planes from neighbor supertiles (1361f670) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+15 −2

Original line number	Original line	Diff line number	Diff line
	@@ -2147,7 +2147,8 @@ public class EyesisCorrectionParameters {
	public double plTargetEigen = 0.1; // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below		public double plTargetEigen = 0.1; // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below
	public double plFractOutliers = 0.3; // Maximal fraction of outliers to remove		public double plFractOutliers = 0.3; // Maximal fraction of outliers to remove
	public int plMaxOutliers = 20; // Maximal number of outliers to remove		public int plMaxOutliers = 20; // Maximal number of outliers to remove
			public double plMinStrength = 0.1; // Minimal total strength of a plane
			public double plMaxEigen = 0.3; // Maximal eigenvalue of a plane

	// other debug images		// other debug images
	public boolean show_ortho_combine = false; // Show 'ortho_combine'		public boolean show_ortho_combine = false; // Show 'ortho_combine'
	@@ -2163,7 +2164,7 @@ public class EyesisCorrectionParameters {
	public boolean show_neighbors = false; // show 'neighbors'		public boolean show_neighbors = false; // show 'neighbors'
	public boolean show_flaps_dirs = false; // show 'flaps-dirs'		public boolean show_flaps_dirs = false; // show 'flaps-dirs'
	public boolean show_first_clusters = false; // show 'first_N_clusters'		public boolean show_first_clusters = false; // show 'first_N_clusters'
			public boolean show_planes = false; // show planes

	public CLTParameters(){}		public CLTParameters(){}
	public void setProperties(String prefix,Properties properties){		public void setProperties(String prefix,Properties properties){
	@@ -2386,6 +2387,8 @@ public class EyesisCorrectionParameters {
	properties.setProperty(prefix+"plTargetEigen", this.plTargetEigen +"");		properties.setProperty(prefix+"plTargetEigen", this.plTargetEigen +"");
	properties.setProperty(prefix+"plFractOutliers", this.plFractOutliers +"");		properties.setProperty(prefix+"plFractOutliers", this.plFractOutliers +"");
	properties.setProperty(prefix+"plMaxOutliers", this.plMaxOutliers+"");		properties.setProperty(prefix+"plMaxOutliers", this.plMaxOutliers+"");
			properties.setProperty(prefix+"plMinStrength", this.plMinStrength +"");
			properties.setProperty(prefix+"plMaxEigen", this.plMaxEigen +"");

	properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");		properties.setProperty(prefix+"show_ortho_combine", this.show_ortho_combine+"");
	properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");		properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");
	@@ -2399,6 +2402,7 @@ public class EyesisCorrectionParameters {
	properties.setProperty(prefix+"show_neighbors", this.show_neighbors+"");		properties.setProperty(prefix+"show_neighbors", this.show_neighbors+"");
	properties.setProperty(prefix+"show_flaps_dirs", this.show_flaps_dirs+"");		properties.setProperty(prefix+"show_flaps_dirs", this.show_flaps_dirs+"");
	properties.setProperty(prefix+"show_first_clusters", this.show_first_clusters+"");		properties.setProperty(prefix+"show_first_clusters", this.show_first_clusters+"");
			properties.setProperty(prefix+"show_planes", this.show_planes+"");
	}		}
	public void getProperties(String prefix,Properties properties){		public void getProperties(String prefix,Properties properties){
	if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));		if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));
	@@ -2614,6 +2618,8 @@ public class EyesisCorrectionParameters {
	if (properties.getProperty(prefix+"plTargetEigen")!=null) this.plTargetEigen=Double.parseDouble(properties.getProperty(prefix+"plTargetEigen"));		if (properties.getProperty(prefix+"plTargetEigen")!=null) this.plTargetEigen=Double.parseDouble(properties.getProperty(prefix+"plTargetEigen"));
	if (properties.getProperty(prefix+"plFractOutliers")!=null) this.plFractOutliers=Double.parseDouble(properties.getProperty(prefix+"plFractOutliers"));		if (properties.getProperty(prefix+"plFractOutliers")!=null) this.plFractOutliers=Double.parseDouble(properties.getProperty(prefix+"plFractOutliers"));
	if (properties.getProperty(prefix+"plMaxOutliers")!=null) this.plMaxOutliers=Integer.parseInt(properties.getProperty(prefix+"plMaxOutliers"));		if (properties.getProperty(prefix+"plMaxOutliers")!=null) this.plMaxOutliers=Integer.parseInt(properties.getProperty(prefix+"plMaxOutliers"));
			if (properties.getProperty(prefix+"plMinStrength")!=null) this.plMinStrength=Double.parseDouble(properties.getProperty(prefix+"plMinStrength"));
			if (properties.getProperty(prefix+"plMaxEigen")!=null) this.plMaxEigen=Double.parseDouble(properties.getProperty(prefix+"plMaxEigen"));

