Implementing FG/BG split of far tiles with small disparity difference

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

@@ -516,8 +516,8 @@ public class IntersceneMatchParameters {
 				"Blur weak sigma");
 		gd.addNumericField("Number of blur passes",                  this.num_blur, 0,3,"",
 				"Number of blur passes");
-		gd.addNumericField("Disparity offset (not used)",            this.disparity_corr, 5,7,"",
-				"for setInterTasks() - currently not used ");
+		gd.addNumericField("*** Disparity offset (used 04/07/2023) ***",     this.disparity_corr, 5,7,"",
+				"for setInterTasks() - used 04/07/2023.");
 		gd.addNumericField("Outlier N-th from extreme",              this.outliers_nth_fromextrem, 0,3,"",
 				"0 - use min/max, 1 - use second min/max, ... second from min/max - removes dual-tile clusters max/mins");
 		gd.addNumericField("Outliers tolerance absolute",            this.outliers_tolerance_absolute, 5,7,"pix",

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

@@ -870,7 +870,7 @@ public class MultisceneLY {
 	    final double gpu_sigma_corr =     clt_parameters.getGpuCorrSigma(last_scene.isMonochrome());
 	    final double gpu_sigma_rb_corr =  last_scene.isMonochrome()? 1.0 : clt_parameters.gpu_sigma_rb_corr;
 	    final double gpu_sigma_log_corr = clt_parameters.getGpuCorrLoGSigma(last_scene.isMonochrome());
-	    double              disparity_corr = 0.0;
+	    final double disparity_corr = clt_parameters.imp.disparity_corr; // 04/07/2023 // 0.0;
 		int debugLevel = debug_level;
 		final double [][] lazy_eye_data = new double [clustersY*clustersX][];
 		ImageDtt image_dtt= new ImageDtt(
@@ -1029,6 +1029,7 @@ public class MultisceneLY {
 					image_dtt.transform_size - 1,  // final int                 gpu_corr_rad,    // = transform_size - 1 ?
 			        // The tp_tasks data should be decoded from GPU to get coordinates
 					tp_tasks_combo,                  // final TpTask []           tp_tasks,        // data from the reference frame - will be applied to LMW for the integrated correlations
+					null, // final double [][][]       far_fgbg,        // null, or [tilesY][tilesX]{disp(fg)-disp(bg), str(fg)-str(bg)} hints for LMA FG/BG split 
 					last_scene.getErsCorrection().getRXY(false), // final double [][]         rXY,             // from geometryCorrection
 					// next both can be nulls
 					null,                          // final double [][][][]     clt_corr_out,   // sparse (by the first index) [type][tilesY][tilesX][(2*transform_size-1)*(2*transform_size-1)] or null

