initial extraction of predefined planes (3b27965b) · Commits · Elphel / imagej-elphel

src/main/java/CLTPass3d.java

+6 −44

Original line number	Diff line number	Diff line
		@@ -69,7 +69,6 @@ public class CLTPass3d{
		{
		return this.tileProcessor;
		}

		public void updateSelection(){ // add updating border tiles?
		int tilesX = tileProcessor.getTilesX();
		int tilesY = tileProcessor.getTilesY();
		@@ -558,6 +557,9 @@ public class CLTPass3d{
		return this.superTiles;
		}
		public double [] showDisparityHistogram(
		double [][][][] disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all

		boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		int smplSide, // = 2; // Sample size (side of a square)
		int smplNum, // = 3; // Number after removing worst
		@@ -568,6 +570,9 @@ public class CLTPass3d{
		return null;
		}
		return this.superTiles.showDisparityHistogram(
		disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all

		smplMode, // = true; // Use sample mode (false - regular tile mode)
		smplSide, // = 2; // Sample size (side of a square)
		smplNum, // = 3; // Number after removing worst
		@@ -575,49 +580,6 @@ public class CLTPass3d{
		measSel);
		}

		public double [] showDisparityHistogram()
		{
		if (this.superTiles == null){
		return null;
		}
		return this.superTiles.showDisparityHistogram();
		}

		public double [] showDisparityHistogram(double [][] dispHist)
		{
		if (this.superTiles == null){
		return null;
		}
		return this.superTiles.showDisparityHistogram(dispHist);
		}


		public int showDisparityHistogramWidth()
		{
		return this.superTiles.showDisparityHistogramWidth();
		}

		public double [][][] getMaxMinMax(){
		if (this.superTiles == null){
		return null;
		}
		return superTiles.getMaxMinMax();
		}


		public double [] showMaxMinMax(){
		if (this.superTiles == null){
		return null;
		}
		return this.superTiles.showMaxMinMax();
		}
		public int getNumBins(){
		if (this.superTiles == null){
		return 0;
		}
		return superTiles.numBins;
		}

		public double[] getSuperTileStrength()
		{
		if (this.superTiles == null){

src/main/java/SuperTiles.java

+82 −109

Original line number	Diff line number	Diff line
		@@ -154,6 +154,8 @@ public class SuperTiles{
		cltPass3d.getSelected()); // boolean [] selection) // may be null

		getDisparityHistograms(
		null, // double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		null, // boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		smplMode, // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		smplSide, // final int smplSide, // = 2; // Sample size (side of a square)
		smplNum, // final int smplNum, // = 3; // Number after removing worst
		@@ -345,78 +347,10 @@ public class SuperTiles{
		System.out.println("getLapWeights: sum = "+s);
		return lapWeight;
		}
		/*
		public double [][] getDisparityHistograms(
		final int measSel) // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		{
		if (this.disparityHistograms != null) return this.disparityHistograms;
		// final double step_disparity = step_near; // TODO: implement
		final int tilesX = tileProcessor.getTilesX();
		final int tilesY = tileProcessor.getTilesY();
		final int superTileSize = tileProcessor.superTileSize;
		final int stilesX = (tilesX + superTileSize -1)/superTileSize;
		final int stilesY = (tilesY + superTileSize -1)/superTileSize;
		final int nStiles = stilesX * stilesY;
		final double [][] dispHist = new double [nStiles][]; // now it will be sparse
		final double [] strengthHist = new double [nStiles];
		final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.threadsMax);
		final AtomicInteger ai = new AtomicInteger(0);
		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {
		for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
		int stileY = nsTile / stilesX;
		int stileX = nsTile % stilesX;
		double sw = 0.0; // sum weights
		double [] hist = new double [numBins];
		for (int nl = 0; nl < measuredLayers.getNumLayers(); nl ++) {
		if ((measSel & (1 << nl)) != 0) {
		double [][] disp_strength = measuredLayers.getDisparityStrength(
		nl, // int num_layer,
		stileX, // int stX,
		stileY, // int stY,
		null, // boolean [] sel_in,
		strength_floor, // double strength_floor,
		strength_pow, // double strength_pow,
		true); // boolean null_if_none);
		if (disp_strength != null) {
		for (int indx = 0; indx < disp_strength[1].length; indx++) {
		double w = disp_strength[1][indx];
		if ( w > 0.0){
		double d = disp_strength[0][indx];
		int bin = disparityToBin(d);
		if ((bin >= 0) && (bin < numBins)){ // maybe collect below min and above max somewhere?
		hist[bin] += w; // +1]
		sw +=w;
		}
		}
		}
		}
		}
		}
		strengthHist[nsTile] = sw / superTileSize / superTileSize; // average strength per tile in the super-tile
		if (sw > 0){
		for (int i = 0; i<numBins; i++){
		hist[i] /= sw;
		}
		dispHist[nsTile] = hist;
		} else {
		dispHist[nsTile] = null;
		}
		}
		}
		};
		}
		ImageDtt.startAndJoin(threads);
		this.disparityHistograms = dispHist;
		this.stStrength = strengthHist;
		if (this.stBlurSigma > 0.0) {
		blurDisparityHistogram(0); // debugLevel);
		}
		return this.disparityHistograms; // dispHist;
		}
		*/

