Implementing/testing interscene accumulation

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

@@ -2305,7 +2305,11 @@ public class GpuQuad{ // quad camera description
 		final double [] max_py = new double[num_cams] ;
 		for (int i = 0; i < num_cams; i++) {
 			min_py [i] = margin + geometryCorrection.getWOITops()[i];
-			max_py [i] = geometryCorrection.getWOITops()[i] + geometryCorrection.getCameraHeights()[i] - 1 - margin;
+			// camera_heights array is only set during conditionImageSet(), not called by the intersceneAccumulate()
+			// That was correct, as all scenes should be conditioned
+//			max_py [i] = geometryCorrection.getWOITops()[i] + geometryCorrection.getCameraHeights()[i] - 1 - margin;
+			max_py [i] = geometryCorrection.getSensorWH()[1] - 1 - margin;
+			//.getSensorWH()[0]
 		}
 		if (valid_tiles!=null) {
 			Arrays.fill(valid_tiles, false);
@@ -2334,17 +2338,18 @@ public class GpuQuad{ // quad camera description
 						tp_task.task = task_code;
 						double disparity = pXpYD[nTile][2] + disparity_corr;
 						tp_task.target_disparity = (float) disparity; // will it be used?
-						double [][] disp_dist_main = new double[quad_main][]; // used to correct 3D correlations (not yet used here)
+						double [][] disp_dist = new double[quad_main][]; // used to correct 3D correlations (not yet used here)
 						double [][] centersXY_main = geometryCorrection.getPortsCoordinatesAndDerivatives(
 								geometryCorrection, //			GeometryCorrection gc_main,
 								false,          // boolean use_rig_offsets,
 								corr_rots, // Matrix []   rots,
 								null,           //  Matrix [][] deriv_rots,
 								null,           // double [][] pXYderiv, // if not null, should be double[8][]
-								disp_dist_main,       // used to correct 3D correlations
+								disp_dist,       // used to correct 3D correlations
 								pXpYD[nTile][0],
 								pXpYD[nTile][1],
 								disparity); //  + disparity_corr);
+						tp_task.setDispDist(disp_dist);
 						tp_task.xy = new float [centersXY_main.length][2];
 						boolean bad_margins = false;
 						for (int i = 0; i < centersXY_main.length; i++) {

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

@@ -54,6 +54,18 @@ public class TpTask {
 	public float [][] getDispDist(){
 		return disp_dist;
 	}
+	public void setDispDist(float [][] disp_dist){
+		this.disp_dist = disp_dist;
+	}
+	public void setDispDist(double [][] disp_dist){
+		this.disp_dist = new float [disp_dist.length][disp_dist[0].length];
+		for (int i = 0; i < disp_dist.length; i++) {
+			for (int j = 0; j < disp_dist[0].length; j++) {
+				this.disp_dist[i][j] = (float) disp_dist[i][j];		
+			}
+		}
+	}
+
 	public double [][] getDoubleDispDist(){
 		if (disp_dist == null) { // can it happen?
 			return null;
@@ -66,10 +78,11 @@ public class TpTask {
 		}
 		return ddisp_dist;
 	}
-	
+	@Deprecated
 	public float [][] getXY(boolean use_aux){
 		return use_aux? xy_aux : xy;
 	}
+	@Deprecated
 	public double [][] getDoubleXY(boolean use_aux){
 		float [][] fXY = getXY(use_aux);
 		if (fXY == null) {
@@ -83,6 +96,23 @@ public class TpTask {
 		}
 		return dXY;
 	}
+
+	public float [][] getXY(){
+		return  xy;
+	}
+	public double [][] getDoubleXY(){
+		float [][] fXY = getXY();
+		if (fXY == null) {
+			return null;
+		}
+		double [][] dXY = new double [fXY.length][fXY[0].length];
+		for (int nsens = 0; nsens < fXY.length; nsens++) {
+			for (int i = 0; i < fXY[nsens].length; i++) {
+				dXY[nsens][i] = fXY[nsens][i]; 
+			}
+		}
+		return dXY;
+	}
 	
 	
 	

