Implemented main camera field correction from the DSI of the dual camera

rig.

src/main/java/LinkPlanes.java

@@ -35,6 +35,8 @@ public class LinkPlanes {
 	public double     plFrontoTol;       //  = 0.2;   plFrontoTol,         // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable
 	public double     plFrontoRms;       //         =   0.05; // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 	public double     plFrontoOffs;      //   =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+	public double     PlFrontoPow;       //          =   1.0;  // increase weight even more
+
 	public double     plMinStrength;     //        =   0.1;  // Minimal total strength of a plane
 	public double     plMaxEigen; //           =   0.05; // Maximal eigenvalue of a plane
 	public double     plEigenFloor; //         =   0.01; // Add to eigenvalues of each participating plane and result to validate connections
@@ -139,6 +141,7 @@ public class LinkPlanes {
 		plFrontoTol =       clt_parameters.plFrontoTol;
 		plFrontoRms =       clt_parameters.plFrontoRms;
 		plFrontoOffs =      clt_parameters.plFrontoOffs;
+		PlFrontoPow =       clt_parameters.PlFrontoPow;
 
 		plMaxOverlap =      clt_parameters.plMaxOverlap;
 
@@ -3994,6 +3997,7 @@ public class LinkPlanes {
 					plFrontoTol,      // final double                     fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 					plFrontoRms,      // final double                     fronto_rms,    // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 					plFrontoOffs,     // final double                     fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+					PlFrontoPow,     //  final double     PlFrontoPow,    //        =   1.0;  // increase weight even more
 					debugLevel,       // final int        debugLevel)
 					dbg_tileX,
 					dbg_tileY);
@@ -4519,6 +4523,7 @@ public class LinkPlanes {
 					plFrontoTol,      // final double                     fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 					plFrontoRms,      // final double                     fronto_rms,    // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 					plFrontoOffs,     // final double                     fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+					PlFrontoPow,     //  final double     PlFrontoPow,    //        =   1.0;  // increase weight even more
 					debugLevel,       // final int        debugLevel)
 					dbg_tileX,
 					dbg_tileY);
@@ -4613,6 +4618,7 @@ public class LinkPlanes {
 						plFrontoTol,      // final double                     fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 						plFrontoRms,      // final double                     fronto_rms,    // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 						plFrontoOffs,     // final double                     fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+						PlFrontoPow,     //  final double     PlFrontoPow,    //        =   1.0;  // increase weight even more
 						debugLevel,             // final int        debugLevel)
 						dbg_tileX,
 						dbg_tileY);

src/main/java/TilePlanes.java

@@ -1350,6 +1350,7 @@ public class TilePlanes {
 				double        fronto_tol,  // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 				double        fronto_rms,  // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
 				double        fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+				double        fronto_pow,    //        =   1.0;  // increase weight even more
 				double [][][] disp_str,    // calculate just once when removing outliers (null - OK, will generate it)
 				double        inTargetEigen, // target eigenvalue for primary axis (is disparity-dependent, so is non-constant)
 				int           maxRemoved,  // maximal number of tiles to remove (not a constant)
@@ -1470,7 +1471,7 @@ public class TilePlanes {
 
 						almost_fronto, // boolean      fronto_mode,
 						fronto_offs,   // double       fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
-
+						fronto_pow,      // double       fronto_pow,    //        =   1.0;  // increase weight even more
 						this.mlfp,
 						debugLevel-1) != null);
 
@@ -1516,6 +1517,8 @@ public class TilePlanes {
 						this.smplMode,
 						almost_fronto,   // boolean      fronto_mode,
 						fronto_offs,     //						double       fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+						fronto_pow,      // double       fronto_pow,    //        =   1.0;  // increase weight even more
+
 						this.mlfp,
 						debugLevel-0) != null); // will show image
 				if (!OK) { // restore how it was
@@ -1561,7 +1564,9 @@ public class TilePlanes {
 					smplMode, //        = true;   // Use sample mode (false - regular tile mode)
 
 					false,   // boolean      fronto_mode,
-					0.0,   //double       fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+					0.0,     // double       fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+					1.0,     // double       fronto_pow,    //        =   1.0;  // increase weight even more
+
 					mlfp,
 					debugLevel);
 
