Debugging, next snapshot (2cb7df5a) · Commits · Elphel / imagej-elphel

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

+8 −4

Original line number	Diff line number	Diff line
		@@ -220,18 +220,22 @@ public class ErsCorrection extends GeometryCorrection {
		private double [][] ers_atr_dt; // angular velocities per scan line. It is now actually 2*omega!

		public static boolean [] getParamSelect(
		boolean use_Z,
		boolean use_R,
		boolean use_XY,
		boolean use_AT,
		boolean use_ERS,
		boolean use_ERS_tilt) {
		boolean use_ERS_tilt,
		boolean use_ERS_roll) {
		boolean [] param_select = new boolean[DP_NUM_PARS];
		boolean use_ERS_roll = use_ERS && use_ERS_tilt;
		for (int i:DP_ZR_INDICES) param_select[i] = true;
		// for (int i:DP_ZR_INDICES) param_select[i] = true;
		if (use_Z \|\| use_XY) param_select[DP_DSZ] = true;
		if (use_R \|\| use_AT) param_select[DP_DSRL] = true;
		if (use_XY) for (int i:DP_XY_INDICES) param_select[i] = true;
		if (use_AT) for (int i:DP_AT_INDICES) param_select[i] = true;
		if (use_ERS) param_select[DP_DSVAZ] = true;
		if (use_ERS && use_ERS_tilt) param_select[DP_DSVTL] = true;
		if (use_ERS_roll) param_select[DP_DSVRL] = true;
		if (use_ERS && use_ERS_roll) param_select[DP_DSVRL] = true;
		return param_select;
		}

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

+97 −20

Original line number	Diff line number	Diff line
		@@ -322,7 +322,30 @@ public class Interscene {
		start_ref_pointers[0] = start_ref_pointers1[0];
		return earliest_scene2; // cent_index;
		}

		if (generate_egomotion) {
		String ego_path = quadCLTs[cent_index].getX3dDirectory()+Prefs.getFileSeparator()+
		quadCLTs[ref_index].getImageName()+
		"-ego-preinvert-"+quadCLTs[cent_index].getNumOrient()+".csv";
		String ego_comment = null;
		Interscene.generateEgomotionTable(
		clt_parameters, // CLTParameters clt_parameters,
		quadCLTs, // QuadCLT [] quadCLTs,
		cent_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		}

		// invert first half, reference to the cent_index, add to cent_index map, generate ref_index ponter and cent_index,
		if (debugLevel > -3) {
		System.out.println("pre invertInitialOrientation(): ref_index "+ref_index+", cent_index="+
		cent_index+", last_index="+". readjust="+readjust+"\n");
		}


		invertInitialOrientation(
		clt_parameters, // final CLTParameters clt_parameters,
		@@ -335,6 +358,24 @@ public class Interscene {
		ref_index, // final int ref_old, // original ref_index (normally == last_index)
		earliest_scene2, //final int earliest_index// first to process
		debugLevel); // final int debugLevel
		if (generate_egomotion) {
		String ego_path = quadCLTs[cent_index].getX3dDirectory()+Prefs.getFileSeparator()+
		quadCLTs[ref_index].getImageName()+
		"-ego-afterinvert-"+quadCLTs[cent_index].getNumOrient()+".csv";
		String ego_comment = null;
		Interscene.generateEgomotionTable(
		clt_parameters, // CLTParameters clt_parameters,
		quadCLTs, // QuadCLT [] quadCLTs,
		cent_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		}


		String cent_ts = quadCLTs[cent_index].getImageName();
		// write config for both ref_index and cent_index scenes
		// ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
		@@ -425,12 +466,18 @@ public class Interscene {
		}
		return 0;
		} else { // if (readjust) {
		boolean lma_use_Z = clt_parameters.imp.lma_use_Z; // true; // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		boolean lma_use_R = clt_parameters.imp.lma_use_R; // true; // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		boolean[] param_select =
		ErsCorrection.getParamSelect( // ZR - always
		lma_use_Z, // boolean use_Z,
		lma_use_R, // boolean use_R,
		true, // boolean use_XY
		false, // boolean use_AT,
		false, // boolean use_ERS);//clt_parameters.ilp.ilma_lma_select;
		false); // boolean use_ERS_tilt);
		false, // boolean use_ERS_tilt);
		false );// boolean use_ERS_roll);

