cleaning up, adding parameters for different debug modes

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

@@ -266,24 +266,28 @@ public class IntersceneLma {
 		}
 		if (rslt[0]) { // better
 			if (iter >= num_iter) { // better, but num tries exceeded
-				if (debug_level > 0) System.out.println("Step "+iter+": Improved, but number of steps exceeded maximal");
+				if (debug_level > 1) System.out.println("Step "+iter+": Improved, but number of steps exceeded maximal");
 			} else {
-				if (debug_level > 0) System.out.println("Step "+iter+": LMA: Success");
+				if (debug_level > 1) System.out.println("Step "+iter+": LMA: Success");
 			}
 
 		} else { // improved over initial ?
 			if (last_rms[0] < initial_rms[0]) { // NaN
 				rslt[0] = true;
-				if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");
+				if (debug_level > 1) System.out.println("Step "+iter+": Failed to converge, but result improved over initial");
 			} else {
-				if (debug_level > 0) System.out.println("Step "+iter+": Failed to converge");
+				if (debug_level > 1) System.out.println("Step "+iter+": Failed to converge");
 			}
 		}
-		if (debug_level > 0) {
+		boolean show_intermediate = true;
+		if (show_intermediate && (debug_level > 0)) {
 			System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
 		}
 		if (debug_level > 0) {
 			if ((debug_level > 1) || (iter == 1) || last_run) {
+				if (!show_intermediate) {
+					System.out.println("LMA: full RMS="+last_rms[0]+" ("+initial_rms[0]+"), pure RMS="+last_rms[1]+" ("+initial_rms[1]+") + lambda="+lambda);
+				}
 				String [] lines = printOldNew(false); // boolean allvectors)
 				for (String line : lines) {
 					System.out.println(line);

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

@@ -43,6 +43,8 @@ public class IntersceneLmaParameters {
 	public int        ilma_num_iter =          20;
 	public int        ilma_num_corr =          10; // maximal number of full correlation+LMA cycles
 	public int        ilma_debug_level =       1;
+	public boolean    ilma_debug_adjust_series = false; // Debug images for series of pose and ers
+	public boolean    ilma_debug_invariant =     false; // Monitoring variations when restarting program (should be ilma_thread_invariant=true)
 
 	public IntersceneLmaParameters() {
 		ilma_lma_select[ErsCorrection.DP_DVAZ]=  true;
@@ -133,11 +135,14 @@ public class IntersceneLmaParameters {
 				"A hard limit on LMA iterations.");
 		gd.addNumericField("Maximal number of correlation +LMA iterations",this.ilma_num_corr, 0,3,"",
 				"Outer cycle (recalculate correlations + lma). Otherwise exits if LMA exits at first iteration.");
-		
-		
+	    gd.addCheckbox    ("Debug adjust_series()",                       this.ilma_debug_adjust_series,
+	    		"Generate debug images for series of pose and ERS (derivatives of pose)" );
+	    gd.addCheckbox    ("Debug thread-invariant",                      this.ilma_debug_invariant,
+	    		"Generate debug images and text output to verify same results regardless of threads" );
 		gd.addNumericField("Debug level",                                 this.ilma_debug_level, 0,3,"",
 				"Debug level of interscene LMA operation.");
 	}
+	
 	public void dialogAnswers(GenericJTabbedDialog gd) {
 		this.ilma_thread_invariant =              gd.getNextBoolean();
 		for (int i = ErsCorrection.DP_DVAZ; i < ErsCorrection.DP_NUM_PARS; i++) {
@@ -156,6 +161,8 @@ public class IntersceneLmaParameters {
 		this.ilma_rms_diff =                      gd.getNextNumber();
 		this.ilma_num_iter =                (int) gd.getNextNumber();
 		this.ilma_num_corr =                (int) gd.getNextNumber();
+		this.ilma_debug_adjust_series =           gd.getNextBoolean();
+		this.ilma_debug_invariant =               gd.getNextBoolean();
 		this.ilma_debug_level =             (int) gd.getNextNumber();
 	}
 	public void setProperties(String prefix,Properties properties){
@@ -174,6 +181,8 @@ public class IntersceneLmaParameters {
 		properties.setProperty(prefix+"ilma_rms_diff",           this.ilma_rms_diff+"");	
 		properties.setProperty(prefix+"ilma_num_iter",           this.ilma_num_iter+"");	
 		properties.setProperty(prefix+"ilma_num_corr",           this.ilma_num_corr+"");	
+		properties.setProperty(prefix+"ilma_debug_adjust_series",this.ilma_debug_adjust_series+"");	
+		properties.setProperty(prefix+"ilma_debug_invariant",    this.ilma_debug_invariant+"");	
 		properties.setProperty(prefix+"ilma_debug_level",        this.ilma_debug_level+"");	
 	}
 	public void getProperties(String prefix,Properties properties){
@@ -184,7 +193,6 @@ public class IntersceneLmaParameters {
 			pn_sel = prefix+ErsCorrection.DP_DERIV_NAMES[i]+"_regweight";
 			if (properties.getProperty(pn_sel)!=null) this.ilma_regularization_weights[i]=Double.parseDouble(properties.getProperty(pn_sel));
 		}
-
 		if (properties.getProperty(prefix+"ilma_ignore_ers")!=null)         this.ilma_ignore_ers=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ignore_ers"));
 		if (properties.getProperty(prefix+"ilma_ers_adj_lin")!=null)        this.ilma_ers_adj_lin=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_lin"));
 		if (properties.getProperty(prefix+"ilma_ers_adj_ang")!=null)        this.ilma_ers_adj_ang=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_ers_adj_ang"));
@@ -195,6 +203,8 @@ public class IntersceneLmaParameters {
 		if (properties.getProperty(prefix+"ilma_rms_diff")!=null)           this.ilma_rms_diff=Double.parseDouble(properties.getProperty(prefix+"ilma_rms_diff"));
 		if (properties.getProperty(prefix+"ilma_num_iter")!=null)           this.ilma_num_iter=Integer.parseInt(properties.getProperty(prefix+"ilma_num_iter"));
 		if (properties.getProperty(prefix+"ilma_num_corr")!=null)           this.ilma_num_corr=Integer.parseInt(properties.getProperty(prefix+"ilma_num_corr"));
+		if (properties.getProperty(prefix+"ilma_debug_adjust_series")!=null)this.ilma_debug_adjust_series=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_debug_adjust_series"));
+		if (properties.getProperty(prefix+"ilma_debug_invariant")!=null)    this.ilma_debug_invariant=Boolean.parseBoolean(properties.getProperty(prefix+"ilma_debug_invariant"));
 		if (properties.getProperty(prefix+"ilma_debug_level")!=null)        this.ilma_debug_level=Integer.parseInt(properties.getProperty(prefix+"ilma_debug_level"));
 	}
 	