@@ -1606,6 +1611,7 @@ public class TilePlanes {
 
 				boolean      fronto_mode,
 				double       fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+				double       fronto_pow,    //        =   1.0;  // increase weight even more
 
 				MeasuredLayersFilterParameters mlfp,
 				int          debugLevel)
@@ -1823,7 +1829,11 @@ public class TilePlanes {
 								if (w > 0.0){
 									double d = disp_str[nl][0][indx];
 									if (d > d0) {
-										w *= (d-d0)/fronto_offs; // more weight of the near pixels, same weight of the centre pixels
+										double kw = (d-d0)/fronto_offs; // more weight of the near pixels, same weight of the centre pixels
+										if (fronto_pow != 1.00) {
+											kw = Math.pow(kw,  fronto_pow);
+										}
+										w *= kw; // increase influence of near pixels even more
 										disp_str[nl][1][indx] = w;
 										sw  += w;
 										swz += w * d;
@@ -4280,6 +4290,7 @@ public class TilePlanes {
 				double       fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 				double       fronto_rms,  // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
 				double       fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+				double       fronto_pow,    //        =   1.0;  // increase weight even more
 				int          debugLevel)
 		{
 			if (debugLevel > 2) {
@@ -4371,6 +4382,7 @@ public class TilePlanes {
 								fronto_tol,     // double        fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 								fronto_rms,     // double        fronto_rms,  // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes. May be tighter
 								fronto_offs,    //double        fronto_offs,   //        =   0.2;  // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0 - disable
+								fronto_pow,     // double       fronto_pow,    //        =   1.0;  // increase weight even more
 								disp_strength,
 								plTargetEigen,  // targetV,      // double     targetEigen, // target eigenvalue for primary axis (is disparity-dependent, so is non-constant)
 								max_outliers,   // int        maxRemoved,  // maximal number of tiles to remove (not a constant)

src/main/java/TileProcessor.java

@@ -704,14 +704,6 @@ public class TileProcessor {
 		CLTPass3d combo_pass =new CLTPass3d(this);
 
 		final int tlen = tilesX * tilesY;
-//		final int disparity_index = usePoly ? ImageDtt.DISPARITY_INDEX_POLY : ImageDtt.DISPARITY_INDEX_CM;
-//		combo_pass.tile_op =              new int [tilesY][tilesX]; // for just non-zero
-//		combo_pass.disparity_map =        new double [ImageDtt.DISPARITY_TITLES.length][];
-//		for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
-
-		// for now - will copy from the best full correlation measurement
-//		combo_pass.texture_tiles =        new double [tilesY][tilesX][][];
-//		combo_pass.max_tried_disparity =  new double [tilesY][tilesX];
 		combo_pass.is_combo =             true;
 		combo_pass.calc_disparity =       disparity.clone(); //new double [tlen];
 		combo_pass.calc_disparity_combo = disparity.clone(); //new double [tlen];
@@ -5344,6 +5336,7 @@ public class TileProcessor {
 				clt_parameters.plFrontoTol,     //  final double     plFrontoTol,         // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable
 				clt_parameters.plFrontoRms,     // final double     plFrontoRms,                       // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 				clt_parameters.plFrontoOffs,    // final double     plFrontoOffs,                      // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0
+				clt_parameters.PlFrontoPow,     //  final double     PlFrontoPow,    //        =   1.0;  // increase weight even more
 				geometryCorrection,
 				clt_parameters.correct_distortions,
 
