improving fitting (360eb591) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/gpu/GpuQuad.java

+2 −2

Original line number	Diff line number	Diff line
		@@ -4509,8 +4509,8 @@ public class GpuQuad{ // quad camera description
		double [][] cxy = new double [2][2]; // image number, {x,y}
		int [][] icxy = new int [2][2];
		for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) {
		int tileY = nTile / tiles_woi.width + tiles_woi.x;
		int tileX = nTile % tiles_woi.width + tiles_woi.y;
		int tileY = nTile / tiles_woi.width + tiles_woi.y;
		int tileX = nTile % tiles_woi.width + tiles_woi.x;
		double [] cxy0 = {
		(tileX + 0.5) * GPUTileProcessor.DTT_SIZE,
		(tileY + 0.5) * GPUTileProcessor.DTT_SIZE};

src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java

+101 −36

Original line number	Diff line number	Diff line
		@@ -59,8 +59,8 @@ public class ComboMatch {
		// String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_08_november.data";
		// String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_10_short.list";
		// String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_10_short.data";
		String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13.list";
		String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13.data";
		String files_list_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13_25-50-75-100m.list";
		String orthoMapsCollection_path = "/media/elphel/SSD3-4GB/lwir16-proc/ortho_videos/maps_19_sep13_25-50-75-100m.data";
		//maps_19_sep13.list
		//maps_09_short.list
		//maps_08_november.list
		@@ -76,21 +76,30 @@ public class ComboMatch {
		// String [] gpu_spair = {"1697877465_672024", "1697877528_776377"};
		// String [] gpu_spair = {"1694564245_111645", "1694564701_230240"}; // Morning Sep, 13
		// String [] gpu_spair = {"1694564245_111645", "1694564822_637346"}; // Morning Sep, 13
		String [] gpu_spair = {"1694564248_145989", "1694564819_336247"}; // Morning Sep, 13

		// String [] gpu_spair = {"1694564248_145989", "1694564819_336247"}; // Morning Sep, 13
		// String [] gpu_spair = {"1694564269_536448", "1694564822_637346"}; // Morning Sep, 13 50m, 75m
		// String [] gpu_spair = {"1694564269_536448", "1694565541_040640"}; // Morning Sep, 13 50m, 100m
		// String [] gpu_spair = {"1694564822_637346", "1694565541_040640"}; // Morning Sep, 13 75m, 100m
		// String [] gpu_spair = {"1694564263_701171", "1694564816_468625"}; // Morning Sep, 13 50m, 75m
		// String [] gpu_spair = {"1694564266_568793", "1694564819_336247"}; // Morning Sep, 13 50m, 75m
		// String [] gpu_spair = {"1694564270_086631", "1694564822_637346"}; // Morning Sep, 13 50m, 75m
		// String [] gpu_spair = {"1694564272_770858", "1694564778_589341"}; // Morning Sep, 13 50m, 75m #13-#63
		// String [] gpu_spair = {"1694564275_538447", "1694564744_411290"}; // Morning Sep, 13 50m, 75m #14-#58
		String [] gpu_spair = {"1694564270_086631", "1694563011_045597"}; // Morning Sep, 13 50m, 25m #88-#68
		//

		double [][][] image_enuatr = {{{0,0,0},{0,0,0}},{{0,0,0},{0,0,0}}};
		int gpu_width= clt_parameters.imp.rln_gpu_width; // 3008;
		int gpu_height= clt_parameters.imp.rln_gpu_height; // 3008;
		int zoom_lev = -3; // 0; // +1 - zoom in twice, -1 - zoom out twice
		boolean show_combo_map = false; // true;
		boolean use_alt = false;
		boolean show_centers = true;
		boolean use_saved_collection = true; // false;
		boolean save_collection = true;
		boolean process_correlation = true; // use false to save new version of data
		boolean restore_temp = true;
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,800);
		double frac_remove = 0.25;
		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,900);
		gd.addStringField ("Image list full path", files_list_path, 180, "Image list full path.");
		gd.addStringField ("Maps collection save path", orthoMapsCollection_path, 180, "Save path for serialized map collection data.");
		gd.addCheckbox ("Use saved maps collection", use_saved_collection, "If false - use files list.");
		@@ -118,9 +127,11 @@ public class ComboMatch {
		gd.addNumericField("GPU image height", gpu_height, 0,4,"",
		"GPU image height");
		gd.addCheckbox ("Show transformation centers", show_centers, "Mark verticals from the UAS on the ground.");
		gd.addCheckbox ("Process altitude images", use_alt, "Load and process altitude maps.");
		gd.addCheckbox ("Show combo image map", show_combo_map, "Load and process altitude maps.");
		gd.addCheckbox ("Show altitude combo image", use_alt, "Load and process altitude maps.");
		gd.addStringField ("First matching timestamp", gpu_spair[0], 20, "First GPU-matching timestamp with '_' for decimal point.");
		gd.addStringField ("Second matching timestamp", gpu_spair[1], 20, "First GPU-matching timestamp with '_' for decimal point.");
		gd.addNumericField("Remove fraction of worst matches", frac_remove, 3,7,"", "When fitting scenes remove this fraction of worst match.");