	if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine"));		if (properties.getProperty(prefix+"show_ortho_combine")!=null) this.show_ortho_combine=Boolean.parseBoolean(properties.getProperty(prefix+"show_ortho_combine"));
	if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));		if (properties.getProperty(prefix+"show_refine_supertiles")!=null) this.show_refine_supertiles=Boolean.parseBoolean(properties.getProperty(prefix+"show_refine_supertiles"));
	@@ -2627,6 +2633,7 @@ public class EyesisCorrectionParameters {
	if (properties.getProperty(prefix+"show_neighbors")!=null) this.show_neighbors=Boolean.parseBoolean(properties.getProperty(prefix+"show_neighbors"));		if (properties.getProperty(prefix+"show_neighbors")!=null) this.show_neighbors=Boolean.parseBoolean(properties.getProperty(prefix+"show_neighbors"));
	if (properties.getProperty(prefix+"show_flaps_dirs")!=null) this.show_flaps_dirs=Boolean.parseBoolean(properties.getProperty(prefix+"show_flaps_dirs"));		if (properties.getProperty(prefix+"show_flaps_dirs")!=null) this.show_flaps_dirs=Boolean.parseBoolean(properties.getProperty(prefix+"show_flaps_dirs"));
	if (properties.getProperty(prefix+"show_first_clusters")!=null) this.show_first_clusters=Boolean.parseBoolean(properties.getProperty(prefix+"show_first_clusters"));		if (properties.getProperty(prefix+"show_first_clusters")!=null) this.show_first_clusters=Boolean.parseBoolean(properties.getProperty(prefix+"show_first_clusters"));
			if (properties.getProperty(prefix+"show_planes")!=null) this.show_planes=Boolean.parseBoolean(properties.getProperty(prefix+"show_planes"));
	}		}

	public boolean showDialog() {		public boolean showDialog() {
	@@ -2864,6 +2871,8 @@ public class EyesisCorrectionParameters {
	gd.addNumericField("Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below", this.plTargetEigen, 6);		gd.addNumericField("Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below", this.plTargetEigen, 6);
	gd.addNumericField("Maximal fraction of outliers to remove", this.plFractOutliers, 6);		gd.addNumericField("Maximal fraction of outliers to remove", this.plFractOutliers, 6);
	gd.addNumericField("Maximal number of outliers to remove", this.plMaxOutliers, 0);		gd.addNumericField("Maximal number of outliers to remove", this.plMaxOutliers, 0);
			gd.addNumericField("Minimal total strength of a plane", this.plMinStrength, 6);
			gd.addNumericField("Maximal eigenvalue of a plane", this.plMaxEigen, 6);

	gd.addMessage ("--- Other debug images ---");		gd.addMessage ("--- Other debug images ---");
	gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine);		gd.addCheckbox ("Show 'ortho_combine'", this.show_ortho_combine);
	@@ -2878,6 +2887,7 @@ public class EyesisCorrectionParameters {
	gd.addCheckbox ("show 'neighbors'", this.show_neighbors);		gd.addCheckbox ("show 'neighbors'", this.show_neighbors);
	gd.addCheckbox ("Show 'flaps-dirs'", this.show_flaps_dirs);		gd.addCheckbox ("Show 'flaps-dirs'", this.show_flaps_dirs);
	gd.addCheckbox ("Show 'first_N_clusters'", this.show_first_clusters);		gd.addCheckbox ("Show 'first_N_clusters'", this.show_first_clusters);
			gd.addCheckbox ("Show planes", this.show_planes);
	WindowTools.addScrollBars(gd);		WindowTools.addScrollBars(gd);
	gd.showDialog();		gd.showDialog();

