Updating Corr2dLMA to support variable number of image sensors (1a329010) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

+345 −248

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

+52 −22

Original line number	Diff line number	Diff line
		@@ -278,6 +278,10 @@ public class Correlation2d {
		corr_pairs = sel.clone();
		}

		public int getNumSensors() {
		return this.numSensors;
		}

		public void setCorrPairsFilter(double [][][][][][] clt_data, int tileY, int tileX ) { // these pairs will be correlated
		corr_pairs_filter = new boolean [pair_start_end.length];
		boolean [] en = new boolean [numSensors];
		@@ -322,6 +326,20 @@ public class Correlation2d {
		return cor_titles_combo;
		}

		public static boolean [] longToArray(long sel_bits, int num_pairs) {
		boolean [] sel = new boolean [num_pairs];
		for (int i = 0; i < sel.length;i++) {
		sel[i] = (sel_bits & 1) > 0;
		sel_bits >>= 1;
		}
		return sel;
		}

		public boolean [] longToArray(long sel_bits) {
		return longToArray (sel_bits, pair_start_end.length);
		}


		/**
		* Add 2D correlation for a pair to the combined correlation tile, applying rotation/scaling
		* @param accum_tile tile for accumulation in line-scan order, same dimension as during generateResample()
		@@ -1621,10 +1639,10 @@ public class Correlation2d {
		* (1 - largest, 2 - half, 4 - quarter)
		* @return single square correlation array, same dimension as the input (now 15x15)
		*/

