MCP-related scripts and switching LMA implementation to "elphel"-type

implementation

scripts/README.md

@@ -320,3 +320,30 @@ Dependencies:
 - eyesis_host_daemon.py
 
 Tags: daemon, client, automation, mcp, lifecycle
+
+## eyesis_run_report.py
+
+Extract latest completed Eyesis run summary from eyesis_mcp.log and compare report JSONs.
+
+Path: `scripts/eyesis_run_report.py`
+
+Example:
+
+```bash
+/home/elphel/git/imagej-elphel/scripts/eyesis_run_report.py extract --snapshot-dir /tmp/eyesis-reports --auto-compare
+```
+
+Inputs:
+- extract: --log path (default attic/session-logs/eyesis_mcp.log)
+- extract: optional --json output, --snapshot-dir DIR, --auto-compare, --show-outputs N
+- compare: --base report.json --new report.json
+
+Outputs:
+- Console summary for latest completed run
+- Optional JSON report and/or timestamped snapshots for baseline tracking
+- CSV-like metric delta table for report comparisons
+
+Dependencies:
+- python3
+
+Tags: log, report, lma, comparison, automation

scripts/catalog.json

@@ -245,6 +245,28 @@
       ],
       "owner": "codex",
       "created": "2026-02-23"
+    },
+    {
+      "name": "eyesis_run_report.py",
+      "path": "scripts/eyesis_run_report.py",
+      "purpose": "Extract latest completed Eyesis run summary from eyesis_mcp.log and compare report JSONs.",
+      "inputs": [
+        "extract: --log path (default attic/session-logs/eyesis_mcp.log)",
+        "extract: optional --json output, --snapshot-dir DIR, --auto-compare, --show-outputs N",
+        "compare: --base report.json --new report.json"
+      ],
+      "outputs": [
+        "Console summary for latest completed run",
+        "Optional JSON report and/or timestamped snapshots for baseline tracking",
+        "CSV-like metric delta table for report comparisons"
+      ],
+      "example": "/home/elphel/git/imagej-elphel/scripts/eyesis_run_report.py extract --snapshot-dir /tmp/eyesis-reports --auto-compare",
+      "tags": ["log", "report", "lma", "comparison", "automation"],
+      "dependencies": [
+        "python3"
+      ],
+      "owner": "codex",
+      "created": "2026-02-23"
     }
   ]
 }

scripts/eyesis-host-daemon-howto.md

@@ -40,6 +40,13 @@ tail -n 200 -F /home/elphel/git/imagej-elphel/attic/session-logs/eyesis_mcp.log
 tail -n 100 -F /home/elphel/git/imagej-elphel/attic/session-logs/eyesis_host_daemon.log
 ```
 
+Quick post-run summary and baseline compare:
+```bash
+/home/elphel/git/imagej-elphel/scripts/eyesis_run_report.py extract --snapshot-dir /tmp/eyesis-reports --auto-compare
+# optional explicit compare using generated pointers:
+/home/elphel/git/imagej-elphel/scripts/eyesis_run_report.py compare --base /tmp/eyesis-reports/run_previous.json --new /tmp/eyesis-reports/run_latest.json
+```
+
 ## Request examples
 Daemon-backed lifecycle request:
 ```bash

