Before reorganizing DISPARITY_STRENGTH_INDEX

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

@@ -260,6 +260,7 @@ public class BiQuadParameters {
 	
 	// FG/BG split for far tiles where dual max can only be detected with LMA as it is too small 
 	public boolean fsplit_en =                 true; // enable split of far tiles into FG/BG with LMA
+	// fsplit_mode==2 now (04/17/2023) worse than fsplit_mode==1
 	public int     fsplit_mode =               1; // 0: disable, 1:avg->fg+bg, 2: avg->fg+fg:fg:bg
 	public double  fsplit_str =                0.4; // minimal strength of the tile to split
 	public int     fsplit_neibs =              3;   // minimal number of neighbors to consider split
@@ -270,6 +271,7 @@ public class BiQuadParameters {
 	public double  fsplit_adiff =              0.02; //4;// minimal tile (combo) absolute disparity difference from neighbors
 	public double  fsplit_rdiff =              0.02; // 1; // minimal tile (combo) relative disparity difference from neighbors
 	public double  fsplit_kfg_min =            0.05; // *** minimal fraction of kfg and (1.0-kfg)
+	public boolean fsplit_dbg =                false;
 	
 	public boolean mll_generate_scene_outlines = false; // Uses 2 GB - change format, add dimensions (separate color for ref)
 	
@@ -741,6 +743,8 @@ public class BiQuadParameters {
 				"Maximal relative (to average) disparity difference from average of neighbors for FG/BG split.");
 		gd.addNumericField("Minimal kFG fraction",                                                                 this.fsplit_kfg_min, 3,6,"",
 				"Minimal fraction of kfg and (1.0-kfg).");
+		gd.addCheckbox    ("Debug far FG/BG split ",                                                               this.fsplit_dbg,
+				"Generate and save scene outlines for scene series (need to change format, it is 2GB with uncompressed Tiff)");
 		
 		gd.addMessage("Other");
 		gd.addCheckbox    ("Generate scene outlines",                                                              this.mll_generate_scene_outlines,
@@ -1059,7 +1063,7 @@ public class BiQuadParameters {
 		this.fsplit_adiff =                 gd.getNextNumber();
 		this.fsplit_rdiff =                 gd.getNextNumber();
 		this.fsplit_kfg_min =               gd.getNextNumber();
-		
+		this.fsplit_dbg =                   gd.getNextBoolean();
 		this.mll_generate_scene_outlines=   gd.getNextBoolean();
 		
 		this.mll_add_combo=                 gd.getNextBoolean();
@@ -1323,8 +1327,7 @@ public class BiQuadParameters {
 		properties.setProperty(prefix+"fsplit_adiff",              this.fsplit_adiff+"");     // double
 		properties.setProperty(prefix+"fsplit_rdiff",              this.fsplit_rdiff+"");     // double
 		properties.setProperty(prefix+"fsplit_kfg_min",            this.fsplit_kfg_min+"");   // double
-		
-		properties.setProperty(prefix+"mll_generate_scene_outlines",this.mll_generate_scene_outlines+"");
+		properties.setProperty(prefix+"fsplit_dbg",                this.fsplit_dbg+"");
 		
 		properties.setProperty(prefix+"mll_add_combo",             this.mll_add_combo+"");
 		properties.setProperty(prefix+"mll_save_accum",            this.mll_save_accum+"");
@@ -1584,6 +1587,7 @@ public class BiQuadParameters {
 		if (properties.getProperty(prefix+"fsplit_adiff")!=null)            this.fsplit_adiff=Double.parseDouble(properties.getProperty(prefix+"fsplit_adiff"));
 		if (properties.getProperty(prefix+"fsplit_rdiff")!=null)            this.fsplit_rdiff=Double.parseDouble(properties.getProperty(prefix+"fsplit_rdiff"));
 		if (properties.getProperty(prefix+"fsplit_kfg_min")!=null)          this.fsplit_kfg_min=Double.parseDouble(properties.getProperty(prefix+"fsplit_kfg_min"));
+		if (properties.getProperty(prefix+"fsplit_dbg")!=null)              this.fsplit_dbg=Boolean.parseBoolean(properties.getProperty(prefix+"fsplit_dbg"));
 		
 		if (properties.getProperty(prefix+"mll_generate_scene_outlines")!=null) this.mll_generate_scene_outlines=Boolean.parseBoolean(properties.getProperty(prefix+"mll_generate_scene_outlines"));
 		
