Testing LMA with multi-scene LY

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

@@ -329,6 +329,7 @@ public class CLTParameters {
 	public double     lyms_inf_range_offs = 0.05; // Add to the disparity distribution mode for infinity center
 	public double     lyms_inf_range =      0.15; // Consider infinity tiles that are within +/- half of this range from infinity center
 	//non-infinity parameters		
+	public int        lyms_margin =           6;  // discard tiles from each side
 	public double     lyms_min_inf_str =    0.2;  // Minimal strength of infinity tiles
 	public double     lyms_min_fg_str =     0.4;  // Minimal strength of non-infinity tiles
 	public int        lyms_clust_size =     4;    // cluster size (same in both directions) for measuring LY data
@@ -1263,6 +1264,7 @@ public class CLTParameters {
 		properties.setProperty(prefix+"lyms_far_fract",             this.lyms_far_fract +"");
 		properties.setProperty(prefix+"lyms_inf_range_offs",        this.lyms_inf_range_offs +"");
 		properties.setProperty(prefix+"lyms_inf_range",             this.lyms_inf_range +"");
+		properties.setProperty(prefix+"lyms_margin",                this.lyms_margin +"");
 		properties.setProperty(prefix+"lyms_min_inf_str",           this.lyms_min_inf_str +"");
 		properties.setProperty(prefix+"lyms_min_fg_str",            this.lyms_min_fg_str +"");
 		properties.setProperty(prefix+"lyms_clust_size",            this.lyms_clust_size +"");
@@ -2104,6 +2106,7 @@ public class CLTParameters {
 		if (properties.getProperty(prefix+"lyms_far_fract")!=null)                this.lyms_far_fract=Double.parseDouble(properties.getProperty(prefix+"lyms_far_fract"));
 		if (properties.getProperty(prefix+"lyms_inf_range_offs")!=null)           this.lyms_inf_range_offs=Double.parseDouble(properties.getProperty(prefix+"lyms_inf_range_offs"));
 		if (properties.getProperty(prefix+"lyms_inf_range")!=null)                this.lyms_inf_range=Double.parseDouble(properties.getProperty(prefix+"lyms_inf_range"));
+		if (properties.getProperty(prefix+"lyms_margin")!=null)                   this.lyms_margin=Integer.parseInt(properties.getProperty(prefix+"lyms_margin"));
 		if (properties.getProperty(prefix+"lyms_min_inf_str")!=null)              this.lyms_min_inf_str=Double.parseDouble(properties.getProperty(prefix+"lyms_min_inf_str"));
 		if (properties.getProperty(prefix+"lyms_min_fg_str")!=null)               this.lyms_min_fg_str=Double.parseDouble(properties.getProperty(prefix+"lyms_min_fg_str"));
 		if (properties.getProperty(prefix+"lyms_clust_size")!=null)               this.lyms_clust_size=Integer.parseInt(properties.getProperty(prefix+"lyms_clust_size"));
@@ -3057,6 +3060,8 @@ public class CLTParameters {
 		gd.addNumericField("Infinity full range",                                              this.lyms_inf_range,      4,6,"pix",
 				"Consider infinity tiles that are within +/- half of this range from infinity center");
 		gd.addMessage     ("--- LY data measurement ---");
+		gd.addNumericField("LY Margin",                                                        this.lyms_margin,         0,3,"tiles",
+				"Discard tiles from border");
 		gd.addNumericField("Minimal strength (infinity)",                                      this.lyms_min_inf_str,    4,6,"",
 				"Minimal strength of infinity tiles");
 		gd.addNumericField("Minimal strength (non-infinity)",                                  this.lyms_min_fg_str,     4,6,"",
@@ -4036,6 +4041,7 @@ public class CLTParameters {
 		this.lyms_far_fract=        gd.getNextNumber();
 		this.lyms_inf_range_offs=   gd.getNextNumber();
 		this.lyms_inf_range=        gd.getNextNumber();
+		this.lyms_margin=     (int) gd.getNextNumber();
 		this.lyms_min_inf_str=      gd.getNextNumber();
 		this.lyms_min_fg_str=       gd.getNextNumber();
 		this.lyms_clust_size= (int) gd.getNextNumber();

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -100,6 +100,7 @@ import com.elphel.imagej.tileprocessor.DttRad2;
 import com.elphel.imagej.tileprocessor.ErsCorrection;
 import com.elphel.imagej.tileprocessor.ImageDtt;
 import com.elphel.imagej.tileprocessor.MLStats;
+import com.elphel.imagej.tileprocessor.MultisceneLY;
 import com.elphel.imagej.tileprocessor.QuadCLT;
 import com.elphel.imagej.tileprocessor.SymmVector;
 import com.elphel.imagej.tileprocessor.TwoQuadCLT;
@@ -7379,6 +7380,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 	 * @return
 	 */
 	public boolean adjustLYSeries(boolean use_aux) {
+		MultisceneLY.MSLY_MODE adjust_mode = MultisceneLY.MSLY_MODE.INF_NOINF;
 		long startTime = System.nanoTime();
 		// load needed sensor and kernels files
 		if (!prepareRigImages())
@@ -7436,9 +7438,10 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 		try {
 			TWO_QUAD_CLT.adjustLYSeries(
 					quadCLT, // QUAD_CLT, // QuadCLT quadCLT_main,
-					CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
-					DEBAYER_PARAMETERS, // EyesisCorrectionParameters.DebayerParameters debayerParameters,
-					colorProcParameters, // COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters
+					CLT_PARAMETERS,       // EyesisCorrectionParameters.DCTParameters dct_parameters,
+					adjust_mode,          // MultisceneLY.MSLY_MODE                               adjust_mode,
+					DEBAYER_PARAMETERS,   // EyesisCorrectionParameters.DebayerParameters debayerParameters,
+					colorProcParameters,  // COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters
 											// colorProcParameters,
 					CHANNEL_GAINS_PARAMETERS, // CorrectionColorProc.ColorGainsParameters channelGainParameters,
 					RGB_PARAMETERS, // EyesisCorrectionParameters.RGBParameters rgbParameters,

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

@@ -117,6 +117,10 @@ public class ExtrinsicAdjustment {
 	public final int num_sensors;
 	
 	public double dbg_delta = 0; // 1.0E-5; // if not 0 - use delta instead of the derivatives in getJacobianTransposed
+	
+	public void setForceDisparity(boolean [] force_disparity) {
+		this.force_disparity = force_disparity;
+	}
 
