Before isolating image dimensions and zoom from map instance (2d5052a0) · Commits · Elphel / imagej-elphel

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

+84 −11

Original line number	Original line	Diff line number	Diff line
	@@ -326,7 +326,23 @@ public class IntersceneMatchParameters {
	public double ct_min = 3.7; //		public double ct_min = 3.7; //
	public double ct_max = 4.5; //		public double ct_max = 4.5; //
	public double ct_step = 0.02; // pix		public double ct_step = 0.02; // pix
	public int ct_expand = 2; // pix // expand section area by 1 pixel in 8 directions		public int ct_expand = -4; // pix // expand section area by 1 pixel in 8 directions

			// Generate terrain surface (cut trees)
			// flat surface extraction
			// public boolean terr_enable = true;
			public double terr_rmse_above = 1.0; // from average
			public double terr_rmse_below = 1.0; // from average, // positive value
			public int terr_num_refine = 5;
			public double terr_frac_above = 0.4;
			public double terr_frac_below = 0.3;

			public double terr_rthrsh_abv = 0.01; // 08; // later may be relative to SfM ?
			public boolean terr_flat_brd = true; // when filling NaN, replace NaN border tiles with flat ground
			public int terr_expand = 4; // 2;
			public boolean terr_save = true; // save debug data in model directory



	// Debug and visualization		// Debug and visualization
	public boolean scene_is_ref_test= false; // correlate ref-2-ref for testing		public boolean scene_is_ref_test= false; // correlate ref-2-ref for testing
	@@ -1164,6 +1180,19 @@ min_str_neib_fpn 0.35
	gd.addNumericField("CT scan step", this.ct_step, 5,7,"pix","Scan step.");		gd.addNumericField("CT scan step", this.ct_step, 5,7,"pix","Scan step.");
	gd.addNumericField("CT scan expand section", this.ct_expand, 0,3,"tiles","expand section area, 2 - a tile in 8 directions.");		gd.addNumericField("CT scan expand section", this.ct_expand, 0,3,"tiles","expand section area, 2 - a tile in 8 directions.");

			gd.addMessage ("Terrain generation (w/o vegetation)");

			// gd.addCheckbox ("Generate terrain", this.terr_enable, "Generate \"CT scan\" of the vegetation.");
			gd.addNumericField("Plain fit, limit above", this.terr_rmse_above,5,7,"std","Discard higher disparity, relative to stadard deviation.");
			gd.addNumericField("Plain fit, limit below", this.terr_rmse_below,5,7,"std","Discard lower disparity, relative to stadard deviation.");
			gd.addNumericField("Plain fitting passes", this.terr_num_refine, 0,3,"","Number of passes to refine ground plane fitting.");
			gd.addNumericField("Plain fit, outliers above", this.terr_frac_above*100,5,7,"%","Discard this fraction of outliers above plane.");
			gd.addNumericField("Plain fit, outliers below", this.terr_frac_below*100,5,7,"%","Discard this fraction of outliers above plane.");
			gd.addNumericField("Relative vegetation disparity", this.terr_rthrsh_abv,5,7,"x","Relative to disparity threshold of vegetation height.");
			gd.addCheckbox ("Assign border to fitted plane", this.terr_flat_brd,"Assign NaN border tiles to fitted plane disparity.");
			gd.addNumericField("Expand detected vegetation area", this.terr_expand, 0,3,"tiles","Expand section area, 2 - a tile in 8 directions.");
			gd.addCheckbox ("Save debug terrain images", this.terr_save, "Save terrain-related debug image in the model directory.");

	gd.addMessage ("Debug and visialization parameters");		gd.addMessage ("Debug and visialization parameters");
	gd.addCheckbox ("Replace scene with reference scene", this.scene_is_ref_test,		gd.addCheckbox ("Replace scene with reference scene", this.scene_is_ref_test,
	"Correlate reference scene with itself for testing (may want to manually change scene_atr and scene_xyz in debug mode)");		"Correlate reference scene with itself for testing (may want to manually change scene_atr and scene_xyz in debug mode)");
	@@ -2097,6 +2126,17 @@ min_str_neib_fpn 0.35
	this.ct_step = gd.getNextNumber();		this.ct_step = gd.getNextNumber();
	this.ct_expand = (int) gd.getNextNumber();		this.ct_expand = (int) gd.getNextNumber();