@@ -1845,7 +1849,7 @@ public class BiQuadParameters {
         bqp.fsplit_adiff =              this.fsplit_adiff;    
         bqp.fsplit_rdiff =              this.fsplit_rdiff;    		
         bqp.fsplit_kfg_min =            this.fsplit_kfg_min;    		
-		
+        bqp.fsplit_dbg =                this.fsplit_dbg;
 		bqp.mll_generate_scene_outlines = this.mll_generate_scene_outlines;
 		
 		bqp.mll_add_combo =             this.mll_add_combo;

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

@@ -7955,7 +7955,7 @@ public class OpticalFlow {
 		final double  fsplit_adiff =     clt_parameters.rig.fsplit_adiff;    // 0.08;// minimal tile (combo) absolute disparity difference from neighbors
 		final double  fsplit_rdiff =     clt_parameters.rig.fsplit_rdiff;    // 0.1; // minimal tile (combo) relative disparity difference from neighbors
 		final double  fsplit_kfg_min =   clt_parameters.rig.fsplit_kfg_min;  // 0.1; // minimal fraction of kfg and (1.0-kfg)
-		
+		final boolean fsplit_dbg =       clt_parameters.rig.fsplit_dbg; 
 		int fsplit_refines = 0;
 		if (fsplit_en) switch (fsplit_mode) {
 		case 1:   fsplit_refines = 1; break;
@@ -8159,6 +8159,9 @@ public class OpticalFlow {
 		double [][] far_bg_ds = null;
 		boolean [] sel_split = new boolean [selection.length];
 		boolean [] far_split = null; // new boolean [nTiles];
+		double [][] far_fg_ds_merge = new double[2][];
+		double [][] far_bg_ds_merge = new double[2][];
+
 		for (int nrefine = 0; nrefine < max_refines; nrefine++) {
 			if (nrefine == clt_parameters.rig.mll_max_refines_pre) {
 				min_disp_change = clt_parameters.rig.mll_min_disp_change_lma;				
@@ -8201,6 +8204,7 @@ public class OpticalFlow {
 			if (split_pass >= 0) {
 				if (split_pass == 0) {
 					split_src= 0 ; // AVG
+					target_disparity=avg_ds[0];
 				} else if (split_pass == 1) {
 					split_src= 1 ; clt_parameters.img_dtt.bimax_combine_mode = Correlation2d.CAMEL_FG;
 					target_disparity=far_fg_ds[0];
@@ -8227,7 +8231,7 @@ public class OpticalFlow {
 						far_bg_ds,       // final double [][]   bg_ds,
 						far_split, // null,            // final boolean []    selection,    // may be null, does not apply to neighbors
 						tilesX,          //	final int           tilesX,
-						ref_scene.getImageName()+"-FGBG-"+split_pass); // final String        dbg_title);
+						fsplit_dbg? (ref_scene.getImageName()+"-FGBG-"+split_pass):null); // final String        dbg_title);
 				//far_split
 				selection = sel_split; // for correlateInterscene()
 				if (split_src == 0) {
@@ -8237,6 +8241,11 @@ public class OpticalFlow {
 					far_bg_ds[0] = new double[nTiles];
 					Arrays.fill(far_fg_ds[0], Double.NaN);
 					Arrays.fill(far_bg_ds[0], Double.NaN);
+					far_fg_ds_merge[0] = avg_ds[0].clone();
+					far_bg_ds_merge[0] = avg_ds[0].clone();
+					far_fg_ds_merge[1] = avg_ds[1].clone();
+					far_bg_ds_merge[1] = avg_ds[1].clone();
+					
 				}
 			}
 			int mcorr_sel = Correlation2d.corrSelEncode(clt_parameters.img_dtt,num_sensors);
@@ -8275,32 +8284,18 @@ public class OpticalFlow {
 			double [] map_far_fg_strength =  disparity_map[ImageDtt.DISPARITY_INDEX_POLY+1];
 			double [] map_far_bg_disparity = disparity_map[ImageDtt.DISPARITY_INDEX_CM];
 			double [] map_far_bg_strength =  disparity_map[ImageDtt.DISPARITY_INDEX_CM+1];
-			double [][] far_fg_ds_merge = new double[2][];
-			double [][] far_bg_ds_merge = new double[2][];
-			far_fg_ds_merge[0] = avg_ds[0].clone();
-			far_bg_ds_merge[0] = avg_ds[0].clone();
-			far_fg_ds_merge[1] = avg_ds[1].clone();
-			far_bg_ds_merge[1] = avg_ds[1].clone();
 