 	public double [] getOldNewRMS() {
 		double [] on_rms = new double[2];
@@ -291,13 +295,13 @@ public class ExtrinsicAdjustment {
 		s += "Port"+suffix+": [";
 		for (int p = 0; p < num_sensors; p++) s += String.format(hfmt, p, "");s+="]\n";
 		s += "DD"+suffix+"=   [";
-		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[indx_dd0 + p]);s+="]" + String.format(" # avg = "+dfmta+"\n", avg_dd);
+		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[indx_dd0 + p]);s+="]" + String.format(" # avg = "+dfmta+" (should be 0)\n", avg_dd);
 		s += "ND"+suffix+"=   [";
-		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[indx_nd0 + p]);s+="]" + String.format(" # avg = "+dfmta+"\n", avg_nd);
+		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[indx_nd0 + p]);s+="]" + String.format(" # avg = "+dfmta+" (May be non-0, especially large S1)\n", avg_nd);
 		s += "DX"+suffix+"=   [";
-		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[INDX_X0 + 2 * p + 0]);s+="]" + String.format(" # avg = "+dfmta+"\n", avg_x);
+		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[INDX_X0 + 2 * p + 0]);s+="]" + String.format(" # avg = "+dfmta+" (should be 0)\n", avg_x);
 		s += "DY"+suffix+"=   [";
-		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[INDX_X0 + 2 * p + 1]);s+="]" + String.format(" # avg = "+dfmta+"\n", avg_y);
+		for (int p = 0; p < num_sensors; p++) s += String.format(dfmt, avg[INDX_X0 + 2 * p + 1]);s+="]" + String.format(" # avg = "+dfmta+" (should be 0)\n", avg_y);
 		return s;
 	}
 	/*
@@ -457,19 +461,6 @@ public class ExtrinsicAdjustment {
 					x0y0, // double[][] data,
 					"nondistorted X0Y0");// String title);
 		}
-/*
-		this.par_mask = geometryCorrection.getParMask(
-				use_disparity, // has_disparity, // boolean use_disparity,
-				use_aztilts,       // Adjust azimuths and tilts excluding disparity
-				use_diff_rolls,    // Adjust differential rolls (3 of 4 angles)
-				common_roll,// boolean common_roll,
-				corr_focalLength,  // boolean corr_focalLength);
-				ers_rot,           // boolean ers_rot,           // Enable ERS correction of the camera rotation
-				ers_forw,          // Enable ERS correction of the camera linear movement in z direction
-				ers_side,          // Enable ERS correction of the camera linear movement in x direction
-				ers_vert,          // Enable ERS correction of the camera linear movement in y direction
-		  		manual_par_sel);   // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
-*/		  		
 		boolean [] filtered_infinity = null;
 		
 		double [] dfe = null;
@@ -496,20 +487,7 @@ public class ExtrinsicAdjustment {
 					inf_min_disparity,  // double min_infinity,
 					inf_max_disparity); // double max_infinity
 		 }
-/*
-		this.weights = getWeights( // will ignore window for infinity (already used for selection)
-				 measured_dsxy,        // double  [][] measured_dsxy,
-				 (use_disparity? force_disparity: null),   // boolean [] force_disparity, // same dimension as dsdn, true if disparity should be controlled
-				 filtered_infinity,    // boolean [] filtered_infinity,
-				 dfe, // 	double  []  distance_from_edge,// to reduce weight of the mountain ridge, increase clouds (or null)
-				 min_num_forced,       //				int min_num_forced,
-				 infinity_right_left, //	boolean infinity_right_left,  // each halve should have > min_num_forced, will calculate separate average
-				 weight_infinity,      // double weight_infinity,       // total weight of infinity tiles fraction (0.0 - 1.0) 
-				 weight_disparity,     // double weight_disparity,      // disparity weight relative to the sum of 8 lazy eye values of the same tile 
-				 weight_disparity_inf, // double weight_disparity_inf,  // disparity weight relative to the sum of 8 lazy eye values of the same tile for infinity 
-				 max_disparity_far,   // 					double max_disparity_far)     // reduce weights of near tiles proportional to sqrt(max_disparity_far/disparity)
-				 max_disparity_use);
-*/		
+
 		int [] inf_stat = setWeights( // number right, number left
 				 measured_dsxy,        // double  [][] measured_dsxy,
 				 (use_disparity? force_disparity: null),   // boolean [] force_disparity, // same dimension as dsdn, true if disparity should be controlled
@@ -2366,7 +2344,7 @@ public class ExtrinsicAdjustment {
 			if (rslt == null) {
 				return false; // need to check
 			}
-			if (debug_level > 1) {
+			if (debug_level > -3) { //  > 0) {
 				System.out.println("LMA step "+iter+": {"+rslt[0]+","+rslt[1]+"} full RMS= "+good_or_bad_rms[0]+
 						" ("+initial_rms[0]+"), pure RMS="+good_or_bad_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
 			}

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

@@ -14,6 +14,8 @@ public class MultisceneLY {
 	public int            threadsMax = 100;  // maximal number of threads to launch
 	public boolean        updateStatus = true;
 	public int            numSens;
+    public static enum    MSLY_MODE {INF_ONLY, NOINF_ONLY, INF_NOINF};
+    public static String [] SINF_NOINF= {"inf","noinf"};  	
 	public MultisceneLY (
 			int            numSens,
 			int            threadsMax,  // maximal number of threads to launch
@@ -563,6 +565,7 @@ public class MultisceneLY {
 	 *                     infinity [0][] and non-infinity - [1][].
 	 * @param corr_vector_delta null or extrinsic vector offset, applied to all scenes.
 	 *        Only ERS parameters will be different, all the rest are the same for all scenes.
+	 * @param nrefine number of disparity refines for non-infinity.
 	 * @param threadsMax maximal number of threads to use.
 	 * @param debug_level debug level, will show debug images if >-2.
 	 * @return [2][clusters][LY_sclices] LY data for infinity [0][][] and non-infinity[1][][].
@@ -577,6 +580,7 @@ public class MultisceneLY {
 			final double         dbg_disparity_offset,
 			final int [][]       in_num_tiles,      // null or number of tiles per cluster to multiply strength
 			final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
+			final int            nrefine,           // number of disparity refines for non-inf
 			final int            threadsMax,
 			final int            debug_level){
 		final double [][][] inf_noinf_lazy_eye_data = new double [2][][];
@@ -587,6 +591,7 @@ public class MultisceneLY {
 		int clustersX = (int) Math.ceil(1.0 * tilesX / clt_parameters.lyms_clust_size);
 		int clustersY = (int) Math.ceil(1.0 * tilesY / clt_parameters.lyms_clust_size);
 		int clusters = clustersX * clustersY;
+		int numSens = last_scene.tp.getNumSensors();
 		final int [][]     num_tiles =   (in_num_tiles != null)?   in_num_tiles :   (new int [2][]);
 		for (int i = 0; i < num_tiles.length; i++) {
 			num_tiles[i] = new int [clusters];
@@ -628,7 +633,8 @@ public class MultisceneLY {
 				num_tiles[0],           // final int []         num_tiles,
 				corr_vector_delta,      // final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
 				threadsMax,             // final int            threadsMax,
-				debug_level);           // final int            debug_level);
+				debug_level,            // final int            debug_level);
+				((debug_level >-2)?"INF":null)); // String debug_suffix);
 		// now for non-infinity:
 		double [][] target_disparities_noinf = MultisceneLY.useTilesLY(
 				clt_parameters.lyms_clust_size,    // final int          clust_size,
@@ -661,7 +667,50 @@ public class MultisceneLY {
 				num_tiles[1],             // final int []         num_tiles,
 				corr_vector_delta,        // final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
 				threadsMax,               // final int            threadsMax,
-				debug_level);             // final int            debug_level);
+				debug_level,              // final int            debug_level);
+				((debug_level >-2)?"NOINF":null)); // String debug_suffix);
+
+		if (debug) {
+			showLY(
+					clt_parameters, // CLTParameters clt_parameters,
+					last_scene.getGeometryCorrection(), // GeometryCorrection gc,
+					clustersX, // int           clustersX,
+					clustersY, // int           clustersY,
+					inf_noinf_lazy_eye_data[1], // double [][]   ly_data,
+					"LY_noinf-initial"); // String        title);					
+		}
+		
+		for (int n = 0; n < nrefine; n++) {
+			// modify target disparity with disparity difference 
+			updateTargetDisparities(
+					clt_parameters,             // final CLTParameters clt_parameters,
+					last_scene.tp,              // final TileProcessor tp,
+					target_disparities_noinf,   // double [][] target_disparities,
+					inf_noinf_lazy_eye_data[1], // double [][] ly_data)
+					threadsMax);                // final int         threadsMax);
+			inf_noinf_lazy_eye_data[1] = 	MultisceneLY.getLYData( // TODO: show lazy_eye_data[][]
+					clt_parameters,           // final CLTParameters  clt_parameters,
+					clt_parameters.lyms_clust_size,               // final int            clust_size,
+					scenes,                   // final QuadCLT []     scenes,        // ordered by increasing timestamps
+					target_disparities_noinf, // final double[][]     target_disparities,
+					num_tiles[1],             // final int []         num_tiles,
+					corr_vector_delta,        // final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
+					threadsMax,               // final int            threadsMax,
+					debug_level,              // final int            debug_level);
+					((debug_level >-2)?("NOINF"+n):null)); // String debug_suffix);
+			
+			if (debug) {
+				showLY(
+						clt_parameters, // CLTParameters clt_parameters,
+						last_scene.getGeometryCorrection(), // GeometryCorrection gc,
+						clustersX, // int           clustersX,
+						clustersY, // int           clustersY,
+						inf_noinf_lazy_eye_data[1], // double [][]   ly_data,
+						"LY_noinf-"+n); // String        title);					
+			}
+			
+		}
+				
 		if (target_disparities != null) {
 			target_disparities[0] = target_disparities_inf;
 			target_disparities[1] = target_disparities_noinf;
@@ -669,6 +718,84 @@ public class MultisceneLY {
 		return inf_noinf_lazy_eye_data;
 	}	
 	
