added separate hor/vert correlation results to detect vertical/horizontal features

src/main/java/EyesisCorrections.java

@@ -2360,6 +2360,20 @@ public class EyesisCorrections {
 				   true,  // smart,
 				   true);  //newAllowed, // save
 		   
+		   saveAndShow(
+				   imp,
+				   path,
+				   correctionsParameters.png,
+				   show,
+				   jpegQuality);
+	   }
+
+	   void saveAndShow(
+			   ImagePlus             imp,
+			   String                path,
+			   boolean               png,
+			   boolean               show,
+			   int                   jpegQuality){//  <0 - keep current, 0 - force Tiff, >0 use for JPEG
 		   if (path!=null) {
 			   path+=Prefs.getFileSeparator()+imp.getTitle();
 			   boolean hasAlphaHighByte = false;
@@ -2374,7 +2388,7 @@ public class EyesisCorrections {
 			   }
 			   
 			   if (hasAlphaHighByte){
-				   if (correctionsParameters.png){
+				   if (png){
 					   if (this.debugLevel > 0) System.out.println("Saving RGBA result to "+path+".png");
 					   (new EyesisTiff()).savePNG_ARGB32(
 							   imp,
@@ -2441,27 +2455,7 @@ public class EyesisCorrections {
 			   imp.show();
 		   }
 	   }
-/*	  
-	   private void saveAndShow(
-	 		  CompositeImage        compositeImage,
-	 		  EyesisCorrectionParameters.ProcessParameters     processParameters,
-			   EyesisCorrectionParameters.CorrectionParameters  correctionsParameters){
-	 	  saveAndShow(compositeImage,    processParameters, correctionsParameters , true, true);
-	   }
 	   
-	   private void saveAndShow(
-			   CompositeImage        compositeImage,
-			   EyesisCorrectionParameters.ProcessParameters     processParameters,
-			   EyesisCorrectionParameters.CorrectionParameters  correctionsParameters,
-			   boolean               enableSave,
-			   boolean               enableShow){
-		   saveAndShow(
-				   compositeImage,
-				   correctionsParameters,
-				   processParameters.save && enableSave,
-				   processParameters.show && enableShow);
-	   }
-*/
 	   private void saveAndShow(
 	 		  CompositeImage        compositeImage,
 	 		  EyesisCorrectionParameters.CorrectionParameters correctionsParameters,

src/main/java/GeometryCorrection.java

@@ -27,6 +27,8 @@ import ij.IJ;
  */
 
 public class GeometryCorrection {
+	static double SCENE_UNITS_SCALE = 0.001;
+	static String SCENE_UNITS_NAME = "m";
 	public int    debugLevel = 0;
 	//	public double azimuth; // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
 	//	public double radius;  // mm, distance from the rotation axis
@@ -70,8 +72,8 @@ public class GeometryCorrection {
 	public double [][] XYZ_he;     // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved) 
 	public double [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading,  common_roll)
 	public double [][] rXY =     null; // XY pairs of the in a normal plane, relative to disparityRadius
-	public double cameraRadius=0; // average distance from the "mass center" of the sencors to the sensors
-	public double disparityRadius=0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad camera 
+	public double cameraRadius=0; // average distance from the "mass center" of the sensors to the sensors
+	public double disparityRadius=0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad camera (~=150mm)?
 
 	private double [] rByRDist=null;
 	private double    stepR=0.001;
@@ -307,7 +309,18 @@ public class GeometryCorrection {
 
 	// return distance from disparity (in pixel units) for the current camera geometry
 	public double getZFromDisparity(double disparity){
-		return disparity * this.focalLength * 0.001*this.pixelSize / this.disparityRadius;
+		return SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / (disparity * 0.001*this.pixelSize);
+	}
+	
+	public double getFOVPix(){ // get ratio of 1 pixel X/Y to Z (distance to object)
+		return 0.001 * this.pixelSize / this.focalLength;
+	}
+	
+	public double getFOVWidth(){ // get FOV ratio: width to distance
+		return this.pixelCorrectionWidth * 0.001 * this.pixelSize / this.focalLength;
+	}
+	public double getFOVHeight(){ // get FOV ratio: width to distance
+		return this.pixelCorrectionHeight * 0.001 * this.pixelSize / this.focalLength;
 	}
 
 	/*

src/main/java/PolynomialApproximation.java

@@ -29,7 +29,10 @@ public class PolynomialApproximation {
 				}
 				S[2*N]+=wxn;
 				if (this.debugLevel>1){
+					if (data[i].length > 2)
 						System.out.println("polynomialApproximation1d() |"+i+"|: x=|"+data[i][0]+"| f(x)=|"+data[i][1]+"| (w=\t|"+data[i][2]+"|\t)");
+					else
+						System.out.println("polynomialApproximation1d() |"+i+"|: x=|"+data[i][0]+"| f(x)=|"+data[i][1]+"|\t)");
 				}
 			}
 		}

