compare to template

src/main/java/com/elphel/imagej/calibration/CalibrationFileManagement.java

@@ -168,6 +168,9 @@ public class CalibrationFileManagement {
 		  if ((dir!=null) && (!dir.isDirectory())){
 			  dir=dir.getParentFile();
 		  }
+		  if ((dir!=null) && (dir.exists()) && (dir.isDirectory() == directory)) {// 05.30.2025
+			  return dir.getPath();
+		  }
 		  
 		  if (!smart) {  // 05.29.2025
 			  return null;

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

@@ -1504,7 +1504,7 @@ public class Interscene {
 			// added 05.21.2024: skip if was spawn already
 			if (changed || (quadCLTs[scene_index] == null)) { 
 //				quadCLTs[scene_index] = quadCLTs[last_index].spawnNoModelQuadCLT(
-				quadCLTs[scene_index] = center_CLT.spawnNoModelQuadCLT(
+				quadCLTs[scene_index] = center_CLT.spawnNoModelQuadCLT( // null
 						set_channels[scene_index].set_name,
 						clt_parameters,
 						colorProcParameters, //

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

@@ -658,6 +658,9 @@ min_str_neib_fpn	0.35
 	public  int     cuas_discard_border =   8;     // Discard this number of pixels from each side when merging
 	public  double  cuas_max_fold =         50;
 	public  int     cuas_min_in_row_col =   4;     // Minimal number of defined tiles in a row/column
+	public  double  cuas_clt_threshold =    20;    // threshold for CLT tile difference from a template
+	public  double  cuas_clt_decrease =     0.01;  // Scale CLT outliers weight 
+	
 	// TODO: move next parameters elsewhere - they are not the motion blur ones.
 	public  int     mb_gain_index_pose =    5;     // pose readjust pass to switch to full mb_max_gain from mb_max_gain_inter
 	public  int     mb_gain_index_depth =   5;     // depth map refine pass (SfM) to switch to full mb_max_gain from mb_max_gain_inter
@@ -1972,6 +1975,11 @@ min_str_neib_fpn	0.35
 				"Maximal non-monotonic Px, Py in PxPyD (usually near image edges).");
 		gd.addNumericField("Minimal tiles in a row/column",          this.cuas_min_in_row_col, 0,3,"tiles",
 				"Discards rows then columns that have less defined tiles (noticed in a diagonal after folds removal).");
+		gd.addNumericField("CLT tile diff thershold",                this.cuas_clt_threshold, 5,7,"pix",
+				"Threshold to the CLT tile difference to a template (RMS).");
+		gd.addNumericField("CLT outliers scale",                     this.cuas_clt_decrease, 5,7,"pix",
+				"Scale CLT outliers tiles weight when averaging.");
+
 		gd.addTab("LMA sequence","Interscene LMA sequence control");
 		gd.addMessage("Parameters for control of the LMA pose adjustment sequence");
 		gd.addNumericField("Pose readjust number for full mb_gain",  this.mb_gain_index_pose, 0,3,"",
@@ -2858,6 +2866,8 @@ min_str_neib_fpn	0.35
 		this.cuas_discard_border= (int) gd.getNextNumber();
 		this.cuas_max_fold =            gd.getNextNumber();
 		this.cuas_min_in_row_col= (int) gd.getNextNumber();
+		this.cuas_clt_threshold =       gd.getNextNumber();
+		this.cuas_clt_decrease =        gd.getNextNumber();
 		
 		this.mb_gain_index_pose = (int) gd.getNextNumber();
 		this.mb_gain_index_depth =(int) gd.getNextNumber();
@@ -3676,6 +3686,8 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_discard_border",  this.cuas_discard_border+""); // int
 		properties.setProperty(prefix+"cuas_max_fold",        this.cuas_max_fold+"");       // double
 		properties.setProperty(prefix+"cuas_min_in_row_col",  this.cuas_min_in_row_col+""); // int
+		properties.setProperty(prefix+"cuas_clt_threshold",   this.cuas_clt_threshold+"");  // double
+		properties.setProperty(prefix+"cuas_clt_decrease",    this.cuas_clt_decrease+"");   // double
 		
