Commit 1dfb402e authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Claude: FAIL_PENDING refactoring — migrate first loop from motion_sequence to target_sequence_multi 



- Add FAIL_PENDING=-1 sentinel constant to CuasMotionLMA
- Add initFromMotionSequence(): clones motion entries into target_sequence_multi as sentinels
  (RSLT_FAIL=FAIL_PENDING, RSLT_CENTERED=CENTERED_NO, RSLT_QSCORE=initial RSLT_MSCORE)
- Add syncMotionScoreToSentinels(): keeps sentinel QSCORE current after each getEffectiveStrengthMV
- Decouple use_motion/select_new flags in filter5Targets from motion_sequence==null
- Add motion==null paths in filter5Targets: prohibit setup and is-max ranking for FAIL_PENDING sentinels
- Extend filter5Targets marking step to cover FAIL_PENDING sentinels (use_motion=true, motion==null)
- Update extendMotionScan center-detection to accept FAIL_PENDING as valid center state
- First loop in locateAndFreezeTargetsMulti: call initFromMotionSequence, syncMotionScoreToSentinels;
  pass null to filter5Targets; use applyFilter(target_sequence_multi); use getRemain(target_sequence_multi)
- getRemain(target_sequence_multi): count FAIL_PENDING+CENTERED_NO in num_noncentered

Co-Authored-By: default avatarClaude Sonnet 4.6 <noreply@anthropic.com>
parent 70e96522

src/main/java/com/elphel/imagej/cuas/CuasMotion.java

+152 −42
Original line number Diff line number Diff line
@@ -1894,6 +1894,50 @@ public class CuasMotion { 
	}

	

	

	// By Claude on 05/07/2026: pre-populate target_sequence_multi with FAIL_PENDING sentinels from motion_sequence.

	// Each sentinel is a clone of the motion entry with RSLT_FAIL=FAIL_PENDING, RSLT_CENTERED=CENTERED_NO,

	// RSLT_QSCORE initialized from RSLT_MSCORE. Preserves VX/VY/X/Y and all other motion fields.

	public static void initFromMotionSequence(

			final double [][][]   motion_sequence,

			final double [][][][] target_sequence_multi) {

		final int num_seq   = motion_sequence.length;

		final int num_tiles = motion_sequence[0].length;

		for (int nSeq = 0; nSeq < num_seq; nSeq++) {

			for (int ntile = 0; ntile < num_tiles; ntile++) {

				if (motion_sequence[nSeq][ntile] != null && target_sequence_multi[nSeq][ntile] == null) {

					double [] sentinel = motion_sequence[nSeq][ntile].clone();

					sentinel[CuasMotionLMA.RSLT_FAIL]     = CuasMotionLMA.FAIL_PENDING;

					sentinel[CuasMotionLMA.RSLT_CENTERED] = CuasMotionLMA.CENTERED_NO;

					sentinel[CuasMotionLMA.RSLT_QSCORE]   = motion_sequence[nSeq][ntile][CuasMotionLMA.RSLT_MSCORE];

					target_sequence_multi[nSeq][ntile] = new double [][] {sentinel};

				}

			}

		}

	}



	// By Claude on 05/07/2026: after each getEffectiveStrengthMV call, keep RSLT_QSCORE in FAIL_PENDING sentinels

	// current with the freshly computed RSLT_MSCORE so filter5 ranks by up-to-date motion confidence.

	public static void syncMotionScoreToSentinels(

			final double [][][]   motion_sequence,

			final double [][][][] target_sequence_multi) {

		final int num_seq   = motion_sequence.length;

		final int num_tiles = motion_sequence[0].length;

		for (int nSeq = 0; nSeq < num_seq; nSeq++) {

			for (int ntile = 0; ntile < num_tiles; ntile++) {

				double [] mv = motion_sequence[nSeq][ntile];

				if (mv != null && target_sequence_multi[nSeq][ntile] != null) {

					for (double [] entry : target_sequence_multi[nSeq][ntile]) {

						if (entry != null &&

								entry[CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&

								entry[CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {

							entry[CuasMotionLMA.RSLT_QSCORE] = mv[CuasMotionLMA.RSLT_MSCORE];

