working on tile processing (e2689c1b) · Commits · Elphel / imagej-elphel

src/main/java/EyesisCorrectionParameters.java

+133 −9

Original line number	Original line	Diff line number	Diff line
	@@ -2039,8 +2039,31 @@ public class EyesisCorrectionParameters {
	public int ortho_half_length = 4; // convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features		public int ortho_half_length = 4; // convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features
	public double ortho_mix = 0.5; // Fraction ovf convolved ortho in a mix with raw		public double ortho_mix = 0.5; // Fraction ovf convolved ortho in a mix with raw

			public int max_clusters = 10; // Maximal number of clusters to generate for one run
			public boolean correct_distortions = false; // Correct lens geometric distortions in a model (will need backdrop to be corrected too)
			public boolean show_triangles = true; // Show generated triangles
			public boolean avg_cluster_disp = false; // Weight-average disparity for the whole cluster
			public double maxDispTriangle = 0.2; // Maximal disparity difference in a triangle face to show

			// Thin ice parameters
			public double tiRigidVertical = 3.0; // relative disparity rigidity in vertical direction
			public double tiRigidHorizontal = 1.0; // relative disparity rigidity in horizontal direction
			public double tiRigidDiagonal = 0.5; // relative disparity rigidity in diagonal direction
			public double tiStrengthOffset = 0.1; // strength "floor" - subtract (limit 0) before applying
			public double tiDispScale = 0.5; // divide actual (disparity*eff_Strength) by this before Math.pow and applying to T.I.
			public double tiDispPow = 0.0; // apply pow to disparity (restore sign) for disparity difference pressure on ice
			public double tiDispPull = .1; // tiDispPull: multiply strength*disparity difference to pull force
			public double tiDispPullPreFinal= .1; // Scale tiDispPull for pre-final pass
			public double tiDispPullFinal = .01; // Scale tiDispPull for final pass
			public double tiBreak3 = 0.6; // TI break value of abs(d0-3d1+3d2-d3)
			public double tiBreak31 = 0.1; // TI break value of (d0-3d1+3d2-d3) * (d1 - d2)
			public double tiBreak21 = 0.1; // TI break value of (-d0+d1+d2-d3) * abs(d1 - d2)
			public int tiBreakMode = 0; // TI break mode: 0: abs(3-rd derivative), 1: -(3-rd * 1-st), 2: -(2-nd * abs(1-st))
			public double tiBreakSame = 0.5; // Amplify colinear breaks in neighbor tiles
			public double tiBreakTurn = 0.125; // Amplify 90-degree turnintg breaks in neighbor tiles
			public int tiIterations = 1000; // maximal number of TI iterations for each step
			public int tiPrecision = 6; // iteration maximal error (1/power of 10)
			public int tiNumCycles = 5; // Number of cycles break-smooth (after the first smooth)

	public CLTParameters(){}		public CLTParameters(){}
	public void setProperties(String prefix,Properties properties){		public void setProperties(String prefix,Properties properties){
	@@ -2152,7 +2175,6 @@ public class EyesisCorrectionParameters {
	properties.setProperty(prefix+"ortho_min_hor", this.ortho_min_hor +"");		properties.setProperty(prefix+"ortho_min_hor", this.ortho_min_hor +"");
	properties.setProperty(prefix+"ortho_min_vert", this.ortho_min_vert +"");		properties.setProperty(prefix+"ortho_min_vert", this.ortho_min_vert +"");
	properties.setProperty(prefix+"ortho_asym", this.ortho_asym +"");		properties.setProperty(prefix+"ortho_asym", this.ortho_asym +"");

