Commit 35fd4536 authored by Andrey Filippov's avatar Andrey Filippov
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CLAUDE: renderNadirSequence(): add -NADIR-SCENE-PXPYD-NULLCAM debug dump 



Second per-scene grid computed with scene_QuadClt=null - the exact camera
model used inside Cuas.transformFromVirtual()'s refinement loop. Its
non-uniformity isolates the refinement residual; its difference from
-NADIR-SCENE-PXPYD isolates the scene-ERS-instance effect. Saved only on
the first (non-undistorted) pass.

Context: 2026-07-10 analysis of the first -NADIR-SCENE-PXPYD dump showed
the sampling grid contains rotation ~0.31x scene roll (R2=0.77) plus
correlated scale (~0.955) and shift_y (to -24 px) concentrated in the
high-roll-rate half of the graveyard segment - explaining the ~0.6x
in-plane content rotation and COLMAP's f=1000/k1=-0.38 self-calibration.

Co-authored-by: default avatarClaude <claude@elphel.com>
parent 8157473b

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

+30 −0
Original line number Original line Diff line number Diff line
@@ -10955,6 +10955,12 @@ java.lang.NullPointerException 
    	// Debug: collect the actual per-scene sampling grids fed to renderGPUFromDSI

    	// Debug: collect the actual per-scene sampling grids fed to renderGPUFromDSI

    	// (scene-frame pXpYD after transformToScenePxPyD and optional undistort).

    	// (scene-frame pXpYD after transformToScenePxPyD and optional undistort).

    	double[][][] dbg_scene_pXpYD = new double[selected_scenes.length][][];

    	double[][][] dbg_scene_pXpYD = new double[selected_scenes.length][][];

    	// Debug: same transform but with scene_QuadClt=null - the exact camera model

    	// used inside Cuas.transformFromVirtual()'s refinement loop.  Non-uniformity

    	// of this grid = pure refinement residual; difference from dbg_scene_pXpYD =

    	// pure effect of the scene's own ERS instance. Saved only on the first

    	// (non-undistorted) pass.

    	double[][][] dbg_nullcam_pXpYD = undistort ? null : new double[selected_scenes.length][][];

    	ImageStack stack_scenes = null;

    	ImageStack stack_scenes = null;

    	for (int nscene = 0; nscene < selected_scenes.length; nscene++) {

    	for (int nscene = 0; nscene < selected_scenes.length; nscene++) {

    		if (nadir_pXpYD[nscene] == null) continue;

    		if (nadir_pXpYD[nscene] == null) continue;
@@ -10985,6 +10991,14 @@ java.lang.NullPointerException 
    			undistortPxPy(pXpYD_scene, selected_scenes[nscene].getErsCorrection());

    			undistortPxPy(pXpYD_scene, selected_scenes[nscene].getErsCorrection());

    		}

    		}

    		dbg_scene_pXpYD[nscene] = pXpYD_scene;

    		dbg_scene_pXpYD[nscene] = pXpYD_scene;

    		if (dbg_nullcam_pXpYD != null) {

    			dbg_nullcam_pXpYD[nscene] = transformToScenePxPyD(

    					nadir_pXpYD[nscene], // final double [][] reference_pXpYD,

    					scene_xyz,           // final double []   scene_xyz,

    					scene_atr,           // final double []   scene_atr,

    					ref_scene,           // final QuadCLT     reference_QuadClt,

    					null);               // final QuadCLT     scene_QuadClt (as in transformFromVirtual refinement)

    		}

    		// Render from scene's own position: ZERO3 offset, scene is its own reference

    		// Render from scene's own position: ZERO3 offset, scene is its own reference

    		ImagePlus imp_scene = QuadCLT.renderGPUFromDSI(

    		ImagePlus imp_scene = QuadCLT.renderGPUFromDSI(

    				-1,                               // final int       sensor_mask (-1 = merge all)

    				-1,                               // final int       sensor_mask (-1 = merge all)
@@ -11041,6 +11055,22 @@ java.lang.NullPointerException 
    					null,             // String    suffix,

    					null,             // String    suffix,

    					imp_scene_pxpyd); // ImagePlus imp

    					imp_scene_pxpyd); // ImagePlus imp

    		}

    		}

    		if (dbg_nullcam_pXpYD != null) {

    			double [][][] nullcam_maps = ShowDoubleFloatArrays.transposeJagged(

    					dbg_nullcam_pXpYD, 3, tilesX * tilesY);

    			ImagePlus imp_nullcam = ShowDoubleFloatArrays.showArraysHyperstack(

    					nullcam_maps,                                    // double [][][]  pixels,

    					tilesX,                                          // int            width,

    					ref_scene.getImageName() + "-NADIR-SCENE-PXPYD-NULLCAM", // String title,

    					slice_titles,                                    // String []      titles,

    					frame_titles,                                    // String []      frame_titles,

    					false);                                          // boolean        show

    			if (imp_nullcam != null) {

    				ref_scene.saveImagePlusInModelDirectory(

    						null,          // String    suffix,

    						imp_nullcam);  // ImagePlus imp

    			}

    		}

    	}

    	}

    	if (stack_scenes == null) return null;

    	if (stack_scenes == null) return null;

    	ImagePlus imp_result = new ImagePlus(suffix, stack_scenes);

    	ImagePlus imp_result = new ImagePlus(suffix, stack_scenes);