added East-North-Up that better matches camera orientation. Tested (d693f718) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/ims/Did_ins_1.java

+10 −0

Original line number	Original line	Diff line number	Diff line
	@@ -27,6 +27,16 @@ public class Did_ins_1 extends Did_ins <Did_ins_1>{
	/** North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude */		/** North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude */
	public float [] ned = new float [3];		public float [] ned = new float [3];

			public double [] getTheta() {
			return new double [] {theta[0], theta[1], theta[2]};
			}
			public double [] getUvw() {
			return new double [] {uvw[0], uvw[1], uvw[2]};
			}
			public double [] getNed() {
			return new double [] {ned[0], ned[1], ned[2]};
			}

	public Did_ins_1 (ByteBuffer bb) {		public Did_ins_1 (ByteBuffer bb) {
	bb.order(ByteOrder.LITTLE_ENDIAN);		bb.order(ByteOrder.LITTLE_ENDIAN);
	week= bb.getInt();		week= bb.getInt();

src/main/java/com/elphel/imagej/ims/Did_ins_2.java

+20 −0

Original line number	Original line	Diff line number	Diff line
	@@ -5,6 +5,8 @@ import java.nio.ByteBuffer;
	import java.nio.ByteOrder;		import java.nio.ByteOrder;
	import java.util.Properties;		import java.util.Properties;

			import org.apache.commons.math3.geometry.euclidean.threed.Rotation;

	import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;		import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;

	//public class Did_ins_1 implements Serializable {		//public class Did_ins_1 implements Serializable {
	@@ -39,7 +41,25 @@ public class Did_ins_2 extends Did_ins <Did_ins_2>{
	public Did_ins_2(String prefix, Properties properties) {		public Did_ins_2(String prefix, Properties properties) {
	getProperties(prefix, properties);		getProperties(prefix, properties);
	}		}
			public double [] getQn2b() {
			return new double [] {qn2b[0], qn2b[1], qn2b[2], qn2b[3]};
			}

			public double [] getQEnu () {
			Rotation rot_enu_ned = new Rotation (0, Math.sqrt(0.5), Math.sqrt(0.5), 0, true);
			Rotation quat_rot = new Rotation(qn2b[0],qn2b[1],qn2b[2],qn2b[3],true);
			Rotation quat_enu_rot = quat_rot.applyTo(rot_enu_ned);
			return new double[] {
			quat_enu_rot.getQ0(),
			quat_enu_rot.getQ1(),
			quat_enu_rot.getQ2(),
			quat_enu_rot.getQ3()};
			}


			public double [] getUvw() {
			return new double [] {uvw[0], uvw[1], uvw[2]};
			}

	public Did_ins_2 interpolate(double frac, Did_ins_2 next_did) {		public Did_ins_2 interpolate(double frac, Did_ins_2 next_did) {
	Did_ins_2 new_did = new Did_ins_2();		Did_ins_2 new_did = new Did_ins_2();

src/main/java/com/elphel/imagej/ims/Imx5.java

+38 −0

Original line number	Original line	Diff line number	Diff line
	@@ -163,6 +163,18 @@ public class Imx5 {
	// static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;		// static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;
	// RotationConvention.VECTOR_OPERATOR		// RotationConvention.VECTOR_OPERATOR
	//RotationOrder.YXZ, ROT_CONV		//RotationOrder.YXZ, ROT_CONV
			// move to did?
			public static double [] quatEnu (double [] quat_ned) {
			Rotation rot_enu_ned = new Rotation (0, Math.sqrt(0.5), Math.sqrt(0.5), 0, true);
			Rotation quat_rot = new Rotation(quat_ned[0],quat_ned[1],quat_ned[2],quat_ned[3],true);
			Rotation quat_enu_rot = quat_rot.applyTo(rot_enu_ned);
			return new double[] {
			quat_enu_rot.getQ0(),
			quat_enu_rot.getQ1(),
			quat_enu_rot.getQ2(),
			quat_enu_rot.getQ3()};
			}

	public static double [] applyQuternionTo(double[]quat, double[] vector, boolean inverse) {		public static double [] applyQuternionTo(double[]quat, double[] vector, boolean inverse) {
	Rotation ims_rot = new Rotation(quat[0],quat[1],quat[2],quat[3],true);		Rotation ims_rot = new Rotation(quat[0],quat[1],quat[2],quat[3],true);
	double [] rslt = new double[3];		double [] rslt = new double[3];
	@@ -202,7 +214,23 @@ public class Imx5 {
	return new double [] {cam_quat.getQ0(),cam_quat.getQ1(),cam_quat.getQ2(),cam_quat.getQ3()};		return new double [] {cam_quat.getQ0(),cam_quat.getQ1(),cam_quat.getQ2(),cam_quat.getQ3()};
	}		}

