Bug fixes, added super-batch run (multiple configs)

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

@@ -815,6 +815,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			addButton("Image Properties", panelLWIR16, color_conf_process);
 			addButton("Illustrations Configure", panelLWIR16, color_conf_process);
 			addButton("Footage Organize", panelLWIR16, color_conf_process);
+			addButton("Super batch",     panelLWIR16, color_process);
 
 			plugInFrame.add(panelLWIR16);
 
@@ -5433,7 +5434,42 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			FOOTAGE_ORGANIZE.OrganizeSeries(
 					CLT_PARAMETERS,
 					CALIBRATION_ILLUSTRATION);
-
+		} else if (label.equals("Super batch")) {
+			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
+			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
+			CLT_PARAMETERS.batch_run = true;
+			String [] configs = loadMultiProperties(
+					CORRECTION_PARAMETERS.resultsDirectory, // String directory,
+					true);// boolean useXML,
+			if (configs == null) {
+				return;
+			}
+			long startTime = System.nanoTime();
+			for (int nc = 0; nc < configs.length; nc++) {
+				long startTimeRun = System.nanoTime();
+				String config = configs[nc];
+				String path = loadProperties(config, CORRECTION_PARAMETERS.resultsDirectory, true, PROPERTIES);
+				System.out.println(path);
+				if (path != null) {
+					getAllProperties(PROPERTIES);
+					if (DEBUG_LEVEL > -3)
+						System.out.println("Configuration parameters are restored from " + path);
+				} else {
+					if (DEBUG_LEVEL > -10)
+						System.out.println("Failed to restore configuration parameters");
+					return;
+				}
+				batchLwir();
+				System.out.println("Super batch: processing of run "+ nc+" (of "+configs.length+"): "+config+ " finished in "
+						+ IJ.d2s(0.000000001 * (System.nanoTime() - startTimeRun), 3) + " sec, --- Free memory="
+						+ Runtime.getRuntime().freeMemory() + " (of " + Runtime.getRuntime().totalMemory() + ")");
+			}
+			System.out.println("Super batch: all (of "+configs.length+"): finished at "
+					+ IJ.d2s(0.000000001 * (System.nanoTime() - startTime), 3) + " sec, --- Free memory="
+					+ Runtime.getRuntime().freeMemory() + " (of " + Runtime.getRuntime().totalMemory() + ")");
+			return;
+			
+			
 		} else if (label.equals("Image Properties")) {
 			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
 			ImagePlus imp_sel = WindowManager.getCurrentImage();
@@ -9136,7 +9172,9 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 									+ ")"), // filter
 					directory); // may be ""
 		} else
-			path += patterns[0];
+			if (!path.endsWith(patterns[0])) {
+				path += patterns[0]; // where was it used???
+			}
 		if (path == null)
 			return null;
 		InputStream is;
@@ -9172,6 +9210,25 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 		return path;
 	}
 
+	
+	public String [] loadMultiProperties(
+			String directory,
+			boolean useXML) {
+		String[] XMLPatterns = { ".corr-xml", ".xml" };
+		String[] confPatterns = { ".conf" };
+		String[] patterns = useXML ? XMLPatterns : confPatterns;
+		String [] paths = selectFiles(
+				false, // boolean save,
+				"Multiple configuration file selection", // title
+				"Read configuration files", // button
+				new MultipleExtensionsFileFilter(patterns,
+						(useXML ? "XML " : "") + "Configuration files (" + (useXML ? "*.corr-xml" : "*.conf")
+								+ ")"), // filter
+				new String[] {directory}); // String[] defaultPaths)
+		return paths;
+	}
+	
+	
 	/* ======================================================================== */
 	public void setAllProperties(Properties properties) {
 		properties.setProperty("MASTER_DEBUG_LEVEL", MASTER_DEBUG_LEVEL + "");

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

@@ -201,7 +201,9 @@ public class GpuQuad{ // quad camera description
 		resetGeometryCorrectionVector();
 		this.gpuTileProcessor.bayer_set =        false;
 	}
-	
+	public void resetBayer() {
+		this.gpuTileProcessor.bayer_set =        false;
+	}
 	public QuadCLT getQuadCLT( ) {
 		return this.quadCLT;
 	}

