Before Java 1.8 (f62718b1) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

+80 −0

Original line number	Original line	Diff line number	Diff line
	@@ -702,6 +702,7 @@ private Panel panel1,
	addButton("Inter Test", panelClt5, color_stop);		addButton("Inter Test", panelClt5, color_stop);
	addButton("Inter Pairs", panelClt5, color_process);		addButton("Inter Pairs", panelClt5, color_process);
	addButton("Inter LMA", panelClt5, color_stop);		addButton("Inter LMA", panelClt5, color_stop);
			addButton("Inter Series", panelClt5, color_process);
	plugInFrame.add(panelClt5);		plugInFrame.add(panelClt5);
	}		}

	@@ -5116,6 +5117,14 @@ private Panel panel1,
	CLT_PARAMETERS.batch_run = true;		CLT_PARAMETERS.batch_run = true;
	interPairsLMA();		interPairsLMA();
	return;		return;
			/* ======================================================================== */
			} else if (label.equals("Inter Series")) {
			DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
			CLT_PARAMETERS.batch_run = true;
			interSeriesLMA();
			return;

	/* ======================================================================== */		/* ======================================================================== */
	} else if (label.equals("Inter LMA")) {		} else if (label.equals("Inter LMA")) {
	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;		DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
	@@ -6636,6 +6645,77 @@ private Panel panel1,
	}		}


			public boolean interSeriesLMA() {
			long startTime=System.nanoTime();
			// load needed sensor and kernels files
			if (!prepareRigImages()) return false;
			String configPath=getSaveCongigPath();
			if (configPath.equals("ABORT")) return false;
			setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated, others should be set here
			if (DEBUG_LEVEL > -2){
			System.out.println("++++++++++++++ Testing Interscene processing ++++++++++++++");
			}

			if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used
			if (GPU_TILE_PROCESSOR == null) {
			try {
			GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);
			} catch (Exception e) {
			System.out.println("Failed to initialize GPU class");
			// TODO Auto-generated catch block
			e.printStackTrace();
			return false;
			} //final int debugLevel);
			}
			if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed
			try {
			GPU_QUAD = GPU_TILE_PROCESSOR.new GpuQuad(
			QUAD_CLT,
			4,
			3);
			} catch (Exception e) {
			System.out.println("Failed to initialize GpuQuad class");
			// TODO Auto-generated catch block
			e.printStackTrace();
			return false;
			} //final int debugLevel);
			QUAD_CLT.setGPU(GPU_QUAD);
			}
			}

			try {
			TWO_QUAD_CLT.interSeriesLMA(
			QUAD_CLT, // QuadCLT quadCLT_main,
			// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
			CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
			DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters debayerParameters,
			COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
			COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,
			CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters channelGainParameters,
			RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters rgbParameters,
			EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
			PROPERTIES, // Properties properties,
			true, // false, // boolean reset_from_extrinsics,
			THREADS_MAX, //final int threadsMax, // maximal number of threads to launch
			UPDATE_STATUS, //final boolean updateStatus,
			DEBUG_LEVEL);
			} catch (Exception e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			} //final int debugLevel);
			if (configPath!=null) {
			saveTimestampedProperties( // save config again
			configPath, // full path or null
			null, // use as default directory if path==null
			true,
			PROPERTIES);
			}
			System.out.println("batchRig(): Processing finished at "+
			IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
			Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
			return true;
			}

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

+39 −12

Original line number	Original line	Diff line number	Diff line
	@@ -233,6 +233,19 @@ public class ErsCorrection extends GeometryCorrection {
	return ers_watr_center_d2t;		return ers_watr_center_d2t;
	}		}

			public void setErsDt(
			double [] ers_xyz_dt,
			double [] ers_atr_dt) {
			this.ers_wxyz_center_dt = ers_xyz_dt;
			this.ers_watr_center_dt = ers_atr_dt;
			}
			public void setErsD2t(
			double [] ers_xyz_d2t,
			double [] ers_atr_d2t) {
			this.ers_wxyz_center_d2t = ers_xyz_d2t;
			this.ers_watr_center_d2t = ers_atr_d2t;
			}




	@@ -286,7 +299,7 @@ public class ErsCorrection extends GeometryCorrection {
	String prefix = parent_prefix+SCENES_PREFIX+"_";		String prefix = parent_prefix+SCENES_PREFIX+"_";
	for (Enumeration<?> e = properties.propertyNames(); e.hasMoreElements();) {		for (Enumeration<?> e = properties.propertyNames(); e.hasMoreElements();) {
	String key = (String) e.nextElement();		String key = (String) e.nextElement();
	if (key.startsWith(prefix)) {		if (key.startsWith(prefix) && !key.endsWith("t")) { // _dt, _d2t
	timestamps.add(key.substring(prefix.length()));		timestamps.add(key.substring(prefix.length()));
	}		}
	}		}
	@@ -899,15 +912,6 @@ public class ErsCorrection extends GeometryCorrection {
	if (xyzw == null) {		if (xyzw == null) {
	return null;		return null;
	}		}
	if (xyzw[3] == 0.0) { // infinity
	/*
	if (xyzw[2] > 0) {
	for (int i = 0; i < 3; i++) {
	xyzw[i] = -xyzw[i];
	}
	}
	*/
	}
	if (xyzw[2] > 0) {		if (xyzw[2] > 0) {
	return null; // can not match object behind the camera		return null; // can not match object behind the camera
	}		}
	@@ -1914,6 +1918,23 @@ public class ErsCorrection extends GeometryCorrection {
	}		}
	}		}