	@@ -3101,6 +3111,8 @@ public class EyesisCorrectionParameters {
	this.plTargetEigen= gd.getNextNumber();		this.plTargetEigen= gd.getNextNumber();
	this.plFractOutliers= gd.getNextNumber();		this.plFractOutliers= gd.getNextNumber();
	this.plMaxOutliers= (int) gd.getNextNumber();		this.plMaxOutliers= (int) gd.getNextNumber();
			this.plMinStrength= gd.getNextNumber();
			this.plMaxEigen= gd.getNextNumber();

	this.show_ortho_combine= gd.getNextBoolean();		this.show_ortho_combine= gd.getNextBoolean();
	this.show_refine_supertiles= gd.getNextBoolean();		this.show_refine_supertiles= gd.getNextBoolean();
	@@ -3114,6 +3126,7 @@ public class EyesisCorrectionParameters {
	this.show_neighbors= gd.getNextBoolean();		this.show_neighbors= gd.getNextBoolean();
	this.show_flaps_dirs= gd.getNextBoolean();		this.show_flaps_dirs= gd.getNextBoolean();
	this.show_first_clusters= gd.getNextBoolean();		this.show_first_clusters= gd.getNextBoolean();
			this.show_planes= gd.getNextBoolean();
	return true;		return true;
	}		}
	}		}

src/main/java/GeometryCorrection.java

+31 −10

Original line number	Original line	Diff line number	Diff line
	@@ -356,6 +356,36 @@ public class GeometryCorrection {
	return xyz;		return xyz;
	}		}

			/**
			* Find disparity for the intersection of the view ray (px, py) and a real-world plane orthogonal through the end of the
			* vector norm_xyz
			* @param norm_xyz vector from the origin (camera) orthogonal to the plane, length is a distance to the plane
			* @param px pixel coordinate horizontal
			* @param py pixel coordinate vertical
			* @param correctDistortions true for lens distortion correction, false otherwise
			* @return disparity for the point on the plane specified by norm_xyz and known view coordinates px, py
			*/
			public double getPlaneDisparity(
			double [] norm_xyz,
			double px,
			double py,
			boolean correctDistortions) // correct distortion (will need corrected background too !)
			{
			double pXcd = px - 0.5 * this.pixelCorrectionWidth;
			double pYcd = py - 0.5 * this.pixelCorrectionHeight;
			double rD = Math.sqrt(pXcdpXcd + pYcdpYcd)0.001this.pixelSize; // distorted radius in a virtual center camera
			double rND2R = correctDistortions?(getRByRDist(rD/this.distortionRadius, false)): 1.0;
			double pXc = pXcd * rND2R; // non-distorted coordinates relative to the (0.5 * this.pixelCorrectionWidth, 0.5 * this.pixelCorrectionHeight)
			double pYc = pYcd * rND2R; // in pixels
			// point for the unity disparity
			double x = SCENE_UNITS_SCALE * pXc * this.disparityRadius;
			double y = -SCENE_UNITS_SCALE * pYc * this.disparityRadius;
			double z = -SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / (0.001*this.pixelSize); // "+" - near, "-" far
			double vect_dot_norm = (x * norm_xyz[0]) + (y * norm_xyz[1]) + (z * norm_xyz[2]);
			double norm_dot_norm = (norm_xyz[0] * norm_xyz[0]) + (norm_xyz[1] * norm_xyz[1]) + (norm_xyz[2] * norm_xyz[2]);
			return vect_dot_norm / norm_dot_norm;
			}