+	public static void showLY(
+			CLTParameters clt_parameters,
+			GeometryCorrection gc,
+			int           clustersX,
+			int           clustersY,
+			double [][]   ly_data,
+			String        title
+			) {
+		ExtrinsicAdjustment ea = new ExtrinsicAdjustment (
+				gc,                            // GeometryCorrection gc,
+				clt_parameters.lyms_clust_size, // int         clusterSize,
+				clustersX,                      // int         clustersX,
+				clustersY);                     // int         clustersY)
+		int numSens = gc.getNumSensors();
+		double [][] dbg_cluster = new double [ExtrinsicAdjustment.get_INDX_LENGTH(numSens)][clustersY * clustersX];
+		for (int i = 0; i < dbg_cluster.length; i++) {
+			Arrays.fill(dbg_cluster[i], Double.NaN);
+		}
+		for (int n = 0; n < ly_data.length; n++) {
+			if (ly_data[n] != null) {
+				for (int i = 0; i < ExtrinsicAdjustment.get_INDX_LENGTH(numSens); i++ ) {
+					dbg_cluster[i][n] = ly_data[n][i];
+				}
+			}
+		}
+		(new ShowDoubleFloatArrays()).showArrays(
+				dbg_cluster,
+				clustersX,
+				clustersY,
+				true,
+				title,
+				ea.data_titles); //  ExtrinsicAdjustment.DATA_TITLES);
+	}
+	
+	private static void updateTargetDisparities(
+		final CLTParameters clt_parameters,
+		final TileProcessor tp,
+		final double [][]   target_disparities,
+		final double [][]   ly_data,
+		final int           threadsMax)
+	{
+		final int clust_size = clt_parameters.lyms_clust_size;
+		final int tilesX = tp.getTilesX();
+		final int tilesY = tp.getTilesY();
+		final int clustersX = (int) Math.ceil(1.0 * tilesX / clust_size);
+		final int clustersY = (int) Math.ceil(1.0 * tilesY / clust_size);
+		final int clusters = clustersX * clustersY;
+		final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
+		final AtomicInteger ai = new AtomicInteger(0);
+        for (int ithread = 0; ithread < threads.length; ithread++) {
+            threads[ithread] = new Thread() {
+                public void run() {
+                    for (int nClust = ai.getAndIncrement(); nClust < clusters; nClust = ai.getAndIncrement()) if (ly_data[nClust] != null) {
+                        int clustX = nClust % clustersX;
+                        int clustY = nClust / clustersX;
+                        double disp_diff = ly_data[nClust][ExtrinsicAdjustment.INDX_DIFF];
+                        for (int ctY = 0; ctY < clust_size; ctY++) {
+                            int tileY = clustY * clust_size + ctY;
+                            if (tileY < tilesY) {
+                                for (int ctX = 0; ctX < clust_size; ctX++) {
+                                    int tileX = clustX * clust_size + ctX;
+                                    if (tileX < tilesX) {
+                                    	int nTile = tileY*tilesX+tileX;
+                                        for (int nscene = 0; nscene < target_disparities.length; nscene++){
+                                        	if ((target_disparities[nscene] != null) && !Double.isNaN(target_disparities[nscene][nTile])) {
+                                        		target_disparities[nscene][nTile] += disp_diff;
+                                        	}
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            };
+        }
+		ImageDtt.startAndJoin(threads);
+	}
 	
 	
 	/**
@@ -682,6 +809,7 @@ public class MultisceneLY {
 	 *        Only ERS parameters will be different, all the rest are the same for all scenes.
 	 * @param threadsMax maximal number of threads
 	 * @param debug_level debug level. Generates debug images if >-2.
+	 * @param debug_suffix - add to image name, null - no images
 	 * @return Lazy Eye data [clusters][LY_sclices]
 	 */
 	public static double [][] getLYData(
@@ -692,7 +820,8 @@ public class MultisceneLY {
 			final int []         num_tiles, // null or number of tiles per cluster to multiply strength
 			final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
 			final int            threadsMax,
-			final int            debug_level){
+			final int            debug_level,
+			final String         debug_suffix){
 		int last_scene_index = scenes.length-1;
 		QuadCLT last_scene = scenes[last_scene_index];
 		int numSens = last_scene.getNumSensors();
@@ -704,7 +833,7 @@ public class MultisceneLY {
 		final int clusters = clustersX * clustersY;
 		final int num_pairs = Correlation2d.getNumPairs(last_scene.getNumSensors());
 		
-		boolean show_corr = debug_level > -2;
+		boolean show_corr = (debug_suffix != null) ; //debug_level > -2;
 		final float  [][][]     fclt_corr = show_corr ? (new float [tilesX * tilesY][][]) : null;
 
 		final double [][][][][] dcorr_td_acc  = new double[num_pairs][][][][];
@@ -931,7 +1060,7 @@ public class MultisceneLY {
 						wh[0],
 						wh[1],
 						true,
-						last_scene.getImageName()+"-CORR-DECIMATED"+clust_size,
+						last_scene.getImageName()+"-CORR-DECIMATED"+clust_size+"-"+debug_suffix,
 						titles);
 				double [][] disparity_map_decimated = ImageDtt.corr2d_decimate( // not used in lwir
 						disparity_map,  // final float [][]        corr2d_img,
@@ -947,7 +1076,7 @@ public class MultisceneLY {
 						wh[0],
 						wh[1],
 						true,
-						"disparity_map_decimated",
+						"disparity_map_decimated"+"-"+debug_suffix,
 						ImageDtt.getDisparityTitles(last_scene.getNumSensors(),last_scene.isMonochrome()) // ImageDtt.DISPARITY_TITLES
 						);
 				
@@ -1131,12 +1260,90 @@ public class MultisceneLY {
 		return combo_pXpYD;
 	}
 	
+	public static double [][] mergeLY(
+			MSLY_MODE      adjust_mode,	
+			double [][][]  lazy_eye_data2,
+			boolean []     force_disparity // null or [clusters]
+			)
+			{
+		double [][] lazy_eye_data = null;
+		int clusters = 0;
+		for (int i = 0; i < lazy_eye_data2.length; i++) {
+			if (lazy_eye_data2[i] != null) {
+				clusters = lazy_eye_data2[i].length;
+				break;
+			}
+		}
+		if (adjust_mode == MSLY_MODE.INF_NOINF) {
+			if ((lazy_eye_data2.length < 2) || (lazy_eye_data2[1] == null)) {
+				adjust_mode = MSLY_MODE.INF_ONLY;
+			} else if (lazy_eye_data2[0] == null) {
+				adjust_mode = MSLY_MODE.NOINF_ONLY;
+			}
+		}
+		switch (adjust_mode) {
+		case INF_ONLY: 
+			if (lazy_eye_data2[0] == null) {
+				return null;
+			}
+			lazy_eye_data = lazy_eye_data2[0];
+			if (force_disparity != null) {
+				for (int i = 0; i < clusters; i++) {
+					force_disparity[i] = lazy_eye_data[i] != null;
+				}
+			}
+		break;
+		case NOINF_ONLY:
+			if ((lazy_eye_data2.length > 1) && (lazy_eye_data2[1] == null)) {
+				return null;
+			}
+			lazy_eye_data = lazy_eye_data2[1];
+			if (force_disparity != null) {
+				for (int i = 0; i < clusters; i++) {
+					force_disparity[i] = false;
+				}
+			}
+			
+		break;
+		case INF_NOINF: // both lazy_eye_data2[0] and lazy_eye_data2[1] are non-nulls
+			if (force_disparity != null) {
+				for (int i = 0; i < clusters; i++) {
+					force_disparity[i] = (lazy_eye_data2[0][i] != null) && (lazy_eye_data2[1][i] != null); // do not process w/o noinf
+				}
+			}
+			lazy_eye_data = new double [clusters][];
+			for (int i = 0; i < clusters; i++) if (lazy_eye_data2[1][i] != null){
+				lazy_eye_data[i] = lazy_eye_data2[1][i].clone();
+				if (lazy_eye_data2[0][i] != null) {
+					for (int n = 0;n < lazy_eye_data2[0][i].length; n++) {
+						switch (n){
+						case ExtrinsicAdjustment.INDX_DISP:
+						case ExtrinsicAdjustment.INDX_STRENGTH:
+						case ExtrinsicAdjustment.INDX_TARGET:
+						case ExtrinsicAdjustment.INDX_DIFF:
+							lazy_eye_data[i][n] =  lazy_eye_data2[0][i][n];
+						}
+					}
+				}
+			}			
+			break;
+		}
+		return lazy_eye_data;
+	}
+	
+	
 	public boolean processLYdata(
 			final CLTParameters  clt_parameters,
+			MSLY_MODE            adjust_mode,			
 			final QuadCLT []     scenes,        // ordered by increasing timestamps
-			final double [][][]  lazy_eye_data,
-			final int            debugLevel 
-			) {
+			final double [][][]  lazy_eye_data2,
+			final boolean [][]   valid_tile,        // tile with lma and single correlation maximum
+			final double         inf_disp_ref,      // average disparity at infinity for ref scene // is_scene_infinity
+			final boolean [][]   is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
+			boolean              update_disparity, // re-measure disparity before measuring LY
+			final int            threadsMax,  // maximal number of threads to launch
+			final boolean        updateStatus,
+			final int            debugLevel) {
 		int last_scene_index = scenes.length-1;
 		QuadCLT last_scene = scenes[last_scene_index];
 		int numSens = last_scene.getNumSensors();
@@ -1153,20 +1360,20 @@ public class MultisceneLY {
 				clt_parameters.lyms_clust_size, // int         clusterSize,
 				clustersX,                      // int         clustersX,
 				clustersY);                     // int         clustersY)
-		double [][][] dbg_cluster = new double [lazy_eye_data.length][ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors())][clustersY * clustersX];
-		for (int m = 0; m < lazy_eye_data.length; m++) {
+		double [][][] dbg_cluster = new double [lazy_eye_data2.length][ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors())][clustersY * clustersX];
+		for (int m = 0; m < lazy_eye_data2.length; m++) {
 			for (int i = 0; i < dbg_cluster.length; i++) {
 				Arrays.fill(dbg_cluster[m][i], Double.NaN);
 			}
-			for (int n = 0; n < lazy_eye_data[m].length; n++) {
-				if (lazy_eye_data[m][n] != null) {
+			for (int n = 0; n < lazy_eye_data2[m].length; n++) {
+				if (lazy_eye_data2[m][n] != null) {
 					for (int i = 0; i < ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors()); i++ ) {
-						dbg_cluster[m][i][n] = lazy_eye_data[m][n][i];
+						dbg_cluster[m][i][n] = lazy_eye_data2[m][n][i];
 					}
 				}
 			}
 		}
-		for (int m = 0; m < lazy_eye_data.length; m++) {
+		for (int m = 0; m < lazy_eye_data2.length; m++) {
 			(new ShowDoubleFloatArrays()).showArrays(
 					dbg_cluster[m],
 					clustersX,
@@ -1175,8 +1382,8 @@ public class MultisceneLY {
 					last_scene.getImageName()+"-lazy_eye_data-"+m,
 					ea.data_titles); //  ExtrinsicAdjustment.DATA_TITLES);
 		}
-		ea.showInput(lazy_eye_data[0],"first_data-inf");
-		ea.showInput(lazy_eye_data[1],"first_data-noinf");
+		ea.showInput(lazy_eye_data2[0],"first_data-inf");
+		ea.showInput(lazy_eye_data2[1],"first_data-noinf");
 		return true;
 	}
 	
@@ -1195,7 +1402,7 @@ public class MultisceneLY {
 			boolean                 use_tarz,  // derivatives by tarz, not symmetrical vectors
 			final int               debugLevel)
 	{
-		final String [] sinf_noinf= {"inf","noinf"};  
+//		final String [] sinf_noinf= {"inf","noinf"};  
 
 		//		  delta = 0.001;
 		/*double [] parameter_scales4 = { // multiply delay for each parameter
@@ -1235,7 +1442,7 @@ public class MultisceneLY {
 				300, // 2.943408022525927E-0,  // 4,  // 17 10000x vy
 				500.0}; // 390.6185365641268};    //4};  // 18 100000x vz
 		//		  delta = 0.001; // should be 0.001
-		final boolean debug_img = true; // false;
+		final boolean debug_img = false; // true; // false;
 		final int last_scene_index = scenes.length-1;
 		final QuadCLT last_scene = scenes[last_scene_index];
 		final int numSens = last_scene.getNumSensors();
@@ -1299,7 +1506,7 @@ public class MultisceneLY {
 			for (int nly = 0; nly < ly_initial2.length; nly++) if (ly_initial2[nly] != null ) {
 				ea.showInput(
 						ly_initial2[nly], // double[][] data,
-						"drv_reference-"+sinf_noinf[nly]);// String title);
+						"drv_reference-"+SINF_NOINF[nly]);// String title);
 			}
 			System.out.println("Initial:\n"+last_scene.getGeometryCorrection().getCorrVector().toString(true));  // true - short out
 			double min_strength = 0.1; // 0.23		  
@@ -1315,7 +1522,7 @@ public class MultisceneLY {
 				}
 			}
 		}
-
+		int            nrefine = 4;
 		for (int npar = 0; npar < num_pars; npar++) {
 			// perform asymmetric delta
 			double [] par_inc = new double [num_pars];
@@ -1341,62 +1548,17 @@ public class MultisceneLY {
 					0.0,               // final double         dbg_disparity_offset,
 					null,              // final int [][]       in_num_tiles,      // null or number of tiles per cluster to multiply strength
 					corr_delta,        // final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
+					nrefine,              // final int            nrefine,           // number of disparity refines for non-inf
 					threadsMax,        // final int            threadsMax,
 					debugLevel);       //  final int            debug_level);			
-///			if (update_disparity) {
-///							CLTMeasureCorr( // perform single pass according to prepared tiles operations and disparity
-///						clt_parameters,
-///						scanIndex,
-///						false,             // final boolean     save_textures,
-///						0,                 // final int         clust_radius,
-///						tp.threadsMax,     // maximal number of threads to launch
-///						false,             // updateStatus,
-///						debugLevelInner -1); // - 1); // -5-1
-///			}
-///			CLTMeasureLY( // perform single pass according to prepared tiles operations and disparity // USED in lwir
-///					clt_parameters,
-///					scanIndex,     // final int           scanIndex,
-					// only combine and calculate once, next passes keep
-					// remeasure each pass - target disparity is the same, but vector changes
-///					0, // bg_scan, // (num_iter >0)? -1: bg_scan,        // final int           bgIndex, // combine, if >=0
-///					tp.threadsMax,  // maximal number of threads to launch
-///					false, // updateStatus,
-///					debugLevelInner -1); // - 1); // -5-1
-///			ly = scan.getLazyEyeData();
 
 			if (debug_img) {
 				for (int nly = 0; nly < ly2.length; nly++) if (ly2[nly] != null ) {
 					ea.showInput(
 							ly2[nly], // double[][] data,
-							"drv_par-"+sinf_noinf[nly]);// String title);
+							"drv_par-"+SINF_NOINF[nly]);// String title);
 				}
-				
-				
-				
-				
 			}
-			//			  Tested - no difference
-			//			  CLTMeasureLY( // perform single pass according to prepared tiles operations and disparity // USED in lwir
-			//					  clt_parameters,
-			//					  scanIndex,     // final int           scanIndex,
-			//					  // only combine and calculate once, next passes keep
-			//					  // remeasure each pass - target disparity is the same, but vector changes
-			//					  0, // bg_scan, // (num_iter >0)? -1: bg_scan,        // final int           bgIndex, // combine, if >=0
-			//					  tp.threadsMax,  // maximal number of threads to launch
-			//					  false, // updateStatus,
-			//					  debugLevelInner -1); // - 1); // -5-1
-			//			  ly = scan.getLazyEyeData();
-			//			  ea.showInput(
-			//					  ly, // double[][] data,
-			//					  "drv_par"+npar+"-B");// String title);
-			//			  if (debugLevel > -3) {
-			//				  System.out.println(ea.stringWeightedLY(
-			//						  ly,                    // double [][] data,
-			//						  null,                  // double [][] ref_data,
-			//						  min_strength,          // double min_strength,
-			//						  pfmt,                  // int [] format,
-			//		                  "_"+titles[npar]));    // String suffix))
-			//			  }
 
 			for (int nly = 0; nly < ly_diff2.length; nly++) if (ly_diff2[nly] != null ) {
 				for (int cluster = 0; cluster < clusters; cluster++) if ((ly_initial2[nly][cluster] != null) && (ly2[nly][cluster]!=null)){
@@ -1422,7 +1584,7 @@ public class MultisceneLY {
 							ly_initial2[nly],            // double [][] ref_data,
 							min_strength,          // double min_strength,
 							pfmt,                  // int [] format,
-							"_d"+titles[npar]+"-"+sinf_noinf[nly]));    // String suffix))
+							"_d"+titles[npar]+"-"+SINF_NOINF[nly]));    // String suffix))
 					
 					if (debug_img) {
 						// check nd bug
@@ -1445,7 +1607,7 @@ public class MultisceneLY {
 								clustersX,
 								clustersY,
 								true,
-								"ND_test_npar-_"+npar+"-"+sinf_noinf[nly],
+								"ND_test_npar-_"+npar+"-"+SINF_NOINF[nly],
 								sens_titles);
 					}
 				}
@@ -1470,7 +1632,7 @@ public class MultisceneLY {
 						if (mode == 0) {
 							dbg_img2[nly][par][pix] = -ly_diff2[nly][par][indx][cluster];
 						} else {
-							dbg_img2[nly][par][pix] = ly_diff2[nly][par][indx][cluster];
+							dbg_img2[nly][par][pix] =  ly_diff2[nly][par][indx][cluster];
 						}
 					}
 				}
@@ -1482,7 +1644,7 @@ public class MultisceneLY {
 					width,
 					height,
 					true,
-					"dLY_dpar_"+delta+"DINV"+(update_disparity?"U":"")+"-"+sinf_noinf[nly],
+					"dLY_dpar_"+delta+"DINV"+(update_disparity?"U":"")+"-"+SINF_NOINF[nly],
 					titles);
 		}
 		dbg_img2 = new double [ly_diff2.length][num_pars][width*height];
@@ -1511,7 +1673,7 @@ public class MultisceneLY {
 					width,
 					height,
 					true,
-					"dLY_dpar_"+delta+"DINV"+(update_disparity?"U":"")+"-XY"+"-"+sinf_noinf[nly],
+					"dLY_dpar_"+delta+"DINV"+(update_disparity?"U":"")+"-XY"+"-"+SINF_NOINF[nly],
 					titles);
 		}
 		return;

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

@@ -11103,7 +11103,8 @@ if (debugLevel > -100) return true; // temporarily !
 	
 	public void adjustLYSeries(
 			QuadCLT                                              quadCLT_main, // tiles should be set
-			CLTParameters             clt_parameters,
+			CLTParameters                                        clt_parameters,
+			MultisceneLY.MSLY_MODE                               adjust_mode,
 			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 			ColorProcParameters                                  colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
@@ -11139,7 +11140,7 @@ if (debugLevel > -100) return true; // temporarily !
 			// temporarily fix wrong sign:
 			ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
 			if (reset_from_extrinsics) { // extrinsics vector "IMU" parameters
- 				System.out.println("Reset ERS parameters from intraframe extrinsics");
+				System.out.println("Reset ERS parameters from intraframe extrinsics");
 				ers.setupERSfromExtrinsics();
 			}
 			quadCLTs[i].setDSRBG(
@@ -11148,41 +11149,42 @@ if (debugLevel > -100) return true; // temporarily !
 					updateStatus,   // boolean        updateStatus,
 					debugLevel);    // int            debugLevel)
 		}
-		boolean proc_infinity = true; 
+		boolean proc_infinity = (adjust_mode == MultisceneLY.MSLY_MODE.INF_ONLY) || (adjust_mode == MultisceneLY.MSLY_MODE.INF_NOINF); //  true; 
 		boolean lma_only = true; // use clt_parameters
 		double        dbg_disparity_offset = 0.0; // 0.1
+		
 		double        inf_disp_ref =   0.0;
 
 		int last_scene_index = quadCLTs.length-1;
 		QuadCLT last_scene = quadCLTs[last_scene_index];
-        String composite_suffix =    "-INTER-INTRA-LMA";
-        String num_corr_max_suffix = "-NUM-CORR-MAX";
-        int [] wh = new int[2];
-        double [][] composite_ds = last_scene.readDoubleArrayFromModelDirectory(
-        		composite_suffix, // String      suffix,
-    			0,                // int         num_slices, // (0 - all)
-    			wh);              // int []      wh)
+		String composite_suffix =    "-INTER-INTRA-LMA";
+		String num_corr_max_suffix = "-NUM-CORR-MAX";
+		int [] wh = new int[2];
+		double [][] composite_ds = last_scene.readDoubleArrayFromModelDirectory(
+				composite_suffix, // String      suffix,
+				0,                // int         num_slices, // (0 - all)
+				wh);              // int []      wh)
 		// composite_ds == null if no file
-		
+
 		MultisceneLY multisceneLY = new MultisceneLY (
 				quadCLTs[0].getNumSensors(),
 				threadsMax,                                // int            threadsMax,  // maximal number of threads to launch
 				updateStatus);                             // boolean        updateStatus);
-	    // read interscene composite data
+		// read interscene composite data
 		boolean [][] is_scene_infinity = null; // per scene, per tile - is infinity.
 
-		
+
 
 		int tilesX = last_scene.tp.getTilesX();
 		int tilesY = last_scene.tp.getTilesY();
 		int clustersX = (int) Math.ceil(1.0 * tilesX / clt_parameters.lyms_clust_size);
 		int clustersY = (int) Math.ceil(1.0 * tilesY / clt_parameters.lyms_clust_size);
 		int clusters = clustersX * clustersY;
-//		int []     num_tiles =    new int [clusters]; // may be null;; // null;
-//		boolean [] inf_cluster  = new boolean [clusters]; // null;		
-		
+		//		int []     num_tiles =    new int [clusters]; // may be null;; // null;
+		//		boolean [] inf_cluster  = new boolean [clusters]; // null;		
+
 		boolean       debug      = debugLevel > -2; 
-		
+
 		if (proc_infinity) {
 			double [] inf_avg = new double[1];
 			boolean [] ref_inf = MultisceneLY.getComboInfinity(
@@ -11197,13 +11199,13 @@ if (debugLevel > -100) return true; // temporarily !
 					clt_parameters.lyms_min_fg_str,     // double        min_fg_str,
 					inf_avg,        // double []     inf_avg,
 					debug);         // boolean       debug)
-			
+
 			is_scene_infinity =  MultisceneLY.infinityPerScene(
-		            quadCLTs,    // QuadCLT [] scenes,
-		            inf_avg[0],  // double     inf_disp_ref, // average disparity at infinity for ref scene
-		            ref_inf,     // boolean [] infinity_ref,
-		            debug,       // boolean    debug,
-		            threadsMax); // int        threadsMax)
+					quadCLTs,    // QuadCLT [] scenes,
+					inf_avg[0],  // double     inf_disp_ref, // average disparity at infinity for ref scene
+					ref_inf,     // boolean [] infinity_ref,
+					debug,       // boolean    debug,
+					threadsMax); // int        threadsMax)
 			inf_disp_ref = inf_avg[0];
 		}
 		// Read or generate+save number of correlation maximums per scene, per tile
@@ -11211,8 +11213,8 @@ if (debugLevel > -100) return true; // temporarily !
 		int [][] numCorrMax = new int [quadCLTs.length][]; // -> 
 		double [][] dNumCorrMax =last_scene.readDoubleArrayFromModelDirectory(
 				num_corr_max_suffix, // String      suffix,
-    			0,                // int         num_slices, // (0 - all)
-    			wh);              // int []      wh)
+				0,                // int         num_slices, // (0 - all)
+				wh);              // int []      wh)
 		if ((dNumCorrMax != null) && (dNumCorrMax.length == numCorrMax.length)) {
 			for (int nscene = 0; nscene < numCorrMax.length; nscene++) {
 				numCorrMax[nscene] = new int[dNumCorrMax[nscene].length];
@@ -11235,7 +11237,7 @@ if (debugLevel > -100) return true; // temporarily !
 					dNumCorrMax[nscene][i] = numCorrMax[nscene][i];
 				}
 			}
-			
+
 			last_scene.saveDoubleArrayInModelDirectory( // error
 					num_corr_max_suffix,           // String      suffix,
 					null, // null,          // String []   labels, // or null
@@ -11248,46 +11250,197 @@ if (debugLevel > -100) return true; // temporarily !
 		for (int nscene = 0; nscene < numCorrMax.length; nscene++) {
 			for (int nTile = 0; nTile < numCorrMax[nscene].length; nTile++) {
 				valid_tile[nscene][nTile] = numCorrMax[nscene][nTile] == 1; // only single-maximum
+				if (clt_parameters.lyms_margin > 0) {
+					int tileX = nTile % tilesX;
+					int tileY = nTile / tilesX;
+					if (    (tileY < clt_parameters.lyms_margin) ||
+							(tileX < clt_parameters.lyms_margin) ||
+							(tileY >= (tilesY - clt_parameters.lyms_margin)) ||
+							(tileX >= (tilesX - clt_parameters.lyms_margin))) {
+						valid_tile[nscene][nTile] = false;	
+					}
+				}
 			}
 		}
 
-		
 		int [][] num_tiles2 = new int[2][];
 		double [][][] target_disparities = new double [2][][]; 
-		double [][][] lazy_eye_data = 	MultisceneLY.getLYDataInfNoinf(
-				clt_parameters,       // final CLTParameters  clt_parameters,
-				quadCLTs,             // final QuadCLT []     scenes,            // ordered by increasing timestamps
-				valid_tile,           // final boolean [][]   valid_tile,        // tile with lma and single correlation maximum
-				inf_disp_ref,         // final double         inf_disp_ref,      // average disparity at infinity for ref scene // is_scene_infinity
-				is_scene_infinity,    // final boolean [][]   is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
-				target_disparities,   // final double[][]     target_disparities,
-				dbg_disparity_offset, // final double         dbg_disparity_offset,
-				num_tiles2,           // final int [][]       in_num_tiles,     // null or number of tiles per cluster to multiply strength
-				null,                 // final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
-				threadsMax,           // final int            threadsMax,
-				debugLevel);          // final int            debug_level);
+
+		boolean                 use_tarz = false; // true; //false;
+		double                  delta = 0.001; // 0.01;
+		boolean debug_derivs = false;
+
+		ExtrinsicAdjustment ea = new ExtrinsicAdjustment (
+				last_scene.getErsCorrection(),  // GeometryCorrection gc,
+				clt_parameters.lyms_clust_size, // int         clusterSize,
+				clustersX,                      // int         clustersX,
+				clustersY);                     // int         clustersY)
+		boolean [] force_disparity = new boolean[clusters];
+		boolean apply_extrinsic = (clt_parameters.ly_corr_scale != 0.0);
+//		int max_tries = 5; // organize cycle with comparing results
+		int max_tries =                   clt_parameters.lym_iter; // 25;
+
+		double inf_min = -1.0;
+		double inf_max =  1.0;
+		double [] old_new_rms = new double [2];
+		double min_sym_update =           clt_parameters.getLymChange(last_scene.isAux()); //  4e-6; // stop iterations if no angle changes more than this
+		double comp_diff = min_sym_update + 1; // (> min_sym_update)
 		
-	    boolean                 use_tarz = false; // true; //false;
-	    double                  delta = 0.001; // 0.01;
-	    
-		MultisceneLY.debugLYDerivatives(
-				clt_parameters, // final CLTParameters     clt_parameters,
-				quadCLTs,             // final QuadCLT []        scenes,            // ordered by increasing timestamps
-				lazy_eye_data,        // double [][][]           lazy_eye_data2, // inf, no_inf
-				valid_tile,           // final boolean [][]      valid_tile,        // tile with lma and single correlation maximum
-				inf_disp_ref,         // final double            inf_disp_ref,      // average disparity at infinity for ref scene // is_scene_infinity
-				is_scene_infinity,    //final boolean [][]      is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
-				false,                // boolean                 update_disparity, // re-measure disparity before measuring LY
-				threadsMax,           // final int               threadsMax,  // maximal number of threads to launch
-				true,                 // final boolean           updateStatus,
-				delta,                // double                  delta,
-				use_tarz,             // boolean                 use_tarz,  // derivatives by tarz, not symmetrical vectors
-				debugLevel); // final int               debugLevel);
-		if (debugLevel > -200) {
-			return;
+		double []     disparity_offset = new double [clusters]; // 0.1
+		if (dbg_disparity_offset != 0.0) {
+			Arrays.fill(disparity_offset, dbg_disparity_offset);
 		}
+		int            nrefine = 4;
 		