		gd.showDialog();
		if (gd.wasCanceled()) return false;
		@@ -146,10 +157,12 @@ public class ComboMatch {
		OrthoMap.setGPUWidthHeight(gpu_width,gpu_height);

		show_centers = gd.getNextBoolean();
		show_combo_map = gd.getNextBoolean();
		use_alt = gd.getNextBoolean();

		gpu_spair[0] = gd.getNextString();
		gpu_spair[1] = gd.getNextString();
		frac_remove = gd.getNextNumber();

		OrthoMapsCollection maps_collection=null;
		if (use_saved_collection) {
		@@ -160,7 +173,7 @@ public class ComboMatch {
		e.printStackTrace();
		}
		} else {
		maps_collection = new OrthoMapsCollection(files_list_path); // should have ".list" extensiohn
		maps_collection = new OrthoMapsCollection(files_list_path); // should have ".list" extension
		}
		String [] names = maps_collection.getNames();

		@@ -172,13 +185,16 @@ public class ComboMatch {
		// which pair to compare
		// String [] gpu_spair = {names[gpu_ipair[0]],names[gpu_ipair[1]]};
		int [] origin = new int[2];
		ImagePlus imp_img = maps_collection.renderMulti (
		ImagePlus imp_img = null;
		if (show_combo_map) {
		imp_img = maps_collection.renderMulti (
		"multi_"+zoom_lev, // String title,
		false, // boolean use_alt,
		show_centers, // boolean show_centers,
		zoom_lev, // int zoom_level,
		origin); // int [] origin){
		imp_img.show();
		}
		ImagePlus imp_alt = null;
		if (use_alt) {
		imp_alt =maps_collection.renderMulti (
		@@ -234,15 +250,28 @@ public class ComboMatch {
		// affine1[0][2] =-1.08; affine1[1][2] = 3.267; //{"1697877465_672024", "1697877528_776377"};
		// affine1[0][2] =-1.2; affine1[1][2] = -0.9066; //{"1694564245_111645", "1694564701_230240"};
		// affine1[0][2] = 0.933; affine1[1][2] = -2.2667; //{"1694564245_111645", "1694564822_637346"};
		affine1[0][2] = 2.08; affine1[1][2] = -0.093; //{"1694564248_145989", "1694564819_336247"};
		// affine1[0][2] = 2.08; affine1[1][2] = -0.093; //{"1694564248_145989", "1694564819_336247"};
		// affine1[0][2] =-1.88; affine1[1][2] = -2.71; //{"1694564269_536448", "1694564822_637346"};
		// affine1[0][2] =-2.7; affine1[1][2] = -0.59; //{"1694564269_536448", "1694565541_040640"}; 50m-100m
		// affine1[0][2] =-0.78; affine1[1][2] = 2.1; //{"1694564822_637346", "1694565541_040640"}; 75m-100m #75-#95
		// affine1[0][2] =-0.92; affine1[1][2] = 2.28; //{"1694564263_701171", "1694564816_468625"}; 50m-75m
		// affine1[0][2] =-5.37; affine1[1][2] = -1.53; //{"1694564266_568793", "1694564819_336247"}; 50m-75m
		// affine1[0][2] = 1.92; affine1[1][2] = -1.89; //{"1694564270_086631", "1694564822_637346"}; 50m-75m
		// affine1[0][2] = 0.52; affine1[1][2] = -2.387; //{"1694564272_770858", "1694564778_589341"}; 50m-75m #13-#63
		// affine1[0][2] =-4.75; affine1[1][2] = 0.44; //{"1694564275_538447", "1694564744_411290"}; 50m-75m #14-#58
		affine1[0][2] = 2.59; affine1[1][2] = 0.133; //{"1694564270_086631", "1694563011_045597"}; 50m, 25m #88-#68
		// String [] gpu_spair = {"1694564270_086631", "1694563011_045597"}; // Morning Sep, 13 50m, 25m #88-#68