	/* Just for testing using delta instead of d */		/* Just for testing using delta instead of d */
	public double [][] getWorldJacobian(		public double [][] getWorldJacobian(
	double px,		double px,
	@@ -419,15 +449,6 @@ public class GeometryCorrection {
	// k = rD/r		// k = rD/r
	double d_k_d_rrND = correctDistortions?getDerivRDistFromR(rrND):0.0;		double d_k_d_rrND = correctDistortions?getDerivRDistFromR(rrND):0.0;
	double d_rND2R_d_rrD = - rND2R * rND2R * d_k_d_rrND / ( d_k_d_rrND * rrND + 1.0/ rND2R); // rrND);		double d_rND2R_d_rrD = - rND2R * rND2R * d_k_d_rrND / ( d_k_d_rrND * rrND + 1.0/ rND2R); // rrND);
	/*

	double d_rND2R_d_rrD0 = correctDistortions?(getDerivRByRDist(rrD, false)): 0.0;

	double d_rND2R_d_rrD1 = correctDistortions?(getDerivRByRDist(rrD, false, 0.00001)): 0.0;
	if (debug) {
	System.out.println("getWorldJacobian(): d_rND2R_d_rrD="+d_rND2R_d_rrD+", d_rND2R_d_rrD0="+d_rND2R_d_rrD0+", d_rND2R_d_rrD1="+d_rND2R_d_rrD1 );
	}
	*/

	double d_rND2R_d_px = d_rND2R_d_rrD * d_rRD_d_px;		double d_rND2R_d_px = d_rND2R_d_rrD * d_rRD_d_px;
	double d_rND2R_d_py = d_rND2R_d_rrD * d_rRD_d_py;		double d_rND2R_d_py = d_rND2R_d_rrD * d_rRD_d_py;
	@@ -514,7 +535,7 @@ public class GeometryCorrection {
	boolean correctDistortions,		boolean correctDistortions,
	int debugLevel)		int debugLevel)
	{		{
	if (debugLevel > 0){		if (debugLevel > 1){
	System.out.println("getImageJacobian():");		System.out.println("getImageJacobian():");
	}		}
	double x = xyz[0];		double x = xyz[0];

src/main/java/SuperTiles.java

+194 −9

Original line number	Original line	Diff line number	Diff line
	@@ -21,8 +21,13 @@
	-----------------------------------------------------------------------------		-----------------------------------------------------------------------------
	**		**
	*/		*/
			import java.util.ArrayList;
	import java.util.concurrent.atomic.AtomicInteger;		import java.util.concurrent.atomic.AtomicInteger;

			//import TilePlanes.PlaneData;

			//import TilePlanes.PlaneData;

	public class SuperTiles{		public class SuperTiles{
	TileProcessor tileProcessor;		TileProcessor tileProcessor;
	double step_far;		double step_far;
	@@ -45,6 +50,8 @@ public class SuperTiles{
	double [] bgStrength = null;		double [] bgStrength = null;
	// TileProcessor.CLTPass3d cltPass3d;		// TileProcessor.CLTPass3d cltPass3d;
	CLTPass3d cltPass3d;		CLTPass3d cltPass3d;
			// ArrayList<TilePlanes.PlaneData>[] planes = null;
			TilePlanes.PlaneData [][] planes = null;
	public SuperTiles(		public SuperTiles(
	CLTPass3d cltPass3d,		CLTPass3d cltPass3d,
	double step_near,		double step_near,
	@@ -118,7 +125,10 @@ public class SuperTiles{
	return min_disparity + d;		return min_disparity + d;
	}		}

			public TilePlanes.PlaneData [][] getPlanes()
			{
			return planes;
			}
	private double [][] getLapWeights(){		private double [][] getLapWeights(){
	final int superTileSize = tileProcessor.superTileSize;		final int superTileSize = tileProcessor.superTileSize;
	final double [][] lapWeight = new double [2 * superTileSize][2 * superTileSize];		final double [][] lapWeight = new double [2 * superTileSize][2 * superTileSize];
	@@ -1051,6 +1061,9 @@ public class SuperTiles{
	final int len2 = superTileSize2*superTileSize2;		final int len2 = superTileSize2*superTileSize2;
	final double [] double_zero = new double [len2];		final double [] double_zero = new double [len2];
	final boolean [] boolean_zero = new boolean [len2];		final boolean [] boolean_zero = new boolean [len2];
			//ArrayList<Individual>[] group = (ArrayList<Individual>[])new ArrayList[4];
			// this.planes = (ArrayList<TilePlanes.PlaneData>[]) new ArrayList[nStiles];
			this.planes = new TilePlanes.PlaneData[nStiles][];