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

@@ -1394,7 +1394,7 @@ public class QuadCLT extends QuadCLTCPU {
 					mb_max_gain,              // final double              mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel
 					mb_vectors,               //final double [][]         mb_vectors,  //
 					scene.getErsCorrection(), // final GeometryCorrection  geometryCorrection,
-					0.0,                      // final double              disparity_corr,
+					clt_parameters.imp.disparity_corr, // 04/07/2023 //0.0,                      // final double              disparity_corr,
 					-1, // 0, // margin,      // final int                 margin,      // do not use tiles if their centers are closer to the edges
 					null,                     // final boolean []          valid_tiles,            
 					threadsMax);              // final int                 threadsMax)  // maximal number of threads to launch
@@ -1407,7 +1407,7 @@ public class QuadCLT extends QuadCLTCPU {
 					pXpYD,                    // final double [][]         pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
 					null,                     // final boolean []          selection, // may be null, if not null do not  process unselected tiles
 					scene.getErsCorrection(), // final GeometryCorrection  geometryCorrection,
-					0.0,                      // final double              disparity_corr,
+					clt_parameters.imp.disparity_corr, // 04/07/2023 // 0.0,                      // final double              disparity_corr,
 					-1, // 0, // margin,      // final int                 margin,      // do not use tiles if their centers are closer to the edges
 					null,                     // final boolean []          valid_tiles,            
 					threadsMax);              // final int                 threadsMax)  // maximal number of threads to launch
@@ -1589,7 +1589,7 @@ public class QuadCLT extends QuadCLTCPU {
 					mb_max_gain,              // final double              mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel
 					mb_vectors,               //final double [][]         mb_vectors,  //
 					scene.getErsCorrection(), // final GeometryCorrection  geometryCorrection,
-					0.0,                      // final double              disparity_corr,
+					clt_parameters.imp.disparity_corr, // 04/07/2023 //0.0,                      // final double              disparity_corr,
 					-1, // 0, // margin,      // final int                 margin,      // do not use tiles if their centers are closer to the edges
 					null,                     // final boolean []          valid_tiles,            
 					OpticalFlow.THREADS_MAX); // final int                 threadsMax)  // maximal number of threads to launch
@@ -1602,7 +1602,7 @@ public class QuadCLT extends QuadCLTCPU {
 					pXpYD,                    // final double [][]         pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
 					null,                     // final boolean []          selection, // may be null, if not null do not  process unselected tiles
 					scene.getErsCorrection(), // final GeometryCorrection  geometryCorrection,
-					0.0,                      // final double              disparity_corr,
+					clt_parameters.imp.disparity_corr, // 04/07/2023 // 0.0,                      // final double              disparity_corr,
 					-1, // 0, // margin,      // final int                 margin,      // do not use tiles if their centers are closer to the edges
 					null,                     // final boolean []          valid_tiles,            
 					OpticalFlow.THREADS_MAX);              // final int                 threadsMax)  // maximal number of threads to launch
@@ -1879,7 +1879,7 @@ public class QuadCLT extends QuadCLTCPU {
 					mb_max_gain,              // final double              mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel
 					mb_vectors,               //final double [][]         mb_vectors,  //
 					scene.getErsCorrection(), // final GeometryCorrection  geometryCorrection,
-					0.0,                      // final double              disparity_corr,
+					clt_parameters.imp.disparity_corr, // 04/07/2023 // 0.0,                      // final double              disparity_corr,
 					-1, // 0, // margin,      // final int                 margin,      // do not use tiles if their centers are closer to the edges
 					null,                     // final boolean []          valid_tiles,            
 					OpticalFlow.THREADS_MAX); // final int                 threadsMax)  // maximal number of threads to launch
@@ -1892,7 +1892,7 @@ public class QuadCLT extends QuadCLTCPU {
 					pXpYD,                    // final double [][]         pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
 					null,                     // final boolean []          selection, // may be null, if not null do not  process unselected tiles
 					scene.getErsCorrection(), // final GeometryCorrection  geometryCorrection,
-					0.0,                      // final double              disparity_corr,
+					clt_parameters.imp.disparity_corr, // 04/07/2023 // 0.0,                      // final double              disparity_corr,
 					-1, // 0, // margin,      // final int                 margin,      // do not use tiles if their centers are closer to the edges
 					null,                     // final boolean []          valid_tiles,            
 					OpticalFlow.THREADS_MAX);              // final int                 threadsMax)  // maximal number of threads to launch

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

@@ -13955,6 +13955,7 @@ public class QuadCLTCPU {
 							image_dtt.transform_size - 1,  // final int                 gpu_corr_rad,    // = transform_size - 1 ?
 					        // The tp_tasks data should be decoded from GPU to get coordinates
 							tp_tasks,                  // final TpTask []           tp_tasks,        // data from the reference frame - will be applied to LMW for the integrated correlations
+							null, // final double [][][]       far_fgbg,        // null, or [tilesY][tilesX]{disp(fg)-disp(bg), str(fg)-str(bg)} hints for LMA FG/BG split 
 							geometryCorrection.getRXY(false), // final double [][]         rXY,             // from geometryCorrection
 							// next both can be nulls
 							clt_corr_out, // null,                          // final double [][][][]     clt_corr_out,   // sparse (by the first index) [type][tilesY][tilesX][(2*transform_size-1)*(2*transform_size-1)] or null

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

@@ -9309,7 +9309,7 @@ if (debugLevel > -100) return true; // temporarily !
 						-1); // debug_level);    // int            debugLevel)
 			}
 			// Does not need to specify reference scene - it is always the last even if out of timestamp order
-			opticalFlow.intersceneExport(
+			OpticalFlow.intersceneExport(
 					clt_parameters,            // CLTParameters       clt_parameters,
 					ers_reference,             // ErsCorrection        ers_reference,
 					scenes,                    // QuadCLT []           scenes,