Commit d33f7855 authored by Andrey Filippov's avatar Andrey Filippov

implemented multi-size strategies, bug fix

parent 96c4558f
...@@ -1490,19 +1490,46 @@ if (sfiles == null) { ...@@ -1490,19 +1490,46 @@ if (sfiles == null) {
public void listImageSet( public void listImageSet(
int mode, int mode,
int [] numPoints, int [] numPoints, // All arrays may be twice long, then 1 - EO, second - LWIR
double [] setRMS, double [] setRMS,
boolean [] hasNaNInSet){ boolean [] hasNaNInSet){
if ((this.gIS==null) || (this.gIS.length==0)){ if ((this.gIS==null) || (this.gIS.length==0)){
return; 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"; String header="#\ttimestamp";
if (this.eyesisCameraParameters.numStations>1) header+="\tStation"; if (this.eyesisCameraParameters.numStations>1) header+="\tStation";
// header+="\tAxial\tTilt\thorPhi\thorPsi\tX\tY\tZ\tMotor2\tMotor3"; // header+="\tAxial\tTilt\thorPhi\thorPsi\tX\tY\tZ\tMotor2\tMotor3";
header+="\tAxial\tTilt\tdTilt\tInter\tMotor2\tMotor3"; header+="\tAxial\tTilt\tdTilt\tInter";
if (numPoints!=null) header+="\tNumPoints"; if (showXYZ) {
header+="\tGXY0\tGXY1\tGXY2";
}
header+="\tMotor2\tMotor3";
if (numPoints!=null) {
if (hasLwir) {
header+="\tNumPointsEO\tNumPointsLWIR";
} else {
header+="\tNumPoints";
}
}
header+="\tEnabled\tMatched"; 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; for (int n=0;n<this.gIS[0].imageSet.length;n++) header+="\t"+n;
StringBuffer sb = new StringBuffer(); StringBuffer sb = new StringBuffer();
...@@ -1553,12 +1580,25 @@ if (sfiles == null) { ...@@ -1553,12 +1580,25 @@ if (sfiles == null) {
sb.append("\t"+(Double.isNaN(dTilt)?"---":IJ.d2s(dTilt,3))); sb.append("\t"+(Double.isNaN(dTilt)?"---":IJ.d2s(dTilt,3)));
sb.append("\t"+(Double.isNaN(firstInterAxisAngle)?"---":IJ.d2s(firstInterAxisAngle,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) { if (this.gIS[i].motors==null) {
sb.append("\t"+"bug"+"\t"+"bug"); sb.append("\t"+"bug"+"\t"+"bug");
} else { } else {
sb.append("\t"+this.gIS[i].motors[1]+"\t"+this.gIS[i].motors[2]); // null pointer here???? 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; int numEnImages=0;
for (int n=0;n<this.gIS[i].imageSet.length;n++)if (this.gIS[i].imageSet[n]!=null){ 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++; if (this.gIS[i].imageSet[n].enabled) numEnImages++;
...@@ -1572,9 +1612,15 @@ if (sfiles == null) { ...@@ -1572,9 +1612,15 @@ if (sfiles == null) {
} }
sb.append("\t"+matchedPointersInSet); sb.append("\t"+matchedPointersInSet);
if (setRMS!=null) { 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"+(((hasNaNInSet!=null) && hasNaNInSet[i])?"*":"")+IJ.d2s(setRMS[i],3));
sb.append("\t"+IJ.d2s(this.gIS[i].setWeight,3)); sb.append("\t"+IJ.d2s(this.gIS[i].setWeight,3));
} }
}
switch (mode) { switch (mode) {
case 0: case 0:
for (int n=0;n<this.gIS[i].imageSet.length;n++){ for (int n=0;n<this.gIS[i].imageSet.length;n++){
...@@ -3331,7 +3377,7 @@ if (sfiles == null) { ...@@ -3331,7 +3377,7 @@ if (sfiles == null) {
return small_sensors; return small_sensors;
} }
public boolean isSmallSensor(int numImg) { 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 small_sensors[this.gIP[numImg].getChannel()];
} }
return false; return false;
...@@ -3410,32 +3456,52 @@ if (sfiles == null) { ...@@ -3410,32 +3456,52 @@ if (sfiles == null) {
} }
return n; 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(); int groups = getSubGroups();
if (groups == 1) return "sub"; // single camera if (groups == 1) return full?"Single subcamera":"sub"; // single camera
int num_sub = getNumSubCameras(); int num_sub = getNumSubCameras();
if (num_sub == 26) { // eyesis4pi-26 if (num_sub == 26) { // eyesis4pi-26
if (chn == 0) return "sub-head-0"; if (chn == 0) return full?"Camera head subcamera 0":"sub-head-0";
if (chn < 24) return "sub-head-other"; if (chn < 24) return full?"Camera head other subcameras":"sub-head-other";
return "sub-bottom"; if (chn == 24) return full?"Camera bottom 0":"sub-bottom-0";
return full?"Camera bottom other":"sub-bottom-other";
} }
if (hasSmallSensors()) { if (hasSmallSensors()) {
if (small_sensors[chn]) { // current is LWIR if (small_sensors[chn]) { // current is LWIR
if (chn != getLwir0()) return "sub-lwir-other"; if (chn != getLwir0()) return full?"Subcamera LWIR other":"sub-lwir-other";
if (getNumLwir() > 1) return "sub-lwir0"; if (getNumLwir() > 1) return full?"Subcamera LWIR 0":"sub-lwir0";
return "sub-lwir"; return full?"Subcamera LWIR":"sub-lwir";
} else { // current is VNIR } else { // current is VNIR
if (chn != getVnir0()) return "sub-vnir-other"; if (chn != getVnir0()) return full?"Subcamera VNIR other":"sub-vnir-other";
if (getNumVnir() > 1) return "sub-vnir0"; if (getNumVnir() > 1) return full?"Subcamera VNIR 0":"sub-vnir0";
return "sub-vnir"; return full?"Subcamera VNIR":"sub-vnir";
} }
} }
if (chn != getVnir0()) return "sub-other"; if (chn != getVnir0()) return full?"Subcamera other":"sub-other";
return "sub0"; 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
}
......
...@@ -780,9 +780,35 @@ public class Distortions { ...@@ -780,9 +780,35 @@ public class Distortions {
int [] numPairs=calcNumPairs(); int [] numPairs=calcNumPairs();
int [][] imageSets=this.fittingStrategy.distortionCalibrationData.listImages(false); // true - only enabled images int [][] imageSets=this.fittingStrategy.distortionCalibrationData.listImages(false); // true - only enabled images
int [] numSetPoints=new int [imageSets.length]; boolean hasLWIR = this.fittingStrategy.distortionCalibrationData.hasSmallSensors();
double [] rmsPerSet=new double[imageSets.length];
boolean [] hasNaNInSet=new boolean[imageSets.length]; 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++){ for (int setNum=0;setNum<imageSets.length;setNum++){
double error2=0.0; double error2=0.0;
int numInSet=0; int numInSet=0;
...@@ -800,6 +826,7 @@ public class Distortions { ...@@ -800,6 +826,7 @@ public class Distortions {
numSetPoints[setNum]=numInSet; numSetPoints[setNum]=numInSet;
rmsPerSet[setNum]=Math.sqrt(error2/numInSet); rmsPerSet[setNum]=Math.sqrt(error2/numInSet);
} }
}
this.fittingStrategy.distortionCalibrationData.listImageSet( this.fittingStrategy.distortionCalibrationData.listImageSet(
mode, mode,
numSetPoints, numSetPoints,
......
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