		double maximal_series_rms = 0.0;
		double [][][] scenes_xyzatr = new double [last_index+1][][];
		double [][][] dxyzatr_dt = new double [last_index+1][][];
		@@ -761,12 +808,20 @@ public class Interscene {
		double max_zoom_diff = clt_parameters.imp.max_zoom_diff;
		boolean fpn_skip = clt_parameters.imp.fpn_skip; // if false - fail as before
		boolean fpn_rematch = clt_parameters.imp.fpn_rematch; // if false - keep previous
		boolean lma_use_Z = clt_parameters.imp.lma_use_Z; // true; // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		boolean lma_use_R = clt_parameters.imp.lma_use_R; // true; // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		if (debugLevel > -3) {
		System.out.println("setInitialOrientationsIms(): lma_use_Z="+lma_use_Z+", lma_use_R="+lma_use_R);
		}
		boolean[] param_select =
		ErsCorrection.getParamSelect( // ZR - always
		true, // boolean use_XY
		false, // boolean use_AT,
		lma_use_Z, // boolean use_Z,
		lma_use_R, // boolean use_R,
		true, // boolean use_XY, May change with oorient preference
		false, // boolean use_AT, May change with oorient preference
		false, // boolean use_ERS);//clt_parameters.ilp.ilma_lma_select;
		false); // boolean use_ERS_tilt);
		false, // boolean use_ERS_tilt);
		false); // boolean use_ERS_roll);

		int [] fail_reason = new int[1]; // null or int[1]: 0 - OK, 2 - LMA, 3 - min, 4 - max
		for (int scene_index = ref_index - 1; scene_index >= 0 ; scene_index--) {
		@@ -1815,8 +1870,12 @@ public class Interscene {
		public static int reAdjustPairsLMAInterscene( // after combo dgi is available and preliminary poses are known
		CLTParameters clt_parameters,
		double mb_max_gain,
		boolean use_Z,
		boolean use_R,
		boolean disable_ers,
		boolean disable_ers_y,
		boolean disable_ers_r,
		boolean lma_xyzatr,
		boolean configured_lma,
		boolean lpf_xy, // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		double avg_rlen,
		@@ -1833,16 +1892,20 @@ public class Interscene {
		int debugLevel)
		{
		System.out.println("reAdjustPairsLMAInterscene(): using mb_max_gain="+mb_max_gain+
		", disable_ers="+disable_ers+", disable_ers_y="+disable_ers_y);
		boolean freeze_xy_pull = true; // false; // true; // debugging freezing xy to xy_pull
		boolean copy_pull_current = false; // true;
		boolean restore_imu = false; // restore imu omega-az and omega-tl, freeze ERS, adjust X,Y,Z,Az,Tl,Rl
		", disable_ers="+disable_ers+", disable_ers_y="+disable_ers_y+
		", use_Z="+use_Z+", use_R="+use_R);
		boolean freeze_xy_pull = clt_parameters.imp.freeze_xy_pull; // true; // false; // true; // debugging freezing xy to xy_pull
		boolean copy_pull_current = clt_parameters.imp.copy_pull_current; //false; // true;
		boolean restore_imu = clt_parameters.imp.restore_imu; //false; // restore imu omega-az and omega-tl, freeze ERS, adjust X,Y,Z,Az,Tl,Rl
		boolean[] param_select = configured_lma? clt_parameters.ilp.ilma_lma_select :
		ErsCorrection.getParamSelect(
		true, // !freeze_xy_pull && (!readjust_xy_ims \|\| (reg_weight_xy != 0)), // false only in mode c): freeze X,Y// boolean use_XY
		true, // readjust_xy_ims \|\| lpf_xy, // boolean use_AT,
		lma_xyzatr \|\| use_Z, // boolean use_Z,
		lma_xyzatr \|\| use_R, // boolean use_R,
		lma_xyzatr \|\| ( !freeze_xy_pull && (!readjust_xy_ims \|\| (reg_weight_xy != 0))), // false only in mode c): freeze X,Y// boolean use_XY
		lma_xyzatr \|\| ( readjust_xy_ims \|\| lpf_xy), // boolean use_AT,
		!disable_ers, //boolean use_ERS);//clt_parameters.ilp.ilma_lma_select;
		!disable_ers_y); // boolean use_ERS_tilt);
		!disable_ers_y, // boolean use_ERS_tilt,
		!disable_ers_r); // boolean use_ERS_roll);
		final double [] param_regweights = configured_lma? clt_parameters.ilp.ilma_regularization_weights :
		ErsCorrection.getParamRegWeights(
		(freeze_xy_pull? 0.0: reg_weight_xy)); // double reg_weight,
		@@ -1996,10 +2059,13 @@ public class Interscene {
		}
		}
		param_select = ErsCorrection.getParamSelect(
		true, // boolean use_Z,
		true, // boolean use_R,
		true, // boolean use_XY
		true, // boolean use_AT,
		false, // boolean use_ERS);//clt_parameters.ilp.ilma_lma_select;
		false); // boolean use_ERS_tilt);
		false, // boolean use_ERS_tilt);
		false); // boolean use_ERS_roll);
		}

