implemented multi-size strategies, bug fix (d33f7855) · Commits · Elphel / imagej-elphel

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

+88 −22

Original line number	Diff line number	Diff line
		@@ -1490,19 +1490,46 @@ if (sfiles == null) {

		public void listImageSet(
		int mode,
		int [] numPoints,
		int [] numPoints, // All arrays may be twice long, then 1 - EO, second - LWIR
		double [] setRMS,
		boolean [] hasNaNInSet){
		if ((this.gIS==null) \|\| (this.gIS.length==0)){
		return;
		}
		boolean showXYZ = true;
		boolean hasLwir = false;
		if (numPoints!=null) {
		hasLwir = numPoints.length > this.gIS.length; // twice longer
		} else if (setRMS != null) {
		hasLwir = setRMS.length > this.gIS.length; // twice longer
		} else if (hasNaNInSet != null) {
		hasLwir = hasNaNInSet.length > this.gIS.length; // twice longer
		}


		String header="#\ttimestamp";
		if (this.eyesisCameraParameters.numStations>1) header+="\tStation";
		// header+="\tAxial\tTilt\thorPhi\thorPsi\tX\tY\tZ\tMotor2\tMotor3";
		header+="\tAxial\tTilt\tdTilt\tInter\tMotor2\tMotor3";
		if (numPoints!=null) header+="\tNumPoints";
		header+="\tAxial\tTilt\tdTilt\tInter";
		if (showXYZ) {
		header+="\tGXY0\tGXY1\tGXY2";
		}
		header+="\tMotor2\tMotor3";
		if (numPoints!=null) {
		if (hasLwir) {
		header+="\tNumPointsEO\tNumPointsLWIR";
		} else {
		header+="\tNumPoints";
		}
		}
		header+="\tEnabled\tMatched";
		if (setRMS!=null) header+="\tRMS\tWeight";
		if (setRMS!=null) {
		if (hasLwir) {
		header+="\tRMS-EO\tRMS-LWIR\tWeight";
		} else {
		header+="\tRMS\tWeight";
		}
		}
		for (int n=0;n<this.gIS[0].imageSet.length;n++) header+="\t"+n;
		StringBuffer sb = new StringBuffer();

		@@ -1553,12 +1580,25 @@ if (sfiles == null) {
		sb.append("\t"+(Double.isNaN(dTilt)?"---":IJ.d2s(dTilt,3)));
		sb.append("\t"+(Double.isNaN(firstInterAxisAngle)?"---":IJ.d2s(firstInterAxisAngle,3)));

		if (showXYZ) {
		sb.append(String.format("\t%.1f\t%.1f\t%.1f", this.gIS[i].GXYZ[0], this.gIS[i].GXYZ[1], this.gIS[i].GXYZ[2]));
		}



		if (this.gIS[i].motors==null) {
		sb.append("\t"+"bug"+"\t"+"bug");
		} else {
		sb.append("\t"+this.gIS[i].motors[1]+"\t"+this.gIS[i].motors[2]); // null pointer here????
		}
		if (numPoints!=null) sb.append("\t"+numPoints[i]);
		if (numPoints!=null) {
		if (hasLwir) {
		sb.append("\t"+numPoints[2 * i + 0]);
		sb.append("\t"+numPoints[2 * i + 1]);
		} else {
		sb.append("\t"+numPoints[i]);
		}
		}
		int numEnImages=0;
		for (int n=0;n<this.gIS[i].imageSet.length;n++)if (this.gIS[i].imageSet[n]!=null){
		if (this.gIS[i].imageSet[n].enabled) numEnImages++;
		@@ -1572,9 +1612,15 @@ if (sfiles == null) {
		}
		sb.append("\t"+matchedPointersInSet);
		if (setRMS!=null) {
		if (hasLwir) {
		sb.append("\t"+(((hasNaNInSet!=null) && hasNaNInSet[2 * i + 0])?"":"")+IJ.d2s(setRMS[2 i + 0],3));
		sb.append("\t"+(((hasNaNInSet!=null) && hasNaNInSet[2 * i + 1])?"":"")+IJ.d2s(setRMS[2 i + 1],3)); //393
		sb.append("\t"+IJ.d2s(this.gIS[i].setWeight,3));
		} else {
		sb.append("\t"+(((hasNaNInSet!=null) && hasNaNInSet[i])?"*":"")+IJ.d2s(setRMS[i],3));
		sb.append("\t"+IJ.d2s(this.gIS[i].setWeight,3));
		}
		}
		switch (mode) {
		case 0:
		for (int n=0;n<this.gIS[i].imageSet.length;n++){
		@@ -3331,7 +3377,7 @@ if (sfiles == null) {
		return small_sensors;
		}
		public boolean isSmallSensor(int numImg) {
		if ((this.gIP != null) && (numImg < this.gIP.length) && (small_sensors == null)){
		if ((this.gIP != null) && (numImg < this.gIP.length) && (small_sensors != null)){
		return small_sensors[this.gIP[numImg].getChannel()];
		}
		return false;
		@@ -3410,32 +3456,52 @@ if (sfiles == null) {
		}
		return n;
		}
		// check if the channel is the first in group
		public boolean firstInGroup(int chn) {
		if (chn >= 24) return (chn == 24);
		if ((chn == getVnir0()) \|\| (chn == getLwir0())) return true;
		int [] num = {0,0};
		for (int i = 0; i < chn; i++) {
		if ((small_sensors != null) && small_sensors[i]) num[1]++;
		else num[0]++;
		}
		if ((small_sensors != null) && small_sensors[chn]) return (num[1] == 1);
		else return (num[0] == 1);
		}