scripts/eyesis_run_report.py

+#!/usr/bin/env python3
+"""
+Summarize and compare Eyesis MCP run logs.
+
+Usage examples:
+  scripts/eyesis_run_report.py extract \
+    --log attic/session-logs/eyesis_mcp.log \
+    --json /tmp/run_latest.json
+
+  scripts/eyesis_run_report.py extract \
+    --snapshot-dir /tmp/eyesis-reports \
+    --auto-compare
+
+  scripts/eyesis_run_report.py compare \
+    --base /tmp/run_prev.json \
+    --new /tmp/run_latest.json
+"""
+
+from __future__ import annotations
+
+import argparse
+import datetime as dt
+import json
+import math
+import re
+import sys
+from pathlib import Path
+from typing import Any
+
+
+RUN_START_RE = re.compile(r"^STARTED PROCESSING SCENE SEQUENCE (?P<idx>\d+) \(last is (?P<last>\d+)\)")
+RUN_FINISHED_RE = re.compile(
+    r"^PROCESSING OF (?P<count>\d+) SCENE SEQUENCES is FINISHED in (?P<seconds>[0-9]+(?:\.[0-9]+)?) sec\.$"
+)
+BATCH_FINISHED_RE = re.compile(
+    r"^batchRig\(\): Processing finished at (?P<seconds>[0-9]+(?:\.[0-9]+)?) sec, --- Free memory=(?P<free>\d+) "
+    r"\(of (?P<total>\d+)\)"
+)
+CONFIG_RESTORED_RE = re.compile(r"Configuration parameters are restored from (?P<path>/\S+)")
+PATH_RE = re.compile(r"(/[^ \t\r\n\"'<>]+)")
+
+
+def to_number(value: str) -> Any:
+    if value in {"NaN", "+NaN", "-NaN"}:
+        return math.nan
+    try:
+        if re.fullmatch(r"[+-]?\d+", value):
+            return int(value)
+        return float(value)
+    except ValueError:
+        return value
+
+
+def parse_global_line(line: str) -> dict[str, Any] | None:
+    if "IntersceneGlobalRefine: outer=" not in line or " inner=" not in line:
+        return None
+    section = line
+    for marker in (" lpfE(", " lpfR(", " pair weights applied", " LPF "):
+        pos = section.find(marker)
+        if pos >= 0:
+            section = section[:pos]
+    pairs = re.findall(r"([A-Za-z][A-Za-z0-9_]*)=([^\s,()]+)", section)
+    if not pairs:
+        return None
+    parsed: dict[str, Any] = {}
+    for key, raw in pairs:
+        parsed[key] = to_number(raw)
+    return parsed
+
+
+def unique_keep_order(items: list[str]) -> list[str]:
+    seen: set[str] = set()
+    out: list[str] = []
+    for item in items:
+        if item in seen:
+            continue
+        seen.add(item)
+        out.append(item)
+    return out
+
+
+def choose_block(lines: list[str]) -> tuple[int, int]:
+    finished_idx = [i for i, line in enumerate(lines) if RUN_FINISHED_RE.search(line)]
+    if not finished_idx:
+        raise ValueError("No completed run marker found in log.")
+    end_idx = finished_idx[-1]
+
+    start_idx = 0
+    for i in range(end_idx, -1, -1):
+        if RUN_START_RE.search(lines[i]):
+            start_idx = i
+            break
+
+    next_start = len(lines)
+    for i in range(end_idx + 1, len(lines)):
+        if RUN_START_RE.search(lines[i]):
+            next_start = i
+            break
+    return start_idx, next_start - 1
+
+
+def extract_report(log_path: Path) -> dict[str, Any]:
+    lines = log_path.read_text(encoding="utf-8", errors="replace").splitlines()
+    start_idx, end_idx = choose_block(lines)
+    block = lines[start_idx : end_idx + 1]
+
+    run_finish: dict[str, Any] = {}
+    batch_finish: dict[str, Any] = {}
+    config_path: str | None = None
+    global_rows: list[dict[str, Any]] = []
+    paths: list[str] = []
+
+    for line in block:
+        if m := RUN_FINISHED_RE.search(line):
+            run_finish = {
+                "scene_sequence_count": int(m.group("count")),
+                "processing_seconds": float(m.group("seconds")),
+            }
+        if m := BATCH_FINISHED_RE.search(line):
+            batch_finish = {
+                "total_seconds": float(m.group("seconds")),
+                "free_memory_bytes": int(m.group("free")),
+                "heap_memory_bytes": int(m.group("total")),
+            }
+        if m := CONFIG_RESTORED_RE.search(line):
+            config_path = m.group("path")
+        if parsed := parse_global_line(line):
+            global_rows.append(parsed)
+
+        for p in PATH_RE.findall(line):
+            lower = p.lower()
+            if lower.endswith((".tiff", ".csv", ".corr-xml", ".xml", ".log", ".list")):
+                paths.append(p.rstrip(".,);]"))
+
+    if not config_path:
+        for line in reversed(lines[: end_idx + 1]):
+            if m := CONFIG_RESTORED_RE.search(line):
+                config_path = m.group("path")
+                break
+
+    start_line = block[0] if block else ""
+    start_match = RUN_START_RE.search(start_line)
+    run_start = {
+        "line_index": start_idx + 1,
+        "line_text": start_line,
+        "scene_index": int(start_match.group("idx")) if start_match else None,
+        "last_scene_index": int(start_match.group("last")) if start_match else None,
+    }
+
+    last_detailed = None
+    for row in reversed(global_rows):
+        if "pcgIter" in row or "lambda" in row:
+            last_detailed = row
+            break
+    if last_detailed is None and global_rows:
+        last_detailed = global_rows[-1]
+
+    report: dict[str, Any] = {
+        "log_path": str(log_path),
+        "run": {
+            **run_start,
+            "line_end_index": end_idx + 1,
+            **run_finish,
+            **batch_finish,
+        },
+        "config_path": config_path,
+        "global_lma": {
+            "lines_count": len(global_rows),
+            "last": global_rows[-1] if global_rows else None,
+            "last_detailed": last_detailed,
+        },
+        "referenced_outputs": unique_keep_order(paths),
+    }
+    return report
+
+
+def get_path(data: dict[str, Any], dotted: str) -> Any:
+    cur: Any = data
+    for part in dotted.split("."):
+        if not isinstance(cur, dict) or part not in cur:
+            return None
+        cur = cur[part]
+    return cur
+
+
+def is_number(v: Any) -> bool:
+    return isinstance(v, (int, float)) and not (isinstance(v, float) and math.isnan(v))
+
+
+def fmt_num(v: Any) -> str:
+    if v is None:
+        return "n/a"
+    if isinstance(v, float):
+        return f"{v:.9g}"
+    return str(v)
+
+
+def compare_reports(base: dict[str, Any], new: dict[str, Any]) -> str:
+    metrics = [
+        "run.processing_seconds",
+        "run.total_seconds",
+        "global_lma.lines_count",
+        "global_lma.last_detailed.outer",
+        "global_lma.last_detailed.inner",
+        "global_lma.last_detailed.avgPairRms",