			public static double [] quaternionImsToCam(
			double[]quat,
			double [] ims_atr,
			double [] quat_ort) {
			Rotation ims_to_mount_ortho = new Rotation(quat_ort[0],quat_ort[1],quat_ort[2],quat_ort[3],true);
			Rotation ims_to_ned = new Rotation(quat[0],quat[1],quat[2],quat[3],true);
			Rotation mount_to_cam = new Rotation(RotationOrder.YXZ, ErsCorrection.ROT_CONV,
			ims_atr[0], ims_atr[1], ims_atr[2]);
			Rotation mount_to_ned = ims_to_mount_ortho.applyTo(ims_to_ned);
			Rotation cam_quat = mount_to_cam.applyTo(mount_to_ned);
			return new double [] {cam_quat.getQ0(),cam_quat.getQ1(),cam_quat.getQ2(),cam_quat.getQ3()};
			}

			public static double [] quatToCamAtr(double[]quat) {
			Rotation rot = new Rotation(quat[0],quat[1],quat[2],quat[3],true);
			return rot.getAngles(RotationOrder.YXZ, ErsCorrection.ROT_CONV);
			}

	public static double [] imsToCamRotations(double [] ims_theta, int ord, boolean rev_order, boolean rev_matrix ) {		public static double [] imsToCamRotations(double [] ims_theta, int ord, boolean rev_order, boolean rev_matrix ) {
	RotationConvention rc = RotationConvention.FRAME_TRANSFORM;		RotationConvention rc = RotationConvention.FRAME_TRANSFORM;
	@@ -264,4 +292,14 @@ public class Imx5 {
	return ned;		return ned;
	}		}

			public static double [] enuFromLla (double [] lla, double [] lla_ref) {
			double [] ned = new double[] {
			EARTH_RADIUS* Math.cos(lla[0] * Math.PI / 180)(lla[1] - lla_ref[1]) Math.PI / 180.0,
			EARTH_RADIUS* (lla[0]-lla_ref[0]) * Math.PI / 180,
			(lla[2] - lla_ref[2])
			};
			return ned;
			}


	}		}

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

+640 −1

File changed.

Preview size limit exceeded, changes collapsed.

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

+43 −9

Original line number	Original line	Diff line number	Diff line
	@@ -38,7 +38,16 @@ public class IntersceneMatchParameters {
	public boolean ims_rebuild = false; // recalculate INS data (after lag change)		public boolean ims_rebuild = false; // recalculate INS data (after lag change)
	public double ims_offset = 0.0; // IMS data lead relative to images (seconds)		public double ims_offset = 0.0; // IMS data lead relative to images (seconds)
	public double gmt_plus = 3.0; // (hrs) filename timestamp is this lower than in IMU log		public double gmt_plus = 3.0; // (hrs) filename timestamp is this lower than in IMU log
			public double [] ims_ortho = {0.5, -0.5, 0.5, -0.5}; // approximate (90-deg) IMS to camera
			public double [] ims_mount_atr = {0, 0, 0}; // IMS mount fine correction (A,T,R around camera axes)
			public double [] ims_mount_xyz = {0, 0, 0}; // IMS center in camera coordinates

			public double [] getImsMountATR() {
			return new double [] {
			ims_mount_atr[0] * Math.PI/180,
			ims_mount_atr[1] * Math.PI/180,
			ims_mount_atr[2] * Math.PI/180};
			}
	public boolean force_ref_dsi = false; // true;		public boolean force_ref_dsi = false; // true;
	public boolean force_orientations = false;		public boolean force_orientations = false;
	public boolean run_ly = false; // will return just after LY adjustments, skipping all output generation		public boolean run_ly = false; // will return just after LY adjustments, skipping all output generation
	@@ -217,6 +226,9 @@ public class IntersceneMatchParameters {
	public double disp_boost_amount = 2.0;		public double disp_boost_amount = 2.0;
	public double scale_combo_strength = 0.4; // reduce strength when it comes from combo, not DSI-MAIN		public double scale_combo_strength = 0.4; // reduce strength when it comes from combo, not DSI-MAIN
	public boolean save_debug_images = true; // Save blue sky debug images in model directory		public boolean save_debug_images = true; // Save blue sky debug images in model directory
			/// IMS intergration



