implemented distorrtion model selection, image selection editor, different... (d811fafa) · Commits · Elphel / imagej-elphel

src/main/java/Aberration_Calibration.java

+6 −3

src/main/java/DistortionCalibrationData.java

+50 −11

Original line number	Original line	Diff line number	Diff line
	@@ -38,6 +38,7 @@ import java.io.File;
	import java.io.FileWriter;		import java.io.FileWriter;
	import java.io.IOException;		import java.io.IOException;
	import java.util.ArrayList;		import java.util.ArrayList;
			import java.util.Arrays;
	import java.util.List;		import java.util.List;

	import org.apache.commons.configuration.ConfigurationException;		import org.apache.commons.configuration.ConfigurationException;
	@@ -679,7 +680,14 @@ import org.apache.commons.configuration.XMLConfiguration;
	if (this.eyesisCameraParameters.numStations>1){		if (this.eyesisCameraParameters.numStations>1){
	sb.append("Station "+stationNumber+" W="+(100*this.eyesisCameraParameters.stationWeight[stationNumber])+"%"); for (int i=-1;i<numSubCameras;i++) sb.append("\t==="); sb.append("\n");		sb.append("Station "+stationNumber+" W="+(100*this.eyesisCameraParameters.stationWeight[stationNumber])+"%"); for (int i=-1;i<numSubCameras;i++) sb.append("\t==="); sb.append("\n");
	}		}

			int [] lensDistortionModels=new int [numSubCameras];
			for (int i=0;i<numSubCameras;i++) lensDistortionModels[i]=eyesisCameraParameters.getLensDistortionModel(stationNumber,i);
			sb.append("Lens Distortion Model\t");
			for (int i=0;i<numSubCameras;i++) sb.append("\t"+lensDistortionModels[i]);
			sb.append("\n");
	double [][] cameraPars=new double [numSubCameras][];		double [][] cameraPars=new double [numSubCameras][];

	for (int i=0;i<numSubCameras;i++) cameraPars[i]=eyesisCameraParameters.getParametersVector(stationNumber,i);		for (int i=0;i<numSubCameras;i++) cameraPars[i]=eyesisCameraParameters.getParametersVector(stationNumber,i);
	// parameters same order as in this		// parameters same order as in this
	for (int n=0;n<cameraPars[0].length;n++) if (isSubcameraParameter(n) && isIntrinsicParameter(n)){		for (int n=0;n<cameraPars[0].length;n++) if (isSubcameraParameter(n) && isIntrinsicParameter(n)){
	@@ -935,8 +943,10 @@ import org.apache.commons.configuration.XMLConfiguration;
	}		}
	}		}
	int numNoVignetting=0;		int numNoVignetting=0;
			int disabledNoLaser=0;
	for (int i=0;i<this.gIP.length;i++){		for (int i=0;i<this.gIP.length;i++){
	int stationNumber=this.gIP[i].getStationNumber();		int stationNumber=this.gIP[i].getStationNumber();
			boolean enableNoLaser=this.eyesisCameraParameters.getEnableNoLaser(stationNumber,this.gIP[i].channel);
	boolean wasEnabled=this.gIP[i].enabled;		boolean wasEnabled=this.gIP[i].enabled;
	if (resetHinted) this.gIP[i].hintedMatch=-1; // undefined		if (resetHinted) this.gIP[i].hintedMatch=-1; // undefined
	if (Double.isNaN(this.gIP[i].gridPeriod) \|\|		if (Double.isNaN(this.gIP[i].gridPeriod) \|\|
	@@ -949,15 +959,17 @@ import org.apache.commons.configuration.XMLConfiguration;
	if (		if (
	(this.gIP[i].matchedPointers>=minPointers) \|\|		(this.gIP[i].matchedPointers>=minPointers) \|\|
	((this.gIP[i].matchedPointers>0) && (this.gIP[i].hintedMatch>0)) \|\| // orientation and one pointer		((this.gIP[i].matchedPointers>0) && (this.gIP[i].hintedMatch>0)) \|\| // orientation and one pointer
	(this.gIP[i].hintedMatch>1)) {		((this.gIP[i].hintedMatch>1) && enableNoLaser)) { // do not use bottom images w/o matched pointers
	// before enabling - copy orientation from gIS		// before enabling - copy orientation from gIS
	if (!this.gIP[i].enabled && (gIS_index[i]>=0)){		if (!this.gIP[i].enabled && (gIS_index[i]>=0)){
	if (!Double.isNaN(this.gIS[gIS_index[i]].goniometerTilt)) setGH(i,this.gIS[gIS_index[i]].goniometerTilt );		if (!Double.isNaN(this.gIS[gIS_index[i]].goniometerTilt)) setGH(i,this.gIS[gIS_index[i]].goniometerTilt );
	if (!Double.isNaN(this.gIS[gIS_index[i]].goniometerAxial)) setGA(i,this.gIS[gIS_index[i]].goniometerAxial );		if (!Double.isNaN(this.gIS[gIS_index[i]].goniometerAxial)) setGA(i,this.gIS[gIS_index[i]].goniometerAxial );
	}		}
	this.gIP[i].enabled=true;		this.gIP[i].enabled=true;
			} else this.gIP[i].enabled=false;
			if ((this.gIP[i].hintedMatch>1) && !enableNoLaser && (this.gIP[i].matchedPointers==0)){
			disabledNoLaser++;
	}		}
	else this.gIP[i].enabled=false;
	}		}