			// this.terr_enable= gd.getNextBoolean();
			this.terr_rmse_above= gd.getNextNumber();
			this.terr_rmse_below= gd.getNextNumber();
			this.terr_num_refine= (int) gd.getNextNumber();
			this.terr_frac_above= 0.01*gd.getNextNumber();
			this.terr_frac_below= 0.01*gd.getNextNumber();
			this.terr_rthrsh_abv= gd.getNextNumber();
			this.terr_flat_brd= gd.getNextBoolean();
			this.terr_expand= (int) gd.getNextNumber();
			this.terr_save= gd.getNextBoolean();

	this.scene_is_ref_test = gd.getNextBoolean();		this.scene_is_ref_test = gd.getNextBoolean();
	this.render_ref = gd.getNextBoolean();		this.render_ref = gd.getNextBoolean();
	this.render_scene = gd.getNextBoolean();		this.render_scene = gd.getNextBoolean();
	@@ -2713,6 +2753,17 @@ min_str_neib_fpn 0.35
	properties.setProperty(prefix+"ct_step", this.ct_step+""); // double		properties.setProperty(prefix+"ct_step", this.ct_step+""); // double
	properties.setProperty(prefix+"ct_expand", this.ct_expand+""); // int		properties.setProperty(prefix+"ct_expand", this.ct_expand+""); // int

			// properties.setProperty(prefix+"terr_enable", this.terr_enable+""); // boolean
			properties.setProperty(prefix+"terr_rmse_above", this.terr_rmse_above+""); // double
			properties.setProperty(prefix+"terr_rmse_below", this.terr_rmse_below+""); // double
			properties.setProperty(prefix+"terr_num_refine", this.terr_num_refine+""); // int
			properties.setProperty(prefix+"terr_frac_above", this.terr_frac_above+""); // double
			properties.setProperty(prefix+"terr_frac_below", this.terr_frac_below+""); // double
			properties.setProperty(prefix+"terr_rthrsh_abv", this.terr_rthrsh_abv+""); // double
			properties.setProperty(prefix+"terr_flat_brd", this.terr_flat_brd+""); // boolean
			properties.setProperty(prefix+"terr_expand", this.terr_expand+""); // int
			properties.setProperty(prefix+"terr_save", this.terr_save+""); // boolean

	properties.setProperty(prefix+"scene_is_ref_test", this.scene_is_ref_test+""); // boolean		properties.setProperty(prefix+"scene_is_ref_test", this.scene_is_ref_test+""); // boolean
	properties.setProperty(prefix+"render_ref", this.render_ref+""); // boolean		properties.setProperty(prefix+"render_ref", this.render_ref+""); // boolean
	properties.setProperty(prefix+"render_scene", this.render_scene+""); // boolean		properties.setProperty(prefix+"render_scene", this.render_scene+""); // boolean
	@@ -3292,6 +3343,17 @@ min_str_neib_fpn 0.35
	if (properties.getProperty(prefix+"ct_step")!=null) this.ct_step=Double.parseDouble(properties.getProperty(prefix+"ct_step"));		if (properties.getProperty(prefix+"ct_step")!=null) this.ct_step=Double.parseDouble(properties.getProperty(prefix+"ct_step"));
	if (properties.getProperty(prefix+"ct_expand")!=null) this.ct_expand=Integer.parseInt(properties.getProperty(prefix+"ct_expand"));		if (properties.getProperty(prefix+"ct_expand")!=null) this.ct_expand=Integer.parseInt(properties.getProperty(prefix+"ct_expand"));

			// if (properties.getProperty(prefix+"terr_enable")!=null) this.terr_enable=Boolean.parseBoolean(properties.getProperty(prefix+"terr_enable"));
			if (properties.getProperty(prefix+"terr_rmse_above")!=null) this.terr_rmse_above=Double.parseDouble(properties.getProperty(prefix+"terr_rmse_above"));
			if (properties.getProperty(prefix+"terr_rmse_below")!=null) this.terr_rmse_below=Double.parseDouble(properties.getProperty(prefix+"terr_rmse_below"));
			if (properties.getProperty(prefix+"terr_num_refine")!=null) this.terr_num_refine=Integer.parseInt(properties.getProperty(prefix+"terr_num_refine"));
			if (properties.getProperty(prefix+"terr_frac_above")!=null) this.terr_frac_above=Double.parseDouble(properties.getProperty(prefix+"terr_frac_above"));
			if (properties.getProperty(prefix+"terr_frac_below")!=null) this.terr_frac_below=Double.parseDouble(properties.getProperty(prefix+"terr_frac_below"));
			if (properties.getProperty(prefix+"terr_rthrsh_abv")!=null) this.terr_rthrsh_abv=Double.parseDouble(properties.getProperty(prefix+"terr_rthrsh_abv"));
			if (properties.getProperty(prefix+"terr_flat_brd")!=null) this.terr_flat_brd=Boolean.parseBoolean(properties.getProperty(prefix+"terr_flat_brd"));
			if (properties.getProperty(prefix+"terr_expand")!=null) this.terr_expand=Integer.parseInt(properties.getProperty(prefix+"terr_expand"));
			if (properties.getProperty(prefix+"terr_save")!=null) this.terr_save=Boolean.parseBoolean(properties.getProperty(prefix+"terr_save"));