						}

					}

				}

			}

		}

	}



	// fills out additional fields in target_coords



	public static double [][] getEffectiveStrengthMV( // calculate tiles effective strength by the motion vectors. Combine with the target LMA?
@@ -2025,7 +2069,9 @@ public class CuasMotion { 
								for (int i = 0; i < centers.length; i++) {

									centers[i] = (ms[i] != null) &&

											Double.isNaN(ms[i][CuasMotionLMA.RSLT_STRONGER]) && // should not have stronger neighbor

											(Double.isNaN(ms[i][CuasMotionLMA.RSLT_FAIL]) || (ms[i][CuasMotionLMA.RSLT_FAIL]==CuasMotionLMA.FAIL_NONE));

											(Double.isNaN(ms[i][CuasMotionLMA.RSLT_FAIL]) ||

													(ms[i][CuasMotionLMA.RSLT_FAIL]==CuasMotionLMA.FAIL_NONE) ||

													(ms[i][CuasMotionLMA.RSLT_FAIL]==CuasMotionLMA.FAIL_PENDING)); // By Claude on 05/07/2026

								}

							}

							if ((filtered != null) && (filtered[nSeq] == null)) {
@@ -7955,12 +8001,13 @@ public class CuasMotion { 
		if (target_sequence_multi == null) {

			//		final double [][][][]

			target_sequence_multi = new double [num_seq][num_tiles][][];

			initFromMotionSequence(motion_sequence, target_sequence_multi); // By Claude on 05/07/2026

			// first pass, using non-centered targets

			//		double        boost_accum_pairs = slow_mode? 1.0:4.0; // just for testing, unconditionally boost tracking cameras exposure time

			for (; niter < num_cycles; niter++) {

				boolean save_filtered_low =  intermed_low &&  (niter < iter_show);

				boolean save_filtered_high = intermed_high && (niter < iter_show);

				totals = getRemain(motion_sequence, target_sequence_multi, num_all, num_undef, num_good, num_bad);

				totals = getRemain(target_sequence_multi, num_all, num_undef, num_good, num_bad); // By Claude on 05/07/2026

				if (totals[TOTALS_UNDEFINED] == 0) {

					if (debugLevel > -4) System.out.println ("No undefined tiles left, breaking loop");

					break;
@@ -7987,6 +8034,7 @@ public class CuasMotion { 
						speed_min,         // double              speed_min,

						speed_pref,        // double              speed_pref,

						speed_boost);      // double              speed_boost);

				syncMotionScoreToSentinels(motion_sequence, target_sequence_multi); // By Claude on 05/07/2026



				if (save_filtered_low  && debug_more) {

					ImagePlus imp_mv_strength = showTargetSequence(
@@ -7999,7 +8047,7 @@ public class CuasMotion { 
				}



				int [][] filter5 = filter5Targets( // will ignore failed tiles

						motion_sequence,       // final double [][][] target_sequence,

						null,                  // By Claude on 05/07/2026: use FAIL_PENDING sentinels in target_sequence_multi

						target_sequence_multi, // final double [][][][] target_sequence_multi,

						// if     use motion and select_new will only consider tiles (and compare motion scores in motion_sequence) that have nulls in target_sequence_multi[nseq][ntile]

						// if not use motion and select_new will only consider (and compare scores) tiles that have [RSLT_CENTERED] = 0.0
@@ -8047,16 +8095,10 @@ public class CuasMotion { 
					break;

				}



				// was motion_scan_filtered

				double [][][] targets_nonoverlap = applyFilter( // motion vectors // will have nulls not top try 

						motion_sequence,          // double [][][] motion_scan,

						filter5);                 // boolean [][] filter5)

				// Here target_sequence_multi is yet empty

				/*

			double [][][] targets_nonoverlap = applyFilter( // motion vectors // will have nulls not top try 

				// By Claude on 05/07/2026: sentinels in target_sequence_multi carry motion vector data cloned from motion_sequence

				double [][][] targets_nonoverlap = applyFilter(

						target_sequence_multi,    // double [][][][] target_sequence_multi

					filter5);                 // boolean [][] filter5)

