Added CT scan, fixed average slice

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

@@ -1089,6 +1089,7 @@ public class GroundPlane {
 			final CLTParameters clt_parameters,
 			final QuadCLT       ref_Clt,
 			final boolean       tilted_plane, // if true, use tilted ground plane. If false - use horizontal plane and apply rotation
+			final double        offset,
 			final double        test_bottom,
 			final int           debugLevel) {
 		
@@ -1103,7 +1104,7 @@ public class GroundPlane {
 			return null;
 		}
 	    double [][] ground_xyzatr = ErsCorrection.invertXYZATR(to_ground_xyzatr); // straight down from the camera, then rotated
-		double altitude = ground_xyzatr[0][2];
+		double altitude = ground_xyzatr[0][2] - offset; // offset to the ground level (negative)
 		double true_disparity = ref_Clt.getGeometryCorrection().getDisparityFromZ(-altitude);
 		double corrected_disparity = true_disparity+ref_Clt.getDispInfinityRef();
 		int tilesX = ref_Clt.getTilesX();

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

@@ -1068,6 +1068,15 @@ min_str_neib_fpn	0.35
 	public int      fgnd_min_macro_tiles = 3;    // Minimal number of macrotiles for high outliers. Minimal number of remaining macrotiles before removing high outpliers.
 	public double   fgnd_normal_damping =  0.001; // Damping parameter for planes. Pull planes to horizontal when there is not enough data for tilts.
 	
+    public  boolean fgnd_gen_optho =      true;  // generate orthogonal to the ground view
+    public  boolean fgnd_gen_tilted =     true;  // generate tilted ground disparity view
+    public  boolean fgnd_gen_scan =       false; // generate "CT scan" views
+	public  double  fgnd_ct_low =        -1.0;   // lowest CT level relative to the ground
+	public  double  fgnd_ct_high =        1.0;   // highest CT level relative to the ground
+	public  double  fgnd_ct_step =        0.2;   // CT step
+	
+	
+	
 	// TODO: move next parameters elsewhere - they are not the motion blur ones.
 	public  int     mb_gain_index_pose =    5;     // pose readjust pass to switch to full mb_max_gain from mb_max_gain_inter
 	public  int     mb_gain_index_depth =   5;     // depth map refine pass (SfM) to switch to full mb_max_gain from mb_max_gain_inter
@@ -3139,6 +3148,19 @@ min_str_neib_fpn	0.35
 		gd.addMessage  ("Common to all plane fitting");
 		gd.addNumericField("Damping parameter for planes",          this.fgnd_normal_damping, 5,7,"",
 				"Pull planes to horizontal when there is not enough data for tilts.");
+		gd.addMessage  ("Output files generation related to ground planes");
+		gd.addCheckbox ("Generate orthogonal to the ground view",   this.fgnd_gen_optho,
+				"Generate relative to the ground plane view, minimizing anisotropic distortions.");
+		gd.addCheckbox ("Generate tilted-ground view",              this.fgnd_gen_tilted,
+				"Generate view in the same directionm as the camera reference scene with tilted disparity matchin ground plane.");
+		gd.addCheckbox ("Generate \"CT scan\" view",                this.fgnd_gen_scan,
+				"Generate multiple views vith varying offset to the ground plane view.");
+		gd.addNumericField("CT scan low level",                     this.fgnd_ct_low, 5,7,"m",
+				"Lowest scan level relative to the ground plane.");
+		gd.addNumericField("CT scan high level",                    this.fgnd_ct_high, 5,7,"m",
+				"Highest scan level relative to the ground plane.");
+		gd.addNumericField("CT scan step",        this.fgnd_ct_step, 5,7,"m",
+				"CT scan step.");
 		
 		gd.addTab("LMA sequence","Interscene LMA sequence control");
 		gd.addMessage("Parameters for control of the LMA pose adjustment sequence");
@@ -4451,6 +4473,13 @@ min_str_neib_fpn	0.35
 		this.fgnd_min_macro_tiles=(int) gd.getNextNumber();
 		this.fgnd_normal_damping =      gd.getNextNumber();
 		
