Working on smooth ground surface

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

@@ -468,6 +468,17 @@ public class CLTParameters {
 	public boolean    gltf_alpha_blend =  false; // true;   // Use alpha blend (false - opaque)
 	
 	// parameters for ground maps generation
+	// discard vegetation (tall objects), LPF ground surface. Especially needed for low quality depth map (no SfM)
+	public boolean    gsmth_use_lma =       true; // use only LMA-generated depth tiles 
+	public double     gsmth_discard_low =   0.2;  // discard % of the lowest  tiles (holes?)
+	public double     gsmth_discard_high =  0.3;  // discard % of the tallest tiles (high objects)
+	public int        gsmth_stile_hstep =   4;    // use supertiles twice larger
+	public double     gsmth_stile_radius =  8.0;  // fit planes to the data within this radius of the supertile center 
+	public double     gsmth_sigma =         4.0;  // Additionally LPF after fitting planes
+	public int        gsmth_radius_levels = 4;    // increase radius twice multiple time if there are no enough tiles 
+	public int        gsmth_min_non_empty = 10;   // minimal number of non-empty tiles for fitting planes
+	public int        gsmth_border_level =  1;    // 1 - start with twice larger radius for forder supertiles 
+	
 	public boolean    gmap_render_hdr =      true; //  generate textures w/o normalization to generate undistorted
 	public boolean    gmap_en =              true; //  generate ground map from a drone (enables gmap_render_hdr)
 	public boolean    gmap_parallel_proj =   true; // Use parallel projection (map)
@@ -1625,6 +1636,16 @@ public class CLTParameters {
 
 		properties.setProperty(prefix+"gltf_emissive",              this.gltf_emissive+"");
 		properties.setProperty(prefix+"gltf_alpha_blend",           this.gltf_alpha_blend+"");
+		
+		properties.setProperty(prefix+"gsmth_use_lma",              this.gsmth_use_lma+      "");        // boolean
+		properties.setProperty(prefix+"gsmth_discard_low",          this.gsmth_discard_low+  "");        // double
+		properties.setProperty(prefix+"gsmth_discard_high",         this.gsmth_discard_high+ "");        // double
+		properties.setProperty(prefix+"gsmth_stile_hstep",          this.gsmth_stile_hstep+  "");        // int
+		properties.setProperty(prefix+"gsmth_stile_radius",         this.gsmth_stile_radius+ "");        // double 
+		properties.setProperty(prefix+"gsmth_sigma",                this.gsmth_sigma+        "");        // double
+		properties.setProperty(prefix+"gsmth_radius_levels",        this.gsmth_radius_levels+"");        // int
+		properties.setProperty(prefix+"gsmth_min_non_empty",        this.gsmth_min_non_empty+"");        // int
+		properties.setProperty(prefix+"gsmth_border_level",         this.gsmth_border_level+ "");        // int 		
 
 		properties.setProperty(prefix+"gmap_render_hdr",            this.gmap_render_hdr+"");            // boolean 
 		properties.setProperty(prefix+"gmap_en",                    this.gmap_en+"");                    // boolean
@@ -2659,6 +2680,16 @@ public class CLTParameters {
 		if (properties.getProperty(prefix+"gltf_emissive")!=null)                 this.gltf_emissive=Boolean.parseBoolean(properties.getProperty(prefix+"gltf_emissive"));
 		if (properties.getProperty(prefix+"gltf_alpha_blend")!=null)              this.gltf_alpha_blend=Boolean.parseBoolean(properties.getProperty(prefix+"gltf_alpha_blend"));
 
+		if (properties.getProperty(prefix+"gsmth_use_lma")!=null)        this.gsmth_use_lma      =Boolean.parseBoolean(properties.getProperty(prefix+ "gsmth_use_lma"      ));
+		if (properties.getProperty(prefix+"gsmth_discard_low")!=null)    this.gsmth_discard_low  =Double.parseDouble(properties.getProperty(prefix+   "gsmth_discard_low"  ));
+		if (properties.getProperty(prefix+"gsmth_discard_high")!=null)   this.gsmth_discard_high =Double.parseDouble(properties.getProperty(prefix+   "gsmth_discard_high" ));
+		if (properties.getProperty(prefix+"gsmth_stile_hstep")!=null)    this.gsmth_stile_hstep  =Integer.parseInt(properties.getProperty(prefix+     "gsmth_stile_hstep"  ));
+		if (properties.getProperty(prefix+"gsmth_stile_radius")!=null)   this.gsmth_stile_radius =Double.parseDouble(properties.getProperty(prefix+   "gsmth_stile_radius" ));
+		if (properties.getProperty(prefix+"gsmth_sigma")!=null)          this.gsmth_sigma        =Double.parseDouble(properties.getProperty(prefix+   "gsmth_sigma"        ));
+		if (properties.getProperty(prefix+"gsmth_radius_levels")!=null)  this.gsmth_radius_levels=Integer.parseInt(properties.getProperty(prefix+     "gsmth_radius_levels"));
+		if (properties.getProperty(prefix+"gsmth_min_non_empty")!=null)  this.gsmth_min_non_empty=Integer.parseInt(properties.getProperty(prefix+     "gsmth_min_non_empty"));
+		if (properties.getProperty(prefix+"gsmth_border_level")!=null)   this.gsmth_border_level =Integer.parseInt(properties.getProperty(prefix+     "gsmth_border_level" ));
+
 		if (properties.getProperty(prefix+"gmap_render_hdr")!=null)      this.gmap_render_hdr=Boolean.parseBoolean(properties.getProperty(prefix+   "gmap_render_hdr"));
 		if (properties.getProperty(prefix+"gmap_en")!=null)              this.gmap_en=Boolean.parseBoolean(properties.getProperty(prefix+           "gmap_en"));
 		if (properties.getProperty(prefix+"gmap_parallel_proj")!=null)   this.gmap_parallel_proj=Boolean.parseBoolean(properties.getProperty(prefix+"gmap_parallel_proj"));
@@ -3919,8 +3950,28 @@ public class CLTParameters {
 				"Minimal number of background tiles to generate background.");
 		