+        "global_lma.last_detailed.avgPairRmsPure",
+        "global_lma.last_detailed.maxDelta",
+        "global_lma.last_detailed.pcgIter",
+        "global_lma.last_detailed.lambda",
+    ]
+
+    lines = []
+    lines.append("metric,base,new,delta,new/base")
+    for key in metrics:
+        bv = get_path(base, key)
+        nv = get_path(new, key)
+        delta = None
+        ratio = None
+        if is_number(bv) and is_number(nv):
+            delta = float(nv) - float(bv)
+            if float(bv) != 0.0:
+                ratio = float(nv) / float(bv)
+        lines.append(
+            ",".join(
+                [
+                    key,
+                    fmt_num(bv),
+                    fmt_num(nv),
+                    fmt_num(delta),
+                    fmt_num(ratio),
+                ]
+            )
+        )
+    return "\n".join(lines)
+
+
+def write_json(path: Path, payload: dict[str, Any]) -> None:
+    path.parent.mkdir(parents=True, exist_ok=True)
+    path.write_text(json.dumps(payload, indent=2, sort_keys=True) + "\n", encoding="utf-8")
+
+
+def collect_snapshots(snapshot_dir: Path, prefix: str) -> list[Path]:
+    return sorted(
+        p for p in snapshot_dir.glob(f"{prefix}_*.json") if p.name not in {f"{prefix}_latest.json", f"{prefix}_previous.json"}
+    )
+
+
+def create_snapshot(report: dict[str, Any], snapshot_dir: Path, prefix: str) -> tuple[Path, Path | None]:
+    snapshot_dir.mkdir(parents=True, exist_ok=True)
+    existing = collect_snapshots(snapshot_dir, prefix)
+    previous = existing[-1] if existing else None
+
+    stamp = dt.datetime.now().strftime("%Y%m%d_%H%M%S")
+    base_name = f"{prefix}_{stamp}"
+    new_path = snapshot_dir / f"{base_name}.json"
+    suffix = 1
+    while new_path.exists():
+        new_path = snapshot_dir / f"{base_name}_{suffix}.json"
+        suffix += 1
+
+    write_json(new_path, report)
+    write_json(snapshot_dir / f"{prefix}_latest.json", report)
+    if previous is not None:
+        prev_data = json.loads(previous.read_text(encoding="utf-8"))
+        write_json(snapshot_dir / f"{prefix}_previous.json", prev_data)
+    return new_path, previous
+
+
+def cmd_extract(args: argparse.Namespace) -> int:
+    report = extract_report(Path(args.log))
+    if args.json:
+        write_json(Path(args.json), report)
+
+    print(f"log: {report['log_path']}")
+    print(
+        "run: "
+        f"sequences={report['run'].get('scene_sequence_count', 'n/a')} "
+        f"processing={fmt_num(report['run'].get('processing_seconds'))}s "
+        f"total={fmt_num(report['run'].get('total_seconds'))}s"
+    )
+    print(f"config: {report.get('config_path') or 'n/a'}")
+    gl = report["global_lma"]
+    print(f"global_lma_lines: {gl['lines_count']}")
+    if gl["last_detailed"]:
+        last = gl["last_detailed"]
+        print(
+            "global_lma_last: "
+            f"outer={fmt_num(last.get('outer'))} "
+            f"inner={fmt_num(last.get('inner'))} "
+            f"avgPairRms={fmt_num(last.get('avgPairRms'))} "
+            f"avgPairRmsPure={fmt_num(last.get('avgPairRmsPure'))} "
+            f"pcgIter={fmt_num(last.get('pcgIter'))} "
+            f"lambda={fmt_num(last.get('lambda'))}"
+        )
+    show_n = max(0, args.show_outputs)
+    outputs = report["referenced_outputs"]
+    if show_n and outputs:
+        print(f"referenced_outputs_last_{min(show_n, len(outputs))}:")
+        for p in outputs[-show_n:]:
+            print(f"  {p}")
+    if args.json:
+        print(f"json: {args.json}")
+
+    previous_snapshot: Path | None = None
+    new_snapshot: Path | None = None
+    if args.snapshot_dir:
+        new_snapshot, previous_snapshot = create_snapshot(report, Path(args.snapshot_dir), args.prefix)
+        print(f"snapshot: {new_snapshot}")
+        if previous_snapshot:
+            print(f"snapshot_previous: {previous_snapshot}")
+        else:
+            print("snapshot_previous: n/a")
+
+    if args.auto_compare:
+        if previous_snapshot is None or new_snapshot is None:
+            print("compare: skipped (no previous snapshot)")
+        else:
+            base = json.loads(previous_snapshot.read_text(encoding="utf-8"))
+            print(f"compare_base: {previous_snapshot}")
+            print(f"compare_new: {new_snapshot}")
+            print(compare_reports(base, report))
+    return 0
+
+
+def cmd_compare(args: argparse.Namespace) -> int:
+    base = json.loads(Path(args.base).read_text(encoding="utf-8"))
+    new = json.loads(Path(args.new).read_text(encoding="utf-8"))
+    print(compare_reports(base, new))
+    return 0
+
+
+def build_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(description="Eyesis MCP run report helper")
+    sub = parser.add_subparsers(dest="cmd", required=True)
+
+    p_extract = sub.add_parser("extract", help="Extract latest completed run from log")
+    p_extract.add_argument(
+        "--log",
+        default="attic/session-logs/eyesis_mcp.log",
+        help="Path to Eyesis log (default: attic/session-logs/eyesis_mcp.log)",
+    )
+    p_extract.add_argument("--json", help="Write report JSON to this path")
+    p_extract.add_argument(
+        "--snapshot-dir",
+        help="Write timestamped snapshot JSON under this directory and refresh <prefix>_latest.json",
+    )
+    p_extract.add_argument(
+        "--prefix",
+        default="run",
+        help="Snapshot filename prefix for --snapshot-dir (default: run)",
+    )
+    p_extract.add_argument(
+        "--auto-compare",
+        action="store_true",
+        help="With --snapshot-dir, compare against previous snapshot and print metric table",
+    )
+    p_extract.add_argument(
+        "--show-outputs",
+        type=int,
+        default=10,
+        help="Show last N referenced output paths from log (default: 10, 0 to disable)",
+    )
+    p_extract.set_defaults(func=cmd_extract)
+
+    p_compare = sub.add_parser("compare", help="Compare two report JSON files")
+    p_compare.add_argument("--base", required=True, help="Baseline report JSON")
+    p_compare.add_argument("--new", required=True, help="New report JSON")
+    p_compare.set_defaults(func=cmd_compare)
+    return parser
+
+
+def main() -> int:
+    parser = build_parser()
+    args = parser.parse_args()
+    try:
+        return args.func(args)
+    except Exception as ex:
+        print(f"error: {ex}", file=sys.stderr)
+        return 1
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

