Cleaned up pattern matching, implemented re-centering for correlations,

working snapshot

src/main/java/com/elphel/imagej/common/DoubleFHT.java

@@ -293,6 +293,22 @@ public class DoubleFHT {
 		return result;
 	}
 
+	public double [] getFrequencyFilter (
+			double [] data, // just to find out size
+			double highPassSigma,
+			double lowPassSigma
+			) {
+		double [] filter= null;
+		if ((highPassSigma> 0.0) || (lowPassSigma> 0.0)) {
+			updateMaxN(data);
+			createFrequencyFilter(highPassSigma, lowPassSigma); // for repetitive calls will reuse mask
+			filter =this.freqMask;
+		}
+		return filter;
+	}
+	
+	
+	
 	/**
 	 * Invert kernel for deconvolutions. Kernel is assumed to fade near edges
 	 * @param data     source kernel, square, power of 2 sides. Data is destroyed
@@ -314,7 +330,6 @@ public class DoubleFHT {
 			filter =this.freqMask;
 		}
 		return invert (data, fat_zero, filter);
-		
 	}
 	
 	/**
@@ -401,8 +416,6 @@ public class DoubleFHT {
 	}
 
 	public double[] phaseCorrelate(double[] first, double phaseCoeff, double high_pass, double low_pass, // high/low
-																											// pass
-																											// filtering
 		double[] fht_save) { // null-OK
 		updateMaxN(first);
 		double[] filter = null;
@@ -503,7 +516,10 @@ public class DoubleFHT {
 	 * @return phase correlation, first still contains original transformed!
 	 */
 	public double[] phaseCorrelatePattern( // new
-			double[] first, double[] secondFD, double phaseCoeff, double[] filter, // high/low pass filtering
+			double[] first,
+			double[] secondFD,
+			double phaseCoeff,
+			double[] filter, // high/low pass filtering
 			double[] first_save) { // null-OK
 		if (first.length != secondFD.length) {
 			IJ.showMessage("Error", "Correlation arrays should be the same size");
@@ -537,7 +553,9 @@ public class DoubleFHT {
 	 */
 
 	public double[] convolvePattern( // new
-			double[] first, double[] secondFD, double[] filter, // high/low pass filtering
+			double[] first,
+			double[] secondFD,
+			double[] filter, // high/low pass filtering
 			double[] first_save) { // null-OK
 		if (first.length != secondFD.length) {
 			IJ.showMessage("Error", "Correlation arrays should be the same size");
@@ -595,11 +613,16 @@ public class DoubleFHT {
 		return first;
 	}
 
-	public double[] convolve(double[] first, double[] second) {
+	public double[] convolve(
+			double[] first,
+			double[] second) {
 		return convolve(first, second, null);
 	}
 
-	public double[] convolve(double[] first, double[] second, double[] filter) { // high/low pass filtering
+	public double[] convolve(
+			double[] first,
+			double[] second,
+			double[] filter) { // high/low pass filtering
 		// System.out.println("correlate");
 		if (first.length != second.length) {
 			IJ.showMessage("Error", "Correlation arrays should be the same size");

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

@@ -544,13 +544,13 @@ public class ComboMatch {
 			}
 			imp_obj.setRoi(roi);
 			// calculate statistics for cor_ret[i]
-			double [][] stats = new double [object_stack.length][];
+			CorrelationPeakStats [] stats = new CorrelationPeakStats [object_stack.length];
 			double search_rad = 15.0;
 			double frac_max =   0.5;
 			double other_rad = 25;
 			for (int i = 0; i < object_stack.length; i++) {
 				double [] a_cent= {corr_size/2+centers[i][0],corr_size/2+centers[i][1]};
-				stats[i]=ObjectLocation.getMaxLocArea(
+				stats[i]=new CorrelationPeakStats(
 						corr_ret[i], // double [] data, // square data
 						a_cent, // centers[i],  // double [] cent_xy, // if null, use center of the square
 						search_rad,  // double    radius, // search for maximum within this radius
@@ -567,7 +567,8 @@ public class ComboMatch {
 				ObjectLocation ol =  object_list.get(i);
 				System.out.println(String.format("%2d (%4d/%4d): %7.5f %7.3f %7.3f %7.3f %7.3f %7.3f %17s",
 						i, ol.getPixels()[0], ol.getPixels()[1],
-						stats[i][0],stats[i][1],stats[i][2],stats[i][3],stats[i][4]+centers[i][0],stats[i][5]+centers[i][1],
+						stats[i].best_d,stats[i].eff_rad,stats[i].elong,stats[i].dist,
+						stats[i].cent_offs[0]+centers[i][0],stats[i].cent_offs[1]+centers[i][1],
 						ol.getName()));
 			}
 			System.out.println();
@@ -868,7 +869,8 @@ public class ComboMatch {
 					ImagePlus imp_pat_match = maps_collection.patternMatchDualWrap (
 							gpu_pair, // int []        indices, // null or which indices to use (normally just 2 for pairwise comparison)
 							affines,  // double [][][] affines, // null or [indices.length][2][3] 
-							null); // warp);    // FineXYCorr    warp)
+							null, // warp);    // FineXYCorr    warp)
+							null); // double [][]   ground_planes) TODO: add calculation of the ground plane for single images
 					//						imp_pat_match.show();
 				}
         		