 		gd.addMessage     ("glTF export");
-		gd.addCheckbox    ("glTF use emissive textures",                                                             this.gltf_emissive);
-		gd.addCheckbox    ("glTF use alpha blend",                                                                   this.gltf_alpha_blend);
+		gd.addCheckbox    ("glTF use emissive textures",           this.gltf_emissive);
+		gd.addCheckbox    ("glTF use alpha blend",                 this.gltf_alpha_blend);
+		gd.addMessage     ("Extract smooth ground surface");
+
+		gd.addCheckbox ("Use only LMA disparity for ground",       this.gsmth_use_lma,
+				"Use only LMA-generated disparity to find the ground plane to project the map.");
+		gd.addNumericField("Discard low fraction",                 this.gmap_discard_low,  4,6,"",
+				"Discard lowest tiles (ditches) up to this fraction of all available tiles when finding the ground plane for the map projection.");
+		gd.addNumericField("Discard high fraction",                this.gsmth_discard_high,  4,6,"",
+				"Discard highest tiles (vegetation, structure) up to this fraction of all available tiles when finding the ground plane for the map projection.");
+		gd.addNumericField("Half-pitch of the supertiles",         this.gsmth_stile_hstep, 0,3,"tiles",
+				"Supertiles centers will be at 1x, 3x, 5x, ... this value in each of the ortho directions.");
+		gd.addNumericField("Plane-fitting radius",                 this.gsmth_stile_radius,  4,6,"tiles",
+				"Fit a plane to each supertile using tiles within this radius around the center.");
+		gd.addNumericField("LPF sigma",                            this.gsmth_sigma,  4,6,"tiles",
+				"Use Gaussian blur to additionally blur the surface of the fitted planes.");
+		gd.addNumericField("Number of radius levels",              this.gsmth_radius_levels, 0,3,"pix",
+				"Number of times to double fitting radius when there are insufficient tiles for plane fitting.");
+		gd.addNumericField("Minimal tiles for fitting",            this.gsmth_min_non_empty, 0,3,"pix",
+				"Minimal number of tiles needed for plane fitting.");
+		gd.addNumericField("Border radius level",                  this.gsmth_border_level, 0,3,"pix",
+				"Start with higher radius level for border supertiles (1 - use twice larger radius.");
 
 		gd.addMessage     ("Ground map export");
 		gd.addMessage     ("Use of IMS/GNSS data is "+(imp.ims_use? "ENABLED":"DISABLED")+" (see 'IMS' configuration tab)");
@@ -5184,6 +5235,16 @@ public class CLTParameters {
 		this.gltf_emissive=         gd.getNextBoolean();
 		this.gltf_alpha_blend=      gd.getNextBoolean();
 		
+		this.gsmth_use_lma=             gd.getNextBoolean();
+		this.gsmth_discard_low=         gd.getNextNumber();
+		this.gsmth_discard_high=        gd.getNextNumber();
+		this.gsmth_stile_hstep=   (int) gd.getNextNumber();
+		this.gsmth_stile_radius=        gd.getNextNumber();
+		this.gsmth_sigma=               gd.getNextNumber();
+		this.gsmth_radius_levels= (int) gd.getNextNumber();
+		this.gsmth_min_non_empty= (int) gd.getNextNumber();
+		this.gsmth_border_level=  (int) gd.getNextNumber();
+		
 		this.gmap_render_hdr=       gd.getNextBoolean();
 		this.gmap_en=               gd.getNextBoolean();
 		this.gmap_parallel_proj=    gd.getNextBoolean();

src/main/java/com/elphel/imagej/tileprocessor/OpticalFlow.java

@@ -5429,7 +5429,7 @@ public class OpticalFlow {
 			}
 		}
 		
-//		quadCLTs[ref_index].getSmoothGround(clt_parameters);
+		quadCLTs[ref_index].getSmoothGround(clt_parameters, debugLevel);
 		
 		// later move to the right place
 		if (adjust_imu_orient) { // (quadCLTs[ref_index].getNumOrient() >= clt_parameters.imp.mb_all_index)) {