	properties.setProperty(prefix+"ortho_sustain", this.ortho_sustain +"");		properties.setProperty(prefix+"ortho_sustain", this.ortho_sustain +"");
	properties.setProperty(prefix+"ortho_run", this.ortho_run+"");		properties.setProperty(prefix+"ortho_run", this.ortho_run+"");
	properties.setProperty(prefix+"ortho_minmax", this.ortho_minmax +"");		properties.setProperty(prefix+"ortho_minmax", this.ortho_minmax +"");
	@@ -2160,6 +2182,32 @@ public class EyesisCorrectionParameters {
	properties.setProperty(prefix+"ortho_rms", this.ortho_rms +"");		properties.setProperty(prefix+"ortho_rms", this.ortho_rms +"");
	properties.setProperty(prefix+"ortho_half_length",this.ortho_half_length+"");		properties.setProperty(prefix+"ortho_half_length",this.ortho_half_length+"");
	properties.setProperty(prefix+"ortho_mix", this.ortho_mix +"");		properties.setProperty(prefix+"ortho_mix", this.ortho_mix +"");

			properties.setProperty(prefix+"max_clusters", this.max_clusters+"");
			properties.setProperty(prefix+"correct_distortions",this.correct_distortions+"");
			properties.setProperty(prefix+"show_triangles", this.show_triangles+"");
			properties.setProperty(prefix+"avg_cluster_disp", this.avg_cluster_disp+"");
			properties.setProperty(prefix+"maxDispTriangle", this.maxDispTriangle +"");

			properties.setProperty(prefix+"tiRigidVertical", this.tiRigidVertical +"");
			properties.setProperty(prefix+"tiRigidHorizontal",this.tiRigidHorizontal +"");
			properties.setProperty(prefix+"tiRigidDiagonal", this.tiRigidDiagonal +"");
			properties.setProperty(prefix+"tiStrengthOffset", this.tiStrengthOffset +"");
			properties.setProperty(prefix+"tiDispScale", this.tiDispScale +"");
			properties.setProperty(prefix+"tiDispPow", this.tiDispPow +"");
			properties.setProperty(prefix+"tiDispPull", this.tiDispPull +"");
			properties.setProperty(prefix+"tiDispPullPreFinal",this.tiDispPullPreFinal +"");
			properties.setProperty(prefix+"tiDispPullFinal", this.tiDispPullFinal +"");
			properties.setProperty(prefix+"tiBreak3", this.tiBreak3 +"");
			properties.setProperty(prefix+"tiBreak31", this.tiBreak31 +"");
			properties.setProperty(prefix+"tiBreak21", this.tiBreak21 +"");
			properties.setProperty(prefix+"tiBreakMode", this.tiBreakMode +"");
			properties.setProperty(prefix+"tiBreakSame", this.tiBreakSame +"");
			properties.setProperty(prefix+"tiBreakTurn", this.tiBreakTurn +"");
			properties.setProperty(prefix+"tiIterations", this.tiIterations+"");
			properties.setProperty(prefix+"tiPrecision", this.tiPrecision+"");
			properties.setProperty(prefix+"tiNumCycles", this.tiNumCycles+"");

	}		}
	public void getProperties(String prefix,Properties properties){		public void getProperties(String prefix,Properties properties){
	if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));		if (properties.getProperty(prefix+"transform_size")!=null) this.transform_size=Integer.parseInt(properties.getProperty(prefix+"transform_size"));
	@@ -2266,7 +2314,6 @@ public class EyesisCorrectionParameters {
	if (properties.getProperty(prefix+"ortho_min_hor")!=null) this.ortho_min_hor=Double.parseDouble(properties.getProperty(prefix+"ortho_min_hor"));		if (properties.getProperty(prefix+"ortho_min_hor")!=null) this.ortho_min_hor=Double.parseDouble(properties.getProperty(prefix+"ortho_min_hor"));
	if (properties.getProperty(prefix+"ortho_min_vert")!=null) this.ortho_min_vert=Double.parseDouble(properties.getProperty(prefix+"ortho_min_vert"));		if (properties.getProperty(prefix+"ortho_min_vert")!=null) this.ortho_min_vert=Double.parseDouble(properties.getProperty(prefix+"ortho_min_vert"));
	if (properties.getProperty(prefix+"ortho_asym")!=null) this.ortho_asym=Double.parseDouble(properties.getProperty(prefix+"ortho_asym"));		if (properties.getProperty(prefix+"ortho_asym")!=null) this.ortho_asym=Double.parseDouble(properties.getProperty(prefix+"ortho_asym"));

