Debugging, bug fix in LMA weight for the 2-component mode (no 3D)

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

@@ -1388,7 +1388,7 @@ public class Interscene {
 			int            debugLevel)
 	{ 
 		System.out.println("reAdjustPairsLMAInterscene(): using mb_max_gain="+mb_max_gain);
-		boolean freeze_xy_pull = true; // debugging freezing xy to xy_pull
+		boolean freeze_xy_pull = false; // true; // debugging freezing xy to xy_pull
 		final boolean[]    param_select =     configured_lma? clt_parameters.ilp.ilma_lma_select :
 			ErsCorrection.getParamSelect(
 				!freeze_xy_pull && (!readjust_xy_ims || (reg_weight_xy != 0)), // false only in mode c): freeze X,Y// boolean use_XY
@@ -2296,6 +2296,10 @@ public class Interscene {
 						intersceneLma.getSceneERSATR(true)); // true for initial values
 				return null;
 			}
+			if (debug_level > -3){
+				System.out.println ("iter="+lmaResult+", RMS="+intersceneLma.getLastRms()[0]+
+						" (Pure RMS="+intersceneLma.getLastRms()[1]+")");
+			}
 			camera_xyz0 = intersceneLma.getSceneXYZ(false); // true for initial values
 			camera_atr0 = intersceneLma.getSceneATR(false); // true for initial values
 			double [] diffs_atr = intersceneLma.getV3Diff(ErsCorrection.DP_DSAZ);
@@ -3103,8 +3107,8 @@ public class Interscene {
 				return null;
 			} else {
 				if (debug_level > -3){
-					System.out.println ("interCorrPair(): avg_offs = "+avg_offs+
-								" <= "+min_max[1]+", sw = "+sw);
+					System.out.print ("interCorrPair(): avg_offs = "+avg_offs+
+								" <= "+min_max[1]+", sw = "+sw+" ");
 				}
 			}
 		}
@@ -4296,21 +4300,14 @@ public class Interscene {
 		
 		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
 			QuadCLT scene = quadCLTs[nscene];
-///			if (nscene == ref_index) {
-///				scenes_xyzatr[nscene] =    new double[2][3];
-///				scenes_xyzatr_dt[nscene] = new double[2][3];
-///			} else {
-				String ts = scene.getImageName();
-				scenes_xyzatr[nscene] =    new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
-				scenes_xyzatr_dt[nscene] = ers_reference.getSceneErsXYZATR_dt(ts);
-				if (scenes_xyzatr[nscene] != null) {
-					num_processed++;
-				}
-///			}
+			String ts = scene.getImageName();
+			scenes_xyzatr[nscene] =    new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
+			scenes_xyzatr_dt[nscene] = ers_reference.getSceneErsXYZATR_dt(ts);
+			if (scenes_xyzatr[nscene] != null) {
+				num_processed++;
+			}
 		}
 		boolean use_processed = num_processed > 1;
-
-//    	double [] quat_ortho = {0.5, 0.5, -0.5, 0.5}; // approximate IMU orientation
 		String header_ts="#\ttimestamp";
 		String header_img="\tx(m)\ty(m)\tz(m)\ta(rad)\ttilt(rad)\troll(rad)"+
 			"\tVx(m/s)\tVy(m/s)\tVz(m/s)\tVa(rad/s)\tVt(rad/s)\tVr(rad/s)"+

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

@@ -737,7 +737,9 @@ public class IntersceneLma {
 					for (int iMTile = ai.getAndIncrement(); iMTile < vector_XYSDS.length; iMTile = ai.getAndIncrement()) if (vector_XYSDS[iMTile] != null){
 						weights[num_components * iMTile] *= s;
 						weights[num_components * iMTile + 1] = weights[num_components * iMTile];
-						weights[num_components * iMTile + 2] *=s;
+						if (num_components > 2) {
+							weights[num_components * iMTile + 2] *=s;
+						}
 					}
 				}
 			};

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

@@ -5269,7 +5269,7 @@ public class OpticalFlow {
 				boolean        lpf_xy = false;       // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables  
 				double         avg_rlen = clt_parameters.imp.avg_len; //  3.0;
 				boolean        readjust_xy_ims = true; // false;
-				double         reg_weight_xy = 10.0; // 0.05; // TODO: find out reasonable values
+				double         reg_weight_xy = 10.0; // 1.0; // 10.0; // 0.05; // TODO: find out reasonable values
 				
 				
 				boolean        disable_ers = (quadCLTs[ref_index].getNumOrient() < 2); // first orient - no ERS!