+		for (int num_iter = 0; num_iter < max_tries; num_iter++){
+			// (re-)measure LY here, update all scenes? or just accumulater difference?
+			double [][][] lazy_eye_data2 = 	MultisceneLY.getLYDataInfNoinf(
+					clt_parameters,       // final CLTParameters  clt_parameters,
+					quadCLTs,             // final QuadCLT []     scenes,            // ordered by increasing timestamps
+					valid_tile,           // final boolean [][]   valid_tile,        // tile with lma and single correlation maximum
+					inf_disp_ref,         // final double         inf_disp_ref,      // average disparity at infinity for ref scene // is_scene_infinity
+					is_scene_infinity,    // final boolean [][]   is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
+					target_disparities,   // final double[][]     target_disparities,
+					dbg_disparity_offset, // final double         dbg_disparity_offset,
+					num_tiles2,           // final int [][]       in_num_tiles,     // null or number of tiles per cluster to multiply strength
+					null,                 // final CorrVector     corr_vector_delta, // null or extrinsic vector offset, applied to all scenes
+					nrefine,              // final int            nrefine,           // number of disparity refines for non-inf
+					threadsMax,           // final int            threadsMax,
+					debugLevel);          // final int            debug_level);
+			if (debug_derivs && (num_iter == 0)) { // only once if any
+				MultisceneLY.debugLYDerivatives(
+						clt_parameters, // final CLTParameters     clt_parameters,
+						quadCLTs,             // final QuadCLT []        scenes,            // ordered by increasing timestamps
+						lazy_eye_data2,        // double [][][]           lazy_eye_data2, // inf, no_inf
+						valid_tile,           // final boolean [][]      valid_tile,        // tile with lma and single correlation maximum
+						inf_disp_ref,         // final double            inf_disp_ref,      // average disparity at infinity for ref scene // is_scene_infinity
+						is_scene_infinity,    //final boolean [][]      is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
+						false,                // boolean                 update_disparity, // re-measure disparity before measuring LY
+						threadsMax,           // final int               threadsMax,  // maximal number of threads to launch
+						true,                 // final boolean           updateStatus,
+						delta,                // double                  delta,
+						use_tarz,             // boolean                 use_tarz,  // derivatives by tarz, not symmetrical vectors
+						debugLevel); // final int               debugLevel);
+			}
+			for (int nly = 0; nly < lazy_eye_data2.length; nly++) if (lazy_eye_data2[nly] != null ) {
+				ea.showInput(
+						lazy_eye_data2[nly], // double[][] data,
+						"drv_reference-"+MultisceneLY.SINF_NOINF[nly]);// String title);
+			}
+			double [][]  lazy_eye_data = MultisceneLY.mergeLY(
+					adjust_mode,         // MSLY_MODE      adjust_mode,	
+					lazy_eye_data2,      // double [][][]  lazy_eye_data2,
+					force_disparity);    // boolean []     force_disparity // null or [clusters]
+			ea.setForceDisparity(force_disparity);
+			ea.showInput(
+					lazy_eye_data, // double[][] data,
+					"ly_combo-"+lazy_eye_data.toString());// String title);
+			CorrVector corr_vector =   ea.solveCorr (
+					clt_parameters.ly_marg_fract, 	  // double      marg_fract,        // part of half-width, and half-height to reduce weights
+					clt_parameters.ly_inf_en,           // boolean     use_disparity,     // adjust disparity-related extrinsics
+					// 1.0 - to skip filtering infinity
+					inf_min, //double      inf_min_disparity, // minimal disparity for infinity 
+					inf_max, // double      inf_max_disparity, // minimal disparity for infinity
+					clt_parameters.ly_inf_min_broad, // inf_min_disp_abs,  // minimal disparity for infinity (absolute) 
+					clt_parameters.ly_inf_max_broad, // maximal disparity for infinity (absolute)
+					clt_parameters.ly_inf_tilt,      //   boolean     en_infinity_tilt,  // select infinity tiles form right/left tilted (false - from average)  
+					clt_parameters.ly_right_left,    //   boolean     infinity_right_left, // balance weights between right and left halves of infinity
+
+					clt_parameters.ly_aztilt_en,        // boolean     use_aztilts,       // Adjust azimuths and tilts excluding disparity
+					clt_parameters.ly_diff_roll_en,     // boolean     use_diff_rolls,    // Adjust differential rolls (3 of 4 angles)
+					//					  clt_parameters.ly_inf_force,        // boolean     force_convergence, // if true try to adjust convergence (disparity, symmetrical parameter 0) even with no disparity
+					clt_parameters.ly_min_forced,       // int         min_num_forced,    // minimal number of clusters with forced disparity to use it
+					// data, using just radial distortions
+					clt_parameters.ly_com_roll,         // boolean     common_roll,       // Enable common roll (valid for high disparity range only)
+					clt_parameters.ly_focalLength ,     // boolean     corr_focalLength,  // Correct scales (focal length temperature? variations)
+					clt_parameters.ly_ers_rot,          // boolean     ers_rot,           // Enable ERS correction of the camera rotation
+					clt_parameters.ly_ers_forw,         // boolean     ers_forw,          // Enable ERS correction of the camera linear movement in z direction
+					clt_parameters.ly_ers_side,         // boolean     ers_side,          // Enable ERS correction of the camera linear movement in x direction
+					clt_parameters.ly_ers_vert,         // boolean     ers_vert,          // Enable ERS correction of the camera linear movement in y direction
+					// add balancing-related here?
+					clt_parameters.ly_par_sel,          // 	int         manual_par_sel,    // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
+					clt_parameters.ly_weight_infinity,     //0.3, // double      weight_infinity,     // 0.3, total weight of infinity tiles fraction (0.0 - 1.0) 
+					clt_parameters.ly_weight_disparity,    //0.0, // double      weight_disparity,    // 0.0 disparity weight relative to the sum of 8 lazy eye values of the same tile 
+					clt_parameters.ly_weight_disparity_inf,//0.5, // double      weight_disparity_inf,// 0.5 disparity weight relative to the sum of 8 lazy eye values of the same tile for infinity 
+					clt_parameters.ly_max_disparity_far,   //5.0, // double      max_disparity_far,   // 5.0 reduce weights of near tiles proportional to sqrt(max_disparity_far/disparity) 
+					clt_parameters.ly_max_disparity_use,   //5.0, // double      max_disparity_use,   // 5.0 (default 1000)disable near objects completely - use to avoid ERS
+					0.0, // clt_parameters.ly_inf_min_dfe,         //1.75,// double      min_dfe, // = 1.75;
+					0.0, // clt_parameters.ly_inf_max_dfe,         //5.0, // double      max_dfe, // = 5.0; // <=0 - disable feature
+
+					// moving objects filtering
+					false, // clt_parameters.ly_moving_en,  // 	boolean     moving_en,         // enable filtering areas with potentially moving objects 
+					clt_parameters.ly_moving_apply,  // 	boolean     moving_apply,      // apply filtering areas with potentially moving objects 
+					clt_parameters.ly_moving_sigma,   // 	double      moving_sigma,      // blurring sigma for moving objects = 1.0;
+					clt_parameters.ly_max_mov_disparity,  //		double      max_mov_disparity, // disparity limit for moving objects detection = 75.0;
+					clt_parameters.ly_rad_to_hdiag_mov,   // 	double      rad_to_hdiag_mov,  // radius to half-diagonal ratio to remove high-distortion corners = 0.7 ; // 0.8
+					clt_parameters.ly_max_mov_average,   //		double      max_mov_average,   // do not attempt to detect moving objects if ERS is not accurate for terrain = .25;
+					clt_parameters.ly_mov_min_L2,  // 	double      mov_min_L2,        // threshold for moving objects = 0.75;
+					lazy_eye_data, // scan.getLazyEyeData(),              // dsxy, // double [][] measured_dsxy,
+					force_disparity, // scan.getLazyEyeForceDisparity(),    // null, //	boolean [] force_disparity,    // boolean [] force_disparity,
+					false, // 	boolean     use_main, // corr_rots_aux != null;
+					last_scene.getGeometryCorrection().getCorrVector(), // CorrVector corr_vector,
+					old_new_rms, // double [] old_new_rms, // should be double[2]
+					debugLevel); //  + 5);// int debugLevel) >=2 to show images
+			if (debugLevel > -2){
+				System.out.println("Old extrinsic corrections:");
+				System.out.println(last_scene.getGeometryCorrection().getCorrVector().toString());
+			}
+			if (corr_vector != null) {
+				CorrVector diff_corr = corr_vector.diffFromVector(last_scene.getGeometryCorrection().getCorrVector());
+				comp_diff = diff_corr.getNorm(); // apply this to all scenes
+				if (debugLevel > -2){
+					System.out.println("New extrinsic corrections:");
+					System.out.println(corr_vector.toString());
+				}
+				if (debugLevel > -3){
+					System.out.println("Increment extrinsic corrections:");
+					System.out.println(diff_corr.toString());
+				}
+				last_scene.gpuResetCorrVector(); // next time GPU will need to set correction vector (and re-calculate offsets?)
+				if (apply_extrinsic){
+					// Apply correction to all scenes (adding, as ERS can be different)
+					// will need to update all scenes GC (write back to disk), but only after all are done
+					for (int i = 0; i < quadCLTs.length; i++) {
+						QuadCLT scene = quadCLTs[i];
+						CorrVector scene_vector = scene.getGeometryCorrection().getCorrVector();
+						scene_vector.incrementVector(diff_corr, 1.0); // no scale here
+						scene.getGeometryCorrection().setCorrVector(scene_vector);
+					}					
+					System.out.println("Extrinsic correction updated (can be disabled by setting clt_parameters.ly_corr_scale = 0.0) ");
+				} else {
+					System.out.println("Correction is not applied according clt_parameters.ly_corr_scale == 0.0) ");
+				}
+			} else {
+				if (debugLevel > -3){
+					System.out.println("LMA failed"); // What now?
+				}
+			}
+			boolean done = (comp_diff < min_sym_update) || (num_iter == (max_tries - 1));
+			//				  System.out.println("done="+done);
+			if (debugLevel > -10) { // should work even in batch mode
+				System.out.println("#### extrinsicsCLT(): iteration step = "+(num_iter + 1) + " ( of "+max_tries+") change = "+
+						comp_diff + " ("+min_sym_update+"), previous RMS = " + old_new_rms[0]+
+						" final RMS = " + old_new_rms[1]+ " (debugLevel = "+debugLevel+")");
+			}
+			if (debugLevel > -10) {
+				if ((debugLevel > -3) || done) {
+					System.out.println("New extrinsic corrections:");
+					System.out.println(last_scene.getGeometryCorrection().getCorrVector().toString());
+				}
+			}
+			if (comp_diff < min_sym_update) {
+				break;
+			}
+			inf_disp_ref = 0.0; // after first adjustment set infinity to 0.0
+		}
+// Now update correction vector for all scenes to disk - how was it read?
+// update 		
 		