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

@@ -2024,7 +2024,7 @@ public class Corr2dLMA {
 			double      lambda,
 			double [][] jt){
 		int num_pars = jt.length;
-		int nup_points = jt[0].length;
+		int nup_points = (num_pars > 0)? jt[0].length : 0;
 		double [][] wjtjl = new double [num_pars][num_pars];
 		for (int i = 0; i < num_pars; i++) {
 			for (int j = i; j < num_pars; j++) {

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

@@ -274,6 +274,10 @@ public class Correlation2d {
     	return pair_start_end.length;
     }
     
+    public static int getNumPairs(int numSensors) {
+     return  numSensors * (numSensors-1) /2;
+    }
+    
     public void setCorrPairs(boolean [] sel) { // these pairs will be correlated
     	corr_pairs = sel.clone();
     }
@@ -782,7 +786,7 @@ public class Correlation2d {
 				true,                            // boolean normalize,
 				true,                            // boolean notch,
 				wndx_scale);                     // double  scale);
-    	int num_pairs = numSensors * (numSensors-1) /2;
+    	int num_pairs = getNumPairs(numSensors);//  numSensors * (numSensors-1) /2;
     	pair_start_end = new int [num_pairs][2];
     	pair_orient =    new int [num_pairs][num_pairs];
     	pair_length =    new int [num_pairs];

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

@@ -371,7 +371,7 @@ public class ErsCorrection extends GeometryCorrection {
 	public void addScene(String timestamp, double [] xyz, double [] atr, double [] ers_xyz_dt, double [] ers_atr_dt) {
 		scenes_poses.put(timestamp, new XyzAtr(xyz, atr, ers_xyz_dt, ers_atr_dt));
 	}
-	
+	//not used
 	public void addScene(String timestamp, double [] xyz, double [] atr, double [] ers_xyz_dt, double [] ers_atr_dt, double [] ers_xyz_d2t, double [] ers_atr_d2t) {
 		scenes_poses.put(timestamp, new XyzAtr(xyz, atr, ers_xyz_dt, ers_atr_dt, ers_xyz_d2t, ers_atr_d2t));
 	}

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

@@ -336,7 +336,7 @@ public class ImageDtt extends ImageDttCPU {
 								fdisp_dist[task.getTileY()][task.getTileX()] = task.getDispDist();
 							}
 							if (fpxpy != null) {
-								fpxpy[task.getTileY()][task.getTileX()] = task.getXY(use_main); // boolean use_aux);
+								fpxpy[task.getTileY()][task.getTileX()] = task.getXY(); // use_main); // boolean use_aux);
 							}
 						} // end of tile
 					}
@@ -1171,7 +1171,7 @@ public class ImageDtt extends ImageDttCPU {
 								fdisp_dist[task.getTileY()][task.getTileX()] = task.getDispDist();
 							}
 							if (fpxpy != null) {
-								fpxpy[task.getTileY()][task.getTileX()] = task.getXY(use_main); // boolean use_aux);
+								fpxpy[task.getTileY()][task.getTileX()] = task.getXY(); // use_main); // boolean use_aux);
 							}
 						} // end of tile
 					}
@@ -1193,7 +1193,7 @@ public class ImageDtt extends ImageDttCPU {
 						for (int indx_tile = ai.getAndIncrement(); indx_tile < tp_tasks_full.length; indx_tile = ai.getAndIncrement()) {
 							TpTask task = tp_tasks_full[indx_tile];
 							if (fpxpy != null) {
-								fpxpy_test[task.getTileY()][task.getTileX()] = task.getXY(use_main); // boolean use_aux);
+								fpxpy_test[task.getTileY()][task.getTileX()] = task.getXY(); // use_main); // boolean use_aux);
 							}
 						} // end of tile
 					}

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

@@ -28,6 +28,7 @@ import java.util.Properties;
 import com.elphel.imagej.common.GenericJTabbedDialog;
 
 public class OpticalFlowParameters {
+    public double      scale_no_lma_disparity = 1.0; // multiply strength were disparity_lma = NaN; 
 	public double      k_prev = 0.75;
 	public double      ers_to_pose_scale = 0.75;
 	public double      tolerance_absolute_ref = 0.25; // absolute disparity half-range in each tile
@@ -75,6 +76,8 @@ public class OpticalFlowParameters {
 	public boolean     enable_debug_images =  true;
 	
