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Elphel
imagej-elphel
Commits
f204d4a8
Commit
f204d4a8
authored
Jun 15, 2018
by
Andrey Filippov
Browse files
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Plain Diff
Improved rig infinity calibration, minor bug fixes
parent
a7a1e850
Changes
4
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Showing
4 changed files
with
54 additions
and
10 deletions
+54
-10
BiQuadParameters.java
src/main/java/BiQuadParameters.java
+20
-1
Eyesis_Correction.java
src/main/java/Eyesis_Correction.java
+2
-0
GeometryCorrection.java
src/main/java/GeometryCorrection.java
+29
-8
TwoQuadCLT.java
src/main/java/TwoQuadCLT.java
+3
-1
No files found.
src/main/java/BiQuadParameters.java
View file @
f204d4a8
...
@@ -38,6 +38,9 @@ public class BiQuadParameters {
...
@@ -38,6 +38,9 @@ public class BiQuadParameters {
public
double
inf_max_disp_main
=
0.15
;
public
double
inf_max_disp_main
=
0.15
;
public
double
inf_max_disp_aux
=
0.15
;
public
double
inf_max_disp_aux
=
0.15
;
public
double
inf_max_disp_rig
=
0.2
;
// maybe even higher (2.0) to lock to initially high mismatch
public
double
inf_max_disp_rig
=
0.2
;
// maybe even higher (2.0) to lock to initially high mismatch
public
double
inf_weight_disp
=
0.3
;
// all dx < this value have scaled higher weight
public
double
inf_weight_disp_pow
=
1.0
;
// raise disparity difference to this power for weight
public
double
inf_neg_tolerance
=
2.5
;
// increase negative disparity for infinity tolerance
public
double
inf_neg_tolerance
=
2.5
;
// increase negative disparity for infinity tolerance
public
double
inf_weight
=
0.7
;
// weight of infinity measurements of all measurements
public
double
inf_weight
=
0.7
;
// weight of infinity measurements of all measurements
...
@@ -272,6 +275,11 @@ public class BiQuadParameters {
...
@@ -272,6 +275,11 @@ public class BiQuadParameters {
"Do not use tile for infinity adjustment if absolute value of the main camera disparity is too high"
);
"Do not use tile for infinity adjustment if absolute value of the main camera disparity is too high"
);
gd
.
addNumericField
(
"Maximal absolute value of inter-camera disparity to use for infinity rig adjustment"
,
this
.
inf_max_disp_rig
,
3
,
6
,
"pix"
,
gd
.
addNumericField
(
"Maximal absolute value of inter-camera disparity to use for infinity rig adjustment"
,
this
.
inf_max_disp_rig
,
3
,
6
,
"pix"
,
"Do not use tile for infinity adjustment if absolute value of the inter-camera disparity is too high"
);
"Do not use tile for infinity adjustment if absolute value of the inter-camera disparity is too high"
);
gd
.
addNumericField
(
"Infinity disparity offset to increase weight of far pixels"
,
this
.
inf_weight_disp
,
3
,
6
,
"pix"
,
"Increase weights of farther pixels by multiplying strength by (this offset - dx). 0.0 disables this feature"
);
gd
.
addNumericField
(
"Weight power for disparity difference"
,
this
.
inf_weight_disp_pow
,
3
,
6
,
""
,
"Raise (offset - dx) to this power. <=0.0 disables this feature"
);
gd
.
addNumericField
(
"Loosen negative disparity tolerance for infinity"
,
this
.
inf_neg_tolerance
,
3
,
6
,
""
,
gd
.
addNumericField
(
"Loosen negative disparity tolerance for infinity"
,
this
.
inf_neg_tolerance
,
3
,
6
,
""
,
"Allow farther negative than positive disparity tiles for infinity (only for main/rig pair)"
);
"Allow farther negative than positive disparity tiles for infinity (only for main/rig pair)"
);
gd
.
addNumericField
(
"Weight of infinity measurements in all measurements"
,
this
.
inf_weight
,
3
,
6
,
""
,
gd
.
addNumericField
(
"Weight of infinity measurements in all measurements"
,
this
.
inf_weight
,
3
,
6
,
""
,
...