@@ -895,11 +897,16 @@ public class ComboMatch {
         			boolean  batch_mode = true; // false; //  true;
         			boolean ignore_prev_rms = true;
         			Rectangle woi = new Rectangle(); // used to return actual woi from correlateOrthoPair()
+        			double [][] ground_planes = null;
         			for (int zi = 0; zi < zooms.length; zi++) {
         				zoom_lev = zooms[zi];
         				if (zoom_lev >=1000) {
         					break;
         				}
+        				boolean show_vf = render_match || pattern_match;
+        				if (render_match || pattern_match) {
+        					ground_planes = new double [gpu_pair.length][];
+        				}
         				// will modify affines[1], later add jtj, weight, smth. else?
         				FineXYCorr warp = maps_collection.correlateOrthoPair(
         						clt_parameters,  // CLTParameters    clt_parameters,
@@ -914,7 +921,8 @@ public class ComboMatch {
         						affines,         // double [][][]    affines, // on top of GPS offsets
         						woi,             // Rectangle        woi,
         						zoom_lev,        // int              zoom_lev,
-
+        						show_vf,         // boolean show_vf,
+        						ground_planes,   // double [][]      ground_planes, // null or double[2] - will return ground planes
         						debugLevel);     // final int        debugLevel)
         				if (warp == null) {
         					System.out.println("Failed correlateOrthoPair()");
@@ -951,7 +959,8 @@ public class ComboMatch {
         					ImagePlus imp_pat_match = maps_collection.patternMatchDualWrap (
         							gpu_pair, // int []        indices, // null or which indices to use (normally just 2 for pairwise comparison)
         							affines,        // double [][][] affines, // null or [indices.length][2][3] 
-        							warp);    // FineXYCorr    warp)
+        							warp,           // FineXYCorr    warp)
+        							ground_planes); // double [][]      ground_planes); // null or
         					//						imp_pat_match.show();
         				}
         				if (render_match) {

