class ImageDtt {
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		null, // double [][] disp_dist used to correct 3D correlations
		centerX,
		centerY,
		disparity);
		@@ -1822,6 +1823,7 @@ public class ImageDtt {
		centerY = tileY * transform_size + transform_size/2 - shiftY;
		// TODO: move port coordinates out of color channel loop
		double [][] centersXY;
		double [][] disp_dist = new double[2 * quad][]; // used to correct 3D correlations

		if ((disparity_array == null) \|\| (disparity_array[tileY] == null) \|\| (Double.isNaN(disparity_array[tileY][tileX]))) {
		System.out.println("Bug with disparity_array !!!");
		@@ -1846,6 +1848,7 @@ public class ImageDtt {
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_array[tileY][tileX] + disparity_corr); // _aux); // + disparity_corr);
		@@ -1858,6 +1861,7 @@ public class ImageDtt {
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_array[tileY][tileX] + disparity_corr);
		@@ -6447,6 +6451,7 @@ public class ImageDtt {
		corr_rots, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		null, // double [][] disp_dist used to correct 3D correlations
		centerX,
		centerY,
		disparity_array[tileY][tileX] + disparity_corr);
		@@ -8225,12 +8230,16 @@ public class ImageDtt {
		if (disparity_bimap != null){
		disparity_bimap[BI_TARGET_INDEX][tIndex] = disparity_main;
		}
		double [][] disp_dist_main = new double[2 * quad_main][]; // used to correct 3D correlations
		double [][] disp_dist_aux = new double[2 * quad_aux][]; // used to correct 3D correlations

		centersXY_main = geometryCorrection_main.getPortsCoordinatesAndDerivatives(
		geometryCorrection_main, // GeometryCorrection gc_main,
		false, // boolean use_rig_offsets,
		corr_rots_main, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_main, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_main); // + disparity_corr);
		@@ -8241,6 +8250,7 @@ public class ImageDtt {
		corr_rots_aux, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_aux, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_aux); // + disparity_corr);
		@@ -9023,6 +9033,8 @@ public class ImageDtt {
		if (disparity_bimap != null){
		disparity_bimap[BI_TARGET_INDEX][tIndex] = disparity_main;
		}
		double [][] disp_dist_main = new double[2 * quad_main][]; // used to correct 3D correlations
		double [][] disp_dist_aux = new double[2 * quad_aux][]; // used to correct 3D correlations
		if (calc_main) {
		centersXY_main = geometryCorrection_main.getPortsCoordinatesAndDerivatives(
		geometryCorrection_main, // GeometryCorrection gc_main,
		@@ -9030,6 +9042,7 @@ public class ImageDtt {
		corr_rots_main, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_main, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_main); // + disparity_corr);
		@@ -9042,6 +9055,7 @@ public class ImageDtt {
		corr_rots_aux, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_aux, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_aux); // + disparity_corr);
		@@ -9052,6 +9066,7 @@ public class ImageDtt {
		corr_rots_aux, // Matrix [] rots,
		null, // Matrix [][] deriv_rots,
		null, // double [][] pXYderiv, // if not null, should be double[8][]
		disp_dist_aux, // used to correct 3D correlations
		centerX,
		centerY,
		disparity_main); // + disparity_corr);

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