	if (properties.getProperty(prefix+"ortho_sustain")!=null) this.ortho_sustain=Double.parseDouble(properties.getProperty(prefix+"ortho_sustain"));		if (properties.getProperty(prefix+"ortho_sustain")!=null) this.ortho_sustain=Double.parseDouble(properties.getProperty(prefix+"ortho_sustain"));
	if (properties.getProperty(prefix+"ortho_run")!=null) this.ortho_run=Integer.parseInt(properties.getProperty(prefix+"ortho_run"));		if (properties.getProperty(prefix+"ortho_run")!=null) this.ortho_run=Integer.parseInt(properties.getProperty(prefix+"ortho_run"));
	if (properties.getProperty(prefix+"ortho_minmax")!=null) this.ortho_minmax=Double.parseDouble(properties.getProperty(prefix+"ortho_minmax"));		if (properties.getProperty(prefix+"ortho_minmax")!=null) this.ortho_minmax=Double.parseDouble(properties.getProperty(prefix+"ortho_minmax"));
	@@ -2274,6 +2321,32 @@ public class EyesisCorrectionParameters {
	if (properties.getProperty(prefix+"ortho_rms")!=null) this.ortho_rms=Double.parseDouble(properties.getProperty(prefix+"ortho_rms"));		if (properties.getProperty(prefix+"ortho_rms")!=null) this.ortho_rms=Double.parseDouble(properties.getProperty(prefix+"ortho_rms"));
	if (properties.getProperty(prefix+"ortho_half_length")!=null) this.ortho_half_length=Integer.parseInt(properties.getProperty(prefix+"ortho_half_length"));		if (properties.getProperty(prefix+"ortho_half_length")!=null) this.ortho_half_length=Integer.parseInt(properties.getProperty(prefix+"ortho_half_length"));
	if (properties.getProperty(prefix+"ortho_mix")!=null) this.ortho_mix=Double.parseDouble(properties.getProperty(prefix+"ortho_mix"));		if (properties.getProperty(prefix+"ortho_mix")!=null) this.ortho_mix=Double.parseDouble(properties.getProperty(prefix+"ortho_mix"));

			if (properties.getProperty(prefix+"max_clusters")!=null) this.max_clusters=Integer.parseInt(properties.getProperty(prefix+"max_clusters"));
			if (properties.getProperty(prefix+"correct_distortions")!=null) this.correct_distortions=Boolean.parseBoolean(properties.getProperty(prefix+"correct_distortions"));
			if (properties.getProperty(prefix+"show_triangles")!=null) this.show_triangles=Boolean.parseBoolean(properties.getProperty(prefix+"show_triangles"));
			if (properties.getProperty(prefix+"avg_cluster_disp")!=null) this.avg_cluster_disp=Boolean.parseBoolean(properties.getProperty(prefix+"avg_cluster_disp"));
			if (properties.getProperty(prefix+"maxDispTriangle")!=null) this.maxDispTriangle=Double.parseDouble(properties.getProperty(prefix+"maxDispTriangle"));