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

+package com.elphel.imagej.orthomosaic;
+
+import java.util.Arrays;
+
+import com.elphel.imagej.tileprocessor.TileNeibs;
+
+import Jama.EigenvalueDecomposition;
+import Jama.Matrix;
+
+public class CorrelationPeakStats {
+	public double best_d;
+	public double eff_rad;
+	public double elong;
+	public double dist;
+	public double [] cent_offs;
+	public double max_other;
+	public CorrelationPeakStats(
+			double [] data, // square data
+			double [] cent_xy, // if null, use center of the square
+			double    radius, // search for maximum within this radius
+			double    frac_max,
+			double    other_radius,
+			int       debugLevel) {
+		double [] stats = getStatsNaN(
+				data,        // square data
+				cent_xy,     // if null, use center of the square
+				radius,      // search for maximum within this radius
+				frac_max,
+				other_radius,
+				debugLevel);
+		best_d =  stats[0];
+		eff_rad = stats[1];
+		elong =   stats[2];
+		dist =    stats[3];
+		cent_offs = new double [] {stats[4], stats[5]};
+		max_other = stats[6];
+	}
+	
+	int [] getIntOffset() {
+		return new int[] {(int) Math.round(cent_offs[0]), (int) Math.round(cent_offs[1])};
+	}
+	/**
+	 * Search for maximum within specified radius from the center or specified offset from the center
+	 * @param data square data
+	 * @param cent_xy offset from the square center to search
+	 * @param radius search for maximum within this radius
+	 * @param frac_max fraction of maximum to measure area
+	 * @param other_radius measure maximal disconnected pixel fraction of the maximum within this radius
+	 * @return {maximum, area, dist, x, y}. No interpolation yet, each returned value is integer. 
+	 * Returns null if no local maximum within area. x,y are offsets from the (provided) center 
+	 */
+	public static double [] getStatsNaN(
+			double [] data, // square data
+			double [] cent_xy, // if null, use center of the square
+			double    radius, // search for maximum within this radius
+			double    frac_max,
+			double    other_radius,
+			int       debugLevel) {
+		double [] rslt = getStats(
+				data, // square data
+				cent_xy, // if null, use center of the square
+				radius, // search for maximum within this radius
+				frac_max,
+				other_radius,
+				debugLevel);
+		if (rslt != null) {
+			return rslt;
+		} else {
+			return new double[] {Double.NaN,Double.NaN,Double.NaN,Double.NaN,Double.NaN,Double.NaN,Double.NaN};
+		}
+	}
+
+	public static double [] getStats(
+			double [] data, // square data
+			double [] cent_xy, // if null, use center of the square
+			double    radius, // search for maximum within this radius
+			double    frac_max,
+			double    other_radius, // may be 0 if not needed
+			int       debugLevel) {
+		boolean   debug = debugLevel > 1;
+		int size = (int) Math.sqrt(data.length);
+		if (cent_xy == null) {
+			cent_xy = new double [] {size/2, size/2};
+		}
+		double maxr2 = radius * radius;
+		double best_d = 0;
+		int best_indx = -1;
+		int min_x = Math.max(1, (int) Math.floor(cent_xy[0]-radius));
+		int min_y = Math.max(1, (int) Math.floor(cent_xy[1]-radius));
+		int max_x = Math.min(size-2, (int) Math.ceil(cent_xy[0]+radius));
+		int max_y = Math.min(size-2, (int) Math.ceil(cent_xy[1]+radius));
+		for (int y = min_y; y <= max_y; y++) { // do not search on very edges
+			double dy = (y-cent_xy[1]);
+			double y2 = dy*dy;
+			if (y2 < maxr2) {
+				for (int x = min_x; x <= max_x; x++) {
+					double dx = x - cent_xy[0];
+					double r2 = y2 + dx*dx;
+					if (r2 < maxr2) {
+						int indx = y * size + x;
+						double d = data[indx];
+						if (d > best_d) {
+							best_indx = indx;