 			if (split_pass >= 0) {
 				if (far_split == null) {
 					far_split = new boolean [nTiles];
 				}
-//				Arrays.fill(far_split, false);
-//				boolean [] far_split = new boolean [nTiles];
-//				double [][] far_fg_ds_merge = new double[2][];
-//				double [][] far_bg_ds_merge = new double[2][];
-//				far_fg_ds_merge[0] = avg_ds[0].clone();
-//				far_bg_ds_merge[0] = avg_ds[0].clone();
-//				far_fg_ds_merge[1] = avg_ds[1].clone();
-//				far_bg_ds_merge[1] = avg_ds[1].clone();
 				// single-threaded 
 				if (split_src == 0) {
 					for (int tile = 0; tile < nTiles; tile++) {
 						if (!Double.isNaN(map_far_fg_disparity[tile]) && !Double.isNaN(map_far_bg_disparity[tile])) {
 							far_split[tile] = true;
-							far_fg_ds[0][tile] = avg_ds[0][tile] + map_far_fg_disparity[tile];  
-							far_bg_ds[0][tile] = avg_ds[0][tile] + map_far_bg_disparity[tile];
+							far_fg_ds[0][tile] = target_disparity[tile] + map_far_fg_disparity[tile];  
+							far_bg_ds[0][tile] = target_disparity[tile] + map_far_bg_disparity[tile];
 							far_fg_ds_merge[0][tile] = far_fg_ds[0][tile]; 
 							far_bg_ds_merge[0][tile] = far_bg_ds[0][tile]; 
 							far_fg_ds_merge[1][tile] = map_far_fg_strength[tile]; 
@@ -8311,7 +8306,7 @@ public class OpticalFlow {
 					for (int tile = 0; tile < nTiles; tile++) {
 						if (!Double.isNaN(map_far_fg_disparity[tile])) {
 							far_split[tile] = true;
-							far_fg_ds[0][tile] += map_far_fg_disparity[tile];  
+							far_fg_ds[0][tile] = target_disparity[tile] + map_far_fg_disparity[tile];  
 							far_fg_ds_merge[0][tile] = far_fg_ds[0][tile]; 
 							far_fg_ds_merge[1][tile] = map_far_fg_strength[tile]; 
 						}
@@ -8320,7 +8315,7 @@ public class OpticalFlow {
 					for (int tile = 0; tile < nTiles; tile++) {
 						if (!Double.isNaN(map_far_bg_disparity[tile])) {
 							far_split[tile] = true;
-							far_bg_ds[0][tile] += map_far_bg_disparity[tile];
+							far_bg_ds[0][tile] = target_disparity[tile] + map_far_bg_disparity[tile];
 							far_bg_ds_merge[0][tile] = far_bg_ds[0][tile]; 
 							far_bg_ds_merge[1][tile] = map_far_bg_strength[tile]; 
 						}
@@ -8375,49 +8370,52 @@ public class OpticalFlow {
 							"avg_disp",              //  0
 							"fg_disp",               //  1
 							"bg_disp",               //  2
-							"fg_disp_only",          //  3 
-							"bg_disp_only",          //  4
-							"fg_disp_predicted_only",//  5
-							"bg_disp_predicted_only",//  6
-							"fg_disp_predicted_err", //  7
-							"bg_disp_predicted_err", //  8
-							"avg_str",               //  9
-							"fg_str",                // 10
-							"bg_str",                // 11
-							"fg_str_only",           // 12
-							"bg_str_only",           // 13
-							"fg_str_predicted_only", // 14
-							"bg_str_predicted_only", // 15
-							"fg_str_predicted_err",  // 16
-							"bg_str_predicted_err",  // 17
-							"sel",                   // 18
-							"target_disparity"};     // 19
+							"fg-bg",                 //  3
+							"fg_disp_only",          //  4 
+							"bg_disp_only",          //  5
+							"fg_disp_predicted_only",//  6
+							"bg_disp_predicted_only",//  7
+							"fg_disp_predicted_err", //  8
+							"bg_disp_predicted_err", //  9
+							"avg_str",               // 10
+							"fg_str",                // 11
+							"bg_str",                // 12
+							"fg_str_only",           // 13
+							"bg_str_only",           // 14
+							"fg_str_predicted_only", // 15
+							"bg_str_predicted_only", // 16
+							"fg_str_predicted_err",  // 17
+							"bg_str_predicted_err",  // 18
+							"sel",                   // 19
+							"target_disparity"};     // 20
 
