Commit 91409a1a authored by Andrey Filippov's avatar Andrey Filippov
Browse files

cleaning up

parent b6994b6e

src/main/java/AlignmentCorrection.java

+14 −10
Original line number Diff line number Diff line
@@ -2270,7 +2270,7 @@ B = |+dy0 -dy1 -2*dy3 | 
				true, // clt_parameters.fcorr_inf_vert,  // final boolean use_vertical,

				// tool alte to restore disparity - should be dome earlier

				false,                          // final boolean use_disparity, // for infinity

				clt_parameters.ly_inf_disp,     //final boolean allow_dispatity,

				true, // clt_parameters.ly_inf_disp,     //final boolean allow_dispatity,

				clt_parameters,                 // EyesisCorrectionParameters.CLTParameters           clt_parameters,

				inf_and_ly,                     // double [][] disp_strength,

				inf_samples_list,               // ArrayList<Sample> samples_list,
@@ -2293,10 +2293,10 @@ B = |+dy0 -dy1 -2*dy3 | 
			boolean apply_extrinsic = true;

			GeometryCorrection.CorrVector corr_vector = solveCorr (

					clt_parameters.ly_inf_en,      // boolean use_disparity,     // if true will ignore disparity data even if available (was false)

					clt_parameters.ly_combo_en,    // boolean use_other_extr,    // adjust other extrinsic parameters that do not influence disparity, common roll and zoom

					clt_parameters.ly_inf_force,   // boolean force_convergence, // if true try to adjust convergence (disparity, symmetrical parameter 0) even with no disparity

					clt_parameters.ly_com_roll,    // boolean    common_roll,    // Enable common roll (valid for high disparity range only)

					clt_parameters.ly_focalLength, // boolean    corr_focalLength,     // Correct scales (focal length temperature? variations)



					mismatch_list,                          // ArrayList<Mismatch> mismatch_list,

					qc.geometryCorrection,                  // GeometryCorrection geometryCorrection,

					qc.geometryCorrection.getCorrVector(),  // GeometryCorrection.CorrVector corr_vector,
@@ -2811,7 +2811,8 @@ B = |+dy0 -dy1 -2*dy3 | 
	}



	public GeometryCorrection.CorrVector  solveCorr (

			boolean use_disparity,     // if true will ignore disparity data even if available

			boolean use_disparity,     // adjust disparity-related extrinsics

			boolean use_other_extr,    // adjust other extrinsic parameters that do not influence disparity, common roll and zoom

			boolean force_convergence, // if true try to adjust convergence (disparity, symmetrical parameter 0) even with no disparity

			                           // data, using just radial distortions

	  		boolean    common_roll,    // Enable common roll (valid for high disparity range only)
@@ -2835,8 +2836,10 @@ B = |+dy0 -dy1 -2*dy3 | 


		boolean [] par_mask = geometryCorrection.getParMask(

// temporary - just for testing

				force_convergence, // boolean disparity_only,

				force_convergence && has_disparity, // boolean use_disparity,

//				force_convergence, // boolean disparity_only,

//				force_convergence && has_disparity, // boolean use_disparity,

				has_disparity, // boolean use_disparity,

				use_other_extr,    // boolean use_other_extr,

				common_roll,// boolean common_roll,

				corr_focalLength); // boolean corr_focalLength);
@@ -2970,8 +2973,9 @@ B = |+dy0 -dy1 -2*dy3 | 


		GeometryCorrection.CorrVector rslt = geometryCorrection.getCorrVector(drslt, par_mask);

		if (debugLevel > -3){ // change to >0) {

			System.out.println("solveCorr() rslt:");

			System.out.println("solveCorr() rslt (increment):");

			System.out.println(rslt.toString());

			System.out.println("--- end of increment ---");

		}



		return rslt;

src/main/java/EyesisCorrectionParameters.java

+63 −56
Original line number Diff line number Diff line
@@ -748,8 +748,9 @@ public class EyesisCorrectionParameters { 


    	public boolean showCLTDialog(String title,

    			CLTParameters clt_parameters) {

    		GenericDialog gd = new GenericDialog(title);