scripts/recover_kde_gui.sh

+#!/usr/bin/env bash
+set -euo pipefail
+
+TARGET_DEFAULT="elphel@192.168.0.224"
+TARGET="${TARGET:-$TARGET_DEFAULT}"
+MODE="remote"
+KWIN_ONLY=0
+FORCE_DISPLAY="${DISPLAY_OVERRIDE:-}"
+FORCE_XAUTH="${XAUTHORITY_OVERRIDE:-}"
+SSH_CONNECT_TIMEOUT="${SSH_CONNECT_TIMEOUT:-7}"
+
+usage() {
+  cat <<'EOF'
+Recover KDE desktop responsiveness without reboot.
+
+Default mode:
+  Connect to elphel@192.168.0.224 over SSH and run recovery there.
+
+Usage:
+  recover_kde_gui.sh [options]
+
+Options:
+  --target USER@HOST   SSH destination (default: elphel@192.168.0.224)
+  --local              Run recovery on current machine (no SSH)
+  --kwin-only          Restart only kwin service (skip plasmashell restart)
+  --display VALUE      Force DISPLAY (example: :0)
+  --xauthority PATH    Force XAUTHORITY path
+  -h, --help           Show this help
+
+Examples:
+  recover_kde_gui.sh
+  recover_kde_gui.sh --target elphel@192.168.0.224
+  recover_kde_gui.sh --local --display :0
+  recover_kde_gui.sh --local --kwin-only
+EOF
+}
+
+log() {
+  printf '[%s] %s\n' "$(date '+%F %T')" "$*"
+}
+
+detect_proc_env() {
+  local pid="$1"
+  local key="$2"
+  if [[ -r "/proc/$pid/environ" ]]; then
+    tr '\0' '\n' <"/proc/$pid/environ" | sed -n "s/^${key}=//p" | head -n1
+  fi
+}
+
+recover_local() {
+  local uid display xauth kwin_pid
+
+  uid="$(id -u)"
+  export XDG_RUNTIME_DIR="/run/user/$uid"
+
+  if [[ ! -d "$XDG_RUNTIME_DIR" ]]; then
+    log "ERROR: $XDG_RUNTIME_DIR is missing (no user runtime dir)."
+    return 2
+  fi
+
+  log "Restarting plasma-kwin_x11.service"
+  if ! systemctl --user restart plasma-kwin_x11.service; then
+    log "ERROR: failed to restart plasma-kwin_x11.service"
+    return 3
+  fi
+
+  if [[ "$KWIN_ONLY" -eq 1 ]]; then
+    log "Done (kwin-only mode)."
+    return 0
+  fi
+
+  kwin_pid="$(pgrep -u "$uid" -n -x kwin_x11 || true)"
+
+  display="$FORCE_DISPLAY"
+  if [[ -z "$display" && -n "$kwin_pid" ]]; then
+    display="$(detect_proc_env "$kwin_pid" DISPLAY || true)"
+  fi
+  if [[ -z "$display" ]]; then
+    display=":0"
+  fi
+
+  xauth="$FORCE_XAUTH"
+  if [[ -z "$xauth" && -n "$kwin_pid" ]]; then
+    xauth="$(detect_proc_env "$kwin_pid" XAUTHORITY || true)"
+  fi
+  if [[ -z "$xauth" ]]; then
+    xauth="$HOME/.Xauthority"
+  fi
+
+  export DISPLAY="$display"
+  export XAUTHORITY="$xauth"
+  log "Using DISPLAY=$DISPLAY XAUTHORITY=$XAUTHORITY"
+
+  log "Restarting plasmashell"
+  kquitapp5 plasmashell >/dev/null 2>&1 || true
+  sleep 1
+  kstart5 plasmashell >/dev/null 2>&1 || true
+
+  if command -v qdbus >/dev/null 2>&1; then
+    qdbus org.kde.KWin /Compositor suspend >/dev/null 2>&1 || true
+    sleep 1
+    qdbus org.kde.KWin /Compositor resume >/dev/null 2>&1 || true
+  fi
+
+  log "KDE recovery commands completed."
+}
+
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --target)
+      TARGET="$2"
+      shift 2
+      ;;
+    --local)
+      MODE="local"
+      shift
+      ;;
+    --kwin-only)
+      KWIN_ONLY=1
+      shift
+      ;;
+    --display)
+      FORCE_DISPLAY="$2"
+      shift 2
+      ;;
+    --xauthority)
+      FORCE_XAUTH="$2"
+      shift 2
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      echo "Unknown argument: $1" >&2
+      usage
+      exit 1
+      ;;
+  esac
+done
+
+if [[ "$MODE" == "remote" ]]; then
+  log "Connecting to $TARGET"
+  remote_cmd="$(printf "KWIN_ONLY=%q FORCE_DISPLAY=%q FORCE_XAUTH=%q bash -s -- --local" "$KWIN_ONLY" "$FORCE_DISPLAY" "$FORCE_XAUTH")"
+  exec ssh -o BatchMode=yes -o ConnectTimeout="$SSH_CONNECT_TIMEOUT" "$TARGET" "$remote_cmd" <"$0"
+fi
+
+recover_local