		public String getSubName(int chn) {
		public String getSubName(int chn, boolean full) {
		int groups = getSubGroups();
		if (groups == 1) return "sub"; // single camera
		if (groups == 1) return full?"Single subcamera":"sub"; // single camera
		int num_sub = getNumSubCameras();
		if (num_sub == 26) { // eyesis4pi-26
		if (chn == 0) return "sub-head-0";
		if (chn < 24) return "sub-head-other";
		return "sub-bottom";
		if (chn == 0) return full?"Camera head subcamera 0":"sub-head-0";
		if (chn < 24) return full?"Camera head other subcameras":"sub-head-other";
		if (chn == 24) return full?"Camera bottom 0":"sub-bottom-0";
		return full?"Camera bottom other":"sub-bottom-other";
		}
		if (hasSmallSensors()) {
		if (small_sensors[chn]) { // current is LWIR
		if (chn != getLwir0()) return "sub-lwir-other";
		if (getNumLwir() > 1) return "sub-lwir0";
		return "sub-lwir";
		if (chn != getLwir0()) return full?"Subcamera LWIR other":"sub-lwir-other";
		if (getNumLwir() > 1) return full?"Subcamera LWIR 0":"sub-lwir0";
		return full?"Subcamera LWIR":"sub-lwir";
		} else { // current is VNIR
		if (chn != getVnir0()) return "sub-vnir-other";
		if (getNumVnir() > 1) return "sub-vnir0";
		return "sub-vnir";
		if (chn != getVnir0()) return full?"Subcamera VNIR other":"sub-vnir-other";
		if (getNumVnir() > 1) return full?"Subcamera VNIR 0":"sub-vnir0";
		return full?"Subcamera VNIR":"sub-vnir";
		}
		}
		if (chn != getVnir0()) return "sub-other";
		return "sub0";
		if (chn != getVnir0()) return full?"Subcamera other":"sub-other";
		return full?"Subcamera 0":"sub0";
		}


		// get subcamera index this one should copy parameters from (-1 if it is first in group
		public int masterSub(int chn) {
		if (firstInGroup(chn)) return -1;
		for (int mchn = chn -1; mchn >= 0; mchn--) {
		if (firstInGroup(mchn)) return mchn;
		}
		return -1; // should never get here
		}

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

+44 −17

Original line number	Diff line number	Diff line
		@@ -780,9 +780,35 @@ public class Distortions {
		int [] numPairs=calcNumPairs();

		int [][] imageSets=this.fittingStrategy.distortionCalibrationData.listImages(false); // true - only enabled images
		int [] numSetPoints=new int [imageSets.length];
		double [] rmsPerSet=new double[imageSets.length];
		boolean [] hasNaNInSet=new boolean[imageSets.length];
		boolean hasLWIR = this.fittingStrategy.distortionCalibrationData.hasSmallSensors();

		int [] numSetPoints=new int [imageSets.length*(hasLWIR?2:1)];
		double [] rmsPerSet=new double[imageSets.length*(hasLWIR?2:1)];
		boolean [] hasNaNInSet=new boolean[imageSets.length*(hasLWIR?2:1)];
		if (hasLWIR) {
		for (int setNum=0;setNum<imageSets.length;setNum++){
		double [] error2= {0.0,0.0};
		int [] numInSet= {0,0};
		hasNaNInSet[2*setNum]=false;
		hasNaNInSet[2*setNum+1]=false;
		for (int imgInSet=0;imgInSet<imageSets[setNum].length;imgInSet++) {
		int imgNum=imageSets[setNum][imgInSet];
		int isLwir = this.fittingStrategy.distortionCalibrationData.isSmallSensor(imgNum)?1:0;
		int num=numPairs[imgNum];
		if (Double.isNaN(errors[imgNum])){
		hasNaNInSet[2 * setNum + isLwir]=true;
		} else {
		error2[isLwir]+=errors[imgNum]errors[imgNum]num;
		numInSet[isLwir]+=num;
		}
		}
		numSetPoints[2 * setNum + 0]= numInSet[0];
		rmsPerSet [2 * setNum + 0]= Math.sqrt(error2[0]/numInSet[0]);
		numSetPoints[2 * setNum + 1]= numInSet[1];
		rmsPerSet [2 * setNum + 1]= Math.sqrt(error2[1]/numInSet[1]);
		}

		} else {
		for (int setNum=0;setNum<imageSets.length;setNum++){
		double error2=0.0;
		int numInSet=0;
		@@ -800,6 +826,7 @@ public class Distortions {
		numSetPoints[setNum]=numInSet;
		rmsPerSet[setNum]=Math.sqrt(error2/numInSet);
		}
		}
		this.fittingStrategy.distortionCalibrationData.listImageSet(
		mode,
		numSetPoints,

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

+248 −144

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