 	public void dialogQuestions(GenericJTabbedDialog gd) {
+		gd.addNumericField("Scale strength for the tiles with no LMA disparity",              this.scale_no_lma_disparity,3,6,"",
+				"Reduce strength (but kip less reliable CM-measured disparity for the tiles with no disparity measured with LMA");
 		gd.addMessage("Intraframe ERS to pose");
 		gd.addNumericField("Previous (in time) frame weight (0.75)",                          this.k_prev,             3,6,"",
 				"Earlier frame ERS was sampled closer to interframe");
@@ -165,6 +168,7 @@ public class OpticalFlowParameters {
 	}	
 	
 	public void dialogAnswers(GenericJTabbedDialog gd) {
+		this.scale_no_lma_disparity =       gd.getNextNumber();
 		this.k_prev =                       gd.getNextNumber();
 		this.ers_to_pose_scale =            gd.getNextNumber();
 		this.tolerance_absolute_ref =       gd.getNextNumber();
@@ -209,6 +213,7 @@ public class OpticalFlowParameters {
 	}	
 	
 	public void setProperties(String prefix,Properties properties){
+		properties.setProperty(prefix+"scale_no_lma_disparity",   this.scale_no_lma_disparity+"");
 		properties.setProperty(prefix+"k_prev",                   this.k_prev+"");
 		properties.setProperty(prefix+"ers_to_pose_scale",        this.ers_to_pose_scale+"");
 		properties.setProperty(prefix+"tolerance_absolute_ref",   this.tolerance_absolute_ref+"");
@@ -250,6 +255,7 @@ public class OpticalFlowParameters {
 	}	
 	
 	public void getProperties(String prefix,Properties properties){
+		if (properties.getProperty(prefix+"scale_no_lma_disparity")!=null)   this.scale_no_lma_disparity=Double.parseDouble(properties.getProperty(prefix+"scale_no_lma_disparity"));
 		if (properties.getProperty(prefix+"k_prev")!=null)                   this.k_prev=Double.parseDouble(properties.getProperty(prefix+"k_prev"));
 		if (properties.getProperty(prefix+"ers_to_pose_scale")!=null)        this.ers_to_pose_scale=Double.parseDouble(properties.getProperty(prefix+"ers_to_pose_scale"));
 		if (properties.getProperty(prefix+"tolerance_absolute_ref")!=null)   this.tolerance_absolute_ref=Double.parseDouble(properties.getProperty(prefix+"tolerance_absolute_ref"));
@@ -294,6 +300,7 @@ public class OpticalFlowParameters {
 	@Override
 	public OpticalFlowParameters clone() throws CloneNotSupportedException {
 		OpticalFlowParameters ofp =     new OpticalFlowParameters();
+		ofp.scale_no_lma_disparity =        this.scale_no_lma_disparity;
 		ofp.k_prev =                        this.k_prev;
 		ofp.ers_to_pose_scale =             this.ers_to_pose_scale;
 		ofp.tolerance_absolute_ref =        this.tolerance_absolute_ref;

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

@@ -3491,7 +3491,7 @@ public class QuadCLT extends QuadCLTCPU {
 		  double [][] ports_xy = new double [tilesY*tilesX][];
 		  TpTask [] tp_tasks = gpuQuad.getTasks(use_aux); // use_aux);
 		  for (TpTask tp_task:tp_tasks) {
-			  float [][] txy =  tp_task.getXY(use_aux);
+			  float [][] txy =  tp_task.getXY(); // use_aux);
 			  double [] tile_ports_xy = new double [txy.length * txy[0].length];
 			  int indx = 0;
 			  for (int i = 0; i < txy.length; i++) {
@@ -3616,6 +3616,7 @@ public class QuadCLT extends QuadCLTCPU {
 		  return disparity_map;
 	  }
 	  
+	  @Deprecated
 	  public double [][] CLTCorrDisparityMapCPUTasks(
 			  String            suffix,
 			  CLTParameters     clt_parameters,