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

@@ -4838,8 +4838,8 @@ public class Interscene {
 		opts.debugShowObservationHyperstack = clt_parameters.iglp.glob_debug_show_observation_hyperstack;
 		opts.saveInitialFinalOnly = clt_parameters.iglp.glob_save_initial_final_only;
 		opts.centerPairWeightMode = clt_parameters.iglp.glob_center_pair_weight_mode;
-		final int solverMode = clt_parameters.iglp.glob_solver_mode;
-		final String solverName = (solverMode == 1) ? "classic-lma" : "sparse-banded";
+		final int solverMode = IntersceneGlobalLmaParameters.clampSolverMode(clt_parameters.iglp.glob_solver_mode);
+		final String solverName = IntersceneGlobalLmaParameters.solverModeName(solverMode);
 		if (debugLevel > -4) {
 			System.out.println("reAdjustPairsLMAIntersceneGlobalReference(): center=" + center_index +
 					", range=[" + earliest_scene + "," + last_scene + "], outer=" + opts.outerIterations +
@@ -4883,7 +4883,7 @@ public class Interscene {
 					param_lpf[ErsCorrection.DP_DSTL] + "," +
 					param_lpf[ErsCorrection.DP_DSRL] + "]");
 		}
-		if (solverMode == 1) {
+		if (solverMode == IntersceneGlobalLmaParameters.GLOB_SOLVER_CLASSIC_LMA) {
 			return IntersceneGlobalLmaRefine.refineAllToReference(
 					clt_parameters,
 					quadCLTs,

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

@@ -7,6 +7,23 @@ import com.elphel.imagej.common.GenericJTabbedDialog;
 
 public class IntersceneGlobalLmaParameters {
 	public static final double DEFAULT_GLOB_PCG_TOLERANCE = 1.0e-7;
+	public static final int GLOB_SOLVER_SPARSE_BANDED = 0;
+	public static final int GLOB_SOLVER_CLASSIC_LMA = 1;
+
+	public static int clampSolverMode(final int mode) {
+		if (mode <= GLOB_SOLVER_SPARSE_BANDED) {
+			return GLOB_SOLVER_SPARSE_BANDED;
+		}
+		if (mode >= GLOB_SOLVER_CLASSIC_LMA) {
+			return GLOB_SOLVER_CLASSIC_LMA;
+		}
+		return mode;
+	}
+
+	public static String solverModeName(final int mode) {
+		return (clampSolverMode(mode) == GLOB_SOLVER_CLASSIC_LMA) ? "classic-lma" : "sparse-banded";
+	}
+
 	public boolean    glob_en;
 	public boolean    glob_exit_after_test; // exit OpticalFlow.buildSeries() immediately after running, do not increment num_orient
 	public int        glob_solver_mode; // 0 - current sparse global refine, 1 - classic LMA-structure implementation
@@ -38,7 +55,7 @@ public class IntersceneGlobalLmaParameters {
 	public IntersceneGlobalLmaParameters() {
 		glob_en =                                   true;
 		glob_exit_after_test =                      true; // TODO: change default to false when debugging is over
-		glob_solver_mode =                          0;
+		glob_solver_mode =                          GLOB_SOLVER_SPARSE_BANDED;
 		param_sel =                                 new boolean [ErsCorrection.DP_XYZATR.length];
 		param_regweights =                          new double [ErsCorrection.DP_XYZATR.length];
 		param_lpf =                                 new double [ErsCorrection.DP_XYZATR.length];
@@ -131,13 +148,7 @@ public class IntersceneGlobalLmaParameters {
 	public void dialogAnswers(GenericJTabbedDialog gd) {
 		this.glob_en =                                 gd.getNextBoolean();
 		this.glob_exit_after_test =                    gd.getNextBoolean();
-		this.glob_solver_mode =                  (int) gd.getNextNumber();
-		if (this.glob_solver_mode < 0) {
-			this.glob_solver_mode = 0;
-		}
-		if (this.glob_solver_mode > 1) {
-			this.glob_solver_mode = 1;
-		}
+		this.glob_solver_mode = clampSolverMode((int) gd.getNextNumber());
 		this.param_sel =         IntersceneMatchParameters.StringToBooleans(gd.getNextString(), this.param_sel);
 		this.param_regweights =  IntersceneMatchParameters.StringToDoubles(gd.getNextString(),  this.param_regweights);
 		this.param_lpf =         IntersceneMatchParameters.StringToDoubles(gd.getNextString(),  this.param_lpf);
@@ -208,8 +219,7 @@ public class IntersceneGlobalLmaParameters {
 		if (properties.getProperty(prefix+"glob_en")!=null)                                 this.glob_en=Boolean.parseBoolean(properties.getProperty(prefix+"glob_en"));
 		if (properties.getProperty(prefix+"glob_exit_after_test")!=null)                    this.glob_exit_after_test=Boolean.parseBoolean(properties.getProperty(prefix+"glob_exit_after_test"));
 		if (properties.getProperty(prefix+"glob_solver_mode")!=null)                        this.glob_solver_mode=Integer.parseInt(properties.getProperty(prefix+"glob_solver_mode"));
-		if (this.glob_solver_mode < 0)                                                        this.glob_solver_mode = 0;
-		if (this.glob_solver_mode > 1)                                                        this.glob_solver_mode = 1;
+		this.glob_solver_mode = clampSolverMode(this.glob_solver_mode);
 		if (properties.getProperty(prefix+"param_sel")!=null)                               this.param_sel= IntersceneMatchParameters.StringToBooleans(properties.getProperty(prefix+"param_sel"),this.param_sel);
 		if (properties.getProperty(prefix+"param_regweights")!=null)                        this.param_regweights= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"param_regweights"),this.param_regweights);
 		if (properties.getProperty(prefix+"param_lpf")!=null)                               this.param_lpf= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"param_lpf"),this.param_lpf);

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

 package com.elphel.imagej.tileprocessor;
 
+import java.util.ArrayList;
+import java.util.Arrays;
+
 import com.elphel.imagej.cameras.CLTParameters;
 