+							best_d = d;
+						}
+					}
+				}
+			}
+		}
+		if (best_indx < 0) {
+			return null;
+		}
+		// is it local max?
+		if     ((data[best_indx - 1] >    best_d) || (data[best_indx + 1] >    best_d) ||
+				(data[best_indx - size] > best_d) || (data[best_indx + size] > best_d)) {
+			return null; // on the edge, not a local max
+		}
+		
+		boolean [] above_thresh = new boolean [data.length];
+		double thresh = best_d * frac_max;
+		for (int i = 0; i < data.length; i++) {
+			above_thresh[i] = data[i] > thresh;
+		}
+		
+		int [] clusters = (new TileNeibs(size,size)).enumerateClusters(
+				above_thresh, // boolean [] tiles,
+				null,   // int []     num_clusters,
+				false); // boolean ordered)
+		int center_cluster = clusters[best_indx];
+
+		int best_x = best_indx % size;
+		int best_y = best_indx / size;
+		double xc = best_x - cent_xy[0];
+		double yc = best_y - cent_xy[1];
+		
+
+		double s0=0, sx=0, sy=0, sx2 = 0, sy2=0, sxy = 0;
+		for (int i = 0; i < clusters.length; i++) {
+			if (clusters[i] == center_cluster) {
+				double y = i / size - (yc + cent_xy[1]); //(yc + cent_xy[1]) - absolute, from (0,0)
+				double x = i % size - (xc + cent_xy[0]);
+				double w = data[i]-thresh;
+				s0 += w;
+				sx += w * x;
+				sy += w * y;
+				sx2 += w * x * x;
+				sy2 += w * y * y;
+				sxy += w * x * y;
+			}
+		}
+		double cxx = sx2 - sx * sx / s0, cyy= sy2 - sy * sy / s0, cxy = sxy - sx * sy / s0; 
+		/*
+		 * sum(Mi*(Xi-avg(X))^2) =          SX2 - SX^2/S0		
+		 * sum(Mi*(Yi-avg(Y))^2) =          SY2 - SY^2/S0
+		 * sum(Mi*(Xi-avg(X)*(Yi-avg(Y))) =	SXY - SX*SY / S0	
+		 */
+		Matrix covar = new Matrix(new double[][] {{cxx, cxy},{cxy,cyy}});
+		double [] cent_offs = {sx/s0 + xc,sy/s0 + yc};
+		EigenvalueDecomposition eig = covar.eig(); 
+		
+		double [] eigval = {eig.getD().get(0, 0),eig.getD().get(1, 1)};
+		Arrays.sort(eigval); // ascending
+		double elong = Math.sqrt(eigval[1]/eigval[0]);
+		double eff_rad = Math.sqrt(Math.sqrt(eigval[1]*eigval[0]));
+		double dist = Math.sqrt(cent_offs[0]*cent_offs[0] + cent_offs[1]*cent_offs[1]);
+		double max_other = 0.0;
+		if (other_radius > 0) { // only calculate if asked for
+			double or2 = other_radius*other_radius;
+			min_x = Math.max(1, (int) Math.floor(best_x-other_radius));
+			min_y = Math.max(1, (int) Math.floor(best_y-other_radius));
+			max_x = Math.min(size-2, (int) Math.ceil(best_x+other_radius));
+			max_y = Math.min(size-2, (int) Math.ceil(best_y+other_radius));
+			for (int y = min_y; y <= max_y; y++) { // do not search on very edges
+				double dy = (y-best_y);
+				double y2 = dy*dy;
+				if (y2 < or2) {
+					for (int x = min_x; x <= max_x; x++) {
+						double dx = x - best_x;
+						double r2 = y2 + dx*dx;
+						if (r2 < or2) {
+							int indx = y * size + x;
+							if (clusters[indx] != center_cluster) { // only disconnected from the central area
+								double d = data[indx];
+								if (d > max_other) {
+									max_other = d;
+								}
+							}
+						}
+					}
+				}
+			}
+			max_other /= best_d;
+		}
+		
+		if (debug) {
+			System.out.println("\ncenter offset ["+(sx/s0)+","+(sy/s0)+"] , from center: ["+cent_offs[0]+","+cent_offs[1]+"]");
+			System.out.println("Covariance matrix:");
+			covar.print(8, 6);
+			System.out.println("eig.getV()");
+			eig.getV().print(8, 6);
+			System.out.println("eig.getD()");
+			eig.getD().print(8, 6);
+			System.out.println(String.format("best_d=%7.5f, rad=%6.3f, elong=%6.3f, dist=%6.3f, dx=%6.3f, dy=%6.3f, mo=%5.3f",
+					best_d, eff_rad, elong, dist, cent_offs[0], cent_offs[1], max_other));
+		}
+		
+		return new double [] {best_d, eff_rad, elong, dist, cent_offs[0], cent_offs[1], max_other} ;
+	}
+	
+}

