improving fine adjustment

src/main/java/EyesisCorrectionParameters.java

@@ -2046,11 +2046,12 @@ public class EyesisCorrectionParameters {
   		public int        ly_smpl_side =    3;       // Sample size (side of a square)
   		public int        ly_smpl_num =     5;       // Number after removing worst (should be >1)
  		public double     ly_meas_disp =    1.5;     // Maximal measured relative disparity
- 		public double     ly_smpl_rms =     0.1;     // Maximal RMS of the remaining tiles in a sample
-		public double     ly_disp_var =     0.2;     // Maximal full disparity difference to 8 neighbors
+ 		public double     ly_smpl_rms =     0.2;     // 1;     // Maximal RMS of the remaining tiles in a sample
+		public double     ly_disp_var =     0.5;     // 2;     // Maximal full disparity difference to 8 neighbors
  		public double     ly_inf_frac =     0.5;     // Relative weight of infinity calibration data
   		public boolean    ly_on_scan =      true;    // Calculate and apply lazy eye correction after disparity scan 
   		public boolean    ly_inf_en =       true;    // Simultaneously correct disparity at infinity 
+  		public boolean    ly_poly =         false;   // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor 
 
   		// old fcorr parameters, reuse?
 // 		public int        fcorr_sample_size = 32;    // Use square this size side to detect outliers
@@ -2674,6 +2675,7 @@ public class EyesisCorrectionParameters {
 			properties.setProperty(prefix+"ly_inf_frac",      this.ly_inf_frac +"");
 			properties.setProperty(prefix+"ly_on_scan",       this.ly_on_scan+"");
 			properties.setProperty(prefix+"ly_inf_en",        this.ly_inf_en+"");
+			properties.setProperty(prefix+"ly_poly",          this.ly_poly+"");
 
 			properties.setProperty(prefix+"corr_magic_scale", this.corr_magic_scale +"");
   			
@@ -3249,6 +3251,7 @@ public class EyesisCorrectionParameters {
 			if (properties.getProperty(prefix+"ly_inf_frac")!=null)       this.ly_inf_frac=Double.parseDouble(properties.getProperty(prefix+"ly_inf_frac"));
   			if (properties.getProperty(prefix+"ly_on_scan")!=null)        this.ly_on_scan=Boolean.parseBoolean(properties.getProperty(prefix+"ly_on_scan"));
   			if (properties.getProperty(prefix+"ly_inf_en")!=null)         this.ly_inf_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_en"));
+  			if (properties.getProperty(prefix+"ly_poly")!=null)           this.ly_poly=Boolean.parseBoolean(properties.getProperty(prefix+" "));
  			
   			if (properties.getProperty(prefix+"corr_magic_scale")!=null)  this.corr_magic_scale=Double.parseDouble(properties.getProperty(prefix+"corr_magic_scale"));
 
@@ -3839,6 +3842,7 @@ public class EyesisCorrectionParameters {
 			gd.addNumericField("Relative weight of infinity calibration data",                            this.ly_inf_frac,  3);
   			gd.addCheckbox    ("Calculate and apply lazy eye correction after disparity scan (need to repeat)",this.ly_on_scan);
   			gd.addCheckbox    ("Use infinity disparity (disable if there is not enough of infinity data)", this.ly_inf_en);
+  			gd.addCheckbox    ("*Use polynomial correction, false - correct tilt/azimuth/roll of each sensor)", this.ly_poly);
   			gd.addMessage     ("---");
 //  			gd.addNumericField("Use square this size side to detect outliers",                            this.fcorr_sample_size,  0);
 //  			gd.addNumericField("Keep tiles only if there are more in each square",                        this.fcorr_mintiles,     0);
@@ -4451,6 +4455,7 @@ public class EyesisCorrectionParameters {
 			this.ly_inf_frac=           gd.getNextNumber();
   			this.ly_on_scan=            gd.getNextBoolean();
   			this.ly_inf_en=             gd.getNextBoolean();
+  			this.ly_poly=               gd.getNextBoolean();
   			