+import Jama.Matrix;
+
 /**
  * Classic-LMA structured global refinement path.
  *
- * <p>Phase-1 implementation keeps behavior stable by delegating numeric solve to
- * {@link IntersceneGlobalRefine} while exposing a minimal {@code prepareLMA/getFxDerivs/lmaStep/runLma}
- * skeleton for incremental migration to the classic block-based style.
+ * <p>Phase-1 keeps numeric behavior stable by delegating the actual solve to
+ * {@link IntersceneGlobalRefine}, while this class owns the classic LMA structure
+ * ({@code prepareLMA/getFxDerivs/getYminusFxWeighted/lmaStep/runLma}) for incremental migration.
  */
 public class IntersceneGlobalLmaRefine {
 
+	private static final int[] SCENE_POSE_PARAM_ORDER = ErsCorrection.DP_XYZATR.clone();
+
+	private static final class ClassicState {
+		int[] activePoseParams = new int[0];
+		int[] vectorSceneIndices = new int[0];
+		int[] vectorParamIndices = new int[0];
+		double[] parameterVector = new double[0];
+		double[] parameterInitial = new double[0];
+		double[] parameterPull = new double[0];
+		double[] yVector = new double[0];
+		double[] weights = new double[0];
+		double[][] lastJt = null;
+		double[] lastYminusFx = null;
+		double[] lastRms = null;
+		double[] initialRms = null;
+
+		void clearLinearization() {
+			lastJt = null;
+			lastYminusFx = null;
+			lastRms = null;
+			initialRms = null;
+		}
+	}
+
 	private final CLTParameters cltParameters;
 	private final QuadCLT[] quadCLTs;
 	private final QuadCLT centerCLT;
@@ -27,6 +56,7 @@ public class IntersceneGlobalLmaRefine {
 	private final boolean disableErs;
 	private final double mbMaxGain;
 	private final IntersceneGlobalRefine.Options options;
+	private final ClassicState classicState = new ClassicState();
 
 	private IntersceneGlobalLmaRefine(
 			final CLTParameters cltParameters,
@@ -102,44 +132,386 @@ public class IntersceneGlobalLmaRefine {
 		return solver.runLma(debugLevel);
 	}
 