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

@@ -13,7 +13,8 @@ public class ItemPatternMatch {
 	public void setMatches(double [] matches) {
 		sub_matches = matches;
 	}
-	public void setMatch(int indx, double match_value) {
+	
+	public void setMatch(int indx, double match_value) { // not used
 		if (sub_matches == null) {
 			sub_matches = new double [indx+1];
 			Arrays.fill(sub_matches, Double.NaN);

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

@@ -119,239 +119,6 @@ public class ObjectLocation {
 		}
 		return dcrop;
 	}
-	/**
-	 * Search for maximum within specified radius from the center or specified offset from the center
-	 * @param data square data
-	 * @param cent_xy offset from the square center to search
-	 * @param radius search for maximum within this radius
-	 * @param frac_max fraction of maximum to measure area
-	 * @param other_radius measure maximal disconnected pixel fraction of the maximum within this radius
-	 * @return {maximum, area, dist, x, y}. No interpolation yet, each returned value is integer. 
-	 * Returns null if no local maximum within area. x,y are offsets from the (provided) center 
-	 */
-	public static double [] getMaxLocAreaNaN(
-			double [] data, // square data
-			double [] cent_xy, // if null, use center of the square
-			double    radius, // search for maximum within this radius
-			double    frac_max,
-			double    other_radius,
-			int       debugLevel) {
-		double [] rslt = getMaxLocArea(
-				data, // square data
-				cent_xy, // if null, use center of the square
-				radius, // search for maximum within this radius
-				frac_max,
-				other_radius,
-				debugLevel);
-		if (rslt != null) {
-			return rslt;
-		} else {
-			return new double[] {Double.NaN,Double.NaN,Double.NaN,Double.NaN,Double.NaN,Double.NaN,Double.NaN};
-		}
-	}
-
-	public static double [] getMaxLocArea(
-			double [] data, // square data
-			double [] cent_xy, // if null, use center of the square
-			double    radius, // search for maximum within this radius
-			double    frac_max,
-			double    other_radius,
-			int       debugLevel) {
-		boolean   debug = debugLevel > 1;
-		int size = (int) Math.sqrt(data.length);
-		if (cent_xy == null) {
-			cent_xy = new double [] {size/2, size/2};
-		}
-		double maxr2 = radius * radius;
-		double best_d = 0;
-		int best_indx = -1;
-		int min_x = Math.max(1, (int) Math.floor(cent_xy[0]-radius));
-		int min_y = Math.max(1, (int) Math.floor(cent_xy[1]-radius));
-		int max_x = Math.min(size-2, (int) Math.ceil(cent_xy[0]+radius));
-		int max_y = Math.min(size-2, (int) Math.ceil(cent_xy[1]+radius));
-		for (int y = min_y; y <= max_y; y++) { // do not search on very edges
-			double dy = (y-cent_xy[1]);
-			double y2 = dy*dy;
-			if (y2 < maxr2) {
-				for (int x = min_x; x <= max_x; x++) {
-					double dx = x - cent_xy[0];
-					double r2 = y2 + dx*dx;
-					if (r2 < maxr2) {
-						int indx = y * size + x;
-						double d = data[indx];
-						if (d > best_d) {
-							best_indx = indx;
-							best_d = d;
-						}
-					}
-				}
-			}
-		}
-		// is it local max?
-		if     ((data[best_indx - 1] >    best_d) || (data[best_indx + 1] >    best_d) ||
-				(data[best_indx - size] > best_d) || (data[best_indx + size] > best_d)) {
-			return null; // on the edge, not a local max
-		}
-		
-		boolean [] above_thresh = new boolean [data.length];
-		double thresh = best_d * frac_max;
-		for (int i = 0; i < data.length; i++) {
-			above_thresh[i] = data[i] > thresh;
-		}
-		
-		int [] clusters = (new TileNeibs(size,size)).enumerateClusters(
-				above_thresh, // boolean [] tiles,
-				null,   // int []     num_clusters,
-				false); // boolean ordered)
-		int center_cluster = clusters[best_indx];
-
-		int best_x = best_indx % size;
-		int best_y = best_indx / size;
-		double xc = best_x - cent_xy[0];
-		double yc = best_y - cent_xy[1];
-		
-
-		double s0=0, sx=0, sy=0, sx2 = 0, sy2=0, sxy = 0;
-		for (int i = 0; i < clusters.length; i++) {
-			if (clusters[i] == center_cluster) {
-				double y = i / size - (yc + cent_xy[1]); //(yc + cent_xy[1]) - absolute, from (0,0)
-				double x = i % size - (xc + cent_xy[0]);
-				double w = data[i]-thresh;
-				s0 += w;
-				sx += w * x;
-				sy += w * y;
-				sx2 += w * x * x;
-				sy2 += w * y * y;
-				sxy += w * x * y;
-			}
-		}
-		double cxx = sx2 - sx * sx / s0, cyy= sy2 - sy * sy / s0, cxy = sxy - sx * sy / s0; 
-		/*
