Improved rig infinity calibration, minor bug fixes

src/main/java/BiQuadParameters.java

@@ -38,6 +38,9 @@ public class BiQuadParameters {
 	public double  inf_max_disp_main =         0.15;
 	public double  inf_max_disp_aux =          0.15;
 	public double  inf_max_disp_rig =          0.2;    // maybe even higher (2.0) to lock to initially high mismatch
+	public double  inf_weight_disp =           0.3;    // all dx < this value have scaled higher weight
+	public double  inf_weight_disp_pow =       1.0;    // raise disparity difference to this power for weight
+
 	public double  inf_neg_tolerance =         2.5;    // increase negative disparity for infinity tolerance
 	public double  inf_weight =                0.7;    // weight of infinity measurements of all measurements
 
@@ -272,6 +275,11 @@ public class BiQuadParameters {
 				"Do not use tile for infinity adjustment if absolute value of the main camera disparity is too high");
 		gd.addNumericField("Maximal absolute value of inter-camera disparity to use for infinity rig adjustment", this.inf_max_disp_rig,  3,6,"pix",
 				"Do not use tile for infinity adjustment if absolute value of the inter-camera disparity is too high");
+		gd.addNumericField("Infinity disparity offset to increase weight of far pixels",                          this.inf_weight_disp,  3,6,"pix",
+				"Increase weights of farther pixels by multiplying strength by (this offset - dx). 0.0 disables this feature");
+		gd.addNumericField("Weight power for disparity difference",                                               this.inf_weight_disp_pow,  3,6,"",
+				"Raise (offset - dx) to this power. <=0.0 disables this feature");
+
 		gd.addNumericField("Loosen negative disparity tolerance for infinity",                                    this.inf_neg_tolerance,  3,6,"",
 				"Allow farther negative than positive disparity tiles for infinity (only for main/rig pair)");
 		gd.addNumericField("Weight of infinity measurements in all measurements",                                 this.inf_weight,  3,6,"",
@@ -650,6 +658,9 @@ public class BiQuadParameters {
 		this.inf_max_disp_main=             gd.getNextNumber();
 		this.inf_max_disp_aux=              gd.getNextNumber();
 		this.inf_max_disp_rig=              gd.getNextNumber();
+
+		this.inf_weight_disp=               gd.getNextNumber();
+		this.inf_weight_disp_pow=           gd.getNextNumber();
 		this.inf_neg_tolerance=             gd.getNextNumber();
 		this.inf_weight=                    gd.getNextNumber();
 		this.first_max_disp_main=           gd.getNextNumber();
@@ -843,10 +854,12 @@ public class BiQuadParameters {
 		properties.setProperty(prefix+"inf_max_disp_main",         this.inf_max_disp_main+"");
 		properties.setProperty(prefix+"inf_max_disp_aux",          this.inf_max_disp_aux+"");
 		properties.setProperty(prefix+"inf_max_disp_rig",          this.inf_max_disp_rig+"");
+		properties.setProperty(prefix+"inf_weight_disp",           this.inf_weight_disp+"");
+		properties.setProperty(prefix+"inf_weight_disp_pow",       this.inf_weight_disp_pow+"");
+
 		properties.setProperty(prefix+"inf_neg_tolerance",         this.inf_neg_tolerance+"");
 		properties.setProperty(prefix+"inf_weight",                this.inf_weight+"");
 