@@ -650,6 +658,9 @@ public class BiQuadParameters {
...
@@ -650,6 +658,9 @@ public class BiQuadParameters {
this
.
inf_max_disp_main
=
gd
.
getNextNumber
();
this
.
inf_max_disp_main
=
gd
.
getNextNumber
();
this
.
inf_max_disp_aux
=
gd
.
getNextNumber
();
this
.
inf_max_disp_aux
=
gd
.
getNextNumber
();
this
.
inf_max_disp_rig
=
gd
.
getNextNumber
();
this
.
inf_max_disp_rig
=
gd
.
getNextNumber
();
this
.
inf_weight_disp
=
gd
.
getNextNumber
();
this
.
inf_weight_disp_pow
=
gd
.
getNextNumber
();
this
.
inf_neg_tolerance
=
gd
.
getNextNumber
();
this
.
inf_neg_tolerance
=
gd
.
getNextNumber
();
this
.
inf_weight
=
gd
.
getNextNumber
();
this
.
inf_weight
=
gd
.
getNextNumber
();
this
.
first_max_disp_main
=
gd
.
getNextNumber
();
this
.
first_max_disp_main
=
gd
.
getNextNumber
();
...
@@ -843,10 +854,12 @@ public class BiQuadParameters {
...
@@ -843,10 +854,12 @@ public class BiQuadParameters {
properties
.
setProperty
(
prefix
+
"inf_max_disp_main"
,
this
.
inf_max_disp_main
+
""
);
properties
.
setProperty
(
prefix
+
"inf_max_disp_main"
,
this
.
inf_max_disp_main
+
""
);
properties
.
setProperty
(
prefix
+
"inf_max_disp_aux"
,
this
.
inf_max_disp_aux
+
""
);
properties
.
setProperty
(
prefix
+
"inf_max_disp_aux"
,
this
.
inf_max_disp_aux
+
""
);
properties
.
setProperty
(
prefix
+
"inf_max_disp_rig"
,
this
.
inf_max_disp_rig
+
""
);
properties
.
setProperty
(
prefix
+
"inf_max_disp_rig"
,
this
.
inf_max_disp_rig
+
""
);
properties
.
setProperty
(
prefix
+
"inf_weight_disp"
,
this
.
inf_weight_disp
+
""
);
properties
.
setProperty
(
prefix
+
"inf_weight_disp_pow"
,
this
.
inf_weight_disp_pow
+
""
);
properties
.
setProperty
(
prefix
+
"inf_neg_tolerance"
,
this
.
inf_neg_tolerance
+
""
);
properties
.
setProperty
(
prefix
+
"inf_neg_tolerance"
,
this
.
inf_neg_tolerance
+
""
);
properties
.
setProperty
(
prefix
+
"inf_weight"
,
this
.
inf_weight
+
""
);
properties
.
setProperty
(
prefix
+
"inf_weight"
,
this
.
inf_weight
+
""
);
properties
.
setProperty
(
prefix
+
"first_max_disp_main"
,
this
.
first_max_disp_main
+
""
);
properties
.
setProperty
(
prefix
+
"first_max_disp_main"
,
this
.
first_max_disp_main
+
""
);
properties
.
setProperty
(
prefix
+
"first_max_disp_aux"
,
this
.
first_max_disp_aux
+
""
);
properties
.
setProperty
(
prefix
+
"first_max_disp_aux"
,
this
.
first_max_disp_aux
+
""
);
properties
.
setProperty
(
prefix
+
"first_max_disp_rig"
,
this
.
first_max_disp_rig
+
""
);
properties
.
setProperty
(
prefix
+
"first_max_disp_rig"
,
this
.
first_max_disp_rig
+
""
);
...
@@ -1038,6 +1051,9 @@ public class BiQuadParameters {
...