-		 * sum(Mi*(Xi-avg(X))^2) =          SX2 - SX^2/S0		
-		 * sum(Mi*(Yi-avg(Y))^2) =          SY2 - SY^2/S0
-		 * sum(Mi*(Xi-avg(X)*(Yi-avg(Y))) =	SXY - SX*SY / S0	
-		 */
-		Matrix covar = new Matrix(new double[][] {{cxx, cxy},{cxy,cyy}});
-		double [] cent_offs = {sx/s0 + xc,sy/s0 + yc};
-		EigenvalueDecomposition eig = covar.eig(); 
-		
-		double [] eigval = {eig.getD().get(0, 0),eig.getD().get(1, 1)};
-		Arrays.sort(eigval); // ascending
-		double elong = Math.sqrt(eigval[1]/eigval[0]);
-		double eff_rad = Math.sqrt(Math.sqrt(eigval[1]*eigval[0]));
-		double dist = Math.sqrt(cent_offs[0]*cent_offs[0] + cent_offs[1]*cent_offs[1]);
-		double max_other = 0.0;
-		if (other_radius > 0) { // only calculate if asked for
-			double or2 = other_radius*other_radius;
-			min_x = Math.max(1, (int) Math.floor(best_x-other_radius));
-			min_y = Math.max(1, (int) Math.floor(best_y-other_radius));
-			max_x = Math.min(size-2, (int) Math.ceil(best_x+other_radius));
-			max_y = Math.min(size-2, (int) Math.ceil(best_y+other_radius));
-			for (int y = min_y; y <= max_y; y++) { // do not search on very edges
-				double dy = (y-best_y);
-				double y2 = dy*dy;
-				if (y2 < or2) {
-					for (int x = min_x; x <= max_x; x++) {
-						double dx = x - best_x;
-						double r2 = y2 + dx*dx;
-						if (r2 < or2) {
-							int indx = y * size + x;
-							if (clusters[indx] != center_cluster) { // only disconnected from the central area
-								double d = data[indx];
-								if (d > max_other) {
-									max_other = d;
-								}
-							}
-						}
-					}
-				}
-			}
-			max_other /= best_d;
-		}
-		
-		if (debug) {
-			System.out.println("\ncenter offset ["+(sx/s0)+","+(sy/s0)+"] , from center: ["+cent_offs[0]+","+cent_offs[1]+"]");
-			System.out.println("Covariance matrix:");
-			covar.print(8, 6);
-			System.out.println("eig.getV()");
-			eig.getV().print(8, 6);
-			System.out.println("eig.getD()");
-			eig.getD().print(8, 6);
-			System.out.println(String.format("best_d=%7.5f, rad=%6.3f, elong=%6.3f, dist=%6.3f, dx=%6.3f, dy=%6.3f, mo=%5.3f",
-					best_d, eff_rad, elong, dist, cent_offs[0], cent_offs[1], max_other));
-		}
-		
-		return new double [] {best_d, eff_rad, elong, dist, cent_offs[0], cent_offs[1], max_other} ;
-	}
-
-	
-	public static double [] getMaxLocAreaInt(
-			double [] data, // square data
-			double [] cent_xy, // if null, use center of the square
-			double    radius, // search for maximum within this radius
-			double    frac_max) {
-		int size = (int) Math.sqrt(data.length);
-		if (cent_xy == null) {
-			cent_xy = new double [] {size/2, size/2};
-		}
-		double maxr2 = radius * radius;
-		double best_d = 0;
-		int best_indx = -1;
-		int min_x = Math.max(1, (int) Math.floor(cent_xy[0]-radius));
-		int min_y = Math.max(1, (int) Math.floor(cent_xy[1]-radius));
-		int max_x = Math.min(size-2, (int) Math.ceil(cent_xy[0]+radius));
-		int max_y = Math.min(size-2, (int) Math.ceil(cent_xy[1]+radius));
-		for (int y = min_y; y <= max_y; y++) { // do not search on very edges
-			double dy = (y-cent_xy[1]);
-			double y2 = dy*dy;
-			if (y2 < maxr2) {
-				for (int x = min_x; x <= max_x; x++) {
-					double dx = x - cent_xy[0];
-					double r2 = y2 + dx*dx;
-					if (r2 < maxr2) {
-						int indx = y * size + x;
-						double d = data[indx];
-						if (d > best_d) {
-							best_indx = indx;
-							best_d = d;
-						}
-					}
-				}
-			}
-		}
-		// is it local max?
-		if     ((data[best_indx - 1] >    best_d) || (data[best_indx + 1] >    best_d) ||
-				(data[best_indx - size] > best_d) || (data[best_indx + size] > best_d)) {
-			return null; // on the edge, not a local max
-		}
-		
-		boolean [] above_thresh = new boolean [data.length];
-		double thresh = best_d * frac_max;
-		for (int i = 0; i < data.length; i++) {
-			above_thresh[i] = data[i] > thresh;
-		}
-		
-		int [] clusters = (new TileNeibs(size,size)).enumerateClusters(
-				above_thresh, // boolean [] tiles,
-				null,   // int []     num_clusters,
-				false); // boolean ordered)
-		int center_cluster = clusters[best_indx];
-		double area_max = 0.0;
-		for (int i = 0; i < clusters.length; i++) {
-			if (clusters[i] == center_cluster) {
-				area_max += 1;
-			}
-		}
-		double x_max = best_indx % size - cent_xy[0];
-		double y_max = best_indx / size - cent_xy[1];
-		double dist = Math.sqrt(y_max * y_max + x_max * x_max);
-		return new double [] {best_d, area_max, dist, x_max, y_max} ;
-		
-		
-	}
-	
-	
-	
 	