		@Deprecated
		public double [] combineCompatiblePairs(// USED in lwir
		double [][] correlations,
		int pairs_mask,
		boolean [] pairs_mask,
		boolean diagonal,
		int baseline_scale
		) {
		@@ -1632,7 +1650,9 @@ public class Correlation2d {
		double [] combo = new double [width * width];
		int number_combined = 0;
		// find diagonal/ortho and scale that determine compatible correlations
		for (int npair = 0; npair < PAIRS.length; npair++) if ((((pairs_mask >> npair) & 1) != 0 ) && (correlations[npair]!=null) &&
		// if (pairs_mask[npair] && (correlations[npair]!=null)){
		// for (int npair = 0; npair < PAIRS.length; npair++) if ((((pairs_mask >> npair) & 1) != 0 ) && (correlations[npair]!=null) &&
		for (int npair = 0; npair < PAIRS.length; npair++) if (pairs_mask[npair] && (correlations[npair]!=null) &&
		(isDiagonalPair(npair) == diagonal) && (PAIRS[npair][3] == baseline_scale)){
		if (isHorizontalPair(npair) \|\| isDiagonalMainPair(npair)) {
		for (int i = 0; i < combo.length; i++) combo[i]+= correlations[npair][i];
		@@ -1662,9 +1682,10 @@ public class Correlation2d {
		* (1 - largest, 2 - half, 4 - quarter)
		* @return {number of compatible pairs among the selection, index of the base pair}
		*/
		@Deprecated
		public int [] getNumberBaseOfCompatiblePairs(// USED in lwir
		double [][] correlations,
		int pairs_mask,
		boolean [] pairs_mask,
		boolean diagonal,
		int baseline_scale
		) {
		@@ -1674,7 +1695,8 @@ public class Correlation2d {
		for (int npair = 0; npair < PAIRS.length; npair++) {
		if ((isDiagonalPair(npair) == diagonal) && (PAIRS[npair][3] == baseline_scale)){
		if (base_pair < 0) base_pair = npair;
		if ((((pairs_mask >> npair) & 1) != 0 ) && (correlations[npair]!=null)){
		// if ((((pairs_mask >> npair) & 1) != 0 ) && (correlations[npair]!=null)){
		if (pairs_mask[npair] && (correlations[npair]!=null)){
		number_combined++;
		}
		}
		@@ -2795,7 +2817,7 @@ public class Correlation2d {
		Correlations2dLMA lma=corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		corrs, // double [][] corrs,
		this_mask, // int pair_mask, // which pairs to process
		longToArray(this_mask), //this_mask, // int pair_mask, // which pairs to process
		true, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		xcenter, // double xcenter, // preliminary center x in pixels for largest baseline
		vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -2946,7 +2968,7 @@ public class Correlation2d {
		Correlations2dLMA lma=corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		corrs, // double [][] corrs,
		this_mask, // int pair_mask, // which pairs to process
		longToArray(this_mask), // this_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		xcenter, // double xcenter, // preliminary center x in pixels for largest baseline
		vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -3141,7 +3163,7 @@ public class Correlation2d {
		double [][][] corrs, // per tile, per pair, 2 correlation in line-scan order
		double [][][] disp_dist, // per tile, per camera disparity matrix as a 1d (linescan order)
		double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		int pair_mask, // which pairs to process
		boolean [] pair_mask, // which pairs to process
		double[][] disp_str, // -preliminary center x in pixels for largest baseline
		double vasw_pwr, // value as weight to this power,
		int debug_level,
		@@ -3165,6 +3187,7 @@ public class Correlation2d {
		}
		Corr2dLMA lma = new Corr2dLMA(
		corrs.length,
		this, // Correlation2d correlation2d,
		transform_size,
		corr_wnd,
		rXY, //double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		@@ -3194,8 +3217,8 @@ public class Correlation2d {
		((disp_str == null) \|\| ((disp_str[ntile] != null) && (disp_str[ntile][1] > 0.0)))){
		double[][] corr = new double[corrs[ntile].length][];
		double [][] filtWeight = new double [corrs[ntile].length][];
		// blur_max[ntile] = new double [corrs[ntile].length];
		for (int npair = 0; npair < corrs[ntile].length; npair++) if ((corrs[ntile][npair] != null) && (((pair_mask >> npair) & 1) !=0)){
		// for (int npair = 0; npair < corrs[ntile].length; npair++) if ((corrs[ntile][npair] != null) && (((pair_mask >> npair) & 1) !=0)){
		for (int npair = 0; npair < corrs[ntile].length; npair++) if ((corrs[ntile][npair] != null) && (pair_mask[npair])){
		corr[npair] = corrs[ntile][npair].clone();
		if (corr_wnd_inv_limited != null) {
		for (int i = 0; i < corr.length; i++) {
		@@ -3253,8 +3276,8 @@ public class Correlation2d {
		// numpairs
		if (numpairs >= imgdtt_params.cnvx_min_pairs) {
		for (int npair = 0; npair < corrs[ntile].length; npair++) if (filtWeight[npair] != null){
		int fcam = PAIRS[npair][0];
		int scam = PAIRS[npair][1];
		// int fcam = PAIRS[npair][0];
		// int scam = PAIRS[npair][1];
		for (int i = 1; i < filtWeight[npair].length; i++) if (filtWeight[npair][i] > 0.0) {
		int ix = i % corr_size; // >=0
		int iy = i / corr_size; // >=0
		@@ -3265,8 +3288,9 @@ public class Correlation2d {
		}
		lma.addSample( // x = 0, y=0 - center
		ntile, // tile
		fcam, // int fcam, // first camera index
		scam, // int scam, // second camera index
		npair,
		// fcam, // int fcam, // first camera index
		// scam, // int scam, // second camera index
		ix, // int x, // x coordinate on the common scale (corresponding to the largest baseline), along the disparity axis
		iy, // int y, // y coordinate (0 - disparity axis)
		v, // double v, // correlation value at that point
		@@ -3390,6 +3414,7 @@ public class Correlation2d {
		} else { // have to restart LMA initialization
		lma = new Corr2dLMA(
		corrs.length,
		this, // Correlation2d correlation2d,
		transform_size,
		corr_wnd,
		rXY, //double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		@@ -3540,7 +3565,7 @@ public class Correlation2d {
		double [][] corrs,
		double [][] disp_dist, // per camera disparity matrix as a 1d (linescan order)
		double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		int pair_mask, // which pairs to process
		boolean [] pair_mask, // which pairs to process
		double[] disp_str, // -preliminary center x in pixels for largest baseline
		double[] poly_ds, // null or pair of disparity/strength
		double vasw_pwr, // value as weight to this power,
		@@ -3564,6 +3589,7 @@ public class Correlation2d {
		int corr_size = 2 * transform_size - 1;
		Corr2dLMA lma = new Corr2dLMA(
		1,
		this, // Correlation2d correlation2d,
		transform_size,
		corr_wnd,
		rXY, //double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		@@ -3584,7 +3610,9 @@ public class Correlation2d {
		}


		for (int npair = 0; npair < corrs.length; npair++) if ((corrs[npair] != null) && (((pair_mask >> npair) & 1) !=0)){
		// for (int npair = 0; npair < corrs.length; npair++) if ((corrs[npair] != null) && (((pair_mask >> npair) & 1) !=0)){
		for (int npair = 0; npair < corrs.length; npair++) if ((corrs[npair] != null) && (pair_mask[npair])){