-
 		properties.setProperty(prefix+"first_max_disp_main",       this.first_max_disp_main+"");
 		properties.setProperty(prefix+"first_max_disp_aux",        this.first_max_disp_aux+"");
 		properties.setProperty(prefix+"first_max_disp_rig",        this.first_max_disp_rig+"");
@@ -1038,6 +1051,9 @@ public class BiQuadParameters {
 		if (properties.getProperty(prefix+"inf_max_disp_main")!=null)     this.inf_max_disp_main=Double.parseDouble(properties.getProperty(prefix+"inf_max_disp_main"));
 		if (properties.getProperty(prefix+"inf_max_disp_aux")!=null)      this.inf_max_disp_aux=Double.parseDouble(properties.getProperty(prefix+"inf_max_disp_aux"));
 		if (properties.getProperty(prefix+"inf_max_disp_rig")!=null)      this.inf_max_disp_rig=Double.parseDouble(properties.getProperty(prefix+"inf_max_disp_rig"));
+		if (properties.getProperty(prefix+"inf_weight_disp")!=null)       this.inf_weight_disp=Double.parseDouble(properties.getProperty(prefix+"inf_weight_disp"));
+		if (properties.getProperty(prefix+"inf_weight_disp_pow")!=null)   this.inf_weight_disp_pow=Double.parseDouble(properties.getProperty(prefix+"inf_weight_disp_pow"));
+
 		if (properties.getProperty(prefix+"inf_neg_tolerance")!=null)     this.inf_neg_tolerance=Double.parseDouble(properties.getProperty(prefix+"inf_neg_tolerance"));
 		if (properties.getProperty(prefix+"inf_weight")!=null)            this.inf_weight=Double.parseDouble(properties.getProperty(prefix+"inf_weight"));
 
@@ -1233,6 +1249,9 @@ public class BiQuadParameters {
 		bqp.inf_max_disp_main =         this.inf_max_disp_main;
 		bqp.inf_max_disp_aux =          this.inf_max_disp_aux;
 		bqp.inf_max_disp_rig =          this.inf_max_disp_rig;
+		bqp.inf_weight_disp =           this.inf_weight_disp;
+		bqp.inf_weight_disp_pow =       this.inf_weight_disp_pow;
+
 		bqp.inf_neg_tolerance =         this.inf_neg_tolerance;
 		bqp.inf_weight =                this.inf_weight;
 

src/main/java/Eyesis_Correction.java

@@ -5034,6 +5034,8 @@ private Panel panel1,
         		// TODO Auto-generated catch block
         		e.printStackTrace();
         	} //final int        debugLevel);
+        	QUAD_CLT.tp.clt_3d_passes = null; // resetCLTPasses(); // so running "Ground truth" after would be OK
+        	QUAD_CLT_AUX.tp.clt_3d_passes = null; //.resetCLTPasses();
 
         if (configPath!=null) {
         	saveTimestampedProperties( // save config again

src/main/java/GeometryCorrection.java

@@ -156,6 +156,8 @@ public class GeometryCorrection {
 
 	public double [] getRigCorrection(
 			double             infinity_importance, // of all measurements
+			double             dx_max, //  = 0.3;
+			double             dx_pow, //  = 1.0;
 			boolean            adjust_orientation,
 			boolean            adjust_zoom,
 			boolean            adjust_angle,
@@ -172,6 +174,8 @@ public class GeometryCorrection {
 		if (rigOffset == null) return null;
 		return rigOffset.getRigCorrection(
 				infinity_importance, // of all measurements
+				dx_max, // double             dx_max, //  = 0.3;
+				dx_pow, // double             dx_pow, //  = 1.0;
 				adjust_orientation, // boolean            adjust_orientation,
 				adjust_zoom,        // boolean            adjust_zoom,
 				adjust_angle,       // boolean            adjust_angle,
@@ -371,6 +375,8 @@ public class GeometryCorrection {
 		}
 		public double setupYW(
 				double             infinity_importance, // of all measurements
+				double             dx_max, //  = 0.3;
+				double             dx_pow, //  = 1.0;
 				ArrayList<Integer> tile_list,
 				QuadCLT            qc,
 				double []          strength,
@@ -387,25 +393,36 @@ public class GeometryCorrection {
 			double sum2_inf = 0.0,sum2_near = 0.0;
 			int tilesX = qc.tp.getTilesX();
 			double tileSize = qc.tp.getTileSize();
+//			double dx_max = 0.2;
+//			double dx_pow = 1.0;
 