	// Some "AGC" to adjust how much to discard		// Some "AGC" to adjust how much to discard
	public int margin = 1; // do not use tiles if their centers are closer to the image edge		public int margin = 1; // do not use tiles if their centers are closer to the image edge
	@@ -402,17 +414,26 @@ public class IntersceneMatchParameters {
	public void dialogQuestions(GenericJTabbedDialog gd) {		public void dialogQuestions(GenericJTabbedDialog gd) {
	// gd.addMessage ("Scene parameters selection");		// gd.addMessage ("Scene parameters selection");
	// gd.addTab ("Inter-Match", "Parameters for full-resolution (no decimation/macrotiles) scene matching");		// gd.addTab ("Inter-Match", "Parameters for full-resolution (no decimation/macrotiles) scene matching");
	gd.addTab ("Scene Series", "Processing series of scenes and multi-series sets");		gd.addTab ("IMS", "IMS Integration for interscene matching");
	gd.addMessage ("Build series options");

	gd.addCheckbox ("Use IMS data", this.ims_use,		gd.addCheckbox ("Use IMS data", this.ims_use,
	"Use INS data for egomotion.");		"Use IMS data for egomotion.");
	gd.addCheckbox ("Recalculate IMS", this.ims_rebuild,		gd.addCheckbox ("Recalculate IMS", this.ims_rebuild,
	"Recalculate scene INS data.");		"Recalculate scene INS data.");
	gd.addNumericField("IMS offset", this.ims_offset, 5,8,"s",		gd.addNumericField("IMS offset", this.ims_offset, 5,8,"s",
	"Positive if the IMS data has lower lag than images.");		"Positive if the IMS data has lower lag than images.");
	gd.addNumericField("GMT plus", this.gmt_plus, 5,8,"hrs",		gd.addNumericField("GMT plus", this.gmt_plus, 5,8,"hrs",
	"Timestamp filename is lower by this hours than in the IMU log.");		"Timestamp filename is lower by this hours than in the IMU log.");

			gd.addStringField ("IMS ortho mount quaterion", IntersceneMatchParameters.doublesToString(ims_ortho), 80,
			"Approximate (90-deg) IMS to camera {0.5, -0.5, 0.5, -0.5}.");
			gd.addStringField ("IMS mount ATR correction (deg)", IntersceneMatchParameters.doublesToString(ims_mount_atr), 80,
			"IMS mount fine correction (A,T,R around camera axes).");
			gd.addStringField ("IMS mount XYZ correction (m)", IntersceneMatchParameters.doublesToString(ims_mount_xyz), 80,
			"MS center (X,Y,Z m) in camera coordinates.");

			gd.addTab ("Scene Series", "Processing series of scenes and multi-series sets");
			gd.addMessage ("Build series options");