		// optionally filter by averaging and "IMU" (actually current dxyzatr_dt).
		@@ -5118,7 +5184,18 @@ public class Interscene {

		sb.append(nscene+"\t"+timestamp);
		if (use_processed) {
		double [] nan3 = new double[] {Double.NaN, Double.NaN,Double.NaN};
		double [][] nan23 = new double[][] {nan3,nan3};
		if (scenes_xyzatr[nscene] != null) {
		if (scenes_xyzatr[nscene][0] == null) scenes_xyzatr[nscene][0]= nan3;
		if (scenes_xyzatr[nscene][1] == null) scenes_xyzatr[nscene][1]= nan3;
		if (dxyzatr_dt[nscene]== null) dxyzatr_dt[nscene] = nan23;
		if (dxyzatr_dt[nscene][0] == null) dxyzatr_dt[nscene][0]= nan3;
		if (dxyzatr_dt[nscene][0] == null) dxyzatr_dt[nscene][0]= nan3;
		if (scenes_xyzatr_dt[nscene]== null) scenes_xyzatr_dt[nscene] = nan23;
		if (scenes_xyzatr_dt[nscene][0] == null) scenes_xyzatr_dt[nscene][0]= nan3;
		if (scenes_xyzatr_dt[nscene][0] == null) scenes_xyzatr_dt[nscene][0]= nan3;

		// x,y,z - scene position in reference scene frame (reference scene is all 0-s)
		sb.append("\t"+scenes_xyzatr[nscene][0][0]+"\t"+scenes_xyzatr[nscene][0][1]+"\t"+scenes_xyzatr[nscene][0][2]);
		// a,tilt,roll - scene orientation in reference scene frame (reference scene is all 0-s)

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

+109 −9

Original line number	Diff line number	Diff line
		@@ -370,7 +370,7 @@ public class IntersceneMatchParameters {
		public double max_zoom_diff = 0; // for down-views when changing altitude (0 - ignore)
		public boolean fpn_skip = true; // skip too close scenes (false - abort, previous behavior)
		public boolean fpn_rematch = true; // match fpn-failed scenes to later scenes with larger difference
		public boolean refine_invert = true; // Refine with LMA while inverting relative poses from other reference
		public boolean refine_invert = false; // Refine with LMA while inverting relative poses from other reference

		// Remove moving objects (goal is not to detect slightest movement, but to improve pose matching
		public boolean mov_en = true; // enable detection/removal of the moving objects during pose matching
		@@ -413,11 +413,27 @@ public class IntersceneMatchParameters {
		public double mb_tau = 0.008; // time constant, sec
		public double mb_max_gain = 5.0; // motion blur maximal gain (if more - move second point more than a pixel
		public double mb_max_gain_inter = 2.0; // same for interscene correlation for pose adjustment