src/main/java/X3dOutput.java

+import java.util.ArrayList;
+
+import java.io.File;
+import javax.xml.parsers.DocumentBuilder;
+import javax.xml.parsers.DocumentBuilderFactory;
+import javax.xml.parsers.ParserConfigurationException;
+import javax.xml.transform.OutputKeys;
+import javax.xml.transform.Transformer;
+import javax.xml.transform.TransformerException;
+import javax.xml.transform.TransformerFactory;
+import javax.xml.transform.dom.DOMSource;
+import javax.xml.transform.stream.StreamResult;
+
+import org.w3c.dom.Attr;
+import org.w3c.dom.Document;
+import org.w3c.dom.Element;
+
+/**
+ **
+ ** X3dOutput - generate x3d representation of the model
+ **
+ ** Copyright (C) 2017 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **  
+ **  X3dOutput.java is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ ** -----------------------------------------------------------------------------**
+ **
+ */
+// Will use 1m units
+
+public class X3dOutput {
+	GeometryCorrection                                     geometry_correction;
+	public ArrayList <EyesisDCT.CLTPass3d>                 clt_3d_passes;
+	public  EyesisCorrectionParameters.CLTParameters       clt_parameters;
+	public EyesisCorrectionParameters.CorrectionParameters correctionsParameters;
+	public int debugLevel = 1;
+	Document    x3dDoc;
+	Element     el_X3d;
+	Element     el_Scene;
+	Element     el_TopGroup;
+
+	public X3dOutput(
+			EyesisCorrectionParameters.CLTParameters        clt_parameters,
+			EyesisCorrectionParameters.CorrectionParameters correctionsParameters,
+			GeometryCorrection                              geometry_correction,
+			ArrayList <EyesisDCT.CLTPass3d>                 clt_3d_passes){
+		this.clt_parameters =        clt_parameters;
+		this.correctionsParameters = correctionsParameters;
+		this.geometry_correction =    geometry_correction;
+		this.clt_3d_passes = clt_3d_passes;
+	}
+	// init document, bounding box, backdrop
+	public void generateBackground()
+	{
+		try {
+
+			DocumentBuilderFactory docFactory = DocumentBuilderFactory.newInstance();
+			DocumentBuilder docBuilder = docFactory.newDocumentBuilder();
+			x3dDoc = docBuilder.newDocument();
+
+		} catch (ParserConfigurationException pce) {
+			pce.printStackTrace();
+		}
+		// root elements
+		el_X3d = x3dDoc.createElement("x3d");
+		el_X3d.setAttribute("profile","Interchange");
+		el_X3d.setAttribute("version","3.3");
+		x3dDoc.appendChild(el_X3d);
+		el_Scene  = x3dDoc.createElement("Scene");
+		el_X3d.appendChild(el_Scene);
+		
+		el_TopGroup = x3dDoc.createElement("Group");
+		double [][] bbox = getBBox();
+		el_TopGroup.setAttribute("class","GroupTop");
+		el_TopGroup.setAttribute("id",   "GroupTop");
+		
+		el_TopGroup.setAttribute("bboxCenter",  String.format("%.3f %.3f %.3f ",bbox[0][0],bbox[0][1],bbox[0][2]));
+		el_TopGroup.setAttribute("bboxSize",    String.format("%.3f %.3f %.3f ",bbox[1][0],bbox[1][1],bbox[1][2]));
+		
+		el_Scene.appendChild(el_TopGroup);
+
+        EyesisDCT.CLTPass3d bgnd_pass = clt_3d_passes.get(0);
+
+        Element el_Bgnd = x3dDoc.createElement("Background");
+        el_Bgnd.setAttribute("class","Background");
+        el_Bgnd.setAttribute("id",   "Background");
+        el_Bgnd.setAttribute("frontUrl",   bgnd_pass.texture);
+        // temporarily - add same picture to all other sides. Actually - any square will work, make some
+        // perspective grids/ colors to simplify orientation when looking wrong way
+        el_Bgnd.setAttribute("backUrl",   bgnd_pass.texture);
+        el_Bgnd.setAttribute("leftUrl",   bgnd_pass.texture);
+        el_Bgnd.setAttribute("rightUrl",   bgnd_pass.texture);
+        el_Bgnd.setAttribute("topUrl",   bgnd_pass.texture);
+        el_Bgnd.setAttribute("bottomUrl",   bgnd_pass.texture);
+		el_Scene.appendChild(el_Bgnd);
+	}
+	// close document, generate x3d file
+	public void generateX3D(String path)
+	{
+		try {
+			// write the content into xml file
+			TransformerFactory transformerFactory = TransformerFactory.newInstance();
+			Transformer transformer = transformerFactory.newTransformer();
+			DOMSource source = new DOMSource(x3dDoc);
+			StreamResult result = new StreamResult(new File(path));
+			// Output to console for testing
+			// StreamResult result = new StreamResult(System.out);
+			transformer.setOutputProperty(OutputKeys.INDENT, "yes");
+			transformer.setOutputProperty("{http://xml.apache.org/xslt}indent-amount", "2");			
+			transformer.transform(source, result);
+			System.out.println("x3d file saved to "+path);
+
+		} catch (TransformerException tfe) {
+			tfe.printStackTrace();
+		}
+
+	}
+
+	public double [][] getBBox() // center: x,y,z, size:x,y,z
+	{
+		double depth =  geometry_correction.getZFromDisparity(clt_parameters.bgnd_range);
+		double width  = depth * geometry_correction.getFOVWidth();
+		double height = depth * geometry_correction.getFOVHeight();
+		double [][] bbox = {{0, 0, depth/2},{width,height,depth}};
+		return bbox;
+	}
+}