    		GenericJTabbedDialog gd = new GenericJTabbedDialog(title,1000,800);



    		gd.addTab         ("File paths", "Select files and directories pahs");

    		gd.addCheckbox    ("Save current settings with results",               this.saveSettings);           // 1

    		gd.addStringField ("Source files directory",                           this.sourceDirectory, 60);    // 2

    		gd.addCheckbox    ("Select source directory",                          false);                       // 3
@@ -780,7 +781,7 @@ public class EyesisCorrectionParameters { 
    		gd.addStringField("CLT kernel files prefix",                           this.cltKernelPrefix, 40);    // 18

    		gd.addStringField("CLT kernel files suffix",                           this.cltSuffix, 40);          // 19



    		gd.addMessage     ("============ batch parameters ============");

  			gd.addTab         ("Batch", "Select Batch parameters");

    		gd.addCheckbox    ("Apply (and disable) manual pixel shift",                             this.clt_batch_apply_man); // 20

    		gd.addCheckbox    ("Calibrate extrinsic parameters for each set",                        this.clt_batch_extrinsic); // 21

    		gd.addCheckbox    ("Calculate fine polynomial correction for each set",                  this.clt_batch_poly);      // 22
@@ -791,7 +792,8 @@ public class EyesisCorrectionParameters { 
    		gd.addCheckbox    ("Generate 3d output: x3d and/or obj+mtl",                             this.clt_batch_gen3d);     // 27

    		gd.addCheckbox    ("Generate debug images if a single set is selected",                  this.clt_batch_dbg1);      // 28

    		if (clt_parameters != null) {

    			gd.addMessage     ("============ selected CLT parameters ============");

//    			gd.addMessage     ("============ selected CLT parameters ============");

      			gd.addTab         ("CLT", "Modify selected CLT parameters");

    			gd.addNumericField("Maximal disparity to try",                                                            clt_parameters.grow_disp_max,  6);

      			gd.addCheckbox    ("Equalize green channel gain of the individual cnannels (bug fix for exposure)",       clt_parameters.gain_equalize);

      			gd.addNumericField("Inverse distance to infinity (misalignment correction)",                              clt_parameters.z_correction,  6);
@@ -799,7 +801,7 @@ public class EyesisCorrectionParameters { 
      			gd.addNumericField("Maximal number of output meshes to generate",                                         clt_parameters.max_clusters,   0);



    		}

    		WindowTools.addScrollBars(gd);

//    		WindowTools.addScrollBars(gd);

    		gd.showDialog();

    		if (gd.wasCanceled()) return false;
@@ -2449,6 +2451,16 @@ public class EyesisCorrectionParameters { 
  		public boolean    ih_norm_center =  true;    // Replace samples with a single average with equal weight



  		// Lazy eye parameters

  		public boolean    ly_on_scan =      true;    // Calculate and apply lazy eye correction after disparity scan (poly or extrinsic)

  		public boolean    ly_inf_en =       true;    // Simultaneously correct disparity at infinity (both poly and extrinsic)

  		public boolean    ly_combo_en =     true;    // Adjust other that disparity-related extrinsics

  		public boolean    ly_focalLength=   true; // Correct scales (focal length temperature? variations)

  		public boolean    ly_com_roll=      false;   // Enable common roll (valid for high disparity range only)

 		public double     ly_inf_frac =     0.5;     // Relative weight of infinity calibration data

  		public boolean    ly_inf_disp=      false;   // Correct disparity for infinity tiles

  		public boolean    ly_inf_force=     false;   // Force convergence correction during extrinsic, even with no infinity data

  		public boolean    ly_poly =         false;   // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor



  		public int        ly_smpl_side =    3;       // Sample size (side of a square) disp/strength filter

  		public int        ly_smpl_num =     5;       // Number after removing worst (should be >1)

