refactoring

src/main/java/CLTPass3d.java

@@ -36,7 +36,7 @@ public class CLTPass3d{
 		double []               calc_disparity_hor =   null; // composite disparity, calculated from "disparity", and "disparity_map" fields
 		double []               calc_disparity_vert =  null; // composite disparity, calculated from "disparity", and "disparity_map" fields
 		double []               calc_disparity_combo = null; // composite disparity, calculated from "disparity", and "disparity_map" fields
-		double []               strength =             null; // composite strength, initially uses a copy of raw 4-sensor correleation strength
+		double []               strength =             null; // composite strength, initially uses a copy of raw 4-sensor correlation strength
 		double []               strength_hor =         null; // updated hor strength, initially uses a copy of raw measured
 		double []               strength_vert =        null; // updated hor strength, initially uses a copy of raw measured
 		// Bg disparity & strength is calculated from the supertiles and used instead of the tile disparity if it is too weak. Assuming, that
@@ -333,7 +333,7 @@ public class CLTPass3d{
 		}
 		/**
 		 * Get one of the line-scan per-tile correlation data.
-		 * @param mode 0 - final data (initially copy FPGA generated 4-pair correation)
+		 * @param mode 0 - final data (initially copy FPGA generated 4-pair correlation)
 		 *             1 - original FPGA generated 4-sensor correlation
 		 *             2 - 2 - horizontal pairs correlation, detecting vertical features
 		 *             3 - 2 - vertical pairs correlation, detecting horizontal features

src/main/java/EyesisCorrectionParameters.java

@@ -2182,6 +2182,7 @@ public class EyesisCorrectionParameters {
   		
   		public boolean    replaceWeakOutlayers =   true; // false; 
   		
+  		public boolean    dbg_migrate =            true; 
   		
   		// other debug images
   		public boolean    show_ortho_combine =     false; // Show 'ortho_combine' 
@@ -2451,7 +2452,9 @@ public class EyesisCorrectionParameters {
 			properties.setProperty(prefix+"plSnapDispMax",    this.plSnapDispMax +"");
 			properties.setProperty(prefix+"plSnapDispWeight", this.plSnapDispWeight +"");
   			properties.setProperty(prefix+"plSnapZeroMode",   this.plSnapZeroMode+"");
-			
+
+			properties.setProperty(prefix+"dbg_migrate",            this.dbg_migrate+"");
+  			
 			properties.setProperty(prefix+"show_ortho_combine",     this.show_ortho_combine+"");
 			properties.setProperty(prefix+"show_refine_supertiles", this.show_refine_supertiles+"");
 			properties.setProperty(prefix+"show_bgnd_nonbgnd",      this.show_bgnd_nonbgnd+"");
@@ -2711,6 +2714,8 @@ public class EyesisCorrectionParameters {
   			if (properties.getProperty(prefix+"plSnapDispMax")!=null)     this.plSnapDispMax=Double.parseDouble(properties.getProperty(prefix+"plSnapDispMax"));
   			if (properties.getProperty(prefix+"plSnapDispWeight")!=null)  this.plSnapDispWeight=Double.parseDouble(properties.getProperty(prefix+"plSnapDispWeight"));
   			if (properties.getProperty(prefix+"plSnapZeroMode")!=null)    this.plPrecision=Integer.parseInt(properties.getProperty(prefix+"plSnapZeroMode"));
+ 
+  			if (properties.getProperty(prefix+"dbg_migrate")!=null)       this.dbg_migrate=Boolean.parseBoolean(properties.getProperty(prefix+"dbg_migrate"));
 
   			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"));
@@ -2995,6 +3000,8 @@ public class EyesisCorrectionParameters {
   			gd.addNumericField("Maximal disparity diff. by weight product to snap to plane",                   this.plSnapDispWeight,  6);
   			gd.addNumericField("Zero strength snap mode: 0: no special treatment, 1 - strongest, 2 - farthest",this.plSnapZeroMode,  0);
   			
+  			gd.addCheckbox    ("Test new mode after migration",                                                this.dbg_migrate);
+
   			gd.addMessage     ("--- Other debug images ---");
   			gd.addCheckbox    ("Show 'ortho_combine'",                                                         this.show_ortho_combine);
   			gd.addCheckbox    ("Show 'refine_disparity_supertiles'",                                           this.show_refine_supertiles);
@@ -3264,6 +3271,8 @@ public class EyesisCorrectionParameters {
   			this.plSnapDispWeight=      gd.getNextNumber();
   			this.plSnapZeroMode=  (int) gd.getNextNumber();
 
+  			this.dbg_migrate=           gd.getNextBoolean();
+
   			this.show_ortho_combine=    gd.getNextBoolean();
   			this.show_refine_supertiles=gd.getNextBoolean();
   			this.show_bgnd_nonbgnd=     gd.getNextBoolean(); // first on second pass

src/main/java/TileProcessor.java

@@ -2945,7 +2945,8 @@ public class TileProcessor {
 		SuperTiles st = scan_prev.getSuperTiles();
 		
 // moved here
-		st.processPlanes2(
+		if (clt_parameters.dbg_migrate) {
+		st.processPlanes3(
 				null, // final boolean [] selected, // or null
 				0.3, // final double     min_disp,
 				false, // final boolean    invert_disp, // use 1/disparity
@@ -2960,7 +2961,23 @@ public class TileProcessor {
 				0, // -1, // debugLevel,                  // final int        debugLevel)
 				clt_parameters.tileX,
 				clt_parameters.tileY);
-		
+		} else {
+			st.processPlanes2(
+					null, // final boolean [] selected, // or null
+					0.3, // final double     min_disp,
+					false, // final boolean    invert_disp, // use 1/disparity
+					clt_parameters.plDispNorm, //            =   2.0;  // Normalize disparities to the average if above
+					clt_parameters.plMinPoints, //           =     5;  // Minimal number of points for plane detection
+					clt_parameters.plTargetEigen, //         =   0.1;  // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below
+					clt_parameters.plFractOutliers, //      =   0.3;  // Maximal fraction of outliers to remove
+					clt_parameters.plMaxOutliers, //        =    20;  // Maximal number of outliers to remove\
+					clt_parameters.plPreferDisparity,
+					geometryCorrection,
+					clt_parameters.correct_distortions,
+					0, // -1, // debugLevel,                  // final int        debugLevel)
+					clt_parameters.tileX,
+					clt_parameters.tileY);
+		}
 		
 		showDoubleFloatArrays sdfa_instance = null;
 		if (debugLevel > -1) sdfa_instance = new showDoubleFloatArrays(); // just for debugging?