			if (properties.getProperty(prefix+"tiRigidVertical")!=null) this.tiRigidVertical=Double.parseDouble(properties.getProperty(prefix+"tiRigidVertical"));
			if (properties.getProperty(prefix+"tiRigidHorizontal")!=null) this.tiRigidHorizontal=Double.parseDouble(properties.getProperty(prefix+"tiRigidHorizontal"));
			if (properties.getProperty(prefix+"tiRigidDiagonal")!=null) this.tiRigidDiagonal=Double.parseDouble(properties.getProperty(prefix+"tiRigidDiagonal"));
			if (properties.getProperty(prefix+"tiStrengthOffset")!=null) this.tiStrengthOffset=Double.parseDouble(properties.getProperty(prefix+"tiStrengthOffset"));
			if (properties.getProperty(prefix+"tiDispScale")!=null) this.tiDispScale=Double.parseDouble(properties.getProperty(prefix+"tiDispScale"));
			if (properties.getProperty(prefix+"tiDispPow")!=null) this.tiDispPow=Double.parseDouble(properties.getProperty(prefix+"tiDispPow"));
			if (properties.getProperty(prefix+"tiDispPull")!=null) this.tiDispPull=Double.parseDouble(properties.getProperty(prefix+"tiDispPull"));
			if (properties.getProperty(prefix+"tiDispPullPreFinal")!=null)this.tiDispPullPreFinal=Double.parseDouble(properties.getProperty(prefix+"tiDispPullPreFinal"));
			if (properties.getProperty(prefix+"tiDispPullFinal")!=null) this.tiDispPullFinal=Double.parseDouble(properties.getProperty(prefix+"tiDispPullFinal"));
			if (properties.getProperty(prefix+"tiBreak3")!=null) this.tiBreak3=Double.parseDouble(properties.getProperty(prefix+"tiBreak3"));
			if (properties.getProperty(prefix+"tiBreak31")!=null) this.tiBreak31=Double.parseDouble(properties.getProperty(prefix+"tiBreak31"));
			if (properties.getProperty(prefix+"tiBreak21")!=null) this.tiBreak21=Double.parseDouble(properties.getProperty(prefix+"tiBreak21"));
			if (properties.getProperty(prefix+"tiBreakMode")!=null) this.tiBreakMode=Integer.parseInt(properties.getProperty(prefix+"tiBreakMode"));
			if (properties.getProperty(prefix+"tiBreakSame")!=null) this.tiBreakSame=Double.parseDouble(properties.getProperty(prefix+"tiBreakSame"));
			if (properties.getProperty(prefix+"tiBreakTurn")!=null) this.tiBreakTurn=Double.parseDouble(properties.getProperty(prefix+"tiBreakTurn"));
			if (properties.getProperty(prefix+"tiIterations")!=null) this.tiIterations=Integer.parseInt(properties.getProperty(prefix+"tiIterations"));
			if (properties.getProperty(prefix+"tiPrecision")!=null) this.tiPrecision=Integer.parseInt(properties.getProperty(prefix+"tiPrecision"));
			if (properties.getProperty(prefix+"tiNumCycles")!=null) this.tiNumCycles=Integer.parseInt(properties.getProperty(prefix+"tiNumCycles"));

	}		}

	public boolean showDialog() {		public boolean showDialog() {
	@@ -2402,9 +2475,33 @@ public class EyesisCorrectionParameters {
	gd.addNumericField("Minimal maximal strength in an ortho run (max. in run >=...)", this.ortho_minmax, 3);		gd.addNumericField("Minimal maximal strength in an ortho run (max. in run >=...)", this.ortho_minmax, 3);
	gd.addNumericField("Number of tiles to bridge over hor/vert gaps", this.ortho_bridge, 0);		gd.addNumericField("Number of tiles to bridge over hor/vert gaps", this.ortho_bridge, 0);
	gd.addNumericField("Maximal disparity RMS in a run to replace by average)", this.ortho_rms, 3);		gd.addNumericField("Maximal disparity RMS in a run to replace by average)", this.ortho_rms, 3);
	gd.addNumericField("convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features",this.ortho_half_length, 0);		gd.addNumericField("Convolve hor/vert strength by 3(2l+1) kernels to detect multi-tile features",this.ortho_half_length, 0);
	gd.addNumericField("Fraction ovf convolved ortho in a mix with raw", this.ortho_mix, 3);		gd.addNumericField("Fraction of convolved ortho in a mix with raw", this.ortho_mix, 3);
			gd.addNumericField("Maximal number of clusters to generate for one run", this.max_clusters, 0);
			gd.addCheckbox ("Correct lens geometric distortions in a model (will need backdrop to be corrected too)", this.correct_distortions);
			gd.addCheckbox ("Show generated triangles", this.show_triangles);
			gd.addCheckbox ("Weight-average disparity for the whole cluster ", this.avg_cluster_disp);
			gd.addNumericField("Maximal disparity difference in a triangle face to show", this.maxDispTriangle, 6);