// 		public double     ly_meas_disp =    1.5;     // Maximal measured relative disparity - using  (0.8*disp_scan_step)
@@ -2456,16 +2468,6 @@ public class EyesisCorrectionParameters { 
		public double     ly_disp_var =     0.5;     // 2;     // Maximal full disparity difference to 8 neighbors

		public double     ly_disp_rvar =    0.02;    // Maximal relative full disparity difference to 8 neighbors

		public double     ly_norm_disp =    5.0;     // Reduce weight of higher disparity tiles

 		public double     ly_inf_frac =     0.5;     // Relative weight of infinity calibration data

  		public boolean    ly_on_scan =      true;    // Calculate and apply lazy eye correction after disparity scan (poly or extrinsic)

  		public boolean    ly_inf_en =       false; // true;    // Simultaneously correct disparity at infinity (both poly and extrinsic)

  		public boolean    ly_inf_disp=      false;   // Correct disparity for infinity tiles

  		public boolean    ly_inf_force=     false;   // Force convergence correction during extrinsic, even with no infinity data

  		public boolean    ly_com_roll=      false;   // Enable common roll (valid for high disparity range only)



  		public boolean    ly_focalLength=   true; // Correct scales (focal length temperature? variations)



  		public boolean    ly_poly =         false;   // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor



  		// Lazy eye multi-step fitting

  		public double     lym_overexp     = 0.0001;  // Any (near) saturated pixels - discard tile (see sat_level also)
@@ -3131,23 +3133,23 @@ public class EyesisCorrectionParameters { 
  			properties.setProperty(prefix+"ih_min_samples",   this.ih_min_samples+"");

			properties.setProperty(prefix+"ih_norm_center",   this.ih_norm_center+"");



			properties.setProperty(prefix+"ly_smpl_side",     this.ly_smpl_side+"");

			properties.setProperty(prefix+"ly_smpl_num",      this.ly_smpl_num+"");

//			properties.setProperty(prefix+"ly_meas_disp",     this.ly_meas_disp +"");

			properties.setProperty(prefix+"ly_smpl_rms",      this.ly_smpl_rms +"");

			properties.setProperty(prefix+"ly_disp_var",      this.ly_disp_var +"");

			properties.setProperty(prefix+"ly_disp_rvar",     this.ly_disp_rvar +"");

			properties.setProperty(prefix+"ly_norm_disp",     this.ly_norm_disp +"");

			properties.setProperty(prefix+"ly_inf_frac",      this.ly_inf_frac +"");

			properties.setProperty(prefix+"ly_on_scan",       this.ly_on_scan+"");

			properties.setProperty(prefix+"ly_inf_en",        this.ly_inf_en+"");

			properties.setProperty(prefix+"ly_inf_disp",      this.ly_inf_disp+"");

			properties.setProperty(prefix+"ly_combo_en",      this.ly_combo_en+"");

			properties.setProperty(prefix+"ly_focalLength",   this.ly_focalLength+"");

			properties.setProperty(prefix+"ly_com_roll",      this.ly_com_roll+"");

			properties.setProperty(prefix+"ly_inf_frac",      this.ly_inf_frac +"");



			properties.setProperty(prefix+"ly_inf_disp",      this.ly_inf_disp+"");

			properties.setProperty(prefix+"ly_inf_force",     this.ly_inf_force+"");

			properties.setProperty(prefix+"ly_com_roll",      this.ly_com_roll+"");

			properties.setProperty(prefix+"ly_focalLength",   this.ly_focalLength+"");

			properties.setProperty(prefix+"ly_poly",          this.ly_poly+"");



			properties.setProperty(prefix+"ly_smpl_side",     this.ly_smpl_side+"");

			properties.setProperty(prefix+"ly_smpl_num",      this.ly_smpl_num+"");

			properties.setProperty(prefix+"ly_smpl_rms",      this.ly_smpl_rms +"");

			properties.setProperty(prefix+"ly_disp_var",      this.ly_disp_var +"");

			properties.setProperty(prefix+"ly_disp_rvar",     this.ly_disp_rvar +"");

			properties.setProperty(prefix+"ly_norm_disp",     this.ly_norm_disp +"");

			properties.setProperty(prefix+"lym_overexp",      this.lym_overexp +"");

			properties.setProperty(prefix+"lym_update_disp",  this.lym_update_disp+"");

			properties.setProperty(prefix+"lym_iter",         this.lym_iter+"");
@@ -3763,24 +3765,26 @@ public class EyesisCorrectionParameters { 
  			if (properties.getProperty(prefix+"ih_min_samples")!=null)    this.ih_min_samples=Integer.parseInt(properties.getProperty(prefix+"ih_min_samples"));

  			if (properties.getProperty(prefix+"ih_norm_center")!=null)    this.ih_norm_center=Boolean.parseBoolean(properties.getProperty(prefix+"ih_norm_center"));



			if (properties.getProperty(prefix+"ly_smpl_side")!=null)      this.ly_smpl_side=Integer.parseInt(properties.getProperty(prefix+"ly_smpl_side"));

			if (properties.getProperty(prefix+"ly_smpl_num")!=null)       this.ly_smpl_num=Integer.parseInt(properties.getProperty(prefix+"ly_smpl_num"));