	if (properties.getProperty(prefix+"scene_is_ref_test")!=null) this.scene_is_ref_test=Boolean.parseBoolean(properties.getProperty(prefix+"scene_is_ref_test"));		if (properties.getProperty(prefix+"scene_is_ref_test")!=null) this.scene_is_ref_test=Boolean.parseBoolean(properties.getProperty(prefix+"scene_is_ref_test"));
	if (properties.getProperty(prefix+"render_ref")!=null) this.render_ref=Boolean.parseBoolean(properties.getProperty(prefix+"render_ref"));		if (properties.getProperty(prefix+"render_ref")!=null) this.render_ref=Boolean.parseBoolean(properties.getProperty(prefix+"render_ref"));
	if (properties.getProperty(prefix+"render_scene")!=null) this.render_scene=Boolean.parseBoolean(properties.getProperty(prefix+"render_scene"));		if (properties.getProperty(prefix+"render_scene")!=null) this.render_scene=Boolean.parseBoolean(properties.getProperty(prefix+"render_scene"));
	@@ -3876,6 +3938,17 @@ min_str_neib_fpn 0.35
	imp.ct_step = this.ct_step;		imp.ct_step = this.ct_step;
	imp.ct_expand = this.ct_expand;		imp.ct_expand = this.ct_expand;

			// imp.terr_enable = this.terr_enable;
			imp.terr_rmse_above = this.terr_rmse_above;
			imp.terr_rmse_below = this.terr_rmse_below;
			imp.terr_num_refine = this.terr_num_refine;
			imp.terr_frac_above = this.terr_frac_above;
			imp.terr_frac_below = this.terr_frac_below;
			imp.terr_rthrsh_abv = this.terr_rthrsh_abv;
			imp.terr_flat_brd = this.terr_flat_brd;
			imp.terr_expand = this.terr_expand;
			imp.terr_save = this.terr_save;

	imp.scene_is_ref_test = this.scene_is_ref_test;		imp.scene_is_ref_test = this.scene_is_ref_test;
	imp.render_ref = this.render_ref;		imp.render_ref = this.render_ref;
	imp.render_scene = this.render_scene;		imp.render_scene = this.render_scene;

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

+7 −3

Original line number	Original line	Diff line number	Diff line
	@@ -6182,6 +6182,7 @@ public class OpticalFlow {

	}		}
	}		}
			double terr_rthrsh_abv = clt_parameters.imp.terr_rthrsh_abv;

	if (export_CT) {		if (export_CT) {
	double [][][] ct_scans = new double [(int) Math.ceil((ct_max-ct_min)/ct_step) + 1][][];		double [][][] ct_scans = new double [(int) Math.ceil((ct_max-ct_min)/ct_step) + 1][][];
	@@ -6199,6 +6200,7 @@ public class OpticalFlow {
	ct_step, // final double ct_step,		ct_step, // final double ct_step,
	ct_expand, // final int ct_expand,		ct_expand, // final int ct_expand,
	false, // final boolean terrain_mode,		false, // final boolean terrain_mode,
			terr_rthrsh_abv, // final double terrain_threshold, // in disparity so may depend on average, sfm, etc.
	null, // final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters		null, // final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters
	false, // final boolean hdr_render_slave,// use rendering parameters (to match other mode)		false, // final boolean hdr_render_slave,// use rendering parameters (to match other mode)
	updateStatus, // final boolean updateStatus,		updateStatus, // final boolean updateStatus,
	@@ -6233,7 +6235,7 @@ public class OpticalFlow {
	}		}
	}		}