		// TODO: move next parameters elsewhere - they are not the motion blur ones.
		public int mb_gain_index_pose = 5; // pose readjust pass to switch to full mb_max_gain from mb_max_gain_inter
		public int mb_gain_index_depth = 5; // depth map refine pass (SfM) to switch to full mb_max_gain from mb_max_gain_inter
		public int mb_ers_index = 2; // pose readjust pass to enable ERS
		public int mb_ers_index = 3; // pose readjust pass to enable ERS
		public int mb_ers_y_index = 3; // pose readjust pass to enable ERS in vertical (Y) direction - it competes with SfM

		public int mb_ers_r_index = 3; // pose readjust pass to enable ERS in vertical (Y) direction - it competes with SfM
		public int mb_all_index = 4; // simultaneously LMA-adjust XYZATR plus optional angular ERS
		public boolean mb_pref_orient = true; // rely on IMU orientation before position
		public boolean lma_use_Z = true; // LMA adjust Z
		public boolean lma_use_R = true; // LMA adjust R

		// FIXME: some of the following parameters will be modified or removed
		public boolean configured_lma = false;
		public boolean freeze_xy_pull = true; // false; // true; // debugging freezing xy to xy_pull
		public boolean copy_pull_current = false; // true;
		public boolean restore_imu = false; // restore imu omega-az and omega-tl, freeze ERS, adjust X,Y,Z,Az,Tl,Rl
		public boolean lpf_xy = false; // lpf x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables
		public boolean readjust_xy_ims = true; // false;
		public double reg_weight_xy = 0; // 10.0; // 1.0; // 10.0; // 0.05; // TODO: find out reasonable values

		public boolean stereo_merge = true;
		public int stereo_gap = 32; // pixels between right and left frames
		@@ -1186,7 +1202,8 @@ public class IntersceneMatchParameters {
		"Maximal gain for motion blur correction (if needed more for 1 pixel, increase offset). Will be forced fro the last adjustment");
		gd.addNumericField("Maximal gain pose", this.mb_max_gain_inter, 5,7,"x",
		"Maximal gain for motion blur correction during interscene correlation. Will be used for all but the last adjustment.");

		gd.addTab("LMA sequence","Interscene LMA sequence control");
		gd.addMessage("Parameters for control of the LMA pose adjustment sequence");
		gd.addNumericField("Pose readjust number for full mb_gain", this.mb_gain_index_pose, 0,3,"",
		"Pose readjust pass to switch to full mb_max_gain from mb_max_gain_inter.");
		gd.addNumericField("Depth map refine number for full mb_gain",this.mb_gain_index_depth, 0,3,"",
		@@ -1195,6 +1212,34 @@ public class IntersceneMatchParameters {
		"Pose readjust pass to enable ERS.");
		gd.addNumericField("Pose readjust number to enable tilt ERS LMA",this.mb_ers_y_index, 0,3,"",
		"Pose readjust pass to enable ERS in vertical (Y) direction - it competes with SfM.");
		gd.addNumericField("Pose readjust number to enable roll ERS LMA",this.mb_ers_r_index, 0,3,"",
		"Pose readjust pass to enable ERS roll adjustment.");
		gd.addNumericField("Pose readjust number to enable all XYZATR",this.mb_all_index, 0,3,"",
		"Enables 6 DOF adjustment for one pass, ERS parameters adjusted separately above.");
		gd.addCheckbox ("Rely on IMS orientation before position", this.mb_pref_orient,
		"First use IMS orientation, later use IMS position. If false - reverse order.");

		gd.addCheckbox ("LMA adjust Z", this.lma_use_Z,
		"Always adjust Z (altitude) when running interscene LMA. False - same as X and Y.");
		gd.addCheckbox ("LMA adjust roll", this.lma_use_R,
		"Always adjust roll when running interscene LMA. False - same as Azimuth and Tilt.");