		// "1694564275_538447","1694564744_411290"
		double [][][] affines = {affine0,affine1};
		int [] gpu_pair = new int[gpu_spair.length];
		for (int i = 0; i < gpu_pair.length; i++) {
		gpu_pair[i] = maps_collection.getIndex(gpu_spair[i]);
		}
		int [] zooms = {-3,-1,1000,1000};
		int [] zooms = {-2,0,1000,1000};
		debugLevel = 0;
		boolean batch_mode = true;
		boolean batch_mode = false; // true;
		boolean ignore_prev_rms = true;
		for (int zi = 0; zi < zooms.length; zi++) {
		zoom_lev = zooms[zi];
		if (zoom_lev >=1000) {
		@@ -251,12 +280,16 @@ public class ComboMatch {
		// will modify affines[1], later add jtj, weight, smth. else?
		double [][] corr_pair_rslt = maps_collection.correlateOrthoPair(
		clt_parameters, // CLTParameters clt_parameters,
		frac_remove, // double frac_remove, // = 0.25
		ignore_prev_rms, // boolean ignore_prev_rms,
		batch_mode, // boolean batch_mode,
		gpu_pair, // String [] gpu_spair,
		affines, // double [][][] affines, // on top of GPS offsets
		zoom_lev, // int zoom_lev,
		debugLevel); // final int debugLevel)
		int render_zoom_lev = maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel();
		int render_zoom_lev = Math.min(
		maps_collection.ortho_maps[gpu_pair[0]].getOriginalZoomLevel(),
		maps_collection.ortho_maps[gpu_pair[1]].getOriginalZoomLevel());
		ImagePlus imp_img_pair = maps_collection.renderMulti (
		"multi_"+gpu_spair[0]+"-"+gpu_spair[1]+"-zoom_"+render_zoom_lev+"_"+zoom_lev, // String title,
		false, // boolean use_alt,
		@@ -302,6 +335,38 @@ adjusted affines[1] for a pair: 1694564245_111645/1694564822_637346
		[[1.0148318094351692,0.01611699521114023,1.1534804399270817],
		[-0.025584298199020607,1.0182605131307008,-2.157143969635918]]

		correlateOrthoPair(): adjusted affines[1] {"1694564269_536448", "1694564822_637346"}
		[[1.0118405178770247,0.0243306610630595,-1.6570450812227402],
		[-0.030053577777794035,1.007846539173136,-2.564940874119216]]

		adjusted affines[1] for a pair: 1694564269_536448/1694565541_040640
		[[1.032352933444291,0.012425600945003055,-2.6012366590312457],
		[-0.032390806278202705,1.045595625691147,0.4724083642132655]]

		Done
		adjusted affines[1] for a pair: 1694564263_701171/1694564816_468625 (9- 73)
		[[1.015002848762524,0.016906877812481423,-0.827920765016369],
		[-0.016806089590596436,1.0126951556271355,2.453634727273915]]

		adjusted affines[1] for a pair: 1694564266_568793/1694564819_336247
		[[1.0208243680493612,-0.007571648582186553,-5.627387091202717],
		[0.00716961393885021,1.0116421129852677,-1.4359711787904814]]

		adjusted affines[1] for a pair: 1694564270_086631/1694564822_637346
		[[1.01553064725059,-0.004358499034078345,1.9313585652985712],
		[0.006088341815143438,1.0077680445468122,-1.7817699129643216]]

		adjusted affines[1] for a pair: 1694564272_770858/1694564778_589341
		[[1.0120132362035976,0.03369140870847741,0.7958782949644478],
		[-0.03200874269606805,1.0088673434818738,-2.211451677912688]]

		Bad, even with narrow WOI:
		Done
		adjusted affines[1] for a pair: 1694564275_538447/1694564744_411290
		[[1.016644878296508,0.004929435606711805,-4.693221236458512],
		[-0.0049692732545438024,1.0068633692157516,0.3968458715663825]]