	// final int debug_stile = 18 * stilesX + 25;		// final int debug_stile = 18 * stilesX + 25;
	// final int debug_stile = 20 * stilesX + 24;		// final int debug_stile = 20 * stilesX + 24;
	@@ -1102,8 +1115,9 @@ public class SuperTiles{
	}		}
	}		}
	}		}
			planes[nsTile] = null;
	if (sw >0){		if (sw >0){
			ArrayList<TilePlanes.PlaneData> st_planes = new ArrayList<TilePlanes.PlaneData>();
	// int dl = ((nsTile >= debug_stile-1) && (nsTile <= debug_stile+1) ) ? 1 : 0;		// int dl = ((nsTile >= debug_stile-1) && (nsTile <= debug_stile+1) ) ? 1 : 0;
	// int dl = ((stileY == 17) && (stileX > 4)) ? 1 : 0;		// int dl = ((stileY == 17) && (stileX > 4)) ? 1 : 0;
	// int dl = (stileY >= 0) ? 1 : 0;		// int dl = (stileY >= 0) ? 1 : 0;
	@@ -1124,7 +1138,7 @@ public class SuperTiles{
	//correct_distortions		//correct_distortions
	double swc_common = pd.getWeight();		double swc_common = pd.getWeight();
	if (dl > 0) {		if (dl > 0) {
	if (swc_common > 1.0) {		if (swc_common > 0.3) { // 1.0) {
	System.out.println("Processing planes["+nsTile+"]"+		System.out.println("Processing planes["+nsTile+"]"+
	", stileX="+stileX+		", stileX="+stileX+
	", stileY="+stileY+		", stileY="+stileY+
	@@ -1157,7 +1171,7 @@ public class SuperTiles{
	plMinPoints, // int minLeft, // minimal number of tiles to keep		plMinPoints, // int minLeft, // minimal number of tiles to keep
	dl1); // 0); // debugLevel);		dl1); // 0); // debugLevel);
	if (dl > 0) {		if (dl > 0) {
	if (swc_common > 1.0) {		if (swc_common > 0.3) { // 1.0) {
	System.out.println("Removed outliers["+nsTile+"]"+		System.out.println("Removed outliers["+nsTile+"]"+
	", stileX="+stileX+		", stileX="+stileX+
	", stileY="+stileY+		", stileY="+stileY+
	@@ -1182,6 +1196,7 @@ public class SuperTiles{
	norm_xyz[0]+", "+norm_xyz[1]+", "+norm_xyz[2]+"}");		norm_xyz[0]+", "+norm_xyz[1]+", "+norm_xyz[2]+"}");

	}		}
			st_planes.add(pd);

	// now try for each of the disparity-separated clusters		// now try for each of the disparity-separated clusters

	@@ -1274,6 +1289,7 @@ public class SuperTiles{
	}		}
	norm_xyz = pd.getWorldXYZ(		norm_xyz = pd.getWorldXYZ(
	correct_distortions);		correct_distortions);
			st_planes.add(pd);
	if (dl > 0) {		if (dl > 0) {
	System.out.println("World normal["+nsTile+"]["+m+"] = {"+		System.out.println("World normal["+nsTile+"]["+m+"] = {"+
	norm_xyz[0]+", "+norm_xyz[1]+", "+norm_xyz[2]+"}");		norm_xyz[0]+", "+norm_xyz[1]+", "+norm_xyz[2]+"}");
	@@ -1283,7 +1299,11 @@ public class SuperTiles{
	}		}
	}		}
	}		}
			if (st_planes.size() > 0){
			planes[nsTile] = st_planes.toArray(new TilePlanes.PlaneData[0] );
	}		}
			} // if sw >0