	// debugging 3D model		// 3D model
	int [] whs = new int[3];		int [] whs = new int[3];
	double [] x0y0 = new double[2];		double [] x0y0 = new double[2];
	double [][] hdr_render_size = new double[2][];		double [][] hdr_render_size = new double[2][];
	@@ -6252,6 +6254,7 @@ public class OpticalFlow {
	0, // final double ct_step,		0, // final double ct_step,
	0, // final int ct_expand,		0, // final int ct_expand,
	false, // final boolean terrain_mode,		false, // final boolean terrain_mode,
			terr_rthrsh_abv, // final double terrain_threshold, // in disparity so may depend on average, sfm, etc.
	hdr_render_size, // final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters		hdr_render_size, // final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters
	false, // final boolean hdr_render_slave,// use rendering parameters (to match other mode)		false, // final boolean hdr_render_slave,// use rendering parameters (to match other mode)
	updateStatus, // final boolean updateStatus,		updateStatus, // final boolean updateStatus,
	@@ -6274,6 +6277,7 @@ public class OpticalFlow {
	0, // final double ct_step,		0, // final double ct_step,
	0, // final int ct_expand,		0, // final int ct_expand,
	true, // final boolean terrain_mode,		true, // final boolean terrain_mode,
			terr_rthrsh_abv, // final double terrain_threshold, // in disparity so may depend on average, sfm, etc.
	hdr_render_size, // final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters		hdr_render_size, // final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters
	hdr_render_slave, // final boolean hdr_render_slave,// use rendering parameters (to match other mode)		hdr_render_slave, // final boolean hdr_render_slave,// use rendering parameters (to match other mode)
	updateStatus, // final boolean updateStatus,		updateStatus, // final boolean updateStatus,

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

+6 −0

Original line number	Original line	Diff line number	Diff line
	@@ -1714,6 +1714,7 @@ public class QuadCLTCPU {
	int num_refine,		int num_refine,
	double frac_above,		double frac_above,
	double frac_below,		double frac_below,
			double [] plane, // null or double [3] - will return {tiltX,tiltY,average}
	String debug_title) {		String debug_title) {
	final double [] plane_disparity = new double [disparity.length];		final double [] plane_disparity = new double [disparity.length];
	final int num_bins = 1024;		final int num_bins = 1024;
	@@ -1757,6 +1758,11 @@ public class QuadCLTCPU {
	tilesX, // final int width,		tilesX, // final int width,
	center_xy); // final double [] xy0)		center_xy); // final double [] xy0)
	}		}
			if (plane != null) {
			plane[0] = plane_tiles[0];
			plane[1] = plane_tiles[1];
			plane[2] = plane_tiles[2];
			}

	for (int nTile = 0; nTile < disparity.length; nTile++) {		for (int nTile = 0; nTile < disparity.length; nTile++) {
	int tileX = nTile % tilesX;		int tileX = nTile % tilesX;

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

+68 −18

Original line number	Original line	Diff line number	Diff line
	@@ -2436,7 +2436,9 @@ public class TexturedModel {
	final double [] flat,		final double [] flat,
	final double threshold_above,		final double threshold_above,
	final int expand,		final int expand,
	final int width){		final boolean flat_border,
			final int width,
			boolean [] dbg_mask){
	final int height = disparity.length/width;		final int height = disparity.length/width;
	double [] terrain_disparity = disparity.clone();		double [] terrain_disparity = disparity.clone();
	boolean [] above_terrain = new boolean [disparity.length];		boolean [] above_terrain = new boolean [disparity.length];
	@@ -2452,10 +2454,31 @@ public class TexturedModel {
	for (int i = 0; i <above_terrain.length; i++) if (above_terrain[i]){		for (int i = 0; i <above_terrain.length; i++) if (above_terrain[i]){
	terrain_disparity[i] = Double.NaN;		terrain_disparity[i] = Double.NaN;
	}		}
			if (flat_border) {
			for (int h = 0; h < height; h+=height-1) {
			for (int w = 0; w < width; w++) {
			int indx = h*width+w;
			if (Double.isNaN(terrain_disparity[indx])) {
			terrain_disparity[indx] = flat[indx];
			}
			}
			}
			for (int w = 0; w < width; w+= width-1) {
			for (int h = 0; h < height; h++) {
			int indx = h*width+w;
			if (Double.isNaN(terrain_disparity[indx])) {
			terrain_disparity[indx] = flat[indx];
			}
			}
			}
			}
	OrthoMap.fillNaNs(		OrthoMap.fillNaNs(
	terrain_disparity, // double [] data,		terrain_disparity, // double [] data,
	tn, // TileNeibs tn,		tn, // TileNeibs tn,
	3); // int min_neibs)		3); // int min_neibs)
			if (dbg_mask != null) {
			System.arraycopy(above_terrain, 0, dbg_mask, 0, dbg_mask.length);
			}
	return terrain_disparity;		return terrain_disparity;
	}		}