			gd.addMessage ("--- Thin ice parameters ---");
			gd.addNumericField("Relative disparity rigidity in vertical direction", this.tiRigidVertical, 6);
			gd.addNumericField("Relative disparity rigidity in horizontal direction", this.tiRigidHorizontal, 6);
			gd.addNumericField("Relative disparity rigidity in diagonal direction", this.tiRigidDiagonal, 6);
			gd.addNumericField("Strength floor - subtract (limit with 0) before applying", this.tiStrengthOffset, 6);
			gd.addNumericField("Divide actual disparity by this before Math.pow and applying to TI", this.tiDispScale, 6);
			gd.addNumericField("Apply pow to disparity (restore sign) for disparity difference pressure on TI",this.tiDispPow, 6);
			gd.addNumericField("tiDispPull: multiply strength*disparity difference to pull force", this.tiDispPull, 6);
			gd.addNumericField("Scale tiDispPull for pre-final pass", this.tiDispPullPreFinal, 6);
			gd.addNumericField("Scale tiDispPull for final pass", this.tiDispPullFinal, 6);
			gd.addNumericField("TI break value of abs(d0-3d1+3d2-d3)", this.tiBreak3, 6);
			gd.addNumericField("TI break value of (d0-3d1+3d2-d3) * (d1 - d2)", this.tiBreak31, 6);
			gd.addNumericField("TI break value of (-d0+d1+d2-d3) * abs(d1 - d2)", this.tiBreak21, 6);
			gd.addNumericField("TI break mode: +1: abs(3-rd derivative), +2: -(3-rd * 1-st), +4: -(2-nd * abs(1-st))", this.tiBreakMode, 0);
			gd.addNumericField("Amplify colinear breaks in neighbor tiles", this.tiBreakSame, 6);
			gd.addNumericField("Amplify 90-degree turnintg breaks in neighbor tiles", this.tiBreakTurn, 6);
			gd.addNumericField("Maximal number of TI iterations for each step", this.tiIterations, 0);
			gd.addNumericField("Iteration maximal error (1/power of 10)", this.tiPrecision, 0);
			gd.addNumericField("Number of cycles break-smooth (after the first smooth)", this.tiNumCycles, 0);
	WindowTools.addScrollBars(gd);		WindowTools.addScrollBars(gd);
	gd.showDialog();		gd.showDialog();

	@@ -2526,6 +2623,33 @@ public class EyesisCorrectionParameters {
	this.ortho_rms= gd.getNextNumber();		this.ortho_rms= gd.getNextNumber();
	this.ortho_half_length=(int)gd.getNextNumber();		this.ortho_half_length=(int)gd.getNextNumber();
	this.ortho_mix= gd.getNextNumber();		this.ortho_mix= gd.getNextNumber();

			this.max_clusters= (int) gd.getNextNumber();
			this.correct_distortions= gd.getNextBoolean();
			this.show_triangles= gd.getNextBoolean();
			this.avg_cluster_disp= gd.getNextBoolean();
			this.maxDispTriangle= gd.getNextNumber();