@@ -214,6 +224,8 @@ public class IntersceneLmaParameters {
 		ilp.ilma_rms_diff =            this.ilma_rms_diff;
 		ilp.ilma_num_iter =            this.ilma_num_iter;
 		ilp.ilma_num_corr =            this.ilma_num_corr;
+		ilp.ilma_debug_adjust_series = this.ilma_debug_adjust_series;
+		ilp.ilma_debug_invariant =     this.ilma_debug_invariant;
 		ilp.ilma_debug_level =         this.ilma_debug_level;
 		return ilp;
 	}	

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

@@ -581,7 +581,7 @@ public class OpticalFlow {
 			final int         debug_level, //1
 			final boolean     enable_debug_images) // true
 	{
-		boolean debug_mismatch = (debug_level > -10); // true;
+		boolean debug_mismatch = (debug_level > -10); // && enable_debug_images);
 //		int debug_corr2d = 0;// 10
 		
 		final TileProcessor tp =         reference_QuadClt.getTileProcessor();
@@ -3602,8 +3602,7 @@ public class OpticalFlow {
 			int            debug_level
 			)
 	{
-		boolean show_results = true;
-		
+		boolean show_results = clt_parameters.ilp.ilma_debug_adjust_series;
 		if (ref_index < 0) {
 			ref_index += scenes.length;
 		}
@@ -8428,6 +8427,8 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
 			double [][] flowXY = new double [macroTiles][2]; // zero pre-shifts
 			//		double [][] flowXY_frac = new double [macroTiles][]; // Will contain fractional X/Y shift for CLT
 			double [][] reference_tiles_macro = new double [macroTiles][];
+			// hack below to pass nlma for debugging. Change  clt_parameters.ilp.ilma_num_corr to -11 after first pass
+			int test_debug_level = clt_parameters.ilp.ilma_debug_invariant? (clt_parameters.ofp.debug_level_iterate-nlma): -11;
 			double [][] vector_XYS = correlate2DIterate( // returns optical flow and confidence
 					clt_parameters.img_dtt, // final ImageDttParameters  imgdtt_params,
 					// for prepareSceneTiles()			
@@ -8460,7 +8461,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
 					clt_parameters.ofp.min_change,               // final double      min_change,
 					clt_parameters.ofp.best_neibs_num,           // final int         best_num,
 					clt_parameters.ofp.ref_stdev,                // final double      ref_stdev,
-					clt_parameters.ofp.debug_level_iterate-nlma,      // final int         debug_level)
+					test_debug_level, // clt_parameters.ofp.debug_level_iterate-nlma,      // final int         debug_level)
 					clt_parameters.ofp.enable_debug_images);     //final boolean     enable_debug_images)
 			if (dbg_img != null) {
 				for (int iy = 0; iy < macroTilesY; iy++) {
@@ -8505,7 +8506,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
 				}
 			}
 
-			if (dbg_img != null) {
+			if (clt_parameters.ilp.ilma_debug_invariant) { // dbg_img != null) {
 				/*
 				long [] long_xyz0 =  new long [camera_xyz0.length];
 				long [] long_atr0 =  new long [camera_atr0.length];