				 */			

						filter5);                 // int [][] filter5

				// Anything remains? we'll see after extension

				double [][][] extended_scan = extendMotionScan(

						targets_nonoverlap, // final double [][][] motion_scan,
@@ -8287,7 +8329,7 @@ public class CuasMotion { 
					if (debugLevel > -4) System.out.println ("Nothing added from last try, breaking the loop.\n");

					break;  // breaks here

				}

				totals = getRemain(motion_sequence, target_sequence_multi, num_all, num_undef, num_good, num_bad);

				totals = getRemain(target_sequence_multi, num_all, num_undef, num_good, num_bad); // By Claude on 05/07/2026

				if (debugLevel > -4) printStats ("After iteration "+niter, true, num_all, num_undef, num_good, num_bad);

				if (debugLevel > -4) {

					System.out.println("Non-centered iteration "+niter+" DONE.\n");
@@ -8730,8 +8772,8 @@ public class CuasMotion { 
			final int     []      remain,

			final int     []      passes, // debugging - number of passes required

			final int             debugLevel){

		final boolean  use_motion = (motion_sequence != null) ? use_motion_in : false;

		final boolean  select_new = select_new_in; // By Claude on 05/07/2026: decouple from motion_sequence so null works with select_new=true

		final boolean  use_motion = use_motion_in; // By Claude on 05/07/2026: decouple from motion_sequence presence

		final boolean  select_new = select_new_in; // By Claude on 05/07/2026: decouple from motion_sequence

		boolean debug_now = (debugLevel<5);

		final int num_seq = target_sequence_multi.length;

		final int num_tiles = target_sequence_multi[0].length;
@@ -8764,10 +8806,25 @@ public class CuasMotion { 
								}

								prohibit[ntile] = true;

							}  else if (select_new){

								if (use_motion ) { // && (target_sequence_multi[nSeq][ntile] != null)

								if (use_motion ) {

									if (motion != null) { // original path: prohibit already-tested tiles

										if (target_sequence_multi[nSeq][ntile] != null) {

											prohibit[ntile] = true;

										}

									} else { // By Claude on 05/07/2026: motion==null, find FAIL_PENDING+CENTERED_NO sentinels

										boolean has_pending = false;

										double [][] targets = target_sequence_multi[nSeq][ntile];

										if (targets != null) {

											for (int i = 0; i < targets.length; i++) if (targets[i] != null) {

												if (targets[i][CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&

													targets[i][CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {

													has_pending = true;

													break;

												}

											}

										}

										prohibit[ntile] |= !has_pending;

									}

								} else { // !use_motion - find if it has at least one good with that have [RSLT_CENTERED] = 0.0

									boolean prohibit_this = true;

									double [][] targets = target_sequence_multi[nSeq][ntile];
@@ -8818,6 +8875,7 @@ public class CuasMotion { 
										boolean ismax = true;

										if (select_new) {

											if (use_motion) {

												if (motion != null) {

													check_max_motion:{

														double cval = motion[ntile][CuasMotionLMA.RSLT_MSCORE] - min_confidence;

														if (cval <= 0) {
@@ -8839,6 +8897,55 @@ public class CuasMotion { 
														}

														filter5[nSeq][ntile] = 0;

													}

												} else { // By Claude on 05/07/2026: motion==null, rank FAIL_PENDING+CENTERED_NO sentinels by QSCORE

													double [][] targets = target_sequence_multi[nSeq][ntile];

													if (targets != null) {

														int best_pending = -1;

														check_max_pending:{

															for (int ntarg = 0; ntarg < targets.length; ntarg++) if (targets[ntarg] != null &&

																	targets[ntarg][CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&

																	targets[ntarg][CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {

																double qval = targets[ntarg][CuasMotionLMA.RSLT_QSCORE];

																if ((best_pending < 0) || (qval > targets[best_pending][CuasMotionLMA.RSLT_QSCORE])) {

																	best_pending = ntarg;

																}

															}

															if (best_pending < 0) {

																ismax = false;

																prohibit[ntile] = true;

																break check_max_pending;