			this.tiRigidVertical= gd.getNextNumber();
			this.tiRigidHorizontal= gd.getNextNumber();
			this.tiRigidDiagonal= gd.getNextNumber();
			this.tiStrengthOffset= gd.getNextNumber();
			this.tiDispScale= gd.getNextNumber();
			this.tiDispPow= gd.getNextNumber();
			this.tiDispPull= gd.getNextNumber();
			this.tiDispPullPreFinal= gd.getNextNumber();
			this.tiDispPullFinal= gd.getNextNumber();
			this.tiBreak3= gd.getNextNumber();
			this.tiBreak31= gd.getNextNumber();
			this.tiBreak21= gd.getNextNumber();
			this.tiBreakMode= (int) gd.getNextNumber();
			this.tiBreakSame= gd.getNextNumber();
			this.tiBreakTurn= gd.getNextNumber();
			this.tiIterations= (int) gd.getNextNumber();
			this.tiPrecision= (int) gd.getNextNumber();
			this.tiNumCycles= (int) gd.getNextNumber();


	return true;		return true;
	}		}
	}		}

src/main/java/GeometryCorrection.java

+28 −3

Original line number	Original line	Diff line number	Diff line
	@@ -6,7 +6,7 @@ import ij.IJ;
	** GeometryCorrection - geometry correction for multiple sensors sharing the same		** GeometryCorrection - geometry correction for multiple sensors sharing the same
	** lens radial distortion model		** lens radial distortion model
	**		**
	** Copyright (C) 2016 Elphel, Inc.		** Copyright (C) 2017 Elphel, Inc.
	**		**
	-----------------------------------------------------------------------------		-----------------------------------------------------------------------------
	**		**
	@@ -323,6 +323,33 @@ public class GeometryCorrection {
	return this.pixelCorrectionHeight * 0.001 * this.pixelSize / this.focalLength;		return this.pixelCorrectionHeight * 0.001 * this.pixelSize / this.focalLength;
	}		}

			public double getScaleDzDx()
			{
			return ( 0.001 * this.pixelSize) / this.focalLength;
			}


			/*
			* Get real world coordinates from pixel coordinates and nominal disparity
			*/
			public double [] getWorldCoordinates(
			double px,
			double py,
			double disparity,
			boolean correctDistortions) // correct distortion (will need corrected background too !)
			{
			double pXcd = px - 0.5 * this.pixelCorrectionWidth;
			double pYcd = py - 0.5 * this.pixelCorrectionHeight;
			double rD = Math.sqrt(pXcdpXcd + pYcdpYcd)0.001this.pixelSize; // distorted radius in a virtual center camera
			double rND2R = correctDistortions?(getRByRDist(rD/this.distortionRadius, false)): 1.0;
			double pXc = pXcd * rND2R; // non-distorted coordinates relative to the (0.5 * this.pixelCorrectionWidth, 0.5 * this.pixelCorrectionHeight)
			double pYc = pYcd * rND2R; // in pixels
			double z = -SCENE_UNITS_SCALE * this.focalLength * this.disparityRadius / (disparity * 0.001*this.pixelSize); // "+" - near, "-" far
			double x = SCENE_UNITS_SCALE * pXc * this.disparityRadius / disparity;
			double y = -SCENE_UNITS_SCALE * pYc * this.disparityRadius / disparity;
			double [] xyz = {x,y,z};
			return xyz;
			}
	/*		/*
	* Calculate pixel coordinates for each of numSensors images, for a given (px,py) of the idealized "center" (still distorted) image		* Calculate pixel coordinates for each of numSensors images, for a given (px,py) of the idealized "center" (still distorted) image
	* and generic diparity, measured in pixels		* and generic diparity, measured in pixels
	@@ -343,8 +370,6 @@ public class GeometryCorrection {
	double [] a={this.distortionC,this.distortionB,this.distortionA,this.distortionA5,this.distortionA6,this.distortionA7,this.distortionA8};		double [] a={this.distortionC,this.distortionB,this.distortionA,this.distortionA5,this.distortionA6,this.distortionA7,this.distortionA8};
	for (int i = 0; i < numSensors; i++){		for (int i = 0; i < numSensors; i++){
	// non-distorted XY of the shifted location of the individual sensor		// non-distorted XY of the shifted location of the individual sensor
	// double pXci = pXc + disparity * this.rXY[i][0]; // in pixels
	// double pYci = pYc + disparity * this.rXY[i][1];
	double pXci = pXc - disparity * this.rXY[i][0]; // in pixels		double pXci = pXc - disparity * this.rXY[i][0]; // in pixels
	double pYci = pYc - disparity * this.rXY[i][1];		double pYci = pYc - disparity * this.rXY[i][1];
	// calculate back to distorted		// calculate back to distorted