		*
		*
		double [] offset_xy_second = {0,0};
		@@ -623,7 +688,7 @@ adjusted affines[1] for a pair: 1694564245_111645/1694564822_637346
		debugLevel); // final int debug_level
		}
		double [][][] vector_field = new double [corr_tiles_pd.length][][];
		vector_field[0] = TDCorrTile.getMismatchVector(
		vector_field[0] = TDCorrTile.getMismatchVector( // full tiles in gpu (512*512)
		corr_tiles_pd[0], // final double[][] tiles,
		rln_sngl_rstr, // double rmax,
		rln_cent_radius, // final double centroid_radius, // 0 - all same weight, > 0 cosine(PI/2*sqrt(dx^2+dy^2)/rad)

src/main/java/com/elphel/imagej/orthomosaic/FloatImageData.java

+11 −4

Original line number	Diff line number	Diff line
		package com.elphel.imagej.orthomosaic;

		import java.awt.Rectangle;
		import java.util.Arrays;
		import java.util.concurrent.atomic.AtomicInteger;

		import com.elphel.imagej.common.PolynomialApproximation;
		import com.elphel.imagej.tileprocessor.ImageDtt;

		public class FloatImageData {
		public int width;
		public int height;
		@@ -66,12 +73,12 @@ public class FloatImageData {
		ze = 2.0 * pix_size_in_cm;
		}
		} else { // high resolution, pixel size < 1
		zl--;
		// zl--;
		while (pix_size_in_cm <= (1.0-e)) {
		zl++;
		pix_size_in_cm *= 2;
		}// exits with (2-2*e) >= pix_in_cm > (1-e)
		vz = pix_size_in_cm > (2.0 - e);
		vz = pix_size_in_cm < (1.0 + e);
		if (!vz) {
		ze = pix_size_in_cm;
		}
		@@ -82,9 +89,9 @@ public class FloatImageData {
		if (zoom_in_extra != null) {
		zoom_in_extra[0] = ze;
		}


		return zl;
		}

		// processing altitudes to remove non-flat surfaces from fitting ortho maps

		}

src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java

+575 −0

File changed.

Preview size limit exceeded, changes collapsed.

src/main/java/com/elphel/imagej/orthomosaic/OrthoMapsCollection.java

+92 −46

Original line number	Diff line number	Diff line
		@@ -267,37 +267,6 @@ public class OrthoMapsCollection implements Serializable{
		show_centers, // boolean show_centers,
		zoom_level, // int zoom_level,
		origin); // int [] origin)
		/*
		int [] wh = new int[2];
		double [][] centers = new double [ortho_maps.length][];
		float [][] multi = renderMulti (
		use_alt, // boolean use_alt,
		zoom_level, // int zoom_level,
		wh, // int [] wh,
		origin, // int [] origin){ // maps[0] as a reference
		centers); // double [][] centers)
		String [] map_names = new String[ortho_maps.length];
		for (int n = 0; n < ortho_maps.length; n++) {
		map_names[n] = ortho_maps[n].getName()+"_"+ortho_maps[n].getLocalDateTime().toString().replace("T","_")+"_UTC";
		}

		ImageStack stack = ShowDoubleFloatArrays.makeStack(
		multi,
		wh[0],
		wh[1],
		map_names,
		false);
		ImagePlus imp = new ImagePlus(title, stack);
		if (show_centers) {
		PointRoi roi = new PointRoi();
		for (int i = 0; i < centers.length; i++) {
		roi.addPoint(centers[i][0],centers[i][1], i+1);
		}
		roi.setOptions("label");
		imp.setRoi(roi);
		}
		return imp;
		*/
		}

		public ImagePlus renderMulti (
		@@ -576,6 +545,8 @@ public class OrthoMapsCollection implements Serializable{

		public double [][] correlateOrthoPair(
		CLTParameters clt_parameters,
		double frac_remove, // = 0.25
		boolean ignore_prev_rms,
		boolean batch_mode,
		String [] gpu_spair,
		double [][][] affines, // here in meters, relative to vertical points
		@@ -587,6 +558,8 @@ public class OrthoMapsCollection implements Serializable{
		}
		return correlateOrthoPair(
		clt_parameters, // CLTParameters clt_parameters,
		frac_remove, // double frac_remove, // = 0.25
		ignore_prev_rms, // boolean ignore_prev_rms,
		batch_mode, // boolean batch_mode,
		gpu_pair, // int [] gpu_pair,
		affines, // double [][][] affines, // here in meters, relative to vertical points
		@@ -596,6 +569,8 @@ public class OrthoMapsCollection implements Serializable{

		double [][] correlateOrthoPair(
		CLTParameters clt_parameters,
		double frac_remove, // = 0.25
		boolean ignore_prev_rms,
		boolean batch_mode,
		int [] gpu_pair,
		double [][][] affines, // here in meters, relative to vertical points
		@@ -609,6 +584,7 @@ public class OrthoMapsCollection implements Serializable{
		show_gpu_img = false; // (debugLevel > 1);
		show_tile_centers = false; // true; // (debugLevel > 1);
		}
		boolean show_vector_field = !batch_mode && (debugLevel>0); // true;
		double [][] bounds_overlap_meters = getOverlapMeters(
		gpu_pair[0], // int ref_index,
		gpu_pair[1], // int other_index)
		@@ -626,7 +602,6 @@ public class OrthoMapsCollection implements Serializable{
		for (int i = 0; i < 2; i++) {
		overlap_wh_pixel[i] = ((int) Math.ceil(bounds_overlap_meters[i][1]/pix_size)) - ((int) Math.floor(bounds_overlap_meters[i][0]/pix_size));
		}
		// double [][] bounds_overlap_pixels = new double[2][2];
		// convert to pixels,shift top-left to [0,0] (remember offsets, limit w,h,
		// change to pixels last, remember TL in meters?
		// keep center where it was
		@@ -646,8 +621,7 @@ public class OrthoMapsCollection implements Serializable{
		for (int i = 0; i < 2; i++) { // subtracting tl_rect_metric[n] (-1)
		tlo_src_metric[n][i] =
		tlo_rect_metric[n][0] * affines[n][i][0] +
		tlo_rect_metric[n][1] * affines[n][i][1] + affines[n][i][2]; // -
		// tl_rect_metric[n][i];
		tlo_rect_metric[n][1] * affines[n][i][1] + affines[n][i][2];
		}
		}
		/// referenced to top-left pixel of the gpu image
		@@ -699,11 +673,20 @@ public class OrthoMapsCollection implements Serializable{
		int tilesY = gpu_height/GPUTileProcessor.DTT_SIZE;

		// uses fixed_size gpu image size
		// TDCorrTile [] td_corr_tiles =
		TpTask [][] tp_tasks = new TpTask [2][];

		int num_tries = 5;
		double prev_rms = Double.NaN;
		double rel_improve = 1E-3;
		double [][] elevations = new double [tp_tasks.length][];
		double [][] ground_planes_metric = new double [tp_tasks.length][];
		boolean [][] ground_planes_masks = new boolean[2][];
		double initial_above = 3; // m
		double initial_below = 3; // m
		int num_refine = 3;
		double frac_above = 0.3;
		double frac_below = 0.1;
		double metric_error = 0.01;// 1 cm
		for (int ntry = 0; ntry < num_tries; ntry++) {
		if (!batch_mode) {
		if (debugLevel>-3) {
		@@ -720,13 +703,53 @@ public class OrthoMapsCollection implements Serializable{
		tp_tasks, // TpTask [][] tp_tasks_o,
		batch_mode, // final boolean batch_mode,
		debugLevel); // final int debugLevel);
		// get elevations
		int zoom_lev_tiles = zoom_lev-3;
		double [] ground_planes_weight = null;
		for (int num_elevations = 0; num_elevations < 1; num_elevations++) {
		for (int n = 0; n < gpu_pair.length; n++) {
		elevations[n] = ortho_maps[gpu_pair[n]]. getTileElevations(
		zoom_lev, // final int zoom_level,
		tp_tasks[n], // final TpTask [] tp_tasks,
		tilesX, // final int tilesX,
		tilesY, // final int tilesY,
		debugLevel); // final int debugLevel)
		String debug_title = show_vector_field? (ortho_maps[gpu_pair[n]].getName()+"_plane"):null;
		ground_planes_metric[n] = ortho_maps[gpu_pair[n]].getPlaneMeters (
		zoom_lev_tiles, // int zoom_lev, // of the data (3 levels down for tiles)
		elevations[n], // double [] elev,
		tilesX, // int width,
		initial_above, // double initial_above, // from average
		initial_below, // double initial_below, // from average, // positive value
		num_refine, // int num_refine,
		frac_above, // double frac_above,
		frac_below, // double frac_below,
		debug_title); // String debug_title)
		ground_planes_masks[n] = ortho_maps[gpu_pair[n]].removeHighElevationMismatch (
		zoom_lev_tiles, // int zoom_lev, // of the data (3 levels down for tiles)
		elevations[n], // double [] elev,
		tilesX, // int width,
		ground_planes_metric[n], // double [] plane_metric, // tiltx,tilty, offs - in meters
		metric_error); // double metric_error);
		}
		ground_planes_weight = new double[ ground_planes_masks[0].length];
		int num_left = 0; // , num_was = tp_tasks[0].length;
		for (int i = 0; i < ground_planes_weight.length; i++) {
		if (ground_planes_masks[0][i] && ground_planes_masks[1][i]) {
		num_left++;
		ground_planes_weight[i] = 1.0;
		}
		}
		System.out.println("correlateOrthoPair(): left "+num_left+" tiles (was "+tp_tasks[0].length+" before filtering)");
		System.out.println();
		}


		boolean show_vector_field = !batch_mode && (debugLevel>0); // true;
		Rectangle tile_woi = scaleRectangle (woi, GPUTileProcessor.DTT_SIZE);
		double max_err= 5.0;
		int num_bins = 1000;
		boolean ignore_strength = false;
		double frac_remove = 0.25;
		//double frac_remove = 0.15;
		double [][] vf_error2 = new double [vector_field.length][]; // may be able to skip [0]
		double [][][] vector_field_bkp = show_vector_field? new double[vector_field.length][][]:null;
		if (vector_field_bkp != null) {
		@@ -759,7 +782,7 @@ public class OrthoMapsCollection implements Serializable{
		int dbg_width = tile_woi.x+tile_woi.width;
		int dbg_height = tile_woi.y+tile_woi.height;
		double [][][][] vf_all = {vector_field_bkp,vector_field};
		double [][] dbg_vf = new double [8 * vector_field.length][dbg_width * dbg_height];
		double [][] dbg_vf = new double [8 * vector_field.length+5][dbg_width * dbg_height];
		String [] dbg_titles = new String[dbg_vf.length];
		String [] prefix= {"single","single_filtered","neibs","neibs_filtered"};
		for (int n = 0; n < 2*vector_field.length; n++) {
		@@ -768,6 +791,12 @@ public class OrthoMapsCollection implements Serializable{
		dbg_titles [4*n+2] = prefix[n]+"-str";
		dbg_titles [4*n+3] = prefix[n]+"-err";
		}
		dbg_titles [8 * vector_field.length + 0] = "mask-elev";
		dbg_titles [8 * vector_field.length + 1] = "elev-0";
		dbg_titles [8 * vector_field.length + 2] = "elev-1";
		dbg_titles [8 * vector_field.length + 3] = "mask-0";
		dbg_titles [8 * vector_field.length + 4] = "mask-1";

		for (int i = 0; i < dbg_vf.length; i++) {
		Arrays.fill(dbg_vf[i], Double.NaN);

		@@ -787,6 +816,11 @@ public class OrthoMapsCollection implements Serializable{
		}
		}
		}
		dbg_vf [8 * vector_field.length + 0][l] = ground_planes_weight[t];
		dbg_vf [8 * vector_field.length + 1][l] = elevations[0][t];
		dbg_vf [8 * vector_field.length + 2][l] = elevations[1][t];
		dbg_vf [8 * vector_field.length + 3][l] = ground_planes_masks[0][t]?1.0:0.0;
		dbg_vf [8 * vector_field.length + 4][l] = ground_planes_masks[1][t]?1.0:0.0;
		}
		ShowDoubleFloatArrays.showArrays(
		dbg_vf,
		@@ -881,16 +915,28 @@ public class OrthoMapsCollection implements Serializable{
		System.out.println("LMA RMSE worsened: new"+rms+" ("+ orthoPairLMA.getInitialRms()+"), prev="+prev_rms);
		}
		}
		if (ignore_prev_rms) {
		if (debugLevel > -3) {
		System.out.println("Will continue, as ignore_prev_rms is set");
		}
		} else {
		break;
		}
		}
		affines_gpu[1]=OrthoMap.combineAffine(affines_gpu[1], orthoPairLMA.getAffine());
		double [][] jtj = orthoPairLMA.getLastJtJ();
		if ((prev_rms - rms)/prev_rms < rel_improve) {
		if (debugLevel > -2) {
		System.out.println("LMA relative RMSE improvement = "+((prev_rms - rms)/prev_rms)+" < "+rel_improve+", exiting.");
		}
		if (ignore_prev_rms) {
		if (debugLevel > -3) {
		System.out.println("Will continue, as ignore_prev_rms is set");
		}
		} else {
		break;
		}
		}
		prev_rms=rms;
		} // for (int ntry = 0; ntry < num_tries; ntry++) {
		// unrapping backwards, for "other" map only, reference is not modified.

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