@@ -1038,6 +1051,9 @@ public class BiQuadParameters {
if
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_main"
)!=
null
)
this
.
inf_max_disp_main
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_main"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_main"
)!=
null
)
this
.
inf_max_disp_main
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_main"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_aux"
)!=
null
)
this
.
inf_max_disp_aux
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_aux"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_aux"
)!=
null
)
this
.
inf_max_disp_aux
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_aux"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_rig"
)!=
null
)
this
.
inf_max_disp_rig
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_rig"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_rig"
)!=
null
)
this
.
inf_max_disp_rig
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_max_disp_rig"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_weight_disp"
)!=
null
)
this
.
inf_weight_disp
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_weight_disp"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_weight_disp_pow"
)!=
null
)
this
.
inf_weight_disp_pow
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_weight_disp_pow"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_neg_tolerance"
)!=
null
)
this
.
inf_neg_tolerance
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_neg_tolerance"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_neg_tolerance"
)!=
null
)
this
.
inf_neg_tolerance
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_neg_tolerance"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_weight"
)!=
null
)
this
.
inf_weight
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_weight"
));
if
(
properties
.
getProperty
(
prefix
+
"inf_weight"
)!=
null
)
this
.
inf_weight
=
Double
.
parseDouble
(
properties
.
getProperty
(
prefix
+
"inf_weight"
));
...
@@ -1233,6 +1249,9 @@ public class BiQuadParameters {
...
@@ -1233,6 +1249,9 @@ public class BiQuadParameters {
bqp
.
inf_max_disp_main
=
this
.
inf_max_disp_main
;
bqp
.
inf_max_disp_main
=
this
.
inf_max_disp_main
;
bqp
.
inf_max_disp_aux
=
this
.
inf_max_disp_aux
;
bqp
.
inf_max_disp_aux
=
this
.
inf_max_disp_aux
;
bqp
.
inf_max_disp_rig
=
this
.
inf_max_disp_rig
;
bqp
.
inf_max_disp_rig
=
this
.
inf_max_disp_rig
;
bqp
.
inf_weight_disp
=
this
.
inf_weight_disp
;
bqp
.
inf_weight_disp_pow
=
this
.
inf_weight_disp_pow
;
bqp
.
inf_neg_tolerance
=
this
.
inf_neg_tolerance
;
bqp
.
inf_neg_tolerance
=
this
.
inf_neg_tolerance
;
bqp
.
inf_weight
=
this
.
inf_weight
;
bqp
.
inf_weight
=
this
.
inf_weight
;
...
...
src/main/java/Eyesis_Correction.java
View file @
f204d4a8
...
@@ -5034,6 +5034,8 @@ private Panel panel1,
...
@@ -5034,6 +5034,8 @@ private Panel panel1,
// TODO Auto-generated catch block
// TODO Auto-generated catch block
e
.
printStackTrace
();
e
.
printStackTrace
();
}
//final int debugLevel);
}
//final int debugLevel);
QUAD_CLT
.
tp
.
clt_3d_passes
=
null
;
// resetCLTPasses(); // so running "Ground truth" after would be OK
QUAD_CLT_AUX
.
tp
.
clt_3d_passes
=
null
;
//.resetCLTPasses();
if
(
configPath
!=
null
)
{
if
(
configPath
!=
null
)
{
saveTimestampedProperties
(
// save config again
saveTimestampedProperties
(
// save config again
...
...
src/main/java/GeometryCorrection.java
View file @
f204d4a8
...
@@ -156,6 +156,8 @@ public class GeometryCorrection {
...
@@ -156,6 +156,8 @@ public class GeometryCorrection {
public
double
[]
getRigCorrection
(
public
double
[]
getRigCorrection
(
double
infinity_importance
,
// of all measurements
double
infinity_importance
,
// of all measurements
double
dx_max
,
// = 0.3;
double
dx_pow
,
// = 1.0;
boolean
adjust_orientation
,
boolean
adjust_orientation
,
boolean
adjust_zoom
,
boolean
adjust_zoom
,
boolean
adjust_angle
,
boolean
adjust_angle
,
...
@@ -172,6 +174,8 @@ public class GeometryCorrection {
...