															}

															double cval = targets[best_pending][CuasMotionLMA.RSLT_QSCORE] - min_confidence;

															if (cval <= 0) {

																ismax = false;

																prohibit[ntile] = true;

																break check_max_pending;

															}

															for (int dy = -range; dy <= range; dy++) {

																for (int dx = -range; dx <= range; dx++) {

																	int ntile1 = tn.getNeibIndex(ntile, dx, dy);

																	if ((ntile1 >= 0) && !prohibit[ntile1]) {

																		double [][] other_targets = target_sequence_multi[nSeq][ntile1];

																		if (other_targets != null) {

																			for (int ntarg = 0; ntarg < other_targets.length; ntarg++) if (other_targets[ntarg] != null &&

																					other_targets[ntarg][CuasMotionLMA.RSLT_FAIL]     == CuasMotionLMA.FAIL_PENDING &&

																					other_targets[ntarg][CuasMotionLMA.RSLT_CENTERED] == CuasMotionLMA.CENTERED_NO) {

																				double val = other_targets[ntarg][CuasMotionLMA.RSLT_QSCORE];

																				if (val > cval + min_confidence) {

																					ismax = false;

																					break check_max_pending;

																				}

																			}

																		}

																	}

																}

															}

															filter5[nSeq][ntile] = best_pending;

														} // check_max_pending

													} else {

														prohibit[ntile] = true;

													}

												}

											} else { // not using motion, only consider non-centered good tiles

												double [][] targets = target_sequence_multi[nSeq][ntile]; 

												if (targets !=  null) {
@@ -8959,9 +9066,10 @@ public class CuasMotion { 
			};

		}		      

		ImageDtt.startAndJoin(threads);

		if (select_new && !use_motion) {

		// By Claude on 05/07/2026: also mark FAIL_PENDING sentinels when use_motion=true, motion==null

		if (select_new && (!use_motion || (motion_sequence == null))) {

			ai.set(0);

			// mark selected (non-centered) targets as "used"

			// mark selected targets as "used" (CENTERED_USED): FAIL_NONE+CENTERED_NO or FAIL_PENDING+CENTERED_NO

			for (int ithread = 0; ithread < threads.length; ithread++) {

				threads[ithread] = new Thread() {

					public void run() {
@@ -9462,7 +9570,9 @@ public class CuasMotion { 
									double ts_fail = tsm[ntarg][CuasMotionLMA.RSLT_FAIL];

									int centered = (int)  tsm[ntarg][CuasMotionLMA.RSLT_CENTERED];

									if (centered != CuasMotionLMA.CENTERED_USED) {

										if ((centered == CuasMotionLMA.CENTERED_NO) && (ts_fail == CuasMotionLMA.FAIL_NONE)) { // only count good uncentered as undefined

										if (ts_fail == CuasMotionLMA.FAIL_PENDING) { // By Claude on 05/07/2026: unprocessed sentinel

											num_noncentered[nSeq]++;

										} else if ((centered == CuasMotionLMA.CENTERED_NO) && (ts_fail == CuasMotionLMA.FAIL_NONE)) {

											num_noncentered[nSeq]++;

										} else if (ts_fail == CuasMotionLMA.FAIL_NONE) {

											num_good[nSeq]++;

src/main/java/com/elphel/imagej/cuas/CuasMotionLMA.java

+1 −0
Original line number Diff line number Diff line
@@ -124,6 +124,7 @@ public class CuasMotionLMA { 
				"FLOG-px","FLOG-pY","FLOG-DISP","FLOG-range","infinity",

				"GTarget-ID","Vel-away", "Vel-right", "Vel-up","Range-linear"};

	public static final String EXTRA_SLICE_DISCARD_ON_LOAD = "Targets"; 

	public static final int FAIL_PENDING =  -1; // By Claude on 05/07/2026: motion sentinel — tile tracked but not yet processed by LMA

	public static final int FAIL_NONE =      0;

	public static final int FAIL_MOTION =    1;  // motion strength/fraction too low

	public static final int FAIL_NO_MAX =    2;  // no suitable local maximum