+		if (debugLevel > -200) {
+			return;
+		}
+
+
 		// debug images
 		if (debugLevel > -2) {
 			double [][] dbg_numCorrMax = new double[numCorrMax.length][];
@@ -11319,49 +11472,22 @@ if (debugLevel > -100) return true; // temporarily !
 					new String[] {"inf tiles", "noinf tiles"});
 
 		}
-			if (lazy_eye_data != null) {
-				multisceneLY.processLYdata(
-						clt_parameters,     // final CLTParameters  clt_parameters,
-						quadCLTs,           // final QuadCLT []     scenes,        // ordered by increasing timestamps
-						lazy_eye_data,      // final double [][][]  lazy_eye_data,
-						debugLevel);        // final int            debugLevel 
-				/*
-				ExtrinsicAdjustment ea = new ExtrinsicAdjustment (
-						last_scene.getErsCorrection(),  // GeometryCorrection gc,
-						clt_parameters.lyms_clust_size, // int         clusterSize,
-						clustersX,                      // int         clustersX,
-						clustersY);                     // int         clustersY)
-				double [][][] dbg_cluster = new double [lazy_eye_data.length][ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors())][clustersY * clustersX];
-				for (int m = 0; m < lazy_eye_data.length; m++) {
-					for (int i = 0; i < dbg_cluster.length; i++) {
-						Arrays.fill(dbg_cluster[m][i], Double.NaN);
-					}
-					for (int n = 0; n < lazy_eye_data[m].length; n++) {
-						if (lazy_eye_data[m][n] != null) {
-							for (int i = 0; i < ExtrinsicAdjustment.get_INDX_LENGTH(last_scene.getNumSensors()); i++ ) {
-								dbg_cluster[m][i][n] = lazy_eye_data[m][n][i];
-							}
-						}
-					}
-				}
-				for (int m = 0; m < lazy_eye_data.length; m++) {
-					(new ShowDoubleFloatArrays()).showArrays(
-							dbg_cluster[m],
-							clustersX,
-							clustersY,
-							true,
-							last_scene.getImageName()+"-lazy_eye_data-"+m,
-							ea.data_titles); //  ExtrinsicAdjustment.DATA_TITLES);
-				}
-				*/
-// Testing next step				
-				
-				
-				
-				
-				
-			
+		/* TODO: move all adjustments there?
+		if (lazy_eye_data != null) {
+			multisceneLY.processLYdata( // TODO: move all adjustments there?
+					clt_parameters,     // final CLTParameters  clt_parameters,
+					adjust_mode,        // MSLY_MODE            adjust_mode,	
+					quadCLTs,           // final QuadCLT []     scenes,        // ordered by increasing timestamps
+					lazy_eye_data2,      // final double [][][]  lazy_eye_data,
+					valid_tile,         // final boolean [][]   valid_tile,        // tile with lma and single correlation maximum
+					inf_disp_ref,       // final double         inf_disp_ref,      // average disparity at infinity for ref scene // is_scene_infinity
+					is_scene_infinity,  // final boolean [][]   is_scene_infinity, // may be null, if not - may be infinity from the composite depth map
+					false,              // boolean              update_disparity, // re-measure disparity before measuring LY
+					threadsMax,         // final int            threadsMax,  // maximal number of threads to launch
+					updateStatus,       // final boolean        updateStatus,
+					debugLevel);        // final int            debugLevel)
 		}
+		*/
 		if (debugLevel > -2) {
 			System.out.println("adjustLYSeries() Done");
 		}