 			for (int i = 0; i < tile_list.size(); i++) {
 				int nTile = tile_list.get(i);
 				int tileY = nTile / tilesX;
 				int tileX = nTile % tilesX;
-
+				double w = strength[nTile];
+				double inf_w_corr = 1.0;
+				if ((dx_max > 0) && (dx_pow > 0)){
+					inf_w_corr = (dx_max - diff_x[nTile])/dx_max;
+					if (inf_w_corr < 0.0) inf_w_corr = 0.0; // favor negative (more infinity)
+					if (dx_pow != 1.0) {
+						inf_w_corr = Math.pow(inf_w_corr,dx_pow);
+					}
+				}
 				if (target_disparity[nTile] == 0.0) { // only for infinity tiles
+					w *= inf_w_corr;
 					y_vector[2*i + 0] = diff_x[nTile];
-					w_vector[2*i + 0] = strength[nTile];
+					w_vector[2*i + 0] = w;
 					y_vector[2*i + 1] = diff_y[nTile];
-					w_vector[2*i + 1] = strength[nTile];
-					sumw_inf += 2*strength[nTile];
-					sum2_inf += strength[nTile]*(diff_x[nTile]*diff_x[nTile]+diff_y[nTile]*diff_y[nTile]);
+					w_vector[2*i + 1] = w;
+					sumw_inf += 2*w;
+					sum2_inf += w*(diff_x[nTile]*diff_x[nTile]+diff_y[nTile]*diff_y[nTile]);
 					is_inf[i] = true;
 				} else {
 					y_vector[2*i + 1] = diff_y[nTile];
-					w_vector[2*i + 1] = strength[nTile];
-					sumw_near +=        strength[nTile];
-					sum2_near += strength[nTile]*diff_y[nTile]*diff_y[nTile];
+					w_vector[2*i + 1] = w;
+					sumw_near +=        w;
+					sum2_near += w*diff_y[nTile]*diff_y[nTile];
 				}
 				xy_vector[2*i + 0] = (tileX + 0.5) * tileSize;
 				xy_vector[2*i + 1] = (tileY + 0.5) * tileSize;
@@ -556,6 +573,8 @@ public class GeometryCorrection {
 
 		public double [] getRigCorrection(
 				double             infinity_importance, // of all measurements
+				double             dx_max, //  = 0.3;
+				double             dx_pow, //  = 1.0;
 				boolean            adjust_orientation,
 				boolean            adjust_zoom,
 				boolean            adjust_angle,
@@ -578,6 +597,8 @@ public class GeometryCorrection {
 
 			double rms = setupYW(
 					infinity_importance, // of all measurements
+					dx_max, // double             dx_max, //  = 0.3;
+					dx_pow, // double             dx_pow, //  = 1.0;
 					tile_list,
 					qc_main,
 					strength,

src/main/java/TwoQuadCLT.java

@@ -1191,7 +1191,9 @@ if (debugLevel > -100) return true; // temporarily !
 
 				  // do actual adjustment step, update rig parameters
 				  quadCLT_aux.geometryCorrection.getRigCorrection(
-						  clt_parameters.rig.inf_weight , // double             infinity_importance, // of all measurements
+						  clt_parameters.rig.inf_weight ,     // double             infinity_importance, // of all measurements
+						  clt_parameters.rig.inf_weight_disp, // double             dx_max, //  = 0.3;
+						  clt_parameters.rig.inf_weight_disp_pow,                                // double             dx_pow, //  = 1.0;
 						  clt_parameters.rig.rig_adjust_orientation,        // boolean            adjust_orientation,
 						  clt_parameters.rig.rig_adjust_zoom,               // boolean            adjust_zoom,
 						  clt_parameters.rig.rig_adjust_angle,              // boolean            adjust_angle,