re-assigning supertiles links

src/main/java/EyesisCorrectionParameters.java

@@ -2187,6 +2187,8 @@ public class EyesisCorrectionParameters {
   		public double     plWeakEigen2         =   0.05; // Maximal eigenvalue of the result of non-weighted merge  (second variant)
   		public double     plSumThick           =   1.2;  // Do not merge if any sqrt of merged eigenvalue exceeds scaled sum of components 
   		public double     plNeNeibCost         =   5.0;  // When calculating non-exclusive planes, do not use neighbors with high cost
+  	    public double     plExNeibCost         =   5.0;  // When calculating exclusive planes links, do not use neighbors with high cost
+  		
   		public double     plNeOwn              =   5.0;  // When calculating non-exclusive planes, use cenrter plane relative weight
   		public double     plMaxZRatio          =   2.0;  // Maximal ratio of Z to allow plane merging
   		public double     plMaxDisp            =   0.6;  // Maximal disparity of one of the planes to apply  maximal ratio
@@ -2598,6 +2600,7 @@ public class EyesisCorrectionParameters {
 			properties.setProperty(prefix+"plWeakEigen2",     this.plWeakEigen2 +"");
 			properties.setProperty(prefix+"plSumThick",       this.plSumThick +"");
 			properties.setProperty(prefix+"plNeNeibCost",     this.plNeNeibCost +"");
+			properties.setProperty(prefix+"plExNeibCost",     this.plExNeibCost +"");
 			properties.setProperty(prefix+"plNeOwn",          this.plNeOwn +"");
 			
 			properties.setProperty(prefix+"plMaxZRatio",      this.plMaxZRatio +"");
@@ -2985,6 +2988,7 @@ public class EyesisCorrectionParameters {
   			if (properties.getProperty(prefix+"plWeakEigen2")!=null)      this.plWeakEigen2=Double.parseDouble(properties.getProperty(prefix+"plWeakEigen2"));
   			if (properties.getProperty(prefix+"plSumThick")!=null)        this.plSumThick=Double.parseDouble(properties.getProperty(prefix+"plSumThick"));
   			if (properties.getProperty(prefix+"plNeNeibCost")!=null)      this.plNeNeibCost=Double.parseDouble(properties.getProperty(prefix+"plNeNeibCost"));
+  			if (properties.getProperty(prefix+"plExNeibCost")!=null)      this.plExNeibCost=Double.parseDouble(properties.getProperty(prefix+"plExNeibCost"));
   			if (properties.getProperty(prefix+"plNeOwn")!=null)           this.plNeOwn=Double.parseDouble(properties.getProperty(prefix+"plNeOwn"));
   			
   			if (properties.getProperty(prefix+"plMaxZRatio")!=null)       this.plMaxZRatio=Double.parseDouble(properties.getProperty(prefix+"plMaxZRatio"));
@@ -3401,6 +3405,7 @@ public class EyesisCorrectionParameters {
   			gd.addNumericField("Maximal eigenvalue of the result of non-weighted merge (second variant)",      this.plWeakEigen2,  6);
   			gd.addNumericField("Do not merge if any sqrt of merged eigenvalue exceeds scaled sum of components", this.plSumThick,  6);
   			gd.addNumericField("When calculating non-exclusive planes, do not use neighbors with high cost",   this.plNeNeibCost,  6);
+  			gd.addNumericField(" When calculating exclusive planes links, do not use neighbors with high cost",this.plExNeibCost,  6);
   			gd.addNumericField("When calculating non-exclusive planes, use cenrter plane relative weight",     this.plNeOwn,  6);
 
   			gd.addMessage     ("---  ---");
@@ -3804,6 +3809,7 @@ public class EyesisCorrectionParameters {
   			this.plWeakEigen2=          gd.getNextNumber();
   			this.plSumThick=            gd.getNextNumber();
   			this.plNeNeibCost=          gd.getNextNumber();
+  			this.plExNeibCost=          gd.getNextNumber();
   			this.plNeOwn=               gd.getNextNumber();
 
   			this.plMaxZRatio=           gd.getNextNumber();

src/main/java/TilePlanes.java

@@ -109,7 +109,8 @@ public class TilePlanes {
 		double [][]  wvectors =    null; // [3][3] - eigenvectors calculated in the real world
 		double []    wvalues =     null; // [3] -eigenvalues calculated in the real world
 		double [][]  merged_weig_val = null; // for each of the directions (N, NE, .. NW) quality match for each layer 
-		double [][]  merged_weig_eq =  null; // for each of the directions (N, NE, .. NW) quality match for each layer - ignoring weights 
+		double [][]  merged_weig_eq =  null; // for each of the directions (N, NE, .. NW) quality match for each layer - ignoring weights
+		double [][]  link_costs; // for each of the directions (N, NE, .. NW) composite cost of connection
 
 		int mark0 = -1; // just for temporary labeling the plane
 		
@@ -480,6 +481,16 @@ public class TilePlanes {
 				}
 			}
 
+			if (src.link_costs != null){
+				dst.link_costs = src.link_costs.clone();
+				for (int i = 0; i < src.link_costs.length; i++){
+					if (src.link_costs[i] != null){
+						dst.link_costs[i] = src.link_costs[i].clone();
+					}
+				}
+			}
+			
+			
 			if (src.neib_best != null) dst.neib_best = src.neib_best.clone();
 			