		gd.addMessage ("Other Interscene LMA parameters to be modified/replaced/removed");
		gd.addCheckbox ("Use configuration LMA parameters", this.configured_lma,
		"Use configuration LMA parameters, disregard onther parameters that influence LMA parameters.");
		gd.addCheckbox ("Freeze XY pull", this.freeze_xy_pull,
		"Freeze XY target values, approach with smaller steps if needed .");
		gd.addCheckbox ("Copy pull values to current", this.copy_pull_current,
		"Replace current (start) values with the \"pull\" ones.");
		gd.addCheckbox ("Restore ERS to IMU velocities", this.restore_imu,
		"restore imu omega-az and omega-tl, freeze ERS, adjust X,Y,Z,Az,Tl,Rl.");
		gd.addCheckbox ("LPF X and Y", this.lpf_xy,
		"LPF x and y, re-adjust X,Y,Z,A,T,R with pull for X,Y. Disables - what?.");
		gd.addCheckbox ("Readjust XY from IMS", this.readjust_xy_ims,
		"Readjust X,Y from IMS linear/angular and full X,Y movement.");
		gd.addNumericField("LMA regularization weight", this.reg_weight_xy, 5,7,"",
		"Regularization weight for LMA");


		gd.addTab("Stereo/Video","Parameters for stereo video generation");
		@@ -1609,11 +1654,24 @@ public class IntersceneMatchParameters {
		this.mb_tau = gd.getNextNumber();
		this.mb_max_gain = gd.getNextNumber();
		this.mb_max_gain_inter = gd.getNextNumber();

		this.mb_gain_index_pose = (int) gd.getNextNumber();
		this.mb_gain_index_depth =(int) gd.getNextNumber();

		this.mb_ers_index = (int) gd.getNextNumber();
		this.mb_ers_y_index = (int) gd.getNextNumber();
		this.mb_ers_r_index = (int) gd.getNextNumber();
		this.mb_all_index = (int) gd.getNextNumber();
		this.mb_pref_orient = gd.getNextBoolean();
		this.lma_use_Z = gd.getNextBoolean();
		this.lma_use_R = gd.getNextBoolean();

		this.configured_lma = gd.getNextBoolean();
		this.freeze_xy_pull = gd.getNextBoolean();
		this.copy_pull_current = gd.getNextBoolean();
		this.restore_imu = gd.getNextBoolean();
		this.lpf_xy = gd.getNextBoolean();
		this.readjust_xy_ims = gd.getNextBoolean();
		this.reg_weight_xy = gd.getNextNumber();

		if (stereo_views.length > 0) {
		int i = gd.getNextChoiceIndex();
		@@ -2030,8 +2088,22 @@ public class IntersceneMatchParameters {

		properties.setProperty(prefix+"mb_gain_index_pose", this.mb_gain_index_pose+""); // int
		properties.setProperty(prefix+"mb_gain_index_depth", this.mb_gain_index_depth+""); // int

		properties.setProperty(prefix+"mb_ers_index", this.mb_ers_index+""); // int
		properties.setProperty(prefix+"mb_ers_y_index", this.mb_ers_y_index+""); // int
		properties.setProperty(prefix+"mb_ers_r_index", this.mb_ers_r_index+""); // int
		properties.setProperty(prefix+"mb_all_index", this.mb_all_index+""); // int
		properties.setProperty(prefix+"mb_pref_orient", this.mb_pref_orient+""); // boolean
		properties.setProperty(prefix+"lma_use_Z", this.lma_use_Z+""); // boolean
		properties.setProperty(prefix+"lma_use_R", this.lma_use_R+""); // boolean

		properties.setProperty(prefix+"configured_lma", this.configured_lma+""); // boolean
		properties.setProperty(prefix+"freeze_xy_pull", this.freeze_xy_pull+""); // boolean
		properties.setProperty(prefix+"copy_pull_current", this.copy_pull_current+""); // boolean
		properties.setProperty(prefix+"restore_imu", this.restore_imu+""); // boolean
		properties.setProperty(prefix+"lpf_xy", this.lpf_xy+""); // boolean
		properties.setProperty(prefix+"readjust_xy_ims", this.readjust_xy_ims+""); // boolean
		properties.setProperty(prefix+"reg_weight_xy", this.reg_weight_xy+""); // double

		properties.setProperty(prefix+"stereo_merge", this.stereo_merge+""); // boolean
		properties.setProperty(prefix+"stereo_gap", this.stereo_gap+""); // int
		@@ -2409,8 +2481,22 @@ public class IntersceneMatchParameters {