 					double [][] dbg_img = new double[dbg_far_spit_titles.length][];
 					dbg_img[ 0] = avg_ds[0];
 					dbg_img[ 1] = far_fg_ds_merge[0];
 					dbg_img[ 2] = far_bg_ds_merge[0];		
-					dbg_img[ 3] = far_fg_ds[0];
-					dbg_img[ 4] = far_bg_ds[0];
-					dbg_img[ 5] = predicted_fg_ds[0];
-					dbg_img[ 6] = predicted_bg_ds[0];
-					dbg_img[ 7] = fg_predicted_err[0];
-					dbg_img[ 8] = bg_predicted_err[0];
-					dbg_img[ 9] = avg_ds[1];
-					dbg_img[10] = far_fg_ds_merge[1];
-					dbg_img[11] = far_bg_ds_merge[1];
-					dbg_img[12] = far_fg_ds[1];
-					dbg_img[13] = far_bg_ds[1];
-					dbg_img[14] = predicted_fg_ds[1];
-					dbg_img[15] = predicted_bg_ds[1];
-					dbg_img[16] = fg_predicted_err[1];
-					dbg_img[17] = bg_predicted_err[1];
-					dbg_img[18] = new double [nTiles];
+					dbg_img[ 3] = new double [nTiles];
+					dbg_img[ 4] = far_fg_ds[0];
+					dbg_img[ 5] = far_bg_ds[0];
+					dbg_img[ 6] = predicted_fg_ds[0];
+					dbg_img[ 7] = predicted_bg_ds[0];
+					dbg_img[ 8] = fg_predicted_err[0];
+					dbg_img[ 9] = bg_predicted_err[0];
+					dbg_img[10] = avg_ds[1];
+					dbg_img[11] = far_fg_ds_merge[1];
+					dbg_img[12] = far_bg_ds_merge[1];
+					dbg_img[13] = far_fg_ds[1];
+					dbg_img[14] = far_bg_ds[1];
+					dbg_img[15] = predicted_fg_ds[1];
+					dbg_img[16] = predicted_bg_ds[1];
+					dbg_img[17] = fg_predicted_err[1];
+					dbg_img[18] = bg_predicted_err[1];
+					dbg_img[19] = new double [nTiles];
 					for (int tile = 0; tile < nTiles; tile++) {
 						// update index below !
-						dbg_img[18][tile] = (selection[tile] ? 0.5:0.0) + (far_split[tile] ? 0.6:0.0); 	
+						dbg_img[19][tile] = (selection[tile] ? 0.5:0.0) + (far_split[tile] ? 0.6:0.0);
+						dbg_img[ 3][tile] = dbg_img[ 1][tile] - dbg_img[ 2][tile];
 					}
-					dbg_img[19] = target_disparity;
+					dbg_img[20] = target_disparity;
 					
 					ShowDoubleFloatArrays.showArrays(
 							dbg_img,
@@ -13129,7 +13127,7 @@ public class OpticalFlow {
 ///        			null); // int []      wh);
         double [][] combo_dsn_final = quadCLTs[ref_index].restoreComboDSI(true); // also sets quadCLTs[ref_index].dsi and blue sky
 
-        double [][] dls = {
+        double [][] dls = { // Update to use FG? Or FG/no BG?
         		combo_dsn_final[COMBO_DSN_INDX_DISP],
         		combo_dsn_final[COMBO_DSN_INDX_LMA],
         		combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
@@ -13172,11 +13170,9 @@ public class OpticalFlow {
         if (test_motion_blur) {
         	dbg_mb_img = new double[quadCLTs.length][];
         }
-        //      }
         
         
 		ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
-//        double [][][] dxyzatr_dt = new double[quadCLTs.length][][];
 		double [][][] scenes_xyzatr = new double [quadCLTs.length][][]; // previous scene relative to the next one
 		
 		scenes_xyzatr[ref_index] = new double[2][3]; // all zeros