@@ -172,6 +174,8 @@ public class GeometryCorrection {
if
(
rigOffset
==
null
)
return
null
;
if
(
rigOffset
==
null
)
return
null
;
return
rigOffset
.
getRigCorrection
(
return
rigOffset
.
getRigCorrection
(
infinity_importance
,
// of all measurements
infinity_importance
,
// of all measurements
dx_max
,
// double dx_max, // = 0.3;
dx_pow
,
// double dx_pow, // = 1.0;
adjust_orientation
,
// boolean adjust_orientation,
adjust_orientation
,
// boolean adjust_orientation,
adjust_zoom
,
// boolean adjust_zoom,
adjust_zoom
,
// boolean adjust_zoom,
adjust_angle
,
// boolean adjust_angle,
adjust_angle
,
// boolean adjust_angle,
...
@@ -371,6 +375,8 @@ public class GeometryCorrection {
...
@@ -371,6 +375,8 @@ public class GeometryCorrection {
}
}
public
double
setupYW
(
public
double
setupYW
(
double
infinity_importance
,
// of all measurements
double
infinity_importance
,
// of all measurements
double
dx_max
,
// = 0.3;
double
dx_pow
,
// = 1.0;
ArrayList
<
Integer
>
tile_list
,
ArrayList
<
Integer
>
tile_list
,
QuadCLT
qc
,
QuadCLT
qc
,
double
[]
strength
,
double
[]
strength
,
...
@@ -387,25 +393,36 @@ public class GeometryCorrection {
...
@@ -387,25 +393,36 @@ public class GeometryCorrection {
double
sum2_inf
=
0.0
,
sum2_near
=
0.0
;
double
sum2_inf
=
0.0
,
sum2_near
=
0.0
;
int
tilesX
=
qc
.
tp
.
getTilesX
();
int
tilesX
=
qc
.
tp
.
getTilesX
();
double
tileSize
=
qc
.
tp
.
getTileSize
();
double
tileSize
=
qc
.
tp
.
getTileSize
();
// double dx_max = 0.2;
// double dx_pow = 1.0;
for
(
int
i
=
0
;
i
<
tile_list
.
size
();
i
++)
{
for
(
int
i
=
0
;
i
<
tile_list
.
size
();
i
++)
{
int
nTile
=
tile_list
.
get
(
i
);
int
nTile
=
tile_list
.
get
(
i
);
int
tileY
=
nTile
/
tilesX
;
int
tileY
=
nTile
/
tilesX
;
int
tileX
=
nTile
%
tilesX
;
int
tileX
=
nTile
%
tilesX
;
double
w
=
strength
[
nTile
];
double
inf_w_corr
=
1.0
;
if
((
dx_max
>
0
)
&&
(
dx_pow
>
0
)){
inf_w_corr
=
(
dx_max
-
diff_x
[
nTile
])/
dx_max
;
if
(
inf_w_corr
<
0.0
)
inf_w_corr
=
0.0
;
// favor negative (more infinity)
if
(
dx_pow
!=
1.0
)
{
inf_w_corr
=
Math
.