	@@ -2569,6 +2592,7 @@ public class TexturedModel {
	final double ct_step,		final double ct_step,
	final int ct_expand_in,		final int ct_expand_in,
	final boolean terrain_mode,		final boolean terrain_mode,
			final double terr_rthrsh_abv, // relative to average disparity so may depend sfm, etc.
	final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters		final double [][] hdr_render_size, // { hdr_whs[3],hdr_x0y0[2]}; save/use rendering parameters
	final boolean hdr_render_slave,// use rendering parameters (to match other mode)		final boolean hdr_render_slave,// use rendering parameters (to match other mode)
	final boolean updateStatus,		final boolean updateStatus,
	@@ -2662,6 +2686,17 @@ public class TexturedModel {
	final double gsmth_str_bump = clt_parameters.gsmth_str_bump ; // 0.5; // enable bumps above level stronger than this		final double gsmth_str_bump = clt_parameters.gsmth_str_bump ; // 0.5; // enable bumps above level stronger than this
	final double gsmth_str_dip = clt_parameters.gsmth_str_dip ; // 0.55; // enable dips below level stronger than this		final double gsmth_str_dip = clt_parameters.gsmth_str_dip ; // 0.55; // enable dips below level stronger than this

			final double rmse_above = clt_parameters.imp.terr_rmse_above; //1.0; // from average
			final double rmse_below = clt_parameters.imp.terr_rmse_below; //1.0; // from average, // positive value
			final int num_refine = clt_parameters.imp.terr_num_refine; //5;
			final double frac_above = clt_parameters.imp.terr_frac_above; //0.4;
			final double frac_below = clt_parameters.imp.terr_frac_below; // 0.3;

			final boolean flat_border = clt_parameters.imp.terr_flat_brd; // when filling NaN, replace NaN border tiles with flat ground
			final int expand_above = clt_parameters.imp.terr_expand; // 4; // 2;
			final boolean save_terrain = clt_parameters.imp.terr_save & terrain_mode; // save debug data in model directory


	// final int ref_index = scenes.length - 1;		// final int ref_index = scenes.length - 1;
	final QuadCLT ref_scene = scenes[ref_index];		final QuadCLT ref_scene = scenes[ref_index];
	final TileProcessor tp = ref_scene.getTileProcessor();		final TileProcessor tp = ref_scene.getTileProcessor();
	@@ -2832,15 +2867,9 @@ public class TexturedModel {
	}		}
	}		}
	double [] smooth_ground = null;		double [] smooth_ground = null;
	double rmse_above = 1.0; // from average
	double rmse_below = 1.0; // from average, // positive value
	int num_refine = 5;
	double frac_above = 0.4;
	double frac_below = 0.3;
	double [] flat_ground = null;		double [] flat_ground = null;

	final double threshold_above = 0.05;		// final double threshold_above = 0.03;
	final int expand_above = 4; // 2;