-	/**
-	 * Prepare solver state for the classic LMA-structured implementation.
-	 */
+	private static boolean isPoseValid(final double[][] scenePose) {
+		return (scenePose != null) &&
+				(scenePose.length >= 2) &&
+				(scenePose[0] != null) && (scenePose[0].length >= 3) &&
+				(scenePose[1] != null) && (scenePose[1].length >= 3);
+	}
+
+	private static double getScenePoseParameter(
+			final double[][] scenePose,
+			final int dpIndex) {
+		if (!isPoseValid(scenePose)) {
+			return Double.NaN;
+		}
+		switch (dpIndex) {
+		case ErsCorrection.DP_DSX:
+			return scenePose[0][0];
+		case ErsCorrection.DP_DSY:
+			return scenePose[0][1];
+		case ErsCorrection.DP_DSZ:
+			return scenePose[0][2];
+		case ErsCorrection.DP_DSAZ:
+			return scenePose[1][0];
+		case ErsCorrection.DP_DSTL:
+			return scenePose[1][1];
+		case ErsCorrection.DP_DSRL:
+			return scenePose[1][2];
+		default:
+			return Double.NaN;
+		}
+	}
+
+	@SuppressWarnings("unused")
+	private static void setScenePoseParameter(
+			final double[][] scenePose,
+			final int dpIndex,
+			final double value) {
+		if (!isPoseValid(scenePose)) {
+			return;
+		}
+		switch (dpIndex) {
+		case ErsCorrection.DP_DSX:
+			scenePose[0][0] = value;
+			break;
+		case ErsCorrection.DP_DSY:
+			scenePose[0][1] = value;
+			break;
+		case ErsCorrection.DP_DSZ:
+			scenePose[0][2] = value;
+			break;
+		case ErsCorrection.DP_DSAZ:
+			scenePose[1][0] = value;
+			break;
+		case ErsCorrection.DP_DSTL:
+			scenePose[1][1] = value;
+			break;
+		case ErsCorrection.DP_DSRL:
+			scenePose[1][2] = value;
+			break;
+		default:
+			break;
+		}
+	}
+
+	private static double normalizeValue(final double value) {
+		return Double.isFinite(value) ? value : 0.0;
+	}
+
+	private static double getArrayValue(
+			final double[] values,
+			final int index) {
+		if ((values == null) || (index < 0) || (index >= values.length)) {
+			return Double.NaN;
+		}
+		return values[index];
+	}
+
+	private int[] buildActivePoseParameters() {
+		final ArrayList<Integer> active = new ArrayList<Integer>();
+		for (final int dpIndex : SCENE_POSE_PARAM_ORDER) {
+			final boolean selected = (paramSelect == null) ||
+					((dpIndex >= 0) && (dpIndex < paramSelect.length) && paramSelect[dpIndex]);
+			if (selected) {
+				active.add(dpIndex);
+			}
+		}
+		final int[] out = new int[active.size()];
+		for (int i = 0; i < out.length; i++) {
+			out[i] = active.get(i);
+		}
+		return out;
+	}
+
+	private static double[] normalizeWeights(final double[] rawWeights) {
+		if ((rawWeights == null) || (rawWeights.length == 0)) {
+			return new double[0];
+		}
+		double sum = 0.0;
+		for (int i = 0; i < rawWeights.length; i++) {
+			final double w = rawWeights[i];
+			if (Double.isFinite(w) && (w > 0.0)) {
+				sum += w;
+			}
+		}
+		final double[] out = rawWeights.clone();
+		if (sum <= 0.0) {
+			Arrays.fill(out, 1.0 / out.length);
+			return out;
+		}
+		for (int i = 0; i < out.length; i++) {
+			final double w = out[i];
+			out[i] = (Double.isFinite(w) && (w > 0.0)) ? (w / sum) : 0.0;
+		}
+		return out;
+	}
+
+	private void buildStateVector() {
+		classicState.activePoseParams = buildActivePoseParameters();
+		if (scenesXyzatr == null) {
+			classicState.vectorSceneIndices = new int[0];
+			classicState.vectorParamIndices = new int[0];
+			classicState.parameterVector = new double[0];
+			classicState.parameterInitial = new double[0];
+			classicState.parameterPull = new double[0];
+			classicState.yVector = new double[0];
+			classicState.weights = new double[0];
+			classicState.clearLinearization();
+			return;
+		}
+		final ArrayList<Integer> vectorSceneIndices = new ArrayList<Integer>();
+		final ArrayList<Integer> vectorParamIndices = new ArrayList<Integer>();
+
+		for (int scene = earliestScene; scene <= lastScene; scene++) {
+			if (scene == centerIndex) {
+				continue;
+			}
+			if ((scene < 0) || (scene >= scenesXyzatr.length) || !isPoseValid(scenesXyzatr[scene])) {
+				continue;
+			}
+			for (final int dpIndex : classicState.activePoseParams) {
+				vectorSceneIndices.add(scene);
+				vectorParamIndices.add(dpIndex);
+			}
+		}
+
+		final int n = vectorSceneIndices.size();
+		classicState.vectorSceneIndices = new int[n];
+		classicState.vectorParamIndices = new int[n];
+		classicState.parameterVector = new double[n];
+		classicState.parameterInitial = new double[n];
+		classicState.parameterPull = new double[n];
+		classicState.yVector = new double[n];
+		classicState.weights = new double[n];
+
+		for (int i = 0; i < n; i++) {
+			final int scene = vectorSceneIndices.get(i);
+			final int dpIndex = vectorParamIndices.get(i);
+			classicState.vectorSceneIndices[i] = scene;
+			classicState.vectorParamIndices[i] = dpIndex;
+
+			final double current = normalizeValue(getScenePoseParameter(scenesXyzatr[scene], dpIndex));
+			double pull = current;
+			if ((scenesXyzatrPull != null) &&
+					(scene >= 0) && (scene < scenesXyzatrPull.length) &&
+					isPoseValid(scenesXyzatrPull[scene])) {
+				pull = normalizeValue(getScenePoseParameter(scenesXyzatrPull[scene], dpIndex));
+			}
+			final double regWeight = getArrayValue(paramRegweights, dpIndex);
+			final double lpfWeight = getArrayValue(paramLpf, dpIndex);
+			final double rawWeight = (regWeight > 0.0) ? regWeight : ((lpfWeight > 0.0) ? lpfWeight : 1.0);
+
+			classicState.parameterVector[i] = current;
+			classicState.parameterInitial[i] = current;
+			classicState.parameterPull[i] = pull;
+			classicState.yVector[i] = 0.0;
+			classicState.weights[i] = rawWeight;
+		}
+		classicState.weights = normalizeWeights(classicState.weights);
+		classicState.clearLinearization();
+	}
+
+	private void captureCurrentVectorFromScenes() {
+		if (scenesXyzatr == null) {
+			return;
+		}
+		for (int i = 0; i < classicState.parameterVector.length; i++) {
+			final int scene = classicState.vectorSceneIndices[i];
+			final int dpIndex = classicState.vectorParamIndices[i];
+			if ((scene >= 0) && (scene < scenesXyzatr.length)) {
+				classicState.parameterVector[i] = normalizeValue(getScenePoseParameter(scenesXyzatr[scene], dpIndex));
+			}
+		}
+	}
+
 	private void prepareLMA(final int debugLevel) {
+		buildStateVector();
 		if (debugLevel > -4) {
 			System.out.println(
-					"IntersceneGlobalLmaRefine: prepareLMA() phase-1 wrapper enabled; " +
-					"numeric solve delegated to IntersceneGlobalRefine");
+					"IntersceneGlobalLmaRefine: prepareLMA() classic scaffold active; " +
+					"unknowns=" + classicState.parameterVector.length +
+					", activePoseParams=" + Arrays.toString(classicState.activePoseParams) +
+					", center=" + centerIndex +
+					", range=[" + earliestScene + "," + lastScene + "]");
 		}
 	}
 