		// double[] corr = corrs[npair].clone();
		double [] corr_blur = corrs[npair].clone();
		if (corr_wnd_inv_limited != null) {
		@@ -3620,8 +3648,8 @@ public class Correlation2d {

		// Normalize weight for each pair to compensate for different number of convex samples?

		int fcam = PAIRS[npair][0];
		int scam = PAIRS[npair][1];
		// int fcam = PAIRS[npair][0];
		// int scam = PAIRS[npair][1];
		for (int i = 1; i < filtWeight.length; i++) if (filtWeight[i] > 0.0) {
		int ix = i % corr_size; // >=0
		int iy = i / corr_size; // >=0
		@@ -3633,8 +3661,9 @@ public class Correlation2d {
		// if (v > blur_max[npair]) blur_max[npair] = v;
		lma.addSample( // x = 0, y=0 - center
		0, // tile
		fcam, // int fcam, // first camera index
		scam, // int scam, // second camera index
		npair,
		// fcam, // int fcam, // first camera index
		// scam, // int scam, // second camera index
		ix, // int x, // x coordinate on the common scale (corresponding to the largest baseline), along the disparity axis
		iy, // int y, // y coordinate (0 - disparity axis)
		v, // double v, // correlation value at that point
		@@ -3816,7 +3845,8 @@ public class Correlation2d {
		public Correlations2dLMA corrLMA( // USED in lwir
		ImageDttParameters imgdtt_params,
		double [][] corrs,
		int pair_mask, // which pairs to process
		// int pair_mask, // which pairs to process
		boolean [] pair_mask, // which pairs to process
		boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		double xcenter, // preliminary center x in pixels for largest baseline
		double vasw_pwr, // value as weight to this power,
		@@ -3967,7 +3997,7 @@ public class Correlation2d {
		ImageDttParameters imgdtt_params,
		double [][] disparity_distortions, // {d_disp/dx, d_ndisp/dx, d_disp/dy, d_ndisp/dy} for each camera
		double [][] corrs,
		int pair_mask, // which pairs to process
		boolean[] pair_mask, // which pairs to process
		boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		double xcenter, // preliminary center x in pixels for largest baseline
		double vasw_pwr, // value as weight to this power,

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

+4 −4

Original line number	Diff line number	Diff line
		@@ -2591,7 +2591,7 @@ public class ImageDtt extends ImageDttCPU {
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		fake_corrs, // double [][] corrs,
		0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(0x11), // 0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -2602,7 +2602,7 @@ public class ImageDtt extends ImageDttCPU {
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		corrs, // double [][] corrs,
		used_pairs, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(used_pairs), // used_pairs, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -3253,7 +3253,7 @@ public class ImageDtt extends ImageDttCPU {
		corrs, // double [][] corrs,
		tile_disp_dist,
		rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(imgdtt_params.dbg_pair_mask), // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		null, // disp_str[cTile], //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		poly_disp, // double[] poly_ds, // null or pair of disparity/strength
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -3571,7 +3571,7 @@ public class ImageDtt extends ImageDttCPU {
		corrs, // double [][] corrs,
		tile_disp_dist,
		rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(imgdtt_params.dbg_pair_mask), // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		null, // disp_str[cTile], //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		poly_disp, // double[] poly_ds, // null or pair of disparity/strength
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,

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

+20 −15

Original line number	Diff line number	Diff line
		@@ -2266,7 +2266,7 @@ public class ImageDttCPU {
		corrs[cTile], // double [][] corrs,
		disp_dist[cTile],
		rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(imgdtt_params.dbg_pair_mask), // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		null, // disp_str[cTile], //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		poly_disp, // double[] poly_ds, // null or pair of disparity/strength
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -2322,7 +2322,7 @@ public class ImageDttCPU {
		corrs, // [tIndex], // double [][] corrs,
		disp_dist, // [tIndex],
		rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(imgdtt_params.dbg_pair_mask), // imgdtt_params.dbg_pair_mask // int pair_mask, // which pairs to process
		disp_str, // corr_stat, // double[][] xcenter_str, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		clust_lma_debug_level + 0, // 2, // int debug_level, // for a single cluster
		@@ -3348,7 +3348,6 @@ public class ImageDttCPU {
		}
		*/
		}
		/*
		// proceed only if CM correlation result is non-null // for compatibility with old code we need it to run regardless of the strength of the normal correlation
		if (corr_stat != null) {
		// skipping DISPARITY_VARIATIONS_INDEX - it was not used
		@@ -3359,19 +3358,20 @@ public class ImageDttCPU {
		}