	if (gsmth_enable && (!has_sfm \|\| gsmth_sfm_gnd)) {		if (gsmth_enable && (!has_sfm \|\| gsmth_sfm_gnd)) {
	smooth_ground = scenes[ref_index].getSmoothGround(		smooth_ground = scenes[ref_index].getSmoothGround(
	@@ -2848,6 +2877,7 @@ public class TexturedModel {
	has_sfm, // boolean sfm_mode,		has_sfm, // boolean sfm_mode,
	debugLevel);		debugLevel);
	String title_flat = (show_bs_debug)? (ref_scene.getImageName()+"-dbg_flat"):null ;		String title_flat = (show_bs_debug)? (ref_scene.getImageName()+"-dbg_flat"):null ;
			double [] plane = new double[3];
	flat_ground = scenes[ref_index].getFlatGround(		flat_ground = scenes[ref_index].getFlatGround(
	smooth_ground, // double [] disparity,		smooth_ground, // double [] disparity,
	rmse_above, //double rmse_above, // from average		rmse_above, //double rmse_above, // from average
	@@ -2855,8 +2885,9 @@ public class TexturedModel {
	num_refine, // int num_refine,		num_refine, // int num_refine,
	frac_above, // double frac_above,		frac_above, // double frac_above,
	frac_below, // double frac_below,		frac_below, // double frac_below,
			plane, // double [] plane, // null or double [3] - will return {tiltX,tiltY,average}
	title_flat); // String debug_title)		title_flat); // String debug_title)
			double threshold_above = plane[2] * terr_rthrsh_abv;
	if (smooth_ground != null) {		if (smooth_ground != null) {
	if (has_sfm && gsmth_sfm_deviate) {		if (has_sfm && gsmth_sfm_deviate) {
	mixed_flat = true;		mixed_flat = true;
	@@ -2888,27 +2919,46 @@ public class TexturedModel {
	for (int i = 0; i < single_disparity.length; i++) if (ss_fg_bg_common[1][i] > ss_fg_bg_common[0][i]) {		for (int i = 0; i < single_disparity.length; i++) if (ss_fg_bg_common[1][i] > ss_fg_bg_common[0][i]) {
	single_disparity[i] = ds_fg_bg_common[1][i];		single_disparity[i] = ds_fg_bg_common[1][i];
	}		}
			boolean [] terr_mask = (save_terrain \|\| show_bs_debug) ? (new boolean [ single_disparity.length]):null;
	double [] terrain_disparity = getTerrainDisparity(		double [] terrain_disparity = getTerrainDisparity(
	single_disparity, // final double [] disparity, // maybe already filtered from smooth (combined, allow strong deviations)		single_disparity, // final double [] disparity, // maybe already filtered from smooth (combined, allow strong deviations)
	flat_ground, // final double [] flat,		flat_ground, // final double [] flat,
	threshold_above, // final double threshold_above,		threshold_above, // final double threshold_above,
	expand_above, // final int expand,		expand_above, // final int expand,
	tilesX); // final int width) ;		flat_border, // final boolean flat_border,
			tilesX, // final int width) ;
			terr_mask); // boolean [] dbg_mask);

	if (show_bs_debug) {		if (save_terrain \|\| show_bs_debug) {
	String [] dbg_titles = {"FG","BG","FG_LMA", "BG_LMA", "GND", "FLAT", "SINGLE", "TERRAIN", "FS", "BS"};		String [] dbg_titles = {"FG","BG","FG_LMA", "BG_LMA", "GND", "FLAT", "SINGLE", "TERRAIN", "TERR-MASK", "FS", "BS"};
			double [] terr_dbg = new double [terr_mask.length];
			for (int i = 0; i < terr_dbg.length; i++) {
			terr_dbg[i] = terr_mask[i]? 10: Double.NaN;
			}
	double [][] dbg_img = {		double [][] dbg_img = {
	ds_fg_bg_common[0], ds_fg_bg_common[1], dls_fg[1], dls_bg[1],		ds_fg_bg_common[0], ds_fg_bg_common[1], dls_fg[1], dls_bg[1],
	smooth_ground, flat_ground, single_disparity, terrain_disparity,		smooth_ground, flat_ground, single_disparity, terrain_disparity,terr_dbg,
	ss_fg_bg_common[0], ss_fg_bg_common[1]}; // here BG==FG		ss_fg_bg_common[0], ss_fg_bg_common[1]}; // here BG==FG
			String dbg_suffix = String.format("-fg-bg-disparity_strength-LMA-GND-FLAT_th%.4f",threshold_above);
			if (show_bs_debug) {
	ShowDoubleFloatArrays.showArrays(		ShowDoubleFloatArrays.showArrays(
	dbg_img,		dbg_img,
	tilesX,		tilesX,
	dbg_img[0].length/tilesX,		dbg_img[0].length/tilesX,
	true,		true,
	ref_scene.getImageName()+"-fg-bg-disparity_strength-LMA-GND-FLAT",		ref_scene.getImageName()+dbg_suffix,
	dbg_titles);		dbg_titles);
	}		}
			if (save_terrain) {
			scenes[ref_index].saveDoubleArrayInModelDirectory(
			dbg_suffix, // String suffix,
			dbg_titles, // String [] labels, // or null
			dbg_img, // double [][] data,
			tilesX, // int width, // int tilesX,
			tilesY); // int height, // int tilesY,

			}
			}
	scenes[ref_index].setSmoothGround( // was in the end		scenes[ref_index].setSmoothGround( // was in the end
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
	smooth_ground, // double [] smooth_ground,		smooth_ground, // double [] smooth_ground,

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