			public static double [][] combineXYZATR(
			double [] reference_xyz,
			double [] reference_atr,
			double [] scene_xyz,
			double [] scene_atr)
			{
			Rotation ref_rotation= new Rotation(RotationOrder.YXZ, ROT_CONV, reference_atr[0],reference_atr[1],reference_atr[2]);
			Rotation scene_rotation= new Rotation(RotationOrder.YXZ, ROT_CONV, scene_atr[0], scene_atr[1], scene_atr[2]);
			Vector3D ref_offset = new Vector3D(reference_xyz);
			Vector3D scene_offset = new Vector3D(scene_xyz);
			Vector3D offset = ref_offset.add(ref_rotation.applyTo(scene_offset));
			Rotation rotation = ref_rotation.applyTo(scene_rotation);
			double [] angles = rotation.getAngles(RotationOrder.YXZ, ROT_CONV);
			double [] xyz = offset.toArray();
			return new double[][] {xyz,angles};

			}

	public double [] getImageCoordinatesERS(		public double [] getImageCoordinatesERS(
	double [] xyzw,		double [] xyzw,
	@@ -2155,6 +2176,9 @@ public class ErsCorrection extends GeometryCorrection {
	double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector		double[][] derivatives = new double[DP_NUM_PARS+1][]; // includes [0] - pXpYD vector
	// scene pX, pY, Disparity		// scene pX, pY, Disparity
	derivatives[0] = pXpYD_scene;		derivatives[0] = pXpYD_scene;
			if (Double.isNaN(pXpYD_scene[0]) \|\| Double.isNaN(pXpYD_scene[1]) \|\| Double.isNaN(pXpYD_scene[2])) {
			return null;
			}
	// derivatives by the reference parameters, starting with /dpX, /dpY, /dd		// derivatives by the reference parameters, starting with /dpX, /dpY, /dd
	for (int indx = DW_DPX; indx <= DW_DZ; indx++) {		for (int indx = DW_DPX; indx <= DW_DZ; indx++) {
	int vindx = indx+1;		int vindx = indx+1;
	@@ -2167,6 +2191,9 @@ public class ErsCorrection extends GeometryCorrection {
	} else {		} else {
	derivatives[vindx] = matrixTimesVector(dpscene_dxyz, reference_vectors[vindx]).toArray();		derivatives[vindx] = matrixTimesVector(dpscene_dxyz, reference_vectors[vindx]).toArray();
	}		}
			if (Double.isNaN(derivatives[vindx][0]) \|\| Double.isNaN(derivatives[vindx][1]) \|\| Double.isNaN(derivatives[vindx][2])) {
			return null;
			}
	}		}
	for (int indx = DP_DSVAZ; indx < DP_NUM_PARS; indx++) { // 15,16, ...		for (int indx = DP_DSVAZ; indx < DP_NUM_PARS; indx++) { // 15,16, ...
	int indx_out = indx+1; // 16, 17,		int indx_out = indx+1; // 16, 17,
	@@ -2216,7 +2243,7 @@ public class ErsCorrection extends GeometryCorrection {
	double pYcd = pXpYD[1] - 0.5 * this.pixelCorrectionHeight;		double pYcd = pXpYD[1] - 0.5 * this.pixelCorrectionHeight;
	double r_scale = 0.001 * this.pixelSize / this.distortionRadius;		double r_scale = 0.001 * this.pixelSize / this.distortionRadius;
	double rDn = Math.sqrt(pXcdpXcd + pYcdpYcd) * r_scale; // relative to distortion radius		double rDn = Math.sqrt(pXcdpXcd + pYcdpYcd) * r_scale; // relative to distortion radius
	double rND2RD = correctDistortions?(getRByRDist(rDn, false)): 1.0;		double rND2RD = correctDistortions?(getRByRDist(rDn, false)): 1.0; // NaN
	// rD - in mm		// rD - in mm
	// double rD = rDn * this.distortionRadius; // Math.sqrt(pXcdpXcd + pYcdpYcd)0.001this.pixelSize; // distorted radius in a virtual center camera		// double rD = rDn * this.distortionRadius; // Math.sqrt(pXcdpXcd + pYcdpYcd)0.001this.pixelSize; // distorted radius in a virtual center camera
	// pXc, pYc - in pixels		// pXc, pYc - in pixels