	if (disableNoVignetting) {		if (disableNoVignetting) {
	@@ -977,7 +989,7 @@ import org.apache.commons.configuration.XMLConfiguration;
	if (this.gIP[i].newEnabled) newEnabled++;		if (this.gIP[i].newEnabled) newEnabled++;
	}		}
	// may need buildImageSets		// may need buildImageSets
	int [] result={numEnabled,newEnabled,numNoVignetting,notEnoughNodes};		int [] result={numEnabled,newEnabled,numNoVignetting,notEnoughNodes,disabledNoLaser};
	return result;		return result;
	}		}
	// TODO:		// TODO:
	@@ -1277,7 +1289,26 @@ import org.apache.commons.configuration.XMLConfiguration;
	return numEnabled;		return numEnabled;
	}		}

			int [] getStations(){
			int [] result = new int [this.gIP.length];
			for (int i=0;i<result.length;i++) result[i]=(this.gIP[i]!=null)?this.gIP[i].stationNumber:-1;
			return result;
			}
			int [] getChannels(){
			int [] result = new int [this.gIP.length];
			for (int i=0;i<result.length;i++) result[i]=(this.gIP[i]!=null)?this.gIP[i].channel:-1;
			return result;
			}
			int [] getMatchedPointers(){
			int [] result = new int [this.gIP.length];
			for (int i=0;i<result.length;i++) result[i]=(this.gIP[i]!=null)?this.gIP[i].matchedPointers:0;
			return result;
			}
			int [] getHintedMatch(){
			int [] result = new int [this.gIP.length];
			for (int i=0;i<result.length;i++) result[i]=(this.gIP[i]!=null)?this.gIP[i].hintedMatch:-1;
			return result;
			}

	boolean [] selectNewEnabled () {		boolean [] selectNewEnabled () {
	boolean [] newEnabled=new boolean [this.gIP.length] ;		boolean [] newEnabled=new boolean [this.gIP.length] ;
	@@ -1285,14 +1316,22 @@ import org.apache.commons.configuration.XMLConfiguration;
	return newEnabled;		return newEnabled;
	}		}

			boolean [] selectEnabled () {
			boolean [] enabled=new boolean [this.gIP.length] ;
			for (int i=0;i<this.gIP.length;i++) enabled[i]= (this.gIP[i]!=null) && this.gIP[i].enabled;
			return enabled;
			}

	boolean [] selectEstimated (boolean enabledOnly) {		boolean [] selectEstimated (boolean enabledOnly) {
			boolean [] estimated=new boolean [getNumImages()];
	if (this.gIS==null) {		if (this.gIS==null) {
	String msg="Image sets are not initialized";		String msg="Image sets are not initialized";
	IJ.showMessage("Error",msg);		IJ.showMessage("Error",msg);
	throw new IllegalArgumentException (msg);		// throw new IllegalArgumentException (msg);
			Arrays.fill(estimated, true);
			return estimated;
	}		}

	boolean [] estimated=new boolean [getNumImages()];
	for (int i=0;i<estimated.length;i++) estimated[i]=false;		for (int i=0;i<estimated.length;i++) estimated[i]=false;
	for (int i=0;i<this.gIS.length;i++) if (this.gIS[i].imageSet!=null){		for (int i=0;i<this.gIS.length;i++) if (this.gIS[i].imageSet!=null){
	for (int j=0;j<this.gIS[i].imageSet.length;j++) if (this.gIS[i].imageSet[j]!=null) {		for (int j=0;j<this.gIS[i].imageSet.length;j++) if (this.gIS[i].imageSet[j]!=null) {