pow
(
inf_w_corr
,
dx_pow
);
}
}
if
(
target_disparity
[
nTile
]
==
0.0
)
{
// only for infinity tiles
if
(
target_disparity
[
nTile
]
==
0.0
)
{
// only for infinity tiles
w
*=
inf_w_corr
;
y_vector
[
2
*
i
+
0
]
=
diff_x
[
nTile
];
y_vector
[
2
*
i
+
0
]
=
diff_x
[
nTile
];
w_vector
[
2
*
i
+
0
]
=
strength
[
nTile
]
;
w_vector
[
2
*
i
+
0
]
=
w
;
y_vector
[
2
*
i
+
1
]
=
diff_y
[
nTile
];
y_vector
[
2
*
i
+
1
]
=
diff_y
[
nTile
];
w_vector
[
2
*
i
+
1
]
=
strength
[
nTile
]
;
w_vector
[
2
*
i
+
1
]
=
w
;
sumw_inf
+=
2
*
strength
[
nTile
]
;
sumw_inf
+=
2
*
w
;
sum2_inf
+=
strength
[
nTile
]
*(
diff_x
[
nTile
]*
diff_x
[
nTile
]+
diff_y
[
nTile
]*
diff_y
[
nTile
]);
sum2_inf
+=
w
*(
diff_x
[
nTile
]*
diff_x
[
nTile
]+
diff_y
[
nTile
]*
diff_y
[
nTile
]);
is_inf
[
i
]
=
true
;
is_inf
[
i
]
=
true
;
}
else
{
}
else
{
y_vector
[
2
*
i
+
1
]
=
diff_y
[
nTile
];
y_vector
[
2
*
i
+
1
]
=
diff_y
[
nTile
];
w_vector
[
2
*
i
+
1
]
=
strength
[
nTile
]
;
w_vector
[
2
*
i
+
1
]
=
w
;
sumw_near
+=
strength
[
nTile
]
;
sumw_near
+=
w
;
sum2_near
+=
strength
[
nTile
]
*
diff_y
[
nTile
]*
diff_y
[
nTile
];
sum2_near
+=
w
*
diff_y
[
nTile
]*
diff_y
[
nTile
];
}
}
xy_vector
[
2
*
i
+
0
]
=
(
tileX
+
0.5
)
*
tileSize
;
xy_vector
[
2
*
i
+
0
]
=
(
tileX
+
0.5
)
*
tileSize
;
xy_vector
[
2
*
i
+
1
]
=
(
tileY
+
0.5
)
*
tileSize
;
xy_vector
[
2
*
i
+
1
]
=
(
tileY
+
0.5
)
*
tileSize
;
...
@@ -556,6 +573,8 @@ public class GeometryCorrection {
...
@@ -556,6 +573,8 @@ public class GeometryCorrection {
public
double
[]
getRigCorrection
(
public
double
[]
getRigCorrection
(
double
infinity_importance
,
// of all measurements
double
infinity_importance
,
// of all measurements
double
dx_max
,
// = 0.3;
double
dx_pow
,
// = 1.0;
boolean
adjust_orientation
,
boolean
adjust_orientation
,
boolean
adjust_zoom
,
boolean
adjust_zoom
,
boolean
adjust_angle
,
boolean
adjust_angle
,
...
@@ -578,6 +597,8 @@ public class GeometryCorrection {
...
@@ -578,6 +597,8 @@ public class GeometryCorrection {
double
rms
=
setupYW
(
double
rms
=
setupYW
(
infinity_importance
,
// of all measurements
infinity_importance
,
// of all measurements
dx_max
,
// double dx_max, // = 0.3;
dx_pow
,
// double dx_pow, // = 1.0;
tile_list
,
tile_list
,
qc_main
,
qc_main
,
strength
,
strength
,
...
...
src/main/java/TwoQuadCLT.java
View file @
f204d4a8
...
@@ -1192,6 +1192,8 @@ if (debugLevel > -100) return true; // temporarily !
...
@@ -1192,6 +1192,8 @@ if (debugLevel > -100) return true; // temporarily !
// do actual adjustment step, update rig parameters
// do actual adjustment step, update rig parameters
quadCLT_aux
.
geometryCorrection
.
getRigCorrection
(
quadCLT_aux
.
geometryCorrection
.
getRigCorrection
(
clt_parameters
.
rig
.
inf_weight
,
// double infinity_importance, // of all measurements
clt_parameters
.
rig
.
inf_weight
,
// double infinity_importance, // of all measurements
clt_parameters
.
rig
.
inf_weight_disp
,
// double dx_max, // = 0.3;
clt_parameters
.
rig
.
inf_weight_disp_pow
,
// double dx_pow, // = 1.0;
clt_parameters
.
rig
.
rig_adjust_orientation
,
// boolean adjust_orientation,
clt_parameters
.
rig
.
rig_adjust_orientation
,
// boolean adjust_orientation,
clt_parameters
.
rig
.
rig_adjust_zoom
,
// boolean adjust_zoom,
clt_parameters
.
rig
.
rig_adjust_zoom
,
// boolean adjust_zoom,
clt_parameters
.
rig
.
rig_adjust_angle
,
// boolean adjust_angle,
clt_parameters
.
rig
.
rig_adjust_angle
,
// boolean adjust_angle,
...
...
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