 //  			this.fcorr_sample_size= (int)gd.getNextNumber();
 //  			this.fcorr_mintiles= (int)  gd.getNextNumber();

src/main/java/Eyesis_Correction.java

@@ -531,6 +531,7 @@ private Panel panel1,
 			addButton("CLT process corr",          panelClt2, color_conf_process);
 			addButton("CLT disparity scan",        panelClt2, color_conf_process);
 			addButton("CLT reset fine corr",       panelClt2, color_stop);
+			addButton("CLT reset extrinsic corr",  panelClt2, color_stop);
 			addButton("CLT show fine corr",        panelClt2, color_configure);
 			addButton("CLT apply fine corr",       panelClt2, color_process);
 			addButton("CLT test fine corr",        panelClt2, color_process);
@@ -4586,6 +4587,18 @@ private Panel panel1,
         }
         QUAD_CLT.reset_fine_corr();
         return;
+    } else if (label.equals("CLT reset extrinsic corr")) {
+        if (QUAD_CLT == null){
+        	QUAD_CLT = new  QuadCLT (
+        			PROPERTIES,
+        			EYESIS_CORRECTIONS,
+        			CORRECTION_PARAMETERS);
+        	if (DEBUG_LEVEL > 0){
+        		System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
+        	}
+        }
+        QUAD_CLT.resetExtrinsicCorr();
+        return;
     } else if (label.equals("CLT show fine corr")) {
         if (QUAD_CLT == null){
         	QUAD_CLT = new  QuadCLT (

src/main/java/SuperTiles.java

@@ -2726,7 +2726,7 @@ public class SuperTiles{
 				smplRms,             // final double     smplRms, //         = 0.1;    // Maximal RMS of the remaining tiles in a sample
 				smplWnd,           // final boolean    smplWnd,  // use window functions for the samples
 
-				debugLevel + 1, //  + 2, // 1,          // final int        debugLevel,
+				debugLevel + 0, // 1, //  + 2, // 1,          // final int        debugLevel,
 				dbg_X,               // final int        dbg_X,
 				dbg_Y);              // final int        dbg_Y)
 		this.planes = new_planes; // save as "measured" (as opposed to "smoothed" by neighbors) planes

src/main/java/TileAssignment.java

@@ -955,7 +955,7 @@ diff_best= 0.06731 diff9=  1.09087 weak_fgnd= 0.22250 flaps= 0.07229 ml_mismatch
 			// now diff is for the center, weight needs to be re-calculated
 			if (strengthDiffPwr > 0.0) {
 				if ((dispStrength[ml] == null) || (dispStrength[ml][nSurfTile] == null)){
-					System.out.println("getTileCosts() nSurfTile = "+nSurfTile+" ml = "+ml+" BUG - null pointer");
+					System.out.println("getTileCosts() nSurfTile = "+nSurfTile+" ml = "+ml+" is it really a BUG - null pointer here?");
 					weight = 1.0;
 				} else {
 					weight = dispStrength[ml][nSurfTile][1]; // null pointer

src/main/java/TileProcessor.java

@@ -5235,7 +5235,7 @@ public class TileProcessor {
 		lp.conditionSuperTiles(
 				st.planes,              // final TilePlanes.PlaneData [][] planes,
 				10,                 // final int   max_num_merge_try, 
-				1); // debugLevel);        // final int         debugLevel);
+				0); // 1); // debugLevel);        // final int         debugLevel);
 // Used only by conflicts (not processed currently)
 		lp.calcStarValueStrength(
 				true, // boolean set_start_planes,

src/main/java/X3dOutput.java

@@ -114,6 +114,7 @@ public class X3dOutput {
 	public void addCluster(
 			String      url,
 			String      id,
+			String      class_name,
 			double [][] texCoord,
 			double [][] coordinate,
 			int [][] triangles)
@@ -159,7 +160,8 @@ public class X3dOutput {
 		
         Element el_shape =        x3dDoc.createElement("Shape");
 		el_Scene.appendChild(el_shape);
-		el_shape.setAttribute("id",id);
+		if (id != null) el_shape.setAttribute("id",id);
+		if (class_name != null) el_shape.setAttribute("class",class_name);
 		
         Element el_appearance =   x3dDoc.createElement("Appearance");
 		el_shape.appendChild(el_appearance);