System.out.println("===== All remaining planes are incompatible to each other: extractMergeSameTileGroups() nsTile = "+nsTile+" : found incomplete group: "+group+""
+"best_pair = null");
+" best_pair = null");
break;// all remaining planes are incompatible to each other
smplSide, // final int smplSide, // = 2; // Sample size (side of a square)
""+nsTile,// String prefix,
smplNum, // final int smplNum, // = 3; // Number after removing worst
these_planes,//planes[nsTile], // final PlaneData [] planes,
smplRms, // final double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
merge_planes,// final int [] merge_planes, // indices of planes suggested to be merged
stMeasSel,// final int stMeasSel, // = 1; // Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
plDispNorm,// final double dispNorm, // Normalize disparities to the average if above
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
smplRms,// final double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
plDiscrTolerance,// final double disp_tolerance, // maximal disparity difference from the plane to consider tile
plDiscrVarFloor,// final double disp_var_floor, // squared add to variance to calculate reverse flatness (used mostly for single-cell clusters)
plDiscrSigma,// final double disp_sigma, // G.sigma to compare how measured data is attracted to planes
plDiscrDispRange,// final double disp_range, // parallel move known planes around original know value for the best overall fit
plDiscrSteps,// final int amplitude_steps, // number of steps (each direction) for each plane to search for the best fit (0 - single, 1 - 1 each side)
plDiscrBlur,// final double hist_blur, // Sigma to blur histogram
plDiscrExclusivity,// final double exclusivity, // 1.0 - tile belongs to one plane only, 0.0 - regardless of others
plDiscrExclus2,// final double excluisivity2, // = 0.8; // For second pass if exclusivity > 1.0 - will assign only around strong neighbors
plDiscrStrict,// final boolean exclusivity_strict// = true; // When growing selection do not allow any offenders around (false - more these than others)
plDiscrCorrMax,// final double plDiscrCorrMax, // = 0.7; // Attraction to different planes correlation that is too high for re-discrimination.
plDiscrCorrMerge,// final double attractionCorrMerge, // = 0.85; // Attraction to different planes correlation that is high enough to merge planes
plDiscrSteal,// final int plDiscrSteal, // = 4; // If offender has this number of tiles (including center) the cell can not be used
plDiscrGrown,// final int plDiscrGrown, // = 0; // Only use tiles within this range from original selection
plDiscrXMedian,// final double outliersXMedian, // = 1.5; // Remove outliers from the final selection that have distance more than scaled median
plDiscrMode,// final int mode, // 0 - weighted, 1 - equalized, 2 - best, 3 - combined
dl);// debugLevel); // final int debugLevel)
if((planes_selections[nsTile]!=null)||(merge_planes[0]<0)){// either OK, or does not know what to do (keep old)
plDiscrTolerance, // final double max_disp_diff, // maximal disparity difference from the plane to consider tile
// separately merge corresponding nonexclusiveStar and nonexclusiveStarEq of these planes - kit is not exact,
plDiscrDispRange, // final double disp_range, // parallel move known planes around original know value for the best overall fit
// but is needed just for a hint and is compatible with multithreading without recalculating other planes
plDiscrSteps, // final int amplitude_steps, // number of steps (each direction) for each plane to search for the best fit (0 - single, 1 - 1 each side)
plDiscrVariants, // final int num_variants, // total number of variants to try (protect from too many planes)
plDiscrMode, // final int mode, // 0 - weighted, 1 - equalized, 2 - best, 3 - combined
plDiscrStrict,// final boolean exclusivity_strict// = true; // When growing selection do not allow any offenders around (false - more these than others)
@@ -3306,7 +3306,7 @@ public class TileProcessor {
...
@@ -3306,7 +3306,7 @@ public class TileProcessor {
st.planes,// final TilePlanes.PlaneData [][] planes,
st.planes,// final TilePlanes.PlaneData [][] planes,
merge_candidates,// final int [][][] merge_candidates,
merge_candidates,// final int [][][] merge_candidates,
plane_nooverlaps,// final boolean [][][] valid_candidates, // will be updated
plane_nooverlaps,// final boolean [][][] valid_candidates, // will be updated
true,// final boolean merge_low_eigen,
true,// final boolean merge_low_eigen, here it should be true
2,// -1, // debugLevel, // final int debugLevel)
2,// -1, // debugLevel, // final int debugLevel)
clt_parameters.tileX,
clt_parameters.tileX,
clt_parameters.tileY);
clt_parameters.tileY);
...
@@ -3520,47 +3520,54 @@ public class TileProcessor {
...