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

@@ -1971,6 +1971,21 @@ public class ErsCorrection extends GeometryCorrection {
 		return new double[][] {xyz,angles};
 		
 	}
+
+	public static double [][] invertXYZATR(
+			double [] source_xyz,
+			double [] source_atr)
+	{
+		Rotation   scene_rotation= new Rotation(RotationOrder.YXZ, ROT_CONV, source_atr[0],    source_atr[1],    source_atr[2]);
+		Vector3D   scene_offset =  new Vector3D(-source_xyz[0], -source_xyz[1], -source_xyz[2]);
+		Rotation   rotation =      scene_rotation.revert(); // 
+		Vector3D   offset = rotation.applyTo(scene_offset); // junk
+		double []  angles = rotation.getAngles(RotationOrder.YXZ, ROT_CONV);
+		double []  xyz = offset.toArray();
+		return new double[][] {xyz,angles};
+	}
+	
+	
 	
 	public double [] getImageCoordinatesERS(
 			double [] xyzw,

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

@@ -3090,6 +3090,26 @@ public class OpticalFlow {
 			double [] new_from_last_xyz = ers_scene_last_known.getSceneXYZ(scene_ts);
 			double [] new_from_last_atr = ers_scene_last_known.getSceneATR(scene_ts);
 			
+			double [][] last_from_new =     ErsCorrection.invertXYZATR(new_from_last_xyz, new_from_last_atr);
+			double [][] vfy_new_from_last = ErsCorrection.invertXYZATR(last_from_new[0], last_from_new[1]);
+			System.out.println(new_from_last_xyz[0]+","+new_from_last_xyz[1]+","+new_from_last_xyz[2]+","+
+					new_from_last_atr[0]+","+new_from_last_atr[1]+","+new_from_last_atr[2]);
+			System.out.println(last_from_new[0][0]+","+last_from_new[0][1]+","+last_from_new[0][2]+","+
+					last_from_new[1][0]+","+last_from_new[1][1]+","+last_from_new[1][2]);
+			System.out.println(vfy_new_from_last[0][0]+","+vfy_new_from_last[0][1]+","+vfy_new_from_last[0][2]+","+
+					vfy_new_from_last[1][0]+","+vfy_new_from_last[1][1]+","+vfy_new_from_last[1][2]);
+/*			
+			double [][] last_from_new1 =     ErsCorrection.invertXYZATR(vfy_new_from_last[0],vfy_new_from_last[1]);
+			double [][] vfy_new_from_last1 = ErsCorrection.invertXYZATR(last_from_new1[0], last_from_new1[1]);
+
+			System.out.println(last_from_new1[0][0]+","+last_from_new1[0][1]+","+last_from_new1[0][2]+","+
+					last_from_new1[1][0]+","+last_from_new1[1][1]+","+last_from_new1[1][2]);
+			System.out.println(vfy_new_from_last1[0][0]+","+vfy_new_from_last1[0][1]+","+vfy_new_from_last1[0][2]+","+
+					vfy_new_from_last1[1][0]+","+vfy_new_from_last1[1][1]+","+vfy_new_from_last1[1][2]);
+			*/
+			
+			
+			
 			// combine two rotations and two translations 
 			System.out.println("Processing scene "+i+": "+scene_QuadClt.getImageName());
 			double [][] combo_XYZATR = ErsCorrection.combineXYZATR(
@@ -3167,6 +3187,127 @@ public class OpticalFlow {
 		}
 	}
 