 		properties.setProperty(prefix+"mb_gain_index_pose",   this.mb_gain_index_pose+"");  // int
 		properties.setProperty(prefix+"mb_gain_index_depth",  this.mb_gain_index_depth+""); // int
@@ -4469,6 +4481,8 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_discard_border")!=null)  this.cuas_discard_border=Integer.parseInt(properties.getProperty(prefix+"cuas_discard_border"));
 		if (properties.getProperty(prefix+"cuas_max_fold")!=null)        this.cuas_max_fold=Double.parseDouble(properties.getProperty(prefix+"cuas_max_fold"));
 		if (properties.getProperty(prefix+"cuas_min_in_row_col")!=null)  this.cuas_min_in_row_col=Integer.parseInt(properties.getProperty(prefix+"cuas_min_in_row_col"));
+		if (properties.getProperty(prefix+"cuas_clt_threshold")!=null)   this.cuas_clt_threshold=Double.parseDouble(properties.getProperty(prefix+"cuas_clt_threshold"));
+		if (properties.getProperty(prefix+"cuas_clt_decrease")!=null)    this.cuas_clt_decrease=Double.parseDouble(properties.getProperty(prefix+"cuas_clt_decrease"));
 		
 		if (properties.getProperty(prefix+"mb_gain_index_pose")!=null)   this.mb_gain_index_pose=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_pose"));
 		if (properties.getProperty(prefix+"mb_gain_index_depth")!=null)  this.mb_gain_index_depth=Integer.parseInt(properties.getProperty(prefix+"mb_gain_index_depth"));
@@ -5264,6 +5278,8 @@ min_str_neib_fpn	0.35
 		imp.cuas_discard_border =   this.cuas_discard_border;
 		imp.cuas_max_fold =         this.cuas_max_fold;
 		imp.cuas_min_in_row_col =   this.cuas_min_in_row_col;
+		imp.cuas_clt_threshold =    this.cuas_clt_threshold;
+		imp.cuas_clt_decrease =     this.cuas_clt_decrease;
 
 		imp.mb_gain_index_pose    = this.mb_gain_index_pose;
 		imp.mb_gain_index_depth   = this.mb_gain_index_depth;

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

@@ -4896,10 +4896,12 @@ public class OpticalFlow {
 			}
 			
 			if ((center_CLT != null) && center_CLT.hasCenterClt()) {
-				center_CLT.restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
+				Properties prop = center_CLT.restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
 						null, // String path,             // full name with extension or null to use x3d directory
 						false, // boolean all_properties,//				null, // Properties properties,   // if null - will only save extrinsics)
 						debugLevel);
+				// TODO:
+				// if (prop == null) - failed to restore. Maybe OK, will need minimum (later will provide center_CLT as input)
 			} else {
 				if (center_reference && (quadCLTs[last_index] != null)) {
 					quadCLTs[last_index].restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
@@ -4961,7 +4963,7 @@ public class OpticalFlow {
 		}
 		
 		
-		if (!build_ref_dsi && (quadCLTs[last_index] != null)) {
+		if (!build_ref_dsi && (quadCLTs[last_index] != null)) { // is it needed in CUAS mode?
 			quadCLTs[last_index].restoreInterProperties(null, false, debugLevel); //null
 		}
 		// 1. Reference scene DSI
@@ -4985,8 +4987,9 @@ public class OpticalFlow {
 		
 		//************* move loading center DSI here before building reference DSI. Or after "blue sky 
 