		public double [][] getDisparityHistograms(
		final double [][][][] disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		final boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		final int smplSide, // = 2; // Sample size (side of a square)
		final int smplNum, // = 3; // Number after removing worst
		@@ -439,7 +373,7 @@ public class SuperTiles{

		final int tilesX = tileProcessor.getTilesX();
		final int tilesY = tileProcessor.getTilesY();
		final int superTileSize = tileProcessor.superTileSize;
		final int superTileSize = tileProcessor.getSuperTileSize();
		final int stilesX = (tilesX + superTileSize -1)/superTileSize;
		final int stilesY = (tilesY + superTileSize -1)/superTileSize;
		final int nStiles = stilesX * stilesY;
		@@ -447,23 +381,29 @@ public class SuperTiles{
		final double [] strengthHist = new double [nStiles];
		final Thread[] threads = ImageDtt.newThreadArray(tileProcessor.threadsMax);
		final AtomicInteger ai = new AtomicInteger(0);
		final TilePlanes tpl = new TilePlanes(tileProcessor.getTileSize(),superTileSize);

		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		public void run() {

		for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
		int stileY = nsTile / stilesX;
		int stileX = nsTile % stilesX;
		double sw = 0.0; // sum weights
		double [] hist = new double [numBins];
		// double [][][] disp_strength = new double [measuredLayers.getNumLayers()][][] ;
		for (int nl = 0; nl < measuredLayers.getNumLayers(); nl ++) {
		if ((measSel & (1 << nl)) != 0) {
		if (((measSel & (1 << nl)) != 0) && ((tile_sel == null) \|\| ((tile_sel[nl] != null)))) {
		double [][] disp_strength;
		if (disparity_strength == null) {
		if (smplMode) {
		disp_strength = measuredLayers.getDisparityStrength(
		nl, // int num_layer,
		stileX, // int stX,
		stileY, // int stY,
		null, // boolean [] sel_in,
		(((tile_sel == null) \|\| (tile_sel[nl].length == 0))? null:tile_sel[nl]), // boolean [] sel_in,
		// null, // boolean [] sel_in,
		strength_floor, // double strength_floor,
		strength_pow, // double strength_pow,
		smplSide, // int smplSide, // = 2; // Sample size (side of a square)
		@@ -475,11 +415,15 @@ public class SuperTiles{
		nl, // int num_layer,
		stileX, // int stX,
		stileY, // int stY,
		null, // boolean [] sel_in,
		(((tile_sel == null) \|\| (tile_sel[nl].length == 0))? null:tile_sel[nl]), // boolean [] sel_in,
		// null, // boolean [] sel_in,
		strength_floor, // double strength_floor,
		strength_pow, // double strength_pow,
		true); // boolean null_if_none);
		}
		} else {
		disp_strength = disparity_strength[nsTile][nl];
		}
		if (disp_strength != null) {
		for (int indx = 0; indx < disp_strength[1].length; indx++) {
		double w = disp_strength[1][indx];
		@@ -547,9 +491,16 @@ public class SuperTiles{
		}
		// returns odd-length array of max/min (x, strength) pairs

		public double [][][] getMaxMinMax(){
		public double [][][] getMaxMinMax(
		// final double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		final double [][][][] disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		final boolean [][] tile_sel // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		){
		// first find all integer maximums, and if the top is flat - use the middle. If not flat - use 2-nd degree polynomial
		if (disparityHistograms == null) getDisparityHistograms(
		// world_plane, // double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		tile_sel, // boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		this.smplMode, // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		this.smplSide, // final int smplSide, // = 2; // Sample size (side of a square)
		this.smplNum, // final int smplNum, // = 3; // Number after removing worst
		@@ -685,6 +636,8 @@ public class SuperTiles{
		{
		if (disparityHistograms == null){
		getDisparityHistograms(
		null, // double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		null, // boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		this.smplMode, // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		this.smplSide, // final int smplSide, // = 2; // Sample size (side of a square)
		this.smplNum, // final int smplNum, // = 3; // Number after removing worst
		@@ -696,6 +649,9 @@ public class SuperTiles{