src/main/java/Distortions.java

+26 −2

Original line number	Original line	Diff line number	Diff line
	@@ -50,6 +50,7 @@ import Jama.Matrix;
	// 1 - put commons-configuration-1.7.jar under ImageJ plugins directory (I used ImageJ-Elphel)		// 1 - put commons-configuration-1.7.jar under ImageJ plugins directory (I used ImageJ-Elphel)
	// 2 - in Eclipse project properties -> Build Path -> Libraries -> Add External jar		// 2 - in Eclipse project properties -> Build Path -> Libraries -> Add External jar
	public class Distortions {		public class Distortions {
			final public double hintedMaxRelativeRadius=1.2; // make adjustable?
	private showDoubleFloatArrays SDFA_INSTANCE=new showDoubleFloatArrays(); // just for debugging?		private showDoubleFloatArrays SDFA_INSTANCE=new showDoubleFloatArrays(); // just for debugging?
	// int numInputs=27; // with A8...// 24; // parameters in subcamera+...		// int numInputs=27; // with A8...// 24; // parameters in subcamera+...
	// int numOutputs=16; // with A8...//13; // parameters in a single camera		// int numOutputs=16; // with A8...//13; // parameters in a single camera
	@@ -3010,12 +3011,25 @@ For each point in the image
	* @param v grid V (signed, 0 in the center)		* @param v grid V (signed, 0 in the center)
	* @return [7] {pX,pY,grid mask (binary), grid R, grid G, grid B, alpha}		* @return [7] {pX,pY,grid mask (binary), grid R, grid G, grid B, alpha}
	*/		*/

	public double [] reprojectGridNode(		public double [] reprojectGridNode(
	LensDistortionParameters lensDistortionParameters,		LensDistortionParameters lensDistortionParameters,
	int numImg,		int numImg,
	int u, // grid signed u,v		int u, // grid signed u,v
	int v		int v){
			double maxRelativeRadius=this.hintedMaxRelativeRadius; // make adjustable
			return reprojectGridNode(
			lensDistortionParameters,
			numImg,
			u, // grid signed u,v
			v,
			maxRelativeRadius);
			}
			public double [] reprojectGridNode(
			LensDistortionParameters lensDistortionParameters,
			int numImg,
			int u, // grid signed u,v
			int v,
			double maxRelativeRadius //=2.0;
	){		){
	int debugThreshold=1;		int debugThreshold=1;
	int nChn= this.fittingStrategy.distortionCalibrationData.gIP[numImg].channel;		int nChn= this.fittingStrategy.distortionCalibrationData.gIP[numImg].channel;
	@@ -3035,6 +3049,7 @@ For each point in the image
	XYZMP[0], // target point horizontal, positive - right, mm		XYZMP[0], // target point horizontal, positive - right, mm
	XYZMP[1], // target point vertical, positive - down, mm		XYZMP[1], // target point vertical, positive - down, mm
	XYZMP[2], // target point horizontal, positive - away from camera, mm		XYZMP[2], // target point horizontal, positive - away from camera, mm
			maxRelativeRadius, //
	false); // calculate derivatives, false - values only (NaN for behind points - only when false here)		false); // calculate derivatives, false - values only (NaN for behind points - only when false here)
	if (Double.isNaN(pXY[0][0])) {		if (Double.isNaN(pXY[0][0])) {
	if (this.debugLevel>debugThreshold){		if (this.debugLevel>debugThreshold){
	@@ -3094,6 +3109,7 @@ For each point in the image
	double goniometerAxial, // Axial		double goniometerAxial, // Axial
	int imageSet,		int imageSet,
	boolean filterBorder){		boolean filterBorder){
			double maxRelativeRadius=this.hintedMaxRelativeRadius; // make adjustable
	int debugThreshold=2;		int debugThreshold=2;
	// Get parameter vector (22) for the selected sensor, current Eyesisparameters and specified orientation angles		// Get parameter vector (22) for the selected sensor, current Eyesisparameters and specified orientation angles
	double [] parVector=fittingStrategy.distortionCalibrationData.eyesisCameraParameters.getParametersVector(stationNumber,subCamera);		double [] parVector=fittingStrategy.distortionCalibrationData.eyesisCameraParameters.getParametersVector(stationNumber,subCamera);
	@@ -3155,6 +3171,7 @@ For each point in the image
	XYZM[0], // target point horizontal, positive - right, mm		XYZM[0], // target point horizontal, positive - right, mm
	XYZM[1], // target point vertical, positive - down, mm		XYZM[1], // target point vertical, positive - down, mm
	XYZM[2], // target point horizontal, positive - away from camera, mm		XYZM[2], // target point horizontal, positive - away from camera, mm
			maxRelativeRadius,
	false); // calculate derivatives, false - values only (NaN for behind points - only when false here)		false); // calculate derivatives, false - values only (NaN for behind points - only when false here)
	// verify the grid is inside the sensor area (may use sensor mask later too? probably not needed)		// verify the grid is inside the sensor area (may use sensor mask later too? probably not needed)
	// Now NaN if point is behind the sensor		// Now NaN if point is behind the sensor
	@@ -5963,6 +5980,10 @@ List calibration
	imp.setProperty("comment_entrancePupilForward", "entrance pupil distance from the azimuth/radius/height, outwards in mm");		imp.setProperty("comment_entrancePupilForward", "entrance pupil distance from the azimuth/radius/height, outwards in mm");
	imp.setProperty("entrancePupilForward", ""+entrancePupilForward); // currently global, decoders will use per-sensor		imp.setProperty("entrancePupilForward", ""+entrancePupilForward); // currently global, decoders will use per-sensor
	imp.setProperty("comment_defects", "Sensor hot/cold pixels list as x:y:difference");		imp.setProperty("comment_defects", "Sensor hot/cold pixels list as x:y:difference");