 	public static double [] getPatternCenter(
 			double [] data_in,
@@ -429,6 +196,7 @@ public class ObjectLocation {
 				corr_pattern,     // final double [] pattern,    // [psize*psize]
 				false,            // final boolean   convolve,   // convolve, not correlate
 				phaseCoeff,       // final double    phaseCoeff,
+				0,                // final double    lpf_sigma, // 0 - do not filter
 				debugLevel);      // final int       debugLevel)
 		if (corr_ret != null) {
 			System.arraycopy(corr_out, 0, corr_ret, 0, corr_out.length);

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

@@ -3009,6 +3009,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 	 * @param num_refine    number of the plane generation refine passes
 	 * @param frac_above    remove high fraction of all tiles
 	 * @param frac_below    remove low fraction of all tiles
+	 * @param tile_plane_elev null or double[2][] will return per-tile elevations
 	 * @param debug_title   Name of the debug image or null to skip
 	 * 
 	 * @return plane parameters - all metric, relative to the vertical point:
@@ -3023,6 +3024,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 			int       num_refine,
 			double    frac_above,
 			double    frac_below,
+			double [] tile_plane_elev, // null or double[2][] will return per-tile elevations
 			String    debug_title) {
 		final int     num_bins = 1024;
 		int diff_zoom_lev = zoom_lev - orig_zoom_level;
@@ -3062,6 +3064,16 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 					width, // final int        width,
 					pix_vertical); // final double []  xy0)
 		}
+		if (tile_plane_elev != null) {
+			for (int pix = 0; pix < elev.length; pix++) {
+				int px = pix % width;
+				int py = pix / width;
+				double x = px - plane_pix[3];
+				double y = py - plane_pix[4];
+				double plane_elev = plane_pix[2]+ x *plane_pix[0] +y * plane_pix[1];
+				tile_plane_elev[pix] = elev [pix] - plane_elev; 
+			}
+		}
 		if (debug_title != null) {
 			String [] dbg_titles = {"elev", "plane", "diff"};
 			double [][] dbg_img = new double [dbg_titles.length][elev.length];
@@ -3082,7 +3094,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
     				debug_title,
     				dbg_titles);
 		}
-		return new double [] {plane_pix[0]*pix_size, plane_pix[1]*pix_size, plane_pix[2]}; // no xy0
+		return new double [] {plane_pix[0]/pix_size, plane_pix[1]/pix_size, plane_pix[2]}; // no xy0
 	}
 	
 	
@@ -3259,7 +3271,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		double [] pix_vertical = {vert_meters[0]/pix_size,vert_meters[1]/pix_size}; // image center in pixels
 		double     max_r_diff = metric_error * camera_height / pix_size;
 		double [] plane_pix =
-			{plane_metric[0]/pix_size,plane_metric[1]/pix_size,plane_metric[2],pix_vertical[0],pix_vertical[1]};
+			{plane_metric[0]*pix_size,plane_metric[1]*pix_size,plane_metric[2],pix_vertical[0],pix_vertical[1]};
 		boolean [] mask = removeHighProjection (
 				elev, // final double []  data,
 				null, // final boolean [] mask_in,    // will be modified if provided
@@ -3526,6 +3538,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 			final double [] pattern,    // [psize*psize]
 			final boolean   convolve,   // convolve, not correlate
 			final double    phaseCoeff,
+			final double    lpf_sigma, // 0 - do not filter
 			final int       debugLevel) {
 		final int height = data.length/width;
 		final double [] dout = new double [data.length];
@@ -3548,15 +3561,15 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		final DoubleFHT doubleFHT0 = new DoubleFHT();
 		final double [] patternFD = pattern.clone();
 		doubleFHT0.transformPattern(patternFD);
-		final double [] filter = null; // probably not needed
 		