		public double [] showDisparityHistogram(
		// double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		final double [][][][] disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		int smplSide, // = 2; // Sample size (side of a square)
		int smplNum, // = 3; // Number after removing worst
		@@ -703,6 +659,9 @@ public class SuperTiles{
		int measSel) // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		{
		getDisparityHistograms( // will recalculate if does not exist or some parameters changed
		// world_plane, // double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizo
		disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or nullntal (or null)
		tile_sel, // boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		smplMode, // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		smplSide, // final int smplSide, // = 2; // Sample size (side of a square)
		smplNum, // final int smplNum, // = 3; // Number after removing worst
		@@ -766,9 +725,24 @@ public class SuperTiles{
		}
		return rslt;
		}

		public double [] showMaxMinMax(){
		return showMaxMinMax( // calculate and blur with the current settings, specified at instantiation
		null,
		null);
		}
		public double [] showMaxMinMax(
		// double [] world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		double [][][][] disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null

		boolean [][] tile_sel // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		){
		if (maxMinMax == null){
		getMaxMinMax(); // calculate and blur with the current settings, specified at instantiation
		getMaxMinMax( // calculate and blur with the current settings, specified at instantiation
		// world_plane, // tilt equi-disparity planes to match real world planes (usually horizontal (or null)
		disparity_strength, // pre-calculated disparity/strength [per super-tile][per-measurement layer][2][tiles] or null
		tile_sel); // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all

		}
		final int superTileSize = tileProcessor.superTileSize;

		@@ -1154,7 +1128,7 @@ public class SuperTiles{
		final double plDispNorm,
		final int debugLevel)
		{
		if (maxMinMax == null) getMaxMinMax();
		if (maxMinMax == null) getMaxMinMax(null, null);
		final int np_min = 5; // minimal number of points to consider
		final int tilesX = tileProcessor.getTilesX();
		final int tilesY = tileProcessor.getTilesY();
		@@ -1364,7 +1338,7 @@ public class SuperTiles{
		final int dbg_X,
		final int dbg_Y)
		{
		if (maxMinMax == null) getMaxMinMax();
		if (maxMinMax == null) getMaxMinMax(null, null);
		// final int np_min = 5; // minimal number of points to consider
		final int tilesX = tileProcessor.getTilesX();
		final int tilesY = tileProcessor.getTilesY();
		@@ -1689,7 +1663,7 @@ public class SuperTiles{
		final int dbg_X,
		final int dbg_Y)
		{
		if (maxMinMax == null) getMaxMinMax();
		if (maxMinMax == null) getMaxMinMax(null, null);
		final int tilesX = tileProcessor.getTilesX();
		final int tilesY = tileProcessor.getTilesY();
		final int superTileSize = tileProcessor.getSuperTileSize();
		@@ -1739,7 +1713,7 @@ public class SuperTiles{

		}
		// if (maxMinMax == null)
		getMaxMinMax();
		getMaxMinMax(null, null);

		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {
		@@ -2082,7 +2056,7 @@ public class SuperTiles{
		final int dbg_X,
		final int dbg_Y)
		{
		if (maxMinMax == null) getMaxMinMax();
		if (maxMinMax == null) getMaxMinMax(null, null); // so far - no planes, no selection
		final int tilesX = tileProcessor.getTilesX();
		final int tilesY = tileProcessor.getTilesY();
		final int superTileSize = tileProcessor.getSuperTileSize();
		@@ -2129,8 +2103,7 @@ public class SuperTiles{
		showDoubleFloatArrays sdfa_instance = new showDoubleFloatArrays();
		sdfa_instance.showArrays(dbg_img, tileProcessor.getTilesX(), tileProcessor.getTilesY(), true, "measuredLayers",titles);
		}
		// if (maxMinMax == null)
		getMaxMinMax();
		getMaxMinMax(null, null);

		for (int ithread = 0; ithread < threads.length; ithread++) {
		threads[ithread] = new Thread() {

src/main/java/TilePlanes.java

+0 −11

Original line number	Diff line number	Diff line
		@@ -684,7 +684,6 @@ public class TilePlanes {
		// make a plane and find the worst (largest disparity difference) tile
		// z = -(xVx + yVy)/Vz

		// double [][][] disp_str = new double [measuredSelection.length][][];
		double worst_d2 = 0.0;
		int [] worst_layer_index = {-1,-1};
		double [] v = getVector();
		@@ -692,16 +691,6 @@ public class TilePlanes {
		for (int nl = 0; nl < measuredSelection.length; nl++){
		if (measuredSelection[nl] != null){
		// already calculated, but not masked by selection!
		/*
		disp_str[nl] = measuredLayers.getDisparityStrength(
		nl, // int num_layer,
		sTileXY[0], // int stX,
		sTileXY[1], // int stY,
		measuredSelection[nl], // boolean [] sel_in,
		strength_floor, //
		measured_strength_pow, //
		true); // boolean null_if_none)
		*/
		if (disp_str[nl] != null) {
		for (int indx = 0; indx < disp_str[nl][0].length; indx++){
		double w = disp_str[nl][1][indx];