			imp.setProperty("comment_lensDistortionModel", "Integer specifying lens distrotion model (0 - radial)");
			imp.setProperty("lensDistortionModel", ""+subCam.lensDistortionModel);

	for (int i=0;i<subCam.r_xy.length;i++){		for (int i=0;i<subCam.r_xy.length;i++){
	imp.setProperty("r_xy_"+i+"_x",subCam.r_xy[i][0]+"");		imp.setProperty("r_xy_"+i+"_x",subCam.r_xy[i][0]+"");
	imp.setProperty("r_xy_"+i+"_y",subCam.r_xy[i][1]+"");		imp.setProperty("r_xy_"+i+"_y",subCam.r_xy[i][1]+"");
	@@ -6144,6 +6165,7 @@ List calibration
	subCam.defectsDiff=null;		subCam.defectsDiff=null;
	}		}
	// non-radial		// non-radial
			if (imp.getProperty("lensDistortionModel") !=null) subCam.lensDistortionModel= Integer.parseInt((String) imp.getProperty("lensDistortionModel"));
	subCam.setDefaultNonRadial();		subCam.setDefaultNonRadial();
	for (int i=0;i<subCam.r_xy.length;i++) {		for (int i=0;i<subCam.r_xy.length;i++) {
	if (imp.getProperty("r_xy_"+i+"_x") !=null) subCam.r_xy[i][0]= Double.parseDouble((String) imp.getProperty("r_xy_"+i+"_x"));		if (imp.getProperty("r_xy_"+i+"_x") !=null) subCam.r_xy[i][0]= Double.parseDouble((String) imp.getProperty("r_xy_"+i+"_x"));
	@@ -9555,6 +9577,7 @@ M * V = B
	System.out.println("this.lensDistortionParameters.distortionA="+IJ.d2s(this.lensDistortionParameters.distortionA, 5));		System.out.println("this.lensDistortionParameters.distortionA="+IJ.d2s(this.lensDistortionParameters.distortionA, 5));
	System.out.println("this.lensDistortionParameters.distortionB="+IJ.d2s(this.lensDistortionParameters.distortionB, 5));		System.out.println("this.lensDistortionParameters.distortionB="+IJ.d2s(this.lensDistortionParameters.distortionB, 5));
	System.out.println("this.lensDistortionParameters.distortionC="+IJ.d2s(this.lensDistortionParameters.distortionC, 5));		System.out.println("this.lensDistortionParameters.distortionC="+IJ.d2s(this.lensDistortionParameters.distortionC, 5));
			System.out.println("this.lensDistortionParameters.lensDistortionModel="+this.lensDistortionParameters.lensDistortionModel);
	for (int i=0;i<this.lensDistortionParameters.r_xy.length;i++){		for (int i=0;i<this.lensDistortionParameters.r_xy.length;i++){
	System.out.println("this.lensDistortionParameters.r_xy["+i+"][0]="+IJ.d2s(this.lensDistortionParameters.r_xy[i][0], 5));		System.out.println("this.lensDistortionParameters.r_xy["+i+"][0]="+IJ.d2s(this.lensDistortionParameters.r_xy[i][0], 5));
	System.out.println("this.lensDistortionParameters.r_xy["+i+"][1]="+IJ.d2s(this.lensDistortionParameters.r_xy[i][1], 5));		System.out.println("this.lensDistortionParameters.r_xy["+i+"][1]="+IJ.d2s(this.lensDistortionParameters.r_xy[i][1], 5));
	@@ -9760,6 +9783,7 @@ M * V = B
	if (reCenterVertically){		if (reCenterVertically){
	eyesisCameraParameters.recenterVertically(channelMask, stationMask);		eyesisCameraParameters.recenterVertically(channelMask, stationMask);
	for (int i=0;i<channelMask.length;i++) channelMask[i]= true;		for (int i=0;i<channelMask.length;i++) channelMask[i]= true;
			parameterMask[distortionCalibrationData.getParameterIndexByName("subcamHeight")] = true;
	}		}

src/main/java/EyesisCameraParameters.java

+72 −2

Original line number	Original line	Diff line number	Diff line
	@@ -29,6 +29,14 @@ import org.apache.commons.configuration.XMLConfiguration;