 		if ((width== psize) && (height == psize)) {
-			return testPhaseCorr(
+			return correlateWithPatternSquare(
 					data,        // double [] data,
 					pattern,     // double [] pattern,
 					convolve,    //final boolean   convolve,   // convolve, not correlate
 					window,      // double [] wnd,
-					phaseCoeff); // double    phaseCoeff)
+					phaseCoeff, // double    phaseCoeff)
+					lpf_sigma); // double    lpf_sigma)
 		}
 		
 		final int tilesX = (int) Math.ceil(width/(psize/2)) + 1;
@@ -3581,6 +3594,10 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 							double [] dtile = new double [pattern.length];
 							TileNeibs tn =  new TileNeibs(psize,psize);
 							DoubleFHT doubleFHT = new DoubleFHT();
+							double [] filter = doubleFHT.getFrequencyFilter (
+									dtile, // double [] data, // just to find out size
+									0,    // double highPassSigma,
+									lpf_sigma); // double lowPassSigma
 							for (int nTile = ai.getAndIncrement(); nTile < ntiles; nTile = ai.getAndIncrement()){
 								int tileX = tileX0 - 1 + 2 * (nTile % ntilesX); // nTile % ntilesX;
 								int tileY = tileY0 - 1 + 2 * (nTile / ntilesX); // nTile / ntilesX;
@@ -3675,12 +3692,13 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		return dout;
 	}
 	
-	public static double [] testPhaseCorr(
+	public static double [] correlateWithPatternSquare(
 			double [] data_in,
 			double [] pattern_in,
 			boolean   convolve,   // convolve, not correlate
 			double [] wnd_in,
-			double    phaseCoeff) {
+			double    phaseCoeff,
+			double    lpf_sigma) {
 //		phaseCoeff = 0.5;
 		boolean dbg=false;
 		double [] data = data_in.clone();
@@ -3703,6 +3721,10 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 					rslt_titles);
 		}
 		DoubleFHT doubleFHT = new DoubleFHT();
+		double [] filter = doubleFHT. getFrequencyFilter (
+				data, // double [] data, // just to find out size
+				0,    // double highPassSigma,
+				lpf_sigma); // double lowPassSigma
 		double [] data_orig2 = data.clone();
 		double [] pattern_orig = pattern.clone();
 		boolean use_new = true; // false;
@@ -3714,14 +3736,14 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 				corr_out = doubleFHT.convolvePattern (
 						data,       // double [] first,
 						patternFD,  // double [] secondFD,
-						null,     // double [] filter,       //  high/low pass filtering
+						filter,     // double [] filter,       //  high/low pass filtering
 						null);      // double [] first_save )  //null-OK
 			} else {
 				corr_out = doubleFHT.phaseCorrelatePattern ( // new
 					data,       // double [] first,
 					patternFD,  // double [] secondFD,
 					phaseCoeff, // double    phaseCoeff,
-					null,       // double [] filter,       //  high/low pass filtering
+					filter,     // double [] filter,       //  high/low pass filtering
 					null);      // double [] first_save )  //null-OK
 			}
 		} else {
@@ -3729,13 +3751,13 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 				corr_out = doubleFHT. convolve ( // new
 						data,    // double [] first,
 						pattern, // double [] second,
-						null);// double [] filter,     //  high/low pass filtering
+						filter); // double [] filter,     //  high/low pass filtering
 			} else {
 				corr_out = doubleFHT. phaseCorrelate ( // new
 					data,        // double [] first,
 					pattern,     // double [] second,
 					phaseCoeff,  // double    phaseCoeff,
-					null, // double [] filter,     //  high/low pass filtering
+					filter,      // double [] filter,     //  high/low pass filtering
 					null,        // double [] first_save,
 					null);       // double [] second_save )  //null-OK
 			}
@@ -3964,6 +3986,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 					corr_patterns[n], //final double [] pattern,    // [psize*psize]
 					false,            // 			final boolean   convolve,   // convolve, not correlate
 					phaseCoeff,       // final double    phaseCoeff,
+					0,                // final double    lpf_sigma, // 0 - do not filter
 					debugLevel);      // final int       debugLevel) {
 		}
 		String [] patt_titles = new String[corrs_out.length];
@@ -4056,6 +4079,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 					corr_patterns[n], // final double [] pattern,    // [psize*psize]
 					true,             // final boolean   convolve,   // convolve, not correlate
 					phaseCoeff,       // final double    phaseCoeff,
+					0,                // final double    lpf_sigma, // 0 - do not filter
 					debugLevel);      // final int       debugLevel) {
 		}
 		double [] convolved_merged = mergePattenConvolutions(