@@ -3520,47 +3520,54 @@ public class TileProcessor {
// re-generate planes in the supertiles using previously calculated planes (for tghe tiles and their neighbors)
// re-generate planes in the supertiles using previously calculated planes (for tghe tiles and their neighbors)
// as hints, new planes will be assumed parallel to the known and possibly slightly offset in disparity
// as hints, new planes will be assumed parallel to the known and possibly slightly offset in disparity
st.regeneratePlanes(
if(clt_parameters.plDiscrEn){
st.planes,// final TilePlanes.PlaneData [][] planes,
st.regeneratePlanes(
clt_parameters.stMeasSel,// = 1 //Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
st.planes,// final TilePlanes.PlaneData [][] planes,
clt_parameters.plDispNorm,// = 2.0; // Normalize disparities to the average if above
clt_parameters.stMeasSel,// = 1 //Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
clt_parameters.plMinPoints,// = 5; // Minimal number of points for plane detection
clt_parameters.plDispNorm,// = 2.0; // Normalize disparities to the average if above
clt_parameters.plTargetEigen,// = 0.1; // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below
clt_parameters.plMinPoints,// = 5; // Minimal number of points for plane detection
clt_parameters.plFractOutliers,// = 0.3; // Maximal fraction of outliers to remove
clt_parameters.plTargetEigen,// = 0.1; // Remove outliers until main axis eigenvalue (possibly scaled by plDispNorm) gets below
clt_parameters.plMaxOutliers,// = 20; // Maximal number of outliers to remove\
clt_parameters.plFractOutliers,// = 0.3; // Maximal fraction of outliers to remove
clt_parameters.plPreferDisparity,
clt_parameters.plMaxOutliers,// = 20; // Maximal number of outliers to remove\
geometryCorrection,
clt_parameters.plPreferDisparity,
clt_parameters.correct_distortions,
geometryCorrection,
clt_parameters.correct_distortions,
clt_parameters.stSmplMode,// final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
clt_parameters.stSmplMode,// final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
clt_parameters.stSmplSide,// final int smplSide, // = 2; // Sample size (side of a square)
clt_parameters.stSmplSide,// final int smplSide, // = 2; // Sample size (side of a square)
clt_parameters.stSmplNum,// final int smplNum, // = 3; // Number after removing worst
clt_parameters.stSmplNum,// final int smplNum, // = 3; // Number after removing worst
clt_parameters.stSmplRms,// final double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
clt_parameters.stSmplRms,// final double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
clt_parameters.plDiscrTolerance,// final double plDiscrTolerance, // = 0.4; // Maximal disparity difference from the plane to consider tile
clt_parameters.plDiscrTolerance,// final double plDiscrTolerance, // = 0.4; // Maximal disparity difference from the plane to consider tile
clt_parameters.plDiscrDispRange,// final double plDiscrDispRange, // = 0.6; // Parallel move known planes around original know value for the best overall fit
clt_parameters.plDiscrDispRange,// final double plDiscrDispRange, // = 0.6; // Parallel move known planes around original know value for the best overall fit
clt_parameters.plDiscrSteps,// final int plDiscrSteps, // = 3; // Number of steps (each direction) for each plane to search for the best fit (0 - single, 1 - 1 each side)
clt_parameters.plDiscrSteps,// final int plDiscrSteps, // = 3; // Number of steps (each direction) for each plane to search for the best fit (0 - single, 1 - 1 each side)
clt_parameters.plDiscrVariants,// final int plDiscrVariants, // = 100; // Total number of variants to try (protect from too many planes)
clt_parameters.plDiscrVariants,// final int plDiscrVariants, // = 100; // Total number of variants to try (protect from too many planes)
clt_parameters.plDiscrMode,// final int plDiscrMode, // = 3; // What plane to use as a hint: 0 - weighted, 1 - equalized, 2 - best, 3 - combined
clt_parameters.plDiscrMode,// final int plDiscrMode, // = 3; // What plane to use as a hint: 0 - weighted, 1 - equalized, 2 - best, 3 - combined
clt_parameters.plDiscrVarFloor,// final double plDiscrVarFloor, // = 0.03; // Squared add to variance to calculate reverse flatness (used mostly for single-cell clusters)
clt_parameters.plDiscrVarFloor,// final double plDiscrVarFloor, // = 0.03; // Squared add to variance to calculate reverse flatness (used mostly for single-cell clusters)
clt_parameters.plDiscrSigma,// final double plDiscrSigma, // = 0.05; // Gaussian sigma to compare how measured data is attracted to planes
clt_parameters.plDiscrSigma,// final double plDiscrSigma, // = 0.05; // Gaussian sigma to compare how measured data is attracted to planes
clt_parameters.plDiscrBlur,// final double plDiscrBlur, // = 0.1; // Sigma to blur histograms while re-discriminating
clt_parameters.plDiscrBlur,// final double plDiscrBlur, // = 0.1; // Sigma to blur histograms while re-discriminating
clt_parameters.plDiscrExclusivity,// final double plDiscrExclusivity, // = 0.5; // Tile exclusivity: 1.0 - tile belongs to one plane only, 0.0 - regardless of others
clt_parameters.plDiscrExclusivity,// final double plDiscrExclusivity, // = 0.5; // Tile exclusivity: 1.0 - tile belongs to one plane only, 0.0 - regardless of others
clt_parameters.plDiscrExclus2,// final double plDiscrExclus2, // = 0.5; // For second pass if exclusivity > 1.0 - will assign only around strong neighbors
clt_parameters.plDiscrExclus2,// final double plDiscrExclus2, // = 0.5; // For second pass if exclusivity > 1.0 - will assign only around strong neighbors
clt_parameters.plDiscrStrict,// final boolean plDiscrStrict, // = true; // When growing selection do not allow any offenders around (false - more these than others)
clt_parameters.plDiscrStrict,// final boolean plDiscrStrict, // = true; // When growing selection do not allow any offenders around (false - more these than others)
0,// -1, // debugLevel, // final int debugLevel)
clt_parameters.plDiscrCorrMax,// final double plDiscrCorrMax, // = 0.7; // Attraction to different planes correlation that is too high for re-discrimination.
clt_parameters.tileX,
clt_parameters.plDiscrCorrMerge,// final double plDiscrCorrMerge, // = 0.85; // Attraction to different planes correlation that is high enough to merge planes
clt_parameters.tileY);
clt_parameters.plDiscrSteal,// final int plDiscrSteal, // = 4; // If offender has this number of tiles (including center) the cell can not be used
clt_parameters.plDiscrGrown,// final int plDiscrGrown, // = 0; // Only use tiles within this range from original selection
// condition the redcefined planes
conditionSuperTiles(
clt_parameters.plDiscrXMedian,// final double plDiscrXMedian, // = 1.5; // Remove outliers from the final selection that have distance more than scaled median