	}		}
	}		}
	};		};
	@@ -1291,5 +1311,170 @@ public class SuperTiles{
	ImageDtt.startAndJoin(threads);		ImageDtt.startAndJoin(threads);
	}		}

			public int [] getShowPlanesWidthHeight()
			{
			final int tilesX = tileProcessor.getTilesX();
			final int tilesY = tileProcessor.getTilesY();
			final int superTileSize = tileProcessor.getSuperTileSize();
			// final int tileSize = tileProcessor.getTileSize();
			final int stilesX = (tilesX + superTileSize -1)/superTileSize;
			final int stilesY = (tilesY + superTileSize -1)/superTileSize;
			int [] wh = {
			stilesX * superTileSize,// * tileSize,
			stilesY * superTileSize};// * tileSize};
			return wh;
			}

			// public double [][]
			TilePlanes.PlaneData [][] getNeibPlanes(
			final int dir // 0: get from up (N), 1:from NE, ... 7 - from NW
			// final double minWeight,
			// final double maxEigen,
			// final double dispNorm,
			// final boolean use_NaN
			)
			{
			final int tilesX = tileProcessor.getTilesX();
			final int tilesY = tileProcessor.getTilesY();
			final int superTileSize = tileProcessor.getSuperTileSize();
			final int tileSize = tileProcessor.getTileSize();
			final int stilesX = (tilesX + superTileSize -1)/superTileSize;
			final int stilesY = (tilesY + superTileSize -1)/superTileSize;
			// final int width = stilesX * superTileSize; // * tileSize;
			// final int height = stilesY * superTileSize; // * tileSize;
			final double [] nan_plane = new double [superTileSize*superTileSize];
			for (int i = 0; i < nan_plane.length; i++) nan_plane[i] = Double.NaN;
			// final int centerIndex = (superTileSize+1) * superTileSize / 2;
			final int [][] dirsYX = {{-1, 0},{-1,1},{0,1},{1,1},{1,0},{1,-1},{0,-1},{-1,-1}};
			TilePlanes.PlaneData [][] neib_planes = new TilePlanes.PlaneData[stilesY * stilesX][];
			TilePlanes tpl = null; // new TilePlanes(tileSize,superTileSize, geometryCorrection);
			// final int debug_stile = 17 * stilesX + 27;
			final int debug_stile = 20 * stilesX + 27;

			for (int sty0 = 0; sty0 < stilesY; sty0++){
			int sty = sty0 + dirsYX[dir][0];
			for (int stx0 = 0; stx0 < stilesX; stx0++){
			int nsTile0 = sty0 * stilesX + stx0; // result tile
			int stx = stx0 + dirsYX[dir][1];
			int nsTile = sty * stilesX + stx; // from where to get
			if ((sty >= 0) && (sty < stilesY) && (stx >= 0) && (stx < stilesX) && (planes[nsTile] != null)) {
			neib_planes[nsTile0] = new TilePlanes.PlaneData[planes[nsTile].length];
			for (int np = 0; np < planes[nsTile].length; np++){
			GeometryCorrection geometryCorrection = planes[nsTile][np].getGeometryCorrection();
			int [] sTileXY0 = {stx0,sty0};
			if (tpl == null) {
			tpl = new TilePlanes(tileSize,superTileSize, geometryCorrection);
			}
			TilePlanes.PlaneData pd = tpl.new PlaneData(
			sTileXY0,
			tileSize,
			superTileSize,
			geometryCorrection);
			/*
			TilePlanes.PlaneData pd = planes[nsTile0][np].clone();
			pd.setS
			*/
			if (nsTile0 == debug_stile) {
			System.out.println("getNeibPlanes(): nsTile0="+nsTile0+", nsTile="+nsTile+", np = "+np+" dir = "+ dir );
			}
			neib_planes[nsTile0][np] = pd.getPlaneToThis(
			planes[nsTile][np], // PlaneData otherPd,
			(nsTile0 == debug_stile)? 1:0); // int debugLevel)
			}
			} else {
			neib_planes[nsTile0] = null;
			}
			}
			}
			return neib_planes;
			}