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

@@ -314,7 +314,7 @@ public class QuadCLTCPU {
 			System.out.println ("Failed to open "+file_path);
 			return -1;
 		}
-		System.out.println("restoreDSI(): got "+imp.getStackSize()+" slices");
+		System.out.println("restoreDSI(): got "+imp.getStackSize()+" slices from file: "+file_path);
 		if (imp.getStackSize() < 2) {
 			System.out.println ("Failed to read "+file_path);
 			return -1;
@@ -359,7 +359,9 @@ public class QuadCLTCPU {
 			  path = x3d_path+Prefs.getFileSeparator()+path;
 		}
 		Properties	inter_properties = new Properties();
-		setProperties(QuadCLT.PREFIX,inter_properties);
+		String prefix = is_aux?PREFIX_AUX:PREFIX; 
+//		setProperties(QuadCLT.PREFIX,inter_properties); 
+		setProperties(prefix,inter_properties); 
 //		quadCLT_aux.setProperties(QuadCLT.PREFIX_AUX,properties);
 		OutputStream os;
 		try {
@@ -433,6 +435,7 @@ public class QuadCLTCPU {
 		ers.getPropertiesERS(prefix,    properties);
 		ers.getPropertiesScenes(prefix, properties);
 		ers.getPropertiesLineTime(prefix, properties); // will set old value if not in the file
+		System.out.println("Restored interframe properties from :"+path);
 		return properties;
 		
 	}
@@ -443,8 +446,10 @@ public class QuadCLTCPU {
     }
     public String [] getDSRGGTiltes() {
 		return isMonochrome()?
-				(new String[]{"disparity","strength", "disparity_lma","Y"}):
-					(new String[]{"disparity","strength", "disparity_lma","R","B","G"});
+//				(new String[]{"disparity","strength", "disparity_lma","Y"}):
+//					(new String[]{"disparity","strength", "disparity_lma","R","B","G"});
+		(new String[]{"disparity","strength", "Y"}):
+			(new String[]{"disparity","strength", "R","B","G"});
     }
 
     public void setDSRBG(
@@ -471,6 +476,17 @@ public class QuadCLTCPU {
 			boolean        updateStatus,
 			int            debugLevel)
     {
+    	double snld =  clt_parameters.ofp.scale_no_lma_disparity;
+    	if ((snld != 1.0) && (disparity_lma != null)) {
+        	strength = strength.clone();
+        	for (int i = 0; i < strength.length; i++) {
+        		if (Double.isNaN(disparity_lma[i])) {
+        			strength[i] *= snld;
+        		}
+        	}
+    		
+    	}
+    	
     	double[][] rbg = getTileRBG(
     			clt_parameters,
     			disparity,
@@ -483,13 +499,13 @@ public class QuadCLTCPU {
     		this.dsrbg = new double[][] {
     			disparity,
     			strength,
-    			disparity_lma,
+//    			disparity_lma,
     			rbg[2]};
     	} else {
     		this.dsrbg = new double[][] {
     			disparity,
     			strength,
-    			disparity_lma,
+//    			disparity_lma,
     			rbg[0],rbg[1],rbg[2]};
     	}
 		if (debugLevel > 1) { // -2) {
@@ -943,15 +959,22 @@ public class QuadCLTCPU {
 				0);       // int                   jpegQuality)
 	}
 	public void showDSIMain() {
-		showDSIMain(this.dsi);
+		showDSIMain(
+				this.dsi,
+				isAux());
 	}
 	
 	public void showDSIMain(
-			double [][] dsi)
+			double [][] dsi,
+			boolean use_aux)
 	{
 		  String title = image_name+"-DSI_MAIN";
-		  String []   titles =   {TwoQuadCLT.DSI_SLICES[TwoQuadCLT.DSI_DISPARITY_MAIN], TwoQuadCLT.DSI_SLICES[TwoQuadCLT.DSI_STRENGTH_MAIN]};
-		  double [][] dsi_main = {dsi[TwoQuadCLT.DSI_DISPARITY_MAIN],        dsi[TwoQuadCLT.DSI_STRENGTH_MAIN]};
+		  String []   titles =   {
+				  TwoQuadCLT.DSI_SLICES[use_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
+				  TwoQuadCLT.DSI_SLICES[use_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN]};
+		  double [][] dsi_main = {
+				  dsi[use_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
+				  dsi[use_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN]};
 
 		  (new ShowDoubleFloatArrays()).showArrays(dsi_main,tp.getTilesX(), tp.getTilesY(), true, title, titles);
 	}