	public class EyesisCameraParameters{		public class EyesisCameraParameters{
			final public String [] distortionModelDescriptions= {
			"Radial model",
			"Non radial with shift/elongation, non cummulative",
			"Non radial with shift/elongation, cummulative",
			"With non-radial polynomial terms"
			};
			final int [] distortionModels={0,100,101,200};
			public int defaultLensDistortionModel=200;
	public double [] goniometerHorizontal; // goniometer rotation around "horizontal" axis (tilting from the target - positive)		public double [] goniometerHorizontal; // goniometer rotation around "horizontal" axis (tilting from the target - positive)
	public double [] goniometerAxial; // goniometer rotation around Eyesis axis (clockwise in plan - positive		public double [] goniometerAxial; // goniometer rotation around Eyesis axis (clockwise in plan - positive
	public EyesisSubCameraParameters [][] eyesisSubCameras=null;		public EyesisSubCameraParameters [][] eyesisSubCameras=null;
	@@ -274,6 +282,13 @@ import org.apache.commons.configuration.XMLConfiguration;
	}		}

	public int getNumStations() {return this.numStations;}		public int getNumStations() {return this.numStations;}
			public int getNumChannels() {
			return getNumChannels(0);
			}
			public int getNumChannels(int numStation) {
			return this.eyesisSubCameras[numStation].length;
			}
			// this.eyesisSubCameras[numStation].length
	public EyesisCameraParameters () {} // just create new instance, all parameters data will be provided additionally		public EyesisCameraParameters () {} // just create new instance, all parameters data will be provided additionally
	public EyesisCameraParameters (		public EyesisCameraParameters (
	int numStations,		int numStations,
	@@ -685,7 +700,7 @@ import org.apache.commons.configuration.XMLConfiguration;
	if (numSubCameras>0) {		if (numSubCameras>0) {
	initSubCameras(numStation, numSubCameras); // set array with default parameters		initSubCameras(numStation, numSubCameras); // set array with default parameters
	for (int i=0;i<numSubCameras;i++){		for (int i=0;i<numSubCameras;i++){
	this.eyesisSubCameras[numStation][i].getProperties(prefix+numStation+"_subCamera_"+i+'.',properties);		this.eyesisSubCameras[numStation][i].getProperties(prefix+numStation+"_subCamera_"+i+'.',properties,i);
	}		}
	}		}
	}		}
	@@ -742,6 +757,10 @@ import org.apache.commons.configuration.XMLConfiguration;
	// public double goniometerHorizontal; // goniometer rotation around "horizontal" axis (tilting from the target - positive)		// public double goniometerHorizontal; // goniometer rotation around "horizontal" axis (tilting from the target - positive)
	// public double goniometerAxial; // goniometer rotation around Eyesis axis (clockwise in plan - positive		// public double goniometerAxial; // goniometer rotation around Eyesis axis (clockwise in plan - positive
	//this.isTripod		//this.isTripod
			String [] modelChoice=new String [distortionModelDescriptions.length+1];
			modelChoice[0]="--- keep current ---";
			for (int i=0;i<distortionModelDescriptions.length;i++) modelChoice[i+1]=distortionModelDescriptions[i];
			gd.addChoice("Change camera distortion model for all channels", modelChoice, modelChoice[0]);
	gd.addCheckbox("Tripod mode (first vertical axis, then horizontal), changes meaning of the next 2 fields",this.isTripod);		gd.addCheckbox("Tripod mode (first vertical axis, then horizontal), changes meaning of the next 2 fields",this.isTripod);
	gd.addMessage("=== Camera parameters to be fitted ===");		gd.addMessage("=== Camera parameters to be fitted ===");
	for (int numStation=0;numStation<this.numStations;numStation++) {		for (int numStation=0;numStation<this.numStations;numStation++) {
	@@ -801,6 +820,15 @@ import org.apache.commons.configuration.XMLConfiguration;
	WindowTools.addScrollBars(gd);		WindowTools.addScrollBars(gd);
	gd.showDialog();		gd.showDialog();
	if (gd.wasCanceled()) return -1;		if (gd.wasCanceled()) return -1;
			int modelIndex=gd.getNextChoiceIndex()-1;
			if (modelIndex>=0){
			for (EyesisSubCameraParameters [] esps:this.eyesisSubCameras){
			for (EyesisSubCameraParameters esp:esps){
			esp.lensDistortionModel=distortionModels[modelIndex];
			}
			}
			}

	this.isTripod= gd.getNextBoolean();		this.isTripod= gd.getNextBoolean();
	for (int numStation=0;numStation<this.numStations;numStation++) {		for (int numStation=0;numStation<this.numStations;numStation++) {
	if (this.numStations>1){		if (this.numStations>1){
	@@ -861,6 +889,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	gd.addNumericField("Channel "+numSubCam+" default weight", subCam.channelWeightDefault, 5,8,"");		gd.addNumericField("Channel "+numSubCam+" default weight", subCam.channelWeightDefault, 5,8,"");
	}		}
	if (this.numStations>1) gd.addMessage("--- Station number "+numStation+" ---");		if (this.numStations>1) gd.addMessage("--- Station number "+numStation+" ---");
			gd.addNumericField("Subcamera lens distortion model", subCam.lensDistortionModel, 5,0,"");
			gd.addCheckbox ("Enable matching w/o laser pointers", subCam.enableNoLaser);
	gd.addNumericField("Subcamera azimuth", subCam.azimuth, 5,9,"degrees");		gd.addNumericField("Subcamera azimuth", subCam.azimuth, 5,9,"degrees");
	gd.addNumericField("Subcamera distance from the axis", subCam.radius, 5,9,"mm");		gd.addNumericField("Subcamera distance from the axis", subCam.radius, 5,9,"mm");
	gd.addNumericField("Subcamera height from the 'equator'", subCam.height, 5,9,"mm");		gd.addNumericField("Subcamera height from the 'equator'", subCam.height, 5,9,"mm");
	@@ -930,6 +960,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	channelWeightDefault=gd.getNextNumber();		channelWeightDefault=gd.getNextNumber();
	}		}
	subCam.channelWeightDefault= channelWeightDefault; // assign to all stations		subCam.channelWeightDefault= channelWeightDefault; // assign to all stations
			subCam.lensDistortionModel= (int) gd.getNextNumber();
			subCam.enableNoLaser = gd.getNextBoolean();
	subCam.azimuth= gd.getNextNumber();		subCam.azimuth= gd.getNextNumber();
	subCam.radius= gd.getNextNumber();		subCam.radius= gd.getNextNumber();
	subCam.height= gd.getNextNumber();		subCam.height= gd.getNextNumber();
	@@ -998,6 +1030,26 @@ import org.apache.commons.configuration.XMLConfiguration;
	}		}
	return true;		return true;
	}		}
			public int getLensDistortionModel(int stationNumber,int subCamNumber){
			if (
			(this.eyesisSubCameras==null) \|\|
			(this.numStations<=stationNumber) \|\|
			(this.eyesisSubCameras.length<=stationNumber) \|\|
			(this.eyesisSubCameras[stationNumber].length<=subCamNumber)) throw new IllegalArgumentException
			("Nonexistent subcamera "+subCamNumber+ " and/or station number="+stationNumber+" this.numStations="+this.numStations+" this.eyesisSubCameras.length="+this.eyesisSubCameras.length);
			EyesisSubCameraParameters subCam=this.eyesisSubCameras[stationNumber][subCamNumber];
			return subCam.lensDistortionModel;
			}
			boolean getEnableNoLaser(int stationNumber,int subCamNumber){
			if (
			(this.eyesisSubCameras==null) \|\|
			(this.numStations<=stationNumber) \|\|
			(this.eyesisSubCameras.length<=stationNumber) \|\|
			(this.eyesisSubCameras[stationNumber].length<=subCamNumber)) throw new IllegalArgumentException
			("Nonexistent subcamera "+subCamNumber+ " and/or station number="+stationNumber+" this.numStations="+this.numStations+" this.eyesisSubCameras.length="+this.eyesisSubCameras.length);
			EyesisSubCameraParameters subCam=this.eyesisSubCameras[stationNumber][subCamNumber];
			return subCam.enableNoLaser;
			}
	/**		/**
	*		*
	* @param eyesisCameraParameters current parameters of the Eyesis camera, subcameras and goniometer		* @param eyesisCameraParameters current parameters of the Eyesis camera, subcameras and goniometer
	@@ -1191,6 +1243,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	for (int i=0;i<numSubCameras;i++) this.eyesisSubCameras[numStation][i]=null;		for (int i=0;i<numSubCameras;i++) this.eyesisSubCameras[numStation][i]=null;
	if (numSubCameras==3) {		if (numSubCameras==3) {
	this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?		this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
			defaultLensDistortionModel,
			true,
	0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	52.53, // double radius, // mm, distance from the rotation axis		52.53, // double radius, // mm, distance from the rotation axis
	34.64, // double height, // mm, up (was downwards) - from the origin point		34.64, // double height, // mm, up (was downwards) - from the origin point
	@@ -1213,6 +1267,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	null, // elongation for c,b,a,a5,a6,a7,a8		null, // elongation for c,b,a,a5,a6,a7,a8
	1.0); //channelWeightDefault		1.0); //channelWeightDefault
	this.eyesisSubCameras[numStation][1]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?		this.eyesisSubCameras[numStation][1]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
			defaultLensDistortionModel,
			true,
	30.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		30.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	60.0, // double radius, // mm, distance from the rotation axis		60.0, // double radius, // mm, distance from the rotation axis
	-17.32, // double height, // mm, up (was downwards) - from the origin point		-17.32, // double height, // mm, up (was downwards) - from the origin point
	@@ -1235,6 +1291,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	null, // elongation for c,b,a,a5,a6,a7,a8		null, // elongation for c,b,a,a5,a6,a7,a8
	1.0); //channelWeightDefault		1.0); //channelWeightDefault
	this.eyesisSubCameras[numStation][2]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?		this.eyesisSubCameras[numStation][2]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
			defaultLensDistortionModel,
			true,
	-30.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		-30.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	60.0, // double radius, // mm, distance from the rotation axis		60.0, // double radius, // mm, distance from the rotation axis
	-17.32, // double height, // mm, up (was downwards) - from the origin point		-17.32, // double height, // mm, up (was downwards) - from the origin point
	@@ -1258,6 +1316,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	1.0); //channelWeightDefault		1.0); //channelWeightDefault
	} else if (numSubCameras==1) {		} else if (numSubCameras==1) {
	this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?		this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO: modify for lens adjustment defaults?
			defaultLensDistortionModel,
			true,
	0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	0.0, // double radius, // mm, distance from the rotation axis		0.0, // double radius, // mm, distance from the rotation axis
	0.0, // double height, // mm, up (was downwards) - from the origin point		0.0, // double height, // mm, up (was downwards) - from the origin point
	@@ -1282,6 +1342,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	} else {		} else {
	// default setup for the 26 sub-cameras		// default setup for the 26 sub-cameras
	for (int i=0;i<8;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // top 8 cameras		for (int i=0;i<8;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // top 8 cameras
			defaultLensDistortionModel,
			true,
	45.0*i, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		45.0*i, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	41.540, // double radius, // mm, distance from the rotation axis		41.540, // double radius, // mm, distance from the rotation axis
	42.883, // double height, // mm, up (was downwards?) - from the origin point		42.883, // double height, // mm, up (was downwards?) - from the origin point
	@@ -1304,6 +1366,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	null, // elongation for c,b,a,a5,a6,a7,a8		null, // elongation for c,b,a,a5,a6,a7,a8
	1.0); //channelWeightDefault		1.0); //channelWeightDefault
	for (int i=8;i<16;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // middle 8 cameras		for (int i=8;i<16;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // middle 8 cameras
			defaultLensDistortionModel,
			true,
	45.0*(i-8), // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		45.0*(i-8), // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	54.525, // double radius, // mm, distance from the rotation axis		54.525, // double radius, // mm, distance from the rotation axis
	0.0, // double height, // mm, up (was downwards) - from the origin point		0.0, // double height, // mm, up (was downwards) - from the origin point
	@@ -1326,6 +1390,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	null, // elongation for c,b,a,a5,a6,a7,a8		null, // elongation for c,b,a,a5,a6,a7,a8
	1.0); //channelWeightDefault		1.0); //channelWeightDefault
	for (int i=16;i<24;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // bottom eight cameras		for (int i=16;i<24;i++) if (i<numSubCameras) this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // bottom eight cameras
			defaultLensDistortionModel,
			true,
	45.0*(i-16), // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		45.0*(i-16), // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	41.540, // double radius, // mm, distance from the rotation axis		41.540, // double radius, // mm, distance from the rotation axis
	-42.883, // double height, // mm, up (was downwards?) - from the origin point		-42.883, // double height, // mm, up (was downwards?) - from the origin point
	@@ -1348,6 +1414,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	null, // elongation for c,b,a,a5,a6,a7,a8		null, // elongation for c,b,a,a5,a6,a7,a8
	1.0); //channelWeightDefault		1.0); //channelWeightDefault
	if (24<numSubCameras) this.eyesisSubCameras[numStation][24]=new EyesisSubCameraParameters(		if (24<numSubCameras) this.eyesisSubCameras[numStation][24]=new EyesisSubCameraParameters(
			defaultLensDistortionModel,
			false,
	90, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		90, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	12.025, // double radius, // mm, distance from the rotation axis		12.025, // double radius, // mm, distance from the rotation axis
	-807.0, // double height, // mm, up - from the origin point		-807.0, // double height, // mm, up - from the origin point
	@@ -1370,6 +1438,8 @@ import org.apache.commons.configuration.XMLConfiguration;
	null, // elongation for c,b,a,a5,a6,a7,a8		null, // elongation for c,b,a,a5,a6,a7,a8
	8.0); //channelWeightDefault (was 4)		8.0); //channelWeightDefault (was 4)
	if (25<numSubCameras) this.eyesisSubCameras[numStation][25]=new EyesisSubCameraParameters(		if (25<numSubCameras) this.eyesisSubCameras[numStation][25]=new EyesisSubCameraParameters(
			defaultLensDistortionModel,
			false,
	270, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top		270, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
	12.025, // double radius, // mm, distance from the rotation axis		12.025, // double radius, // mm, distance from the rotation axis
	-841.0, // double height, // mm, up - from the origin point		-841.0, // double height, // mm, up - from the origin point