-		
-		while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
+		QuadCLT source_CLT = (center_CLT != null) ? center_CLT :quadCLTs[last_index];
+///		while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
+		while ((quadCLTs[last_index] == null) || !source_CLT.hasBlueSky()) { // null
 			if (build_ref_dsi) {
 				TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
 						// processing?
@@ -5039,15 +5042,22 @@ public class OpticalFlow {
 			} else {// if (build_ref_dsi) {
 				// need to read photometric from reference scene -INTERFRAME.corr-xml, and if it exists - set and propagate to main?
 				// try to run reuseRefDSI() even for center? 
-				reuseRefDSI(
+//				QuadCLT source_CLT = (center_CLT != null) ? center_CLT :quadCLTs[last_index];
+				reuseRefDSI( // if (dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) System.out.println("DSI_MAIN file has old format and does not have spread data, will recalculate.");
 						clt_parameters,      // CLTParameters  clt_parameters,
 						colorProcParameters, // ColorProcParameters colorProcParameters,
 						quadCLT_main,        // QuadCLT        quadCLT_main, // tiles should be set
-						quadCLTs[last_index], // QuadCLT        quadCLT_ref, // tiles should be set
+						source_CLT,          // QuadCLT        quadCLT_ref, // tiles should be set
 						batch_mode,			 // final boolean       batch_mode,
 						threadsMax, 		 // final int           threadsMax,
 						updateStatus,		 // final boolean       updateStatus,
 						debugLevel);         // int            debugLevel)
+				if (center_CLT != null) {
+					System.out.println ("In CUAS mode dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null), breaking loop");
+					System.out.println ("In CUAS mode dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null), breaking loop");
+					break;
+				}
+				
 				if (center_reference) {
 //					center_ts = getReferenceTimestamp(); //??
 				}
@@ -5055,23 +5065,23 @@ public class OpticalFlow {
 		} // while (blue_sky == null) 
 		
 		// by now if it was center_reference the last ref_dsi is restored with optional blue sky.
-		
-		
-		ref_blue_sky = quadCLTs[last_index].getDoubleBlueSky();
-		quadCLTs[last_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
-				set_channels[last_index].set_name,
-				clt_parameters,
-				colorProcParameters, //
-				threadsMax,
-				debugLevel);
-		quadCLTs[last_index].setQuadClt(); // just in case ?
-		quadCLTs[last_index].setBlueSky(ref_blue_sky); //quadCLTs[ref_index].dsi has it 
-		quadCLTs[last_index].setDSRBG(
-				clt_parameters, // CLTParameters  clt_parameters,
-				threadsMax,     // int            threadsMax,  // maximal number of threads to launch
-				updateStatus,   // boolean        updateStatus,
-				debugLevel);    // int            debugLevel)
-		
+		if (center_CLT == null) { // does not work in CUAS mode
+			ref_blue_sky = quadCLTs[last_index].getDoubleBlueSky();
+			quadCLTs[last_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
+					set_channels[last_index].set_name,
+					clt_parameters,
+					colorProcParameters, //
+					threadsMax,
+					debugLevel);
+			quadCLTs[last_index].setQuadClt(); // just in case ?
+			quadCLTs[last_index].setBlueSky(ref_blue_sky); //quadCLTs[ref_index].dsi has it 
+			quadCLTs[last_index].setDSRBG( // null
+					clt_parameters, // CLTParameters  clt_parameters,
+					threadsMax,     // int            threadsMax,  // maximal number of threads to launch
+					updateStatus,   // boolean        updateStatus,
+					debugLevel);    // int            debugLevel)
+
+		}
 		if (!force_initial_orientations) {
 			// use master_clt? - where to look for stage. in CUAS mode build directory name and look there
 			if (center_CLT != null) {

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

@@ -138,7 +138,7 @@ public class QuadCLT extends QuadCLTCPU {
 				sensor_mask_clt, // final int         sensor_mask, // only if merge_channels
 				whc,             // final int []      whc, // if int[2], will return width, height
 				false);          // final boolean     use_reference);
-		String suffix="-virtual";
+		String suffix="-virtual_threshold"+clt_parameters.imp.cuas_clt_threshold+"_decrease"+clt_parameters.imp.cuas_clt_decrease;;
 		ImagePlus imp_virtual = renderFromTD ( // do we need to update gpuQuad ?
 				sensor_mