Started correction of the tiles distortions for lens distortions during

correlation

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

@@ -732,7 +732,10 @@ public class GPUTileProcessor {
 
 						// TODO: move port coordinates out of color channel loop
 						double [][] centersXY_main = null;
-						double [][] centersXY_aux = 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

@@ -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,
+					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)
@@ -3260,9 +3265,10 @@ B = |+dy0   -dy1      -2*dy3 |
 			double [][] f = geometryCorrection.getPortsCoordinatesAndDerivatives( // 4x2
 					geometryCorrection, //			GeometryCorrection gc_main,
 					false,          // boolean use_rig_offsets,
-					corr_rots,    //  Matrix []   rots,
-					null, //  Matrix [][] deriv_rots,
+					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

@@ -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

@@ -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);
@@ -1854,10 +1857,11 @@ public class ImageDtt {
 							} else {
 								centersXY = geometryCorrection.getPortsCoordinatesAndDerivatives(
 										geometryCorrection, //			GeometryCorrection gc_main,
-										false,          // boolean use_rig_offsets,
-										corr_rots, // Matrix []   rots,
-										null,      //  Matrix [][] deriv_rots,
-										null,      // double [][] pXYderiv, // if not null, should be double[8][]
+										false,           // boolean use_rig_offsets,
+										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);