+		this.fgnd_gen_optho =           gd.getNextBoolean();
+		this.fgnd_gen_tilted =          gd.getNextBoolean();
+		this.fgnd_gen_scan =            gd.getNextBoolean();
+		this.fgnd_ct_low =              gd.getNextNumber();
+		this.fgnd_ct_high =             gd.getNextNumber();
+		this.fgnd_ct_step =             gd.getNextNumber();
+		
 		this.mb_gain_index_pose = (int) gd.getNextNumber();
 		this.mb_gain_index_depth =(int) gd.getNextNumber();
 		
@@ -5654,6 +5683,13 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"fgnd_min_macro_tiles", this.fgnd_min_macro_tiles+"");// int
 		properties.setProperty(prefix+"fgnd_normal_damping",  this.fgnd_normal_damping+""); // double
 
+		properties.setProperty(prefix+"fgnd_gen_optho",       this.fgnd_gen_optho+"");      // boolean
+		properties.setProperty(prefix+"fgnd_gen_tilted",      this.fgnd_gen_tilted+"");     // boolean
+		properties.setProperty(prefix+"fgnd_gen_scan",        this.fgnd_gen_scan+"");       // boolean
+		properties.setProperty(prefix+"fgnd_ct_low",          this.fgnd_ct_low+"");         // double
+		properties.setProperty(prefix+"fgnd_ct_high",         this.fgnd_ct_high+"");        // double
+		properties.setProperty(prefix+"fgnd_ct_step",         this.fgnd_ct_step+"");        // double
+		
 		properties.setProperty(prefix+"mb_gain_index_pose",   this.mb_gain_index_pose+"");  // int
 		properties.setProperty(prefix+"mb_gain_index_depth",  this.mb_gain_index_depth+""); // int
 
@@ -6841,6 +6877,13 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"fgnd_min_macro_tiles")!=null) this.fgnd_min_macro_tiles=Integer.parseInt(properties.getProperty(prefix+"fgnd_min_macro_tiles"));
 		if (properties.getProperty(prefix+"fgnd_normal_damping")!=null)  this.fgnd_normal_damping=Double.parseDouble(properties.getProperty(prefix+"fgnd_normal_damping"));
 
+		if (properties.getProperty(prefix+"fgnd_gen_optho")!=null)       this.fgnd_gen_optho=Boolean.parseBoolean(properties.getProperty(prefix+"fgnd_gen_optho"));
+		if (properties.getProperty(prefix+"fgnd_gen_tilted")!=null)      this.fgnd_gen_tilted=Boolean.parseBoolean(properties.getProperty(prefix+"fgnd_gen_tilted"));
+		if (properties.getProperty(prefix+"fgnd_gen_scan")!=null)        this.fgnd_gen_scan=Boolean.parseBoolean(properties.getProperty(prefix+"fgnd_gen_scan"));
+		if (properties.getProperty(prefix+"fgnd_ct_low")!=null)          this.fgnd_ct_low=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_low"));
+		if (properties.getProperty(prefix+"fgnd_ct_high")!=null)         this.fgnd_ct_high=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_high"));
+		if (properties.getProperty(prefix+"fgnd_ct_step")!=null)         this.fgnd_ct_step=Double.parseDouble(properties.getProperty(prefix+"fgnd_ct_step"));
+		
 		if (properties.getProperty(prefix+"mb_gain_index_pose")!=null)   this.mb_gain_index_pose=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_pose"));
 		if (properties.getProperty(prefix+"mb_ers_index")!=null)         this.mb_ers_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_index"));
 		if (properties.getProperty(prefix+"mb_ers_y_index")!=null)       this.mb_ers_y_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_y_index"));
@@ -8005,6 +8048,13 @@ min_str_neib_fpn	0.35
 		imp.fgnd_min_macro_tiles  = this.fgnd_min_macro_tiles;
 		imp.fgnd_normal_damping   = this.fgnd_normal_damping;
 
+		imp.fgnd_gen_optho =  		this.fgnd_gen_optho;  
+		imp.fgnd_gen_tilted =  		this.fgnd_gen_tilted; 
+		imp.fgnd_gen_scan =    		this.fgnd_gen_scan;   
+		imp.fgnd_ct_low =      		this.fgnd_ct_low;     
+		imp.fgnd_ct_high =     		this.fgnd_ct_high;    
+		imp.fgnd_ct_step =     		this.fgnd_ct_step;    		
+
 		imp.mb_gain_index_pose    = this.mb_gain_index_pose;
 		imp.mb_gain_index_depth   = this.mb_gain_index_depth;