 			// also copy original plane parameters - tile selection and number of points
@@ -1728,11 +1739,11 @@ public class TilePlanes {
 		
 		public double [][] initMergedValue()
 		{
-			this.merged_eig_val = new double[8][];
-			this.merged_eig_eq = new double[8][];
-			this.merged_weig_val = new double[8][];
-			this.merged_weig_eq = new double[8][];
-			this.merged_valid = new boolean[8][];
+			this.merged_eig_val =      new double[8][];
+			this.merged_eig_eq =       new double[8][];
+			this.merged_weig_val =     new double[8][];
+			this.merged_weig_eq =      new double[8][];
+			this.merged_valid =        new boolean[8][];
 			this.merged_strong_valid = new boolean[8][];
 			return this.merged_eig_val;
 		}
@@ -1755,7 +1766,23 @@ public class TilePlanes {
 		{
 			return this.merged_weig_eq;
 		}
+		public double [][] getLinkCosts()
+		{
+			return this.link_costs;
+		}
+		public double [] getLinkCosts(int dir)
+		{
+			return this.link_costs[dir];
+		}
+		public double getLinkCosts(int dir, int np)
+		{
+			return this.link_costs[dir][np];
+		}
 		
+		public void setLinkCosts(int dir, int plane, double value)
+		{
+			this.link_costs[dir][plane] = value;
+		}
 		
 		public double [] initMergedValue(int dir, int leng)
 		{
@@ -1774,6 +1801,19 @@ public class TilePlanes {
 			return getMergedValue(dir);
 		}
 
+		public double [][] initLinkCosts(){
+			this.link_costs =          new double[8][];
+			return link_costs;
+		}
+		public double [] initLinkCosts(int dir, int leng)
+		{
+			this.link_costs[dir] =            new double[leng];
+			for (int i = 0; i < leng; i++) {
+				this.link_costs[dir][i] =      Double.NaN;
+			}
+			return getLinkCosts(dir);
+		}
+		
 		public double [] getMergedValue(int dir)
 		{
 			if (this.merged_eig_val == null) {

src/main/java/TileProcessor.java

@@ -3251,6 +3251,11 @@ public class TileProcessor {
 					2, // -1, // debugLevel,                  // final int        debugLevel)
 					clt_parameters.tileX,
 					clt_parameters.tileY);
+			lp.interPlaneCosts( // not used yet, just for testing
+					st.planes, // final TilePlanes.PlaneData [][] planes,			
+					2, // -1, // debugLevel,                  // final int        debugLevel)
+					clt_parameters.tileX,
+					clt_parameters.tileY);
 
 			lp.filterNeighborPlanes(
 					st.planes, // final TilePlanes.PlaneData [][] planes,
@@ -3698,6 +3703,12 @@ public class TileProcessor {
 					clt_parameters.tileX,
 					clt_parameters.tileY);
 
+			lp.interPlaneCosts( // not used yet, just for testing
+					st.planes, // final TilePlanes.PlaneData [][] planes,			
+					2, // -1, // debugLevel,                  // final int        debugLevel)
+					clt_parameters.tileX,
+					clt_parameters.tileY);
+
 			lp.filterNeighborPlanes(
 					st.planes, // final TilePlanes.PlaneData [][] planes,
 					true, // final boolean merge_low_eigen,
@@ -3769,7 +3780,32 @@ public class TileProcessor {
 					clt_parameters.plPreferDisparity,
 					0, // 1,// 0, // final int debugLevel)
 					clt_parameters.tileX,
-					clt_parameters.tileY); 
+					clt_parameters.tileY);
+			// create costs for the modified planes
+			lp.interPlaneCosts(
+					st.planes_mod, // final TilePlanes.PlaneData [][] planes,			
+					2, // -1, // debugLevel,                  // final int        debugLevel)
+					clt_parameters.tileX,
+					clt_parameters.tileY);
+			lp.setExclusiveLinks(
+					st.planes_mod, // final TilePlanes.PlaneData [][] planes,			
+					2, // -1, // debugLevel,                  // final int        debugLevel)
+					clt_parameters.tileX,
+					clt_parameters.tileY);
+			// once more after updating exclusive links
+			planes_mod = st.planesSmooth(
+					lp,                                           // LinkPlanes       lp,			
+					clt_parameters.plPull,                        // final double      meas_pull,//  relative pull of the original (measured) plane with respect to the average of the neighbors
+					clt_parameters.plMaxEigen,                    // final double      maxValue, // do not combine with too bad planes
+					clt_parameters.plIterations,                  // final int         num_passes,
+					clt_parameters.plStopBad,                     // Do not update supertile if any of connected neighbors is not good (false: just skip that neighbor)
+					clt_parameters.plNormPow,                     // 0.0: 8 neighbors pull 8 times as 1, 1.0 - same as 1
+					Math.pow(10.0,  -clt_parameters.plPrecision), // final double      maxDiff, // maximal change in any of the disparity values
+					clt_parameters.plPreferDisparity,
+					0, // 1,// 0, // final int debugLevel)
+					clt_parameters.tileX,
+					clt_parameters.tileY);
+			
 		} else {
 			st.planes_mod = st.planes; // just use the measured ones
 		}