src/main/java/TileProcessor.java

+17 −17

Original line number	Diff line number	Diff line
		@@ -2759,7 +2759,7 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[0] = scan_prev.showDisparityHistogram();
		dbg_hist[0] = scan_prev.getSuperTiles().showDisparityHistogram();

		scan_prev.setSuperTiles(
		clt_parameters.stStepNear, // double step_disparity,
		@@ -2775,11 +2775,11 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[1] = scan_prev.showDisparityHistogram();
		dbg_hist[1] = scan_prev.getSuperTiles().showDisparityHistogram();

		dbg_hist[2] = scan_prev.showMaxMinMax();
		dbg_hist[2] = scan_prev.getSuperTiles().showMaxMinMax();

		int hist_width0 = scan_prev.showDisparityHistogramWidth();
		int hist_width0 = scan_prev.getSuperTiles().showDisparityHistogramWidth();
		int hist_height0 = dbg_hist[0].length/hist_width0;
		if (show_st){
		sdfa_instance.showArrays(dbg_hist, hist_width0, hist_height0, true, "disparity_supertiles_histograms",dbg_st_titles);
		@@ -2973,7 +2973,7 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[0] = scan_prev.showDisparityHistogram();
		dbg_hist[0] = scan_prev.getSuperTiles().showDisparityHistogram();
		scan_prev.setSuperTiles(
		clt_parameters.stStepNear, // double step_disparity,
		clt_parameters.stStepFar, // double step_near,
		@@ -2988,7 +2988,7 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[1] = scan_prev.showDisparityHistogram();
		dbg_hist[1] = scan_prev.getSuperTiles().showDisparityHistogram();
		}

		// SuperTiles st =
		@@ -3007,13 +3007,13 @@ public class TileProcessor {
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		if (show_st) { // otherwise only blured version is needed
		dbg_hist[2] = scan_prev.showDisparityHistogram();
		dbg_hist[3] = scan_prev.showMaxMinMax();
		dbg_hist[2] = scan_prev.getSuperTiles().showDisparityHistogram();
		dbg_hist[3] = scan_prev.getSuperTiles().showMaxMinMax();
		}


		if (show_st){
		int hist_width0 = scan_prev.showDisparityHistogramWidth();
		int hist_width0 = scan_prev.getSuperTiles().showDisparityHistogramWidth();
		int hist_height0 = dbg_hist[0].length/hist_width0;
		showDoubleFloatArrays sdfa_instance = new showDoubleFloatArrays(); // just for debugging?
		sdfa_instance.showArrays(dbg_hist, hist_width0, hist_height0, true, "disparity_supertiles_histograms",dbg_st_titles);
		@@ -3614,7 +3614,7 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[0] = scan_prev.showDisparityHistogram();
		dbg_hist[0] = scan_prev.getSuperTiles().showDisparityHistogram();

		SuperTiles st = scan_prev.setSuperTiles(
		clt_parameters.stStepNear, // double step_disparity,
		@@ -3630,11 +3630,11 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[1] = scan_prev.showDisparityHistogram();
		dbg_hist[1] = scan_prev.getSuperTiles().showDisparityHistogram();

		dbg_hist[2] = scan_prev.showMaxMinMax();
		dbg_hist[2] = scan_prev.getSuperTiles().showMaxMinMax();

		int hist_width0 = scan_prev.showDisparityHistogramWidth();
		int hist_width0 = scan_prev.getSuperTiles().showDisparityHistogramWidth();
		int hist_height0 = dbg_hist[0].length/hist_width0;

		if (show_st){
		@@ -4431,7 +4431,7 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[0] = scan_prev.showDisparityHistogram();
		dbg_hist[0] = scan_prev.getSuperTiles().showDisparityHistogram();

		scan_prev.setSuperTiles(
		clt_parameters.stStepNear, // double step_disparity,
		@@ -4447,12 +4447,12 @@ public class TileProcessor {
		clt_parameters.stSmplNum, // Number after removing worst
		clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[1] = scan_prev.showDisparityHistogram();
		dbg_hist[1] = scan_prev.getSuperTiles().showDisparityHistogram();

		dbg_hist[2] = scan_prev.showMaxMinMax();
		dbg_hist[2] = scan_prev.getSuperTiles().showMaxMinMax();

		if (clt_parameters.stShow){
		int hist_width0 = scan_prev.showDisparityHistogramWidth();
		int hist_width0 = scan_prev.getSuperTiles().showDisparityHistogramWidth();
		int hist_height0 = dbg_hist[0].length/hist_width0;
		sdfa_instance.showArrays(dbg_hist, hist_width0, hist_height0, true, "disparity_supertiles_histograms",dbg_st_titles);
		}

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