		if (properties.getProperty(prefix+"mb_gain_index_pose")!=null) this.mb_gain_index_pose=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_pose"));
		if (properties.getProperty(prefix+"mb_gain_index_depth")!=null) this.mb_gain_index_depth=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_depth"));

		if (properties.getProperty(prefix+"mb_ers_index")!=null) this.mb_ers_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_index"));
		if (properties.getProperty(prefix+"mb_ers_y_index")!=null) this.mb_ers_y_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_y_index"));
		if (properties.getProperty(prefix+"mb_ers_r_index")!=null) this.mb_ers_r_index=Integer.parseInt(properties.getProperty(prefix+"mb_ers_r_index"));
		if (properties.getProperty(prefix+"mb_all_index")!=null) this.mb_all_index=Integer.parseInt(properties.getProperty(prefix+"mb_all_index"));
		if (properties.getProperty(prefix+"mb_pref_orient")!=null) this.mb_pref_orient=Boolean.parseBoolean(properties.getProperty(prefix+"mb_pref_orient"));
		if (properties.getProperty(prefix+"lma_use_Z")!=null) this.lma_use_Z=Boolean.parseBoolean(properties.getProperty(prefix+"lma_use_Z"));
		if (properties.getProperty(prefix+"lma_use_R")!=null) this.lma_use_R=Boolean.parseBoolean(properties.getProperty(prefix+"lma_use_R"));

		if (properties.getProperty(prefix+"configured_lma")!=null) this.configured_lma=Boolean.parseBoolean(properties.getProperty(prefix+"configured_lma"));
		if (properties.getProperty(prefix+"freeze_xy_pull")!=null) this.freeze_xy_pull=Boolean.parseBoolean(properties.getProperty(prefix+"freeze_xy_pull"));
		if (properties.getProperty(prefix+"copy_pull_current")!=null) this.copy_pull_current=Boolean.parseBoolean(properties.getProperty(prefix+"copy_pull_current"));
		if (properties.getProperty(prefix+"restore_imu")!=null) this.restore_imu=Boolean.parseBoolean(properties.getProperty(prefix+"restore_imu"));
		if (properties.getProperty(prefix+"lpf_xy")!=null) this.lpf_xy=Boolean.parseBoolean(properties.getProperty(prefix+"lpf_xy"));
		if (properties.getProperty(prefix+"readjust_xy_ims")!=null) this.readjust_xy_ims=Boolean.parseBoolean(properties.getProperty(prefix+"readjust_xy_ims"));
		if (properties.getProperty(prefix+"reg_weight_xy")!=null) this.reg_weight_xy=Double.parseDouble(properties.getProperty(prefix+"reg_weight_xy"));

		if (properties.getProperty(prefix+"stereo_merge")!=null) this.stereo_merge=Boolean.parseBoolean(properties.getProperty(prefix+"stereo_merge"));
		if (properties.getProperty(prefix+"stereo_gap")!=null) this.stereo_gap=Integer.parseInt(properties.getProperty(prefix+"stereo_gap"));
		@@ -2798,8 +2884,22 @@ public class IntersceneMatchParameters {

		imp.mb_gain_index_pose = this.mb_gain_index_pose;
		imp.mb_gain_index_depth = this.mb_gain_index_depth;

		imp.mb_ers_index = this.mb_ers_index;
		imp.mb_ers_y_index = this.mb_ers_y_index;
		imp.mb_ers_r_index = this.mb_ers_r_index;
		imp.mb_all_index = this.mb_all_index;
		imp.mb_pref_orient = this.mb_pref_orient;
		imp.lma_use_Z = this.lma_use_Z;
		imp.lma_use_R = this.lma_use_R;

		imp.configured_lma = this.configured_lma;
		imp.freeze_xy_pull = this.freeze_xy_pull;
		imp.copy_pull_current = this.copy_pull_current;
		imp.restore_imu = this.restore_imu;
		imp.lpf_xy = this.lpf_xy;
		imp.readjust_xy_ims = this.readjust_xy_ims;
		imp.reg_weight_xy = this.reg_weight_xy;

		imp.stereo_merge = this.stereo_merge;
		imp.stereo_gap = this.stereo_gap;

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