-	/**
-	 * Placeholder for future application-specific residual/Jacobian assembly blocks.
-	 */
-	@SuppressWarnings("unused")
 	private double[] getFxDerivs(
 			final double[] vector,
 			final double[][] jt,
 			final int debugLevel) {
+		final int n = vector.length;
+		final double[] fx = new double[n];
+		if (jt != null) {
+			for (int p = 0; p < n; p++) {
+				if ((jt[p] == null) || (jt[p].length != n)) {
+					jt[p] = new double[n];
+				}
+				Arrays.fill(jt[p], 0.0);
+			}
+		}
+		for (int i = 0; i < n; i++) {
+			final double pull = classicState.parameterPull[i];
+			fx[i] = vector[i] - pull;
+			if (jt != null) {
+				jt[i][i] = 1.0;
+			}
+		}
+		if ((debugLevel > 2) && (n > 0)) {
+			System.out.println("IntersceneGlobalLmaRefine: getFxDerivs() placeholder residual blocks active, samples=" + n);
+		}
+		return fx;
+	}
+
+	private double[] getYminusFxWeighted(
+			final double[] fx,
+			final double[] rms,
+			final boolean noNaNs) {
+		final double[] weighted = new double[fx.length];
+		double sum = 0.0;
+		for (int i = 0; i < fx.length; i++) {
+			double d = classicState.yVector[i] - fx[i];
+			double wd = d * classicState.weights[i];
+			if (Double.isNaN(wd)) {
+				if (noNaNs) {
+					if ((rms != null) && (rms.length >= 2)) {
+						rms[0] = Double.NaN;
+						rms[1] = Double.NaN;
+					}
 					return null;
 				}
+				d = 0.0;
+				wd = 0.0;
+			}
+			weighted[i] = wd;
+			sum += d * wd;
+		}
+		if ((rms != null) && (rms.length >= 2)) {
+			final double v = Math.sqrt(sum);
+			rms[0] = v;
+			rms[1] = v;
+		}
+		return weighted;
+	}
+
+	private double[][] getWJtJlambda(
+			final double lambda,
+			final double[][] jt) {
+		final int n = jt.length;
+		final double[][] wjtjl = new double[n][n];
+		for (int i = 0; i < n; i++) {
+			for (int j = i; j < n; j++) {
+				double d = 0.0;
+				for (int k = 0; k < classicState.weights.length; k++) {
+					d += classicState.weights[k] * jt[i][k] * jt[j][k];
+				}
+				wjtjl[i][j] = d;
+				if (i == j) {
+					wjtjl[i][i] += d * lambda;
+				} else {
+					wjtjl[j][i] = d;
+				}
+			}
+		}
+		return wjtjl;
+	}
+
+	private static double getMaxAbs(final double[] data) {
+		double max = 0.0;
+		for (int i = 0; i < data.length; i++) {
+			final double a = Math.abs(data[i]);
+			if (a > max) {
+				max = a;
+			}
+		}
+		return max;
+	}
 
-	/**
-	 * Placeholder for future classic LMA step implementation.
-	 */
 	@SuppressWarnings("unused")
 	private boolean[] lmaStep(
 			final double lambda,
-			final double rmsDiff,
+			final double rmsDiffStop,
+			final double deltaStop,
 			final int debugLevel) {
+		final int n = classicState.parameterVector.length;
+		if (n == 0) {
+			return new boolean[] {true, true};
+		}
+		if ((classicState.lastJt == null) || (classicState.lastJt.length != n)) {
+			classicState.lastJt = new double[n][];
+		}
+		if (classicState.lastRms == null) {
+			classicState.lastRms = new double[2];
+			final double[] fx0 = getFxDerivs(
+					classicState.parameterVector,
+					classicState.lastJt,
+					debugLevel);
+			classicState.lastYminusFx = getYminusFxWeighted(
+					fx0,
+					classicState.lastRms,
+					true);
+			if (classicState.lastYminusFx == null) {
+				return null;
+			}
+			classicState.initialRms = classicState.lastRms.clone();
+		}
+
+		final Matrix yMinusFxWeighted = new Matrix(classicState.lastYminusFx, classicState.lastYminusFx.length);
+		final Matrix wjtjLambda = new Matrix(getWJtJlambda(lambda, classicState.lastJt));
+		final Matrix jty = (new Matrix(classicState.lastJt)).times(yMinusFxWeighted);
+		final Matrix deltaVector;
+		try {
+			deltaVector = wjtjLambda.inverse().times(jty);
+		} catch (RuntimeException ex) {
+			return new boolean[] {false, true};
+		}
+
+		final double[] delta = deltaVector.getColumnPackedCopy();
+		final double maxDelta = getMaxAbs(delta);
+		final double[] oldVector = classicState.parameterVector.clone();
+		final double[] oldRms = classicState.lastRms.clone();
+		final double[] newVector = oldVector.clone();
+		for (int i = 0; i < n; i++) {
+			newVector[i] += delta[i];
+		}
+
+		final double[] fx = getFxDerivs(
+				newVector,
+				classicState.lastJt,
+				debugLevel);
+		final double[] rms = new double[2];
+		final double[] yMinusFxNew = getYminusFxWeighted(
+				fx,
+				rms,
+				true);
+		if ((yMinusFxNew != null) && (rms[0] < oldRms[0])) {
+			classicState.parameterVector = newVector;
+			classicState.lastRms = rms;
+			classicState.lastYminusFx = yMinusFxNew;
+			final boolean convergedByRms = rms[0] >= (oldRms[0] * (1.0 - rmsDiffStop));
+			final boolean convergedByDelta = maxDelta <= deltaStop;
+			return new boolean[] {true, convergedByRms || convergedByDelta};
+		}
+
+		final double[] fxRestore = getFxDerivs(
+				oldVector,
+				classicState.lastJt,
+				debugLevel);
+		classicState.lastYminusFx = getYminusFxWeighted(
+				fxRestore,
+				classicState.lastRms,
+				true);
+		classicState.parameterVector = oldVector;
 		return new boolean[] {false, false};
 	}
 
-	/**
-	 * Run global refinement. Phase-1 delegates to the current sparse/banded solver.
-	 */
 	private IntersceneGlobalRefine.Result runLma(final int debugLevel) {
-		return IntersceneGlobalRefine.refineAllToReference(
+		if (debugLevel > -4) {
+			System.out.println(
+					"IntersceneGlobalLmaRefine: runLma() phase-1 delegating numeric solve to IntersceneGlobalRefine");
+		}
+		final IntersceneGlobalRefine.Result result = IntersceneGlobalRefine.refineAllToReference(
 				cltParameters,
 				quadCLTs,
 				centerCLT,
@@ -157,5 +529,7 @@ public class IntersceneGlobalLmaRefine {
 				mbMaxGain,
 				options,
 				debugLevel);
+		captureCurrentVectorFromScenes();
+		return result;
 	}
 }