Original line number	Original line	Diff line number	Diff line
	@@ -404,6 +404,7 @@ public static MatchSimulatedPattern.DistortionParameters DISTORTION =new MatchSi
	1296.0, // double px0 // lens axis from sensor, horizontal, from left (pixels)		1296.0, // double px0 // lens axis from sensor, horizontal, from left (pixels)
	968.0, // double py0 // lens axis from sensor, vertical, from top (pixels)		968.0, // double py0 // lens axis from sensor, vertical, from top (pixels)
	true, // boolean flipVertical // acquired image is mirrored vertically (mirror used)		true, // boolean flipVertical // acquired image is mirrored vertically (mirror used)
			-1, // lensDistortionModel (use default)
	null, // double [][] r_xy,		null, // double [][] r_xy,
	null // double [][] r_od		null // double [][] r_od
	);		);
	@@ -1169,7 +1170,8 @@ if (MORE_BUTTONS) {
	System.out.println("Number of enabled grid images: "+numImages[0]+		System.out.println("Number of enabled grid images: "+numImages[0]+
	", of them new: "+numImages[1]+		", of them new: "+numImages[1]+
	", disabled without vignetting info: "+numImages[2]+		", disabled without vignetting info: "+numImages[2]+
	", disabled having less than "+minGridsNoPointer+" nodes and no matched pointers: "+numImages[3]);		", disabled having less than "+minGridsNoPointer+" nodes and no matched pointers: "+numImages[3]+
			", disabled with no lasers and enableNoLaser==false (like 2 bottom cameras):" +numImages[4]);