//			if (properties.getProperty(prefix+"ly_meas_disp")!=null)      this.ly_meas_disp=Double.parseDouble(properties.getProperty(prefix+"ly_meas_disp"));

			if (properties.getProperty(prefix+"ly_smpl_rms")!=null)       this.ly_smpl_rms=Double.parseDouble(properties.getProperty(prefix+"ly_smpl_rms"));

			if (properties.getProperty(prefix+"ly_disp_var")!=null)       this.ly_disp_var=Double.parseDouble(properties.getProperty(prefix+"ly_disp_var"));

			if (properties.getProperty(prefix+"ly_disp_rvar")!=null)      this.ly_disp_rvar=Double.parseDouble(properties.getProperty(prefix+"ly_disp_rvar"));

			if (properties.getProperty(prefix+"ly_norm_disp")!=null)      this.ly_norm_disp=Double.parseDouble(properties.getProperty(prefix+"ly_norm_disp"));

			if (properties.getProperty(prefix+"ly_inf_frac")!=null)       this.ly_inf_frac=Double.parseDouble(properties.getProperty(prefix+"ly_inf_frac"));

  			if (properties.getProperty(prefix+"ly_on_scan")!=null)        this.ly_on_scan=Boolean.parseBoolean(properties.getProperty(prefix+"ly_on_scan"));

  			if (properties.getProperty(prefix+"ly_inf_en")!=null)         this.ly_inf_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_en"));

  			if (properties.getProperty(prefix+"ly_combo_en")!=null)       this.ly_combo_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_combo_en"));

  			if (properties.getProperty(prefix+"ly_focalLength")!=null)    this.ly_focalLength=Boolean.parseBoolean(properties.getProperty(prefix+"ly_focalLength"));

  			if (properties.getProperty(prefix+"ly_com_roll")!=null)       this.ly_com_roll=Boolean.parseBoolean(properties.getProperty(prefix+"ly_com_roll"));

			if (properties.getProperty(prefix+"ly_inf_frac")!=null)       this.ly_inf_frac=Double.parseDouble(properties.getProperty(prefix+"ly_inf_frac"));



  			if (properties.getProperty(prefix+"ly_inf_disp")!=null)       this.ly_inf_disp=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_disp"));



  			if (properties.getProperty(prefix+"ly_inf_force")!=null)      this.ly_inf_force=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_force"));

  			if (properties.getProperty(prefix+"ly_com_roll")!=null)       this.ly_com_roll=Boolean.parseBoolean(properties.getProperty(prefix+"ly_com_roll"));

  			if (properties.getProperty(prefix+"ly_focalLength")!=null)    this.ly_focalLength=Boolean.parseBoolean(properties.getProperty(prefix+"ly_focalLength"));





  			if (properties.getProperty(prefix+"ly_poly")!=null)           this.ly_poly=Boolean.parseBoolean(properties.getProperty(prefix+"ly_poly"));



			if (properties.getProperty(prefix+"ly_smpl_side")!=null)      this.ly_smpl_side=Integer.parseInt(properties.getProperty(prefix+"ly_smpl_side"));

			if (properties.getProperty(prefix+"ly_smpl_num")!=null)       this.ly_smpl_num=Integer.parseInt(properties.getProperty(prefix+"ly_smpl_num"));

			if (properties.getProperty(prefix+"ly_smpl_rms")!=null)       this.ly_smpl_rms=Double.parseDouble(properties.getProperty(prefix+"ly_smpl_rms"));

			if (properties.getProperty(prefix+"ly_disp_var")!=null)       this.ly_disp_var=Double.parseDouble(properties.getProperty(prefix+"ly_disp_var"));

			if (properties.getProperty(prefix+"ly_disp_rvar")!=null)      this.ly_disp_rvar=Double.parseDouble(properties.getProperty(prefix+"ly_disp_rvar"));