			public double [][] getShowPlanes(
			TilePlanes.PlaneData [][] planes,
			double minWeight,
			double maxEigen,
			double dispNorm,
			boolean use_NaN)
			{
			final int tilesX = tileProcessor.getTilesX();
			final int tilesY = tileProcessor.getTilesY();
			final int superTileSize = tileProcessor.getSuperTileSize();
			// final int tileSize = tileProcessor.getTileSize();
			final int stilesX = (tilesX + superTileSize -1)/superTileSize;
			final int stilesY = (tilesY + superTileSize -1)/superTileSize;
			final int width = stilesX * superTileSize; // * tileSize;
			final int height = stilesY * superTileSize; // * tileSize;
			final double [] nan_plane = new double [superTileSize*superTileSize];
			for (int i = 0; i < nan_plane.length; i++) nan_plane[i] = Double.NaN;
			final int centerIndex = (superTileSize+1) * superTileSize / 2;

			// final int debug_stile = 17 * stilesX + 27;
			final int debug_stile = 20 * stilesX + 27;
			// final int debug_stile = 19 * stilesX + 27;
			// scan all get maximal number of satisfying planes
			int num_planes = 0;
			for (int i = 0; i < planes.length; i++) {
			if (i == debug_stile) {
			System.out.println("getShowPlanes():1, tile = "+i);
			}
			if ((planes[i] != null) && (planes[i].length > num_planes)){
			int num_sat = 0;
			for (int j = 0; j < planes[i].length; j++){
			if (planes[i][j].getWeight() >= minWeight){
			double eigVal = planes[i][j].getValue(); // ************** generated does not have value ????????????
			double disp = planes[i][j].getPlaneDisparity(false)[centerIndex];
			if (disp > dispNorm) {
			eigVal *= dispNorm / disp;
			}
			if (eigVal < maxEigen) num_sat ++;
			}
			}
			if (num_sat > num_planes) num_planes = num_sat;
			}
			}
			double [][] data = new double[num_planes][width*height];
			for (int sty = 0; sty < stilesY; sty++){
			for (int stx = 0; stx < stilesX; stx++){
			int nsTile = sty * stilesX + stx;
			if (nsTile == debug_stile) {
			System.out.println("getShowPlanes():2, tile = "+nsTile);
			}
			int ns = 0;
			double [] plane = nan_plane;
			int indx = (sty * superTileSize) * width + (stx * superTileSize);
			boolean debug = (nsTile == debug_stile) ; // (sty == 18) && (stx == 28);
			if (debug) {
			System.out.println("getShowPlanes():"+((planes[nsTile] != null)? planes[nsTile].length : "null"));
			}
			if (planes[nsTile] != null) {
			for (int np = 0; np < planes[nsTile].length; np++){
			if (planes[nsTile][np].getWeight() >= minWeight){
			//&& (planes[nsTile][np].getValue() < maxEigen)){
			double eigVal = planes[nsTile][np].getValue();
			// double disp = planes[nsTile][np].getPlaneDisparity(false)[centerIndex];
			double disp = planes[nsTile][np].getZxy()[0];
			if (disp > dispNorm) {
			eigVal *= dispNorm / disp;
			}
			if (eigVal < maxEigen) {
			plane = planes[nsTile][np].getPlaneDisparity(use_NaN);
			for (int y = 0; y < superTileSize; y++) {
			System.arraycopy(plane, superTileSize * y, data[ns], indx + width * y, superTileSize);
			}
			ns ++;
			}
			}
			}
			}
			// fill same (nearest) plane or NaN if none was available
			for (; ns < num_planes; ns++){
			for (int y = 0; y < superTileSize; y++) {
			System.arraycopy(plane, superTileSize * y, data[ns], indx + width * y, superTileSize);
			}
			}
			}
			}
			return data;
			}

	} // end of class SuperTiles		} // end of class SuperTiles