+	public void adjustSeries(
+			CLTParameters  clt_parameters,			
+			double         k_prev, 
+			QuadCLT []     scenes, // ordered by increasing timestamps
+			int            ref_index,
+			int            debug_level
+			)
+	{
+		double [][][] scenes_xyzatr = new double [scenes.length][][]; // previous scene relative to the next one
+		QuadCLT reference_QuadClt = scenes[ref_index]; // scenes.length-1]; // last acquired
+		ErsCorrection ers_reference = reference_QuadClt.getErsCorrection();
+		// modify LMA parameters to freeze reference ERS, remove pull on scene ERS
+		boolean[]   param_select2 =     clt_parameters.ilp.ilma_lma_select.clone();             // final boolean[]   param_select,
+		double []   param_regweights2 = clt_parameters.ilp.ilma_regularization_weights; //  final double []   param_regweights,
+		boolean delete_scene_asap = (debug_level < 10); // to save memory
+		// freeze reference ERS, free scene ERS
+		for (int j = 0; j <3; j++) {
+			param_select2[ErsCorrection.DP_DVX  + j] = false;
+			param_select2[ErsCorrection.DP_DVAZ + j] = false;
+			param_regweights2[ErsCorrection.DP_DSVX +  j] = 0.0;
+			param_regweights2[ErsCorrection.DP_DSVAZ + j] = 0.0;
+		}
+		
+		// process scenes before reference
+		if (ref_index >  1) {
+			for (int i =  ref_index - 2; i >=0 ; i--) {
+				QuadCLT scene_QuadClt =      scenes[i];
+				String last_known_ts =           scenes[i+1].getImageName(); // it should be present in the reference scene scenes
+				String scene_ts =                scenes[i].getImageName(); // it should be present in the scenes[i+1] scenes
+				ErsCorrection ers_scene_last_known = scenes[i+1].getErsCorrection();
+				ErsCorrection ers_scene =            scene_QuadClt.getErsCorrection();
+
+				double [] last_known_xyz = ers_reference.getSceneXYZ(last_known_ts);
+				double [] last_known_atr = ers_reference.getSceneATR(last_known_ts);
+
+				double [] new_from_last_xyz = ers_scene_last_known.getSceneXYZ(scene_ts);
+				double [] new_from_last_atr = ers_scene_last_known.getSceneATR(scene_ts);
+
+				// combine two rotations and two translations 
+				System.out.println("Processing scene "+i+": "+scene_QuadClt.getImageName());
+				double [][] combo_XYZATR = ErsCorrection.combineXYZATR(
+						last_known_xyz,     // double [] reference_xyz,
+						last_known_atr,     // double [] reference_atr, // null?
+						new_from_last_xyz,  // double [] scene_xyz,
+						new_from_last_atr); // double [] scene_atr)
+
+				// before adjusting - save original ERS, restart afterwards
+				double [] ers_scene_original_xyz_dt = ers_scene.getErsXYZ_dt();
+				double [] ers_scene_original_atr_dt = ers_scene.getErsATR_dt();
+
+				// ers should be correct for both
+
+				scenes_xyzatr[i] = adjustPairsLMA(
+						clt_parameters,     // CLTParameters  clt_parameters,			
+						reference_QuadClt, // QuadCLT reference_QuadCLT,
+						scene_QuadClt, // QuadCLT scene_QuadCLT,
+						combo_XYZATR[0], // xyz
+						combo_XYZATR[1], // atr
+						param_select2,             // final boolean[]   param_select,
+						param_regweights2, //  final double []   param_regweights,
+						debug_level); // int debug_level)
+				ers_reference.addScene(scene_QuadClt.getImageName(),
+						scenes_xyzatr[i][0],
+						scenes_xyzatr[i][1],
+						ers_scene.getErsXYZ_dt(),		
+						ers_scene.getErsATR_dt()		
+						);
+
+				// restore original ers data
+				ers_scene.setErsDt(
+						ers_scene_original_xyz_dt, // double []    ers_xyz_dt,
+						ers_scene_original_atr_dt); // double []    ers_atr_dt)(ers_scene_original_xyz_dt);
+				ers_scene.setupERS();
+				if (debug_level > -1) {
+					System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
+							reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
+				}
+				if (delete_scene_asap) {
+					scenes[i+1] = null;
+				}
+				//			Runtime.getRuntime().gc();
+				//			System.out.println("Scene "+i+", --- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
+
+			}
+		}
+		// process scenes after reference (if it is not the last
+		if (ref_index <  (scenes.length - 1)) {
+		}		
+		
+		
+		reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
+	            null, // String path,             // full name with extension or w/o path to use x3d directory
+	            debug_level+1);
+		if (!delete_scene_asap && (debug_level > -1)) {
+			System.out.println("adjustSeries(): preparing image set...");
+			int nscenes = scenes.length;
+			int indx_ref = nscenes - 1; 
+			double [][][] all_scenes_xyzatr = new double [scenes.length][][]; // includes reference (last)
+			double [][][] all_scenes_ers_dt = new double [scenes.length][][]; // includes reference (last)
+			all_scenes_xyzatr[indx_ref] = new double [][] {ZERO3,ZERO3};
+			all_scenes_ers_dt[indx_ref] = new double [][] {
+				ers_reference.getErsXYZ_dt(),
+				ers_reference.getErsATR_dt()};
+				for (int i = 0; i < nscenes; i++) if (i != indx_ref) {
+					String ts = scenes[i].getImageName();
+					all_scenes_xyzatr[i] = new double[][] {ers_reference.getSceneXYZ(ts),       ers_reference.getSceneATR(ts)}; 		
+					all_scenes_ers_dt[i] = new double[][] {ers_reference.getSceneErsXYZ_dt(ts), ers_reference.getSceneErsATR_dt(ts)}; 		
+				}
+		compareRefSceneTiles(
+				"" ,               // String suffix,
+				false,             // boolean blur_reference,
+				all_scenes_xyzatr, // double [][][] scene_xyzatr, // does not include reference
+				all_scenes_ers_dt, // double [][][] scene_ers_dt, // does not include reference
+				scenes,            // QuadCLT [] scenes,
+				8);                // int iscale) // 8
+		}		
+		if (debug_level > -1) {
+			System.out.println("adjustSeries() Done.");
+		}
+	}
+	
 	public void IntersceneAccumulate(
 			CLTParameters        clt_parameters,
 			ColorProcParameters  colorProcParameters,