src/main/java/QuadCLT.java

+133 −17

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/TileProcessor.java

+1697 −1202

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/X3dOutput.java

+101 −54

Original line number	Original line	Diff line number	Diff line
	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;

	/**		/**
	**		**
	@@ -38,6 +22,23 @@ import org.w3c.dom.Element;
	-----------------------------------------------------------------------------		-----------------------------------------------------------------------------
	**		**
	*/		*/
			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;

	// Will use 1m units		// Will use 1m units

	public class X3dOutput {		public class X3dOutput {
	@@ -50,6 +51,7 @@ public class X3dOutput {
	Element el_X3d;		Element el_X3d;
	Element el_Scene;		Element el_Scene;
	Element el_TopGroup;		Element el_TopGroup;
			public int max_line_length = 0; // 100; // 0 - no limit

	public X3dOutput(		public X3dOutput(
	EyesisCorrectionParameters.CLTParameters clt_parameters,		EyesisCorrectionParameters.CLTParameters clt_parameters,
	@@ -106,6 +108,87 @@ public class X3dOutput {
	el_Bgnd.setAttribute("bottomUrl", bgnd_pass.texture);		el_Bgnd.setAttribute("bottomUrl", bgnd_pass.texture);
	el_Scene.appendChild(el_Bgnd);		el_Scene.appendChild(el_Bgnd);
	}		}

			public void addCluster(
			String url,
			double [][] texCoord,
			double [][] coordinate,
			int [][] triangles)
			{
			// public int max_line_length = 100; // 0 - no limit
			int linepos = 0;
			StringBuffer sb_coord_index = new StringBuffer();
			for (int i = 0; i < triangles.length; i++){
			if ((max_line_length > 0) && ((sb_coord_index.length()-linepos) >= max_line_length)){
			sb_coord_index.append("\n");
			linepos = 0;
			} else if ((linepos > 0) \|\| ((max_line_length == 0) && (sb_coord_index.length() > 0))){
			sb_coord_index.append(" ");
			}
			// sb_coord_index.append(triangles[i][0]+" "+triangles[i][1]+" "+triangles[i][2]+" -1");
			sb_coord_index.append(triangles[i][2]+" "+triangles[i][1]+" "+triangles[i][0]+" -1");
			}
			StringBuffer sb_coords = new StringBuffer();
			linepos = 0;
			for (int i = 0; i < coordinate.length; i++){
			if ((max_line_length >0) && ((sb_coords.length()-linepos) >= max_line_length)){
			sb_coords.append("\n");
			linepos = 0;
			} else if ((linepos > 0) \|\| ((max_line_length == 0) && (sb_coords.length() > 0))){
			sb_coords.append(" ");
			}
			sb_coords.append(String.format("%.3f %.3f %.3f", coordinate[i][0], coordinate[i][1], coordinate[i][2]));
			}
			StringBuffer sb_tex_coords = new StringBuffer();
			linepos = 0;
			for (int i = 0; i < texCoord.length; i++){
			if ((max_line_length >0) && ((sb_tex_coords.length()-linepos) >= max_line_length)){
			sb_tex_coords.append("\n");
			linepos = 0;
			} else if ((linepos > 0) \|\| ((max_line_length == 0) && (sb_tex_coords.length() > 0))){
			sb_tex_coords.append(" ");
			}
			sb_tex_coords.append(String.format("%.4f %.4f", texCoord[i][0], texCoord[i][1]));
			}
			String sindex = sb_coord_index.toString(); // for both coordIndex and texCoordIndex
			String scoord = sb_coords.toString();
			String stcoord = sb_tex_coords.toString();