@@ -5365,6 +5358,24 @@ public class TileProcessor {
 				clt_parameters.stHighMix,       // stHighMix         = 0.4;   // Consider merging initial planes if jumps between ratio above
 				world_hor,                      // final double []  world_hor, // horizontal plane normal (default [0.0, 1.0, 0.0])
 				clt_parameters.show_histograms, // final boolean    show_histograms,
+
+				clt_parameters.ft_mod_strength,          // final boolean mod_strength, // when set, multiply each tile strength by the number of selected neighbors
+				clt_parameters.ft_clusterize_by_highest, // final boolean clusterize_by_highest = true;
+				clt_parameters.ft_clust_sigma,           // final double  clust_sigma = 0.7;
+				clt_parameters.ft_disp_arange_vert,      // final double  disp_arange_vert = 0.07;
+				clt_parameters.ft_disp_rrange_vert,      // final double  disp_rrange_vert = 0.01;
+				clt_parameters.ft_disp_arange_hor,       // final double  disp_arange_hor =  0.035;
+				clt_parameters.ft_disp_rrange_hor,        // final double  disp_rrang_hor =   0.005;
+				clt_parameters.ft_tolerance_above_near,  // final double  tolerance_above_near =  100.0; // 0.07; any?
+				clt_parameters.ft_tolerance_below_near,  // final double  tolerance_below_near =  -0.01;
+				clt_parameters.ft_tolerance_above_far,   // final double  tolerance_above_far =    0.07;
+				clt_parameters.ft_tolerance_below_far,   // final double  tolerance_below_far =    0.1; // 100.0; // any farther
+				clt_parameters.ft_hor_vert_overlap,      // final int     hor_vert_overlap =       2;
+				clt_parameters.ft_used_companions,       // final int     used_companions =      5; // cell that has this many new used companions is considered used (borders and already use3d are considered used too)
+				clt_parameters.ft_used_true_companions,  // final int     used_true_companions = 1; // there should be at least this many new selected tiles among neighbors.,
+//clt_parameters.ft_
+				clt_parameters.debug_initial_discriminate, // final boolean    debug_initial_discriminate,
+
 				clt_parameters.batch_run?-3:debugLevel, // -1,                       // debugLevel,                  // final int        debugLevel)
 				clt_parameters.tileX,
 				clt_parameters.tileY);
@@ -5418,6 +5429,7 @@ public class TileProcessor {
 					clt_parameters.plFrontoTol,       //  final double     plFrontoTol,         // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable
 					clt_parameters.plFrontoRms,     // final double     plFrontoRms,                       // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 					clt_parameters.plFrontoOffs,    // final double     plFrontoOffs,                      // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0
+					clt_parameters.PlFrontoPow,     //  final double     PlFrontoPow,    //        =   1.0;  // increase weight even more
 					geometryCorrection,
 					clt_parameters.correct_distortions,
 					clt_parameters.stSmplMode,        // final boolean                    smplMode, //        = true;   // Use sample mode (false - regular tile mode)
@@ -5531,6 +5543,7 @@ public class TileProcessor {
 					clt_parameters.plFrontoTol,      //final double                     fronto_tol, // fronto tolerance (pix) - treat almost fronto as fronto (constant disparity). <= 0 - disable this feature
 					clt_parameters.plFrontoRms,      // final double     plFrontoRms,                       // Target rms for the fronto planes - same as sqrt(plMaxEigen) for other planes
 					clt_parameters.plFrontoOffs,     // final double     plFrontoOffs,                      // increasing weight of the near tiles by using difference between the reduced average as weight. <= 0
+					clt_parameters.PlFrontoPow,     //  final double     PlFrontoPow,    //        =   1.0;  // increase weight even more
 					debugLevel, // 1,                               // final int debugLevel)
 					clt_parameters.tileX,
 					clt_parameters.tileY);
@@ -5859,7 +5872,7 @@ public class TileProcessor {
 				0, // int  nlayer, // over multi-layer - do not render more than nlayer on top of each other
 				st.getPlanesMod(),   // TilePlanes.PlaneData [][] planes,
 				st.getShellMap(), // shells,              // int [][] shells,
-				1000,                 // int max_shells,
+				5000,                 // int max_shells,
 				clt_parameters.plFuse,// boolean fuse,
 				false,               // boolean show_connections,
 				false,               // boolean use_NaN,