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

@@ -5532,6 +5532,12 @@ if (debugLevel < -100) {
 		  }
 	  }
 	  
+	  public void resetBayer() {
+		  if (getGPU() != null) {
+			  getGPU().resetBayer();
+		  }
+	  }
+	  
 		public QuadCLT spawnQuadCLT(
 				String              set_name,
 				CLTParameters       clt_parameters,

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

@@ -8458,6 +8458,72 @@ if (debugLevel > -100) return true; // temporarily !
 		System.out.println("End of interSeriesLMA()");
 	}
 	
+	public void interSeriesLMA(
+			QuadCLT                                              quadCLT_main, // tiles should be set
+			int                                                  ref_index,
+			CLTParameters             clt_parameters,
+			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
+			ColorProcParameters                                  colorProcParameters,
+			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
+			EyesisCorrectionParameters.RGBParameters             rgbParameters,
+			EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
+			Properties                                           properties,
+			boolean                                              reset_from_extrinsics,
+			final int        threadsMax,  // maximal number of threads to launch
+			final boolean    updateStatus,
+			final int        debugLevel)  throws Exception
+	{
+		if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
+			quadCLT_main.getGPU().resetGeometryCorrection();
+			quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+		}
+		// final boolean    batch_mode = clt_parameters.batch_run;
+		this.startTime=System.nanoTime();
+		String [] sourceFiles0=quadCLT_main.correctionsParameters.getSourcePaths();
+		QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
+		if ((set_channels_main == null) || (set_channels_main.length==0)) {
+			System.out.println("No files to process (of "+sourceFiles0.length+")");
+			return;
+		}
+		QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
+		
+		QuadCLT [] quadCLTs = new QuadCLT [set_channels.length]; 
+//		QuadCLTCPU [] quadCLTs = new QuadCLTCPU [set_channels.length]; 
+		for (int i = 0; i < quadCLTs.length; i++) {
+			quadCLTs[i] = (QuadCLT) quadCLT_main.spawnQuadCLT(
+					set_channels[i].set_name,
+					clt_parameters,
+					colorProcParameters, //
+					threadsMax,
+					debugLevel);
+			// temporarily fix wrong sign:
+//			ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
+			quadCLTs[i].setDSRBG(
+					clt_parameters, // CLTParameters  clt_parameters,
+					threadsMax,     // int            threadsMax,  // maximal number of threads to launch
+					updateStatus,   // boolean        updateStatus,
+					debugLevel);    // int            debugLevel)
+		}
+		
+		
+		OpticalFlow opticalFlow = new OpticalFlow(
+				quadCLT_main.getNumSensors(),
+				clt_parameters.ofp.scale_no_lma_disparity, // double         scale_no_lma_disparity,
+				threadsMax,                                // int            threadsMax,  // maximal number of threads to launch
+				updateStatus);                             // boolean        updateStatus);
+		
+		opticalFlow.adjustSeries(
+				clt_parameters, // CLTParameters  clt_parameters,			
+				clt_parameters.ofp.k_prev, // k_prev,\
+				// FIXME: *********** update adjustSeries to use QUADCLTCPU ! **********								
+//				(QuadCLT []) 
+				quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps
+				clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
+		System.out.println("End of interSeriesLMA()");
+	}
+
+	
+	
 	