		// debug new LMA correlations
		if (debugTile) {
		if (debugTile0) { // should be debugTile
		System.out.println("Will run new LMA for tileX="+tileX+", tileY="+tileY);

		double [] poly_disp = {Double.NaN, 0.0};
		Corr2dLMA lma2 = corr2d.corrLMA2Single(
		Corr2dLMA lma2 = correlation2d.corrLMA2Single(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		false, // boolean adjust_ly, // adjust Lazy Eye
		corr_wnd, // double [][] corr_wnd, // correlation window to save on re-calculation of the window
		corr_wnd_inv_limited, // corr_wnd_limited, // correlation window, limited not to be smaller than threshold - used for finding max/convex areas (or null)
		corrs, // double [][] corrs,
		corr_tiles, // corrs, // double [][] corrs,
		disp_dist,
		rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		// all that are not null in corr_tiles
		correlation2d.selectAll(), // longToArray(imgdtt_params.dbg_pair_mask), // int pair_mask, // which pairs to process
		disp_str, //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		poly_disp, // double[] poly_ds, // null or pair of disparity/strength
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -3393,6 +3393,8 @@ public class ImageDttCPU {
		}
		}

		/*

		// disparity_map[DISPARITY_INDEX_CM + 1][tIndex] = // y not available here
		// calculate/fill out hor and vert
		// convert to multi-baseline combining results from several integer scales
		@@ -3605,7 +3607,9 @@ public class ImageDttCPU {
		}
		}
		}
		*/
		} // end of if (corr_stat != null)
		/*
		if (corr_mode == 0) extra_disparity = disparity_map[DISPARITY_INDEX_INT][tIndex];
		else if (corr_mode == 1) extra_disparity = disparity_map[DISPARITY_INDEX_CM][tIndex];
		else if (corr_mode == 2) extra_disparity = disparity_map[DISPARITY_INDEX_POLY][tIndex];
		@@ -6973,12 +6977,13 @@ public class ImageDttCPU {
		// create LMA instance, calculate LMA composite argmax
		// Create 2 groups: ortho & diag
		Correlations2dLMA lma;
		int num_pairs = (quad * (quad-1)) / 2;
		if (imgdtt_params.pcorr_use) { // new group phase correlation
		double [][] fake_corrs = {corrs[6],null,null,null,corrs[7],null};
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		fake_corrs, // double [][] corrs,
		0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(0x11), // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -6989,7 +6994,7 @@ public class ImageDttCPU {
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		corrs, // double [][] corrs,
		used_pairs, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(used_pairs), // used_pairs, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -9822,7 +9827,7 @@ public class ImageDttCPU {
		Correlations2dLMA lma = corr2d.corrLMA(
		clt_parameters.img_dtt, // ImageDttParameters clt_parameters.img_dtt,
		corrs, // double [][] corrs,
		clt_parameters.img_dtt.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(clt_parameters.img_dtt.dbg_pair_mask), // clt_parameters.img_dtt.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		clt_parameters.img_dtt.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -13391,7 +13396,7 @@ public class ImageDttCPU {
		corrs, // double [][] corrs,
		disp_dist,
		rXY, // double [][] rXY, // non-distorted X,Y offset per nominal pixel of disparity
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(imgdtt_params.dbg_pair_mask), // imgdtt_params.dbg_pair_mask // int pair_mask, // which pairs to process
		disp_str, //corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		poly_disp, // double[] poly_ds, // null or pair of disparity/strength
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -13427,7 +13432,7 @@ public class ImageDttCPU {
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		fake_corrs, // double [][] corrs,
		0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(0x11), // 0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -13440,7 +13445,7 @@ public class ImageDttCPU {
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		fake_corrs, // double [][] corrs,
		0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(0x11), // 0x11, // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,
		@@ -13453,7 +13458,7 @@ public class ImageDttCPU {
		lma = corr2d.corrLMA(
		imgdtt_params, // ImageDttParameters imgdtt_params,
		corrs, // double [][] corrs,
		imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		corr2d.longToArray(imgdtt_params.dbg_pair_mask), // imgdtt_params.dbg_pair_mask, // int pair_mask, // which pairs to process
		false, // boolean run_poly_instead, // true - run LMA, false - run 2d polynomial approximation
		corr_stat[0], // double xcenter, // preliminary center x in pixels for largest baseline
		imgdtt_params.ortho_vasw_pwr, // double vasw_pwr, // value as weight to this power,

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