			Element el_shape = x3dDoc.createElement("Shape");
			el_Scene.appendChild(el_shape);

			Element el_appearance = x3dDoc.createElement("Appearance");
			el_shape.appendChild(el_appearance);

			Element el_material = x3dDoc.createElement("Material");
			el_appearance.appendChild(el_material);
			el_material.setAttribute("diffuseColor", "0.376471 0.5 0.376471");


			Element el_imageTexture = x3dDoc.createElement("ImageTexture");
			el_imageTexture.setAttribute("url",url);
			el_appearance.appendChild(el_imageTexture);

			Element el_IFC = x3dDoc.createElement("IndexedFaceSet");
			el_IFC.setAttribute("coordIndex", sindex); // can it be reused?
			el_IFC.setAttribute("texCoordIndex", sindex);
			el_shape.appendChild(el_IFC);

			Element el_coordinate = x3dDoc.createElement("Coordinate");
			el_coordinate.setAttribute("point", scoord);
			el_IFC.appendChild(el_coordinate);

			Element el_texCoordinate = x3dDoc.createElement("TextureCoordinate");
			el_texCoordinate.setAttribute("point", stcoord);
			el_IFC.appendChild(el_texCoordinate);



			}




	// close document, generate x3d file		// close document, generate x3d file
	public void generateX3D(String path)		public void generateX3D(String path)
	{		{
	@@ -133,43 +216,7 @@ public class X3dOutput {
	double depth = geometry_correction.getZFromDisparity(clt_parameters.bgnd_range);		double depth = geometry_correction.getZFromDisparity(clt_parameters.bgnd_range);
	double width = depth * geometry_correction.getFOVWidth();		double width = depth * geometry_correction.getFOVWidth();
	double height = depth * geometry_correction.getFOVHeight();		double height = depth * geometry_correction.getFOVHeight();
	double [][] bbox = {{0, 0, depth/2},{width,height,depth}};		double [][] bbox = {{0, 0, -depth/2},{width,height,depth}};
	return bbox;		return bbox;
	}		}
	}		}
	/*
	An IndexedFaceSet geometry node creates geometry out of faces

	texCoord and texCoordIndex - specify texture pieces

	Shape {
	appearance Appearance { . . . }
	geometry IndexedFaceSet {
	coord Coordinate { . . . }
	coordIndex [ . . . ]
	texCoord TextureCoordinate { . . . }
	texCoordIndex [ . . . ]
	}
	}
	<IndexedFaceSet coordIndex="0 1 2 -1 0 2 3 -1 ..." texCoordIndex="0 1 2 -1 0 2 3 -1 ...">
	<Coordinate point="-37.500000 4.000000 -46.450000 .../>
	<TextureCoordinate point="-37.500000 4.000000 -46.450000 .../>
	</IndexedFaceSet>


	<Shape DEF='Back'>
	<IndexedFaceSet coordIndex='7 6 5 4' texCoordIndex='0 1 2 3'>
	<Coordinate USE='Points'/>
	<TextureCoordinate USE='DefaultTextureCoordinate'/>
	</IndexedFaceSet>
	<Appearance>
	<ImageTexture
	url=' "images/back.png" "http://x3dGraphics.com/examples/X3dForAdvancedModeling/GeometricShapes/images/back.png" "http://www.web3d.org/x3d/content/examples/Basic/DistributedInteractiveSimulation/images/back.png" '/>
	<TextureTransform USE='RotateRight'/>
	</Appearance>
	</Shape>




	*/
	No newline at end of file

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