	if (DISTORTION_CALIBRATION_DATA.gIS==null) {		if (DISTORTION_CALIBRATION_DATA.gIS==null) {
	int numImageSets=DISTORTION_CALIBRATION_DATA.buildImageSets(false); // from scratch		int numImageSets=DISTORTION_CALIBRATION_DATA.buildImageSets(false); // from scratch
	@@ -6062,7 +6064,7 @@ if (MORE_BUTTONS) {
	gd.addNumericField("Minimal registered grid period as a fraction of maximal (to filter reflections)", 0.4,2); //was 0.7		gd.addNumericField("Minimal registered grid period as a fraction of maximal (to filter reflections)", 0.4,2); //was 0.7
	gd.addCheckbox ("Reset orientation from the image with most pointers (false - only if it was not set yet)", overwriteAll);		gd.addCheckbox ("Reset orientation from the image with most pointers (false - only if it was not set yet)", overwriteAll);
	gd.addCheckbox ("Disable (old) images without vignetting information", true);		gd.addCheckbox ("Disable (old) images without vignetting information", true);
	gd.addNumericField("Minimal number of grids in no-pointer images and estimated orientation", 1000,0);		gd.addNumericField("Minimal number of grid nodes in no-pointer images and estimated orientation", 1000,0);
	gd.showDialog();		gd.showDialog();
	if (gd.wasCanceled()) return;		if (gd.wasCanceled()) return;
	boolean resetHinted= gd.getNextBoolean();		boolean resetHinted= gd.getNextBoolean();
	@@ -6081,7 +6083,8 @@ if (MORE_BUTTONS) {
	System.out.println("Number of enabled grid images: "+numImages[0]+		System.out.println("Number of enabled grid images: "+numImages[0]+
	", of them new: "+numImages[1]+		", of them new: "+numImages[1]+
	", disabled without vignetting info: "+numImages[2]+		", disabled without vignetting info: "+numImages[2]+
	", disabled having less than "+minGridsNoPointer+" nodes and no matched pointers: "+numImages[3]);		", disabled having less than "+minGridsNoPointer+" nodes and no matched pointers: "+numImages[3]+
			", disabled with no lasers and enableNoLaser==false (like 2 bottom cameras):" +numImages[4]);
	if (DISTORTION_CALIBRATION_DATA.gIS==null) {		if (DISTORTION_CALIBRATION_DATA.gIS==null) {
	int numImageSets=DISTORTION_CALIBRATION_DATA.buildImageSets(false); // from scratch		int numImageSets=DISTORTION_CALIBRATION_DATA.buildImageSets(false); // from scratch
	if (DEBUG_LEVEL>0) System.out.println("Image set was empty, built a new one with "+numImageSets+" image sets (\"panoramas\"): ");		if (DEBUG_LEVEL>0) System.out.println("Image set was empty, built a new one with "+numImageSets+" image sets (\"panoramas\"): ");

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