			if (properties.getProperty(prefix+"ly_norm_disp")!=null)      this.ly_norm_disp=Double.parseDouble(properties.getProperty(prefix+"ly_norm_disp"));

			if (properties.getProperty(prefix+"lym_overexp")!=null)       this.lym_overexp=Double.parseDouble(properties.getProperty(prefix+"lym_overexp"));

  			if (properties.getProperty(prefix+"lym_update_disp")!=null)   this.lym_update_disp=Boolean.parseBoolean(properties.getProperty(prefix+"lym_update_disp"));

			if (properties.getProperty(prefix+"lym_iter")!=null)          this.lym_iter=Integer.parseInt(properties.getProperty(prefix+"lym_iter"));
@@ -4428,8 +4432,19 @@ public class EyesisCorrectionParameters { 
  			gd.addNumericField("Minimal number of remaining samples",                                     this.ih_min_samples,  0);

  			gd.addCheckbox    ("Replace samples with a single average with equal weight",                 this.ih_norm_center);



  			gd.addTab         ("Lazy eye", "Lazy eye parameters (disparity @ infinity should be adjusted first");

  			gd.addMessage     ("--- Lazy eye parameters (disparity @ infinity should be adjusted first ---");

  			gd.addTab         ("Lazy eye", "Lazy eye parameters");



  			gd.addCheckbox    ("Calculate and apply lazy eye correction after disparity scan (poly or extrinsic), may repeat",this.ly_on_scan);

  			gd.addCheckbox    ("Adjust disparity using objects at infinity by changing individual tilt and azimuth ", this.ly_inf_en," disable if there are no really far objects in the scene");

  			gd.addCheckbox    ("Adjust other extrinsics that do not influence disparity",                 this.ly_combo_en,"disable if only disparity is critical");

  			gd.addCheckbox    ("Correct scales (focal length temperature? variations)",                   this.ly_focalLength);

  			gd.addCheckbox    ("Enable common roll adjustment (valid for high disparity range scans only)", this.ly_com_roll);

			gd.addNumericField("Relative weight of infinity calibration data",                            this.ly_inf_frac,  3);

  			gd.addCheckbox    ("Correct disparity for infinity tiles )has to disable until code fixed)",  this.ly_inf_disp);

  			gd.addCheckbox    ("Force convergence correction during extrinsic, even with no infinity data", this.ly_inf_force);

  			gd.addCheckbox    ("*Use polynomial correction, false - correct tilt/azimuth/roll of each sensor)", this.ly_poly);



  			gd.addMessage     ("--- Lazy eye parameters ---");

			gd.addNumericField("Sample size (side of a square)",                                          this.ly_smpl_side,  0);

			gd.addNumericField("Number after removing worst (should be >1)",                              this.ly_smpl_num,  0);

  			gd.addMessage     ("Maximal measured relative disparity = "+ (0.8*disp_scan_step)+" (0.8 * disp_scan_step)");
@@ -4440,15 +4455,6 @@ public class EyesisCorrectionParameters { 
			gd.addNumericField("Maximal relative full disparity difference to 8 neighbors",               this.ly_disp_rvar, 8,5,"",

					"Full allowed mismatch is a sum of absolute and disparity times relative");

			gd.addNumericField("Reduce weight of higher disparity tiles",                                 this.ly_norm_disp, 5);

			gd.addNumericField("Relative weight of infinity calibration data",                            this.ly_inf_frac,  3);

  			gd.addCheckbox    ("Calculate and apply lazy eye correction after disparity scan (poly or extrinsic), may repeat",this.ly_on_scan);

  			gd.addCheckbox    ("Use infinity disparity (disable if there is not enough of infinity data), both poly and extrinsic", this.ly_inf_en);

  			gd.addCheckbox    ("Correct disparity for infinity tiles )has to disable until code fixed)",  this.ly_inf_disp);

  			gd.addCheckbox    ("Force convergence correction during extrinsic, even with no infinity data", this.ly_inf_force);

  			gd.addCheckbox    ("Enable common roll adjustment (valid for high disparity range scans only)", this.ly_com_roll);

  			gd.addCheckbox    ("Correct scales (focal length temperature? variations)",                   this.ly_focalLength);

  			gd.addCheckbox    ("*Use polynomial correction, false - correct tilt/azimuth/roll of each sensor)", this.ly_poly);