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

+4 −2

Original line number	Original line	Diff line number	Diff line
	@@ -4403,13 +4403,15 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
	}		}
	if (rDist < 0) { // not used in lwir		if (rDist < 0) { // not used in lwir
	if (debug)System.out.println("getRByRDist("+IJ.d2s(rDist,3)+"): rDist < 0");		if (debug)System.out.println("getRByRDist("+IJ.d2s(rDist,3)+"): rDist < 0");
	return Double.NaN;		rDist=0.0; // Double.NaN;
	}		}
	double findex = rDist/this.stepR;		double findex = rDist/this.stepR;
	int index=(int) Math.floor(findex);		int index=(int) Math.floor(findex);
	if (index>=(this.rByRDist.length-2)) { // not used in lwir		if (index>=(this.rByRDist.length-2)) { // not used in lwir
	if (debug) System.out.println("getRByRDist("+IJ.d2s(rDist,3)+"): index="+index+">="+(this.rByRDist.length-2));		if (debug) System.out.println("getRByRDist("+IJ.d2s(rDist,3)+"): index="+index+">="+(this.rByRDist.length-2));
	return Double.NaN;		// happens for 3D points far offcenter, should be filtered out by FoV
			return this.rByRDist.length-1;
			// return Double.NaN;
	}		}
	double mu = findex - index;		double mu = findex - index;
	double mu2 = mu * mu;		double mu2 = mu * mu;

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

+25 −9

Original line number	Original line	Diff line number	Diff line
	@@ -176,7 +176,7 @@ public class IntersceneLma {
	scenesCLT[1], // final QuadCLT scene_QuadClt,		scenesCLT[1], // final QuadCLT scene_QuadClt,
	scenesCLT[0], // final QuadCLT reference_QuadClt,		scenesCLT[0], // final QuadCLT reference_QuadClt,
	debug_level); // final int debug_level)		debug_level); // final int debug_level)
	double [][] wjtj = getWJtJlambda( // USED in lwir		double [][] wjtj = getWJtJlambda( // USED in lwir all NAN
	0.0, // final double lambda,		0.0, // final double lambda,
	last_jt); // final double [][] jt)		last_jt); // final double [][] jt)
	for (int i = 0; i < parameters_vector.length; i++) {		for (int i = 0; i < parameters_vector.length; i++) {
	@@ -252,7 +252,7 @@ public class IntersceneLma {
	}		}

	} else { // improved over initial ?		} else { // improved over initial ?
	if (last_rms[0] < initial_rms[0]) {		if (last_rms[0] < initial_rms[0]) { // NaN
	rslt[0] = true;		rslt[0] = true;
	if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");		if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");
	} else {		} else {
	@@ -270,6 +270,16 @@ public class IntersceneLma {
	}		}
	}		}
	}		}
			if ((debug_level > -2) && !rslt[0]) { // failed
			if ((debug_level > 1) \|\| (iter == 1) \|\| last_run) {
			System.out.println("LMA failed on iteration = "+iter);
			String [] lines = printOldNew(true); // boolean allvectors)
			for (String line : lines) {
			System.out.println(line);
			}
			}
			System.out.println();
			}

	return rslt[0]? iter : -1;		return rslt[0]? iter : -1;
	}		}
	@@ -487,6 +497,9 @@ public class IntersceneLma {
	double full_weight = asum_weight.sum();		double full_weight = asum_weight.sum();
	pure_weight = s_pure/full_weight;		pure_weight = s_pure/full_weight;
	final double s = 1.0/asum_weight.sum();		final double s = 1.0/asum_weight.sum();
			if (Double.isNaN(s)) {
			System.out.println("normalizeWeights(): s == NaN");
			}
	ai.set(0);		ai.set(0);
	for (int ithread = 0; ithread < threads.length; ithread++) {		for (int ithread = 0; ithread < threads.length; ithread++) {
	threads[ithread] = new Thread() {		threads[ithread] = new Thread() {
	@@ -578,6 +591,8 @@ public class IntersceneLma {
	scene_rot_matrix, // Matrix scene_rot_matrix, // single rotation (direct) matrix for the scene		scene_rot_matrix, // Matrix scene_rot_matrix, // single rotation (direct) matrix for the scene
	debug_level); // int debug_level);		debug_level); // int debug_level);
	if (deriv_params!= null) {		if (deriv_params!= null) {
			boolean bad_tile = false;
			if (!bad_tile) {
	fx[2 * iMTile + 0] = deriv_params[0][0]; // pX		fx[2 * iMTile + 0] = deriv_params[0][0]; // pX
	fx[2 * iMTile + 1] = deriv_params[0][1]; // pY		fx[2 * iMTile + 1] = deriv_params[0][1]; // pY
	if (jt != null) {		if (jt != null) {
	@@ -591,6 +606,7 @@ public class IntersceneLma {
	}		}
	}		}
	}		}
			}
	};		};
	}		}
	ImageDtt.startAndJoin(threads);		ImageDtt.startAndJoin(threads);

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