	gd.addCheckbox ("Force reference scene DSI calculation", this.force_ref_dsi,		gd.addCheckbox ("Force reference scene DSI calculation", this.force_ref_dsi,
	"Calculate reference scene DSI even if the file exists.");		"Calculate reference scene DSI even if the file exists.");
	gd.addCheckbox ("Force egomotion calculation", this.force_orientations,		gd.addCheckbox ("Force egomotion calculation", this.force_orientations,
	@@ -1072,6 +1093,9 @@ public class IntersceneMatchParameters {
	this.ims_rebuild = gd.getNextBoolean();		this.ims_rebuild = gd.getNextBoolean();
	this.ims_offset = gd.getNextNumber();		this.ims_offset = gd.getNextNumber();
	this.gmt_plus = gd.getNextNumber();		this.gmt_plus = gd.getNextNumber();
			this.ims_ortho = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 4);
			this.ims_mount_atr = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
			this.ims_mount_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
	this.force_ref_dsi = gd.getNextBoolean();		this.force_ref_dsi = gd.getNextBoolean();
	this.force_orientations = gd.getNextBoolean();		this.force_orientations = gd.getNextBoolean();
	this.run_ly = gd.getNextBoolean();		this.run_ly = gd.getNextBoolean();
	@@ -1420,12 +1444,12 @@ public class IntersceneMatchParameters {
	properties.setProperty(prefix+"ims_rebuild", this.ims_rebuild + ""); // boolean		properties.setProperty(prefix+"ims_rebuild", this.ims_rebuild + ""); // boolean
	properties.setProperty(prefix+"ims_offset", this.ims_offset+""); // double		properties.setProperty(prefix+"ims_offset", this.ims_offset+""); // double
	properties.setProperty(prefix+"gmt_plus", this.gmt_plus+""); // double		properties.setProperty(prefix+"gmt_plus", this.gmt_plus+""); // double
			properties.setProperty(prefix+"ims_ortho", IntersceneMatchParameters.doublesToString(this.ims_ortho));
			properties.setProperty(prefix+"ims_mount_atr", IntersceneMatchParameters.doublesToString(this.ims_mount_atr));
			properties.setProperty(prefix+"ims_mount_xyz", IntersceneMatchParameters.doublesToString(this.ims_mount_xyz));
	properties.setProperty(prefix+"force_ref_dsi", this.force_ref_dsi + ""); // boolean		properties.setProperty(prefix+"force_ref_dsi", this.force_ref_dsi + ""); // boolean
	properties.setProperty(prefix+"force_orientations", this.force_orientations + ""); // boolean		properties.setProperty(prefix+"force_orientations", this.force_orientations + ""); // boolean
	properties.setProperty(prefix+"run_ly", this.run_ly + ""); // boolean		properties.setProperty(prefix+"run_ly", this.run_ly + ""); // boolean
	// properties.setProperty(prefix+"readjust_orient", this.readjust_orient + ""); // boolean
	// properties.setProperty(prefix+"force_interscene", this.force_interscene + ""); // boolean
	properties.setProperty(prefix+"min_num_orient", this.min_num_orient+""); // int		properties.setProperty(prefix+"min_num_orient", this.min_num_orient+""); // int
	properties.setProperty(prefix+"min_num_interscene", this.min_num_interscene+""); // int		properties.setProperty(prefix+"min_num_interscene", this.min_num_interscene+""); // int
	properties.setProperty(prefix+"generate_egomotion", this.generate_egomotion+""); // boolean		properties.setProperty(prefix+"generate_egomotion", this.generate_egomotion+""); // boolean
	@@ -1732,6 +1756,12 @@ public class IntersceneMatchParameters {
	if (properties.getProperty(prefix+"ims_offset")!=null) this.ims_offset=Double.parseDouble(properties.getProperty(prefix+"ims_offset"));		if (properties.getProperty(prefix+"ims_offset")!=null) this.ims_offset=Double.parseDouble(properties.getProperty(prefix+"ims_offset"));
	if (properties.getProperty(prefix+"gmt_plus")!=null) this.gmt_plus=Double.parseDouble(properties.getProperty(prefix+"gmt_plus"));		if (properties.getProperty(prefix+"gmt_plus")!=null) this.gmt_plus=Double.parseDouble(properties.getProperty(prefix+"gmt_plus"));

			if (properties.getProperty(prefix+"ims_ortho")!=null) this.ims_ortho= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_ortho"),4);
			if (properties.getProperty(prefix+"ims_mount_atr")!=null) this.ims_mount_atr= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_mount_atr"),3);
			if (properties.getProperty(prefix+"ims_mount_xyz")!=null) this.ims_mount_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_mount_xyz"),3);



	if (properties.getProperty(prefix+"force_ref_dsi")!=null) this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));		if (properties.getProperty(prefix+"force_ref_dsi")!=null) this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));
	if (properties.getProperty(prefix+"force_orientations")!=null) this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));		if (properties.getProperty(prefix+"force_orientations")!=null) this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));
	if (properties.getProperty(prefix+"run_ly")!=null) this.run_ly=Boolean.parseBoolean(properties.getProperty(prefix+"run_ly"));		if (properties.getProperty(prefix+"run_ly")!=null) this.run_ly=Boolean.parseBoolean(properties.getProperty(prefix+"run_ly"));
	@@ -2068,6 +2098,10 @@ public class IntersceneMatchParameters {
	imp.ims_offset = this.ims_offset;		imp.ims_offset = this.ims_offset;
	imp.gmt_plus = this.gmt_plus;		imp.gmt_plus = this.gmt_plus;

			imp.ims_ortho = this.ims_ortho.clone();
			imp.ims_mount_atr = this.ims_mount_atr.clone();
			imp.ims_mount_xyz = this.ims_mount_xyz.clone();

	imp.force_ref_dsi = this.force_ref_dsi;		imp.force_ref_dsi = this.force_ref_dsi;
	imp.force_orientations = this.force_orientations;		imp.force_orientations = this.force_orientations;
	imp.run_ly = this.run_ly;		imp.run_ly = this.run_ly;

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