  			gd.addMessage     ("--- Lazy eye multi-step fitting ---");

			gd.addNumericField("Any (near) saturated pixels - discard tile (see sat_level also)",         this.lym_overexp,  10);

  			gd.addCheckbox    ("Update target disparity after each step",                                 this.lym_update_disp);
@@ -5136,22 +5142,23 @@ public class EyesisCorrectionParameters { 
  			this.ih_min_samples=  (int) gd.getNextNumber();

  			this.ih_norm_center=        gd.getNextBoolean();



			this.ly_smpl_side=    (int) gd.getNextNumber();

			this.ly_smpl_num=     (int) gd.getNextNumber();

//			this.ly_meas_disp=          gd.getNextNumber();

			this.ly_smpl_rms=           gd.getNextNumber();

			this.ly_disp_var=           gd.getNextNumber();

			this.ly_disp_rvar=          gd.getNextNumber();

			this.ly_norm_disp=          gd.getNextNumber();

			this.ly_inf_frac=           gd.getNextNumber();

  			this.ly_on_scan=            gd.getNextBoolean();

  			this.ly_inf_en=             gd.getNextBoolean();

  			this.ly_combo_en=           gd.getNextBoolean();

  			this.ly_focalLength=        gd.getNextBoolean();

  			this.ly_com_roll=           gd.getNextBoolean();

			this.ly_inf_frac=           gd.getNextNumber();



			this.ly_inf_disp=           gd.getNextBoolean();

  			this.ly_inf_force=          gd.getNextBoolean();

  			this.ly_com_roll=           gd.getNextBoolean();

  			this.ly_focalLength=        gd.getNextBoolean();

  			this.ly_poly=               gd.getNextBoolean();



			this.ly_smpl_side=    (int) gd.getNextNumber();

			this.ly_smpl_num=     (int) gd.getNextNumber();

			this.ly_smpl_rms=           gd.getNextNumber();

			this.ly_disp_var=           gd.getNextNumber();

			this.ly_disp_rvar=          gd.getNextNumber();

			this.ly_norm_disp=          gd.getNextNumber();

			this.lym_overexp=           gd.getNextNumber();

  			this.lym_update_disp=       gd.getNextBoolean();

			this.lym_iter=        (int) gd.getNextNumber();

src/main/java/GeometryCorrection.java

+22 −15
Original line number Diff line number Diff line
@@ -101,14 +101,18 @@ public class GeometryCorrection { 
	}



	public boolean [] getParMask(

			boolean disparity_only,

//			boolean disparity_only,

//			boolean use_disparity,

			boolean use_disparity,

			boolean use_other_extr,



			boolean common_roll,

			boolean corr_focalLength)

	{

		return (new CorrVector()).getParMask(

				disparity_only,

				use_disparity,

				use_disparity, // disparity_only,

				use_other_extr, // boolean use_other_extr,

//				use_disparity,

				common_roll,

				corr_focalLength);

	}
@@ -508,25 +512,28 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0. 
		}



		public boolean [] getParMask(

				boolean disparity_only,

				boolean use_disparity,

				boolean use_other_extr,



//				boolean disparity_only,

//				boolean use_disparity,

				boolean common_roll,

				boolean corr_focalLength)

		{

			common_roll &=      !disparity_only;

			corr_focalLength &= !disparity_only;

			use_disparity |=     disparity_only;

//			common_roll &=      !disparity_only;

//			corr_focalLength &= !disparity_only;

//			use_disparity |=     disparity_only;

			boolean [] par_mask = {

					use_disparity,    //sym0

					!disparity_only,  //sym1

					!disparity_only,  //sym2

					!disparity_only,  //sym3

					!disparity_only,  //sym4

					!disparity_only,  //sym5

					use_other_extr,  //sym1

					use_other_extr,  //sym2

					use_other_extr,  //sym3

					use_other_extr,  //sym4

					use_other_extr,  //sym5

					common_roll,      //sym6 // common roll

					!disparity_only,  //sym7

					!disparity_only,  //sym8

					!disparity_only,  //sym9

					use_other_extr,  //sym7

					use_other_extr,  //sym8

					use_other_extr,  //sym9

					corr_focalLength, //sym10

					corr_focalLength, //sym11

					corr_focalLength  //sym12