 	public void intersceneAccumulate(
 			QuadCLT                                              quadCLT_main, // tiles should be set
@@ -11111,10 +11177,12 @@ if (debugLevel > -100) return true; // temporarily !
 		if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
 			quadCLT_main.getGPU().resetGeometryCorrection();
 			quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+			quadCLT_main.resetBayer();
 		}
 		if ((quadCLT_aux != null) && (quadCLT_aux.getGPU() != null)) {
 			quadCLT_aux.getGPU().resetGeometryCorrection();
 			quadCLT_aux.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+			quadCLT_aux.resetBayer();
 		}
 
 		
@@ -11154,6 +11222,16 @@ if (debugLevel > -100) return true; // temporarily !
 			}
 
 			for (int nSet = 0; nSet < set_channels.length; nSet++){
+				if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) { //TODO:  is it needed here? WAs not needed before - verify
+					quadCLT_main.getGPU().resetGeometryCorrection();
+					quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+					quadCLT_main.resetBayer();
+				}
+				if ((quadCLT_aux != null) && (quadCLT_aux.getGPU() != null)) {
+					quadCLT_aux.getGPU().resetGeometryCorrection();
+					quadCLT_aux.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+					quadCLT_aux.resetBayer();
+				}
 				// nset -> name - n1, n2 (in 
 				String set_name = set_channels[nSet].set_name;
 				int nSet_main = -1, nSet_aux = -1;
@@ -11768,7 +11846,17 @@ if (debugLevel > -100) return true; // temporarily !
 //		System.out.println("batchLwirRig(): processing "+(quadCLT_main.getTotalFiles(set_channels_main)+quadCLT_aux.getTotalFiles(set_channels_aux))+" files ("+set_channels_main.length+" file sets) finished at "+
 		int num_main = (quadCLT_main==null)? 0 : quadCLT_main.getTotalFiles(set_channels_main);
 		int num_aux =  (quadCLT_aux ==null)? 0 : quadCLT_aux.getTotalFiles(set_channels_aux);
-// Process LWIR16 tasks applicable to scene series rather than individual scenes
+		if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) { //TODO:  is it needed here? WAs not needed before - verify
+			quadCLT_main.getGPU().resetGeometryCorrection();
+			quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+			quadCLT_main.resetBayer();
+		}
+		if ((quadCLT_aux != null) && (quadCLT_aux.getGPU() != null)) {
+			quadCLT_aux.getGPU().resetGeometryCorrection();
+			quadCLT_aux.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+			quadCLT_aux.resetBayer();
+		}
+		// Process LWIR16 tasks applicable to scene series rather than individual scenes
 		if (quadCLT_main.correctionsParameters.clt_batch_pose_pairs_main) {
 			TestInterLMA(quadCLT_main,         // QUAD_CLT, // QuadCLT quadCLT_main,
 					clt_parameters,            // EyesisCorrectionParameters.DCTParameters dct_parameters,
@@ -11866,7 +11954,16 @@ if (debugLevel > -100) return true; // temporarily !
 					updateStatus,              // final boolean updateStatus,
 					debugLevel);
 		}
-		
+		if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) { //TODO:  is it needed here? WAs not needed before - verify
+			quadCLT_main.getGPU().resetGeometryCorrection();
+			quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+			quadCLT_main.resetBayer();
+		}
+		if ((quadCLT_aux != null) && (quadCLT_aux.getGPU() != null)) {
+			quadCLT_aux.getGPU().resetGeometryCorrection();
+			quadCLT_aux.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
+			quadCLT_aux.resetBayer();
+		}
 
 		System.out.println("batchLwirRig(): processing "+(num_main + num_aux)+" files ("+set_channels.length+" file sets) finished at "+
 				IJ.d2s(0.000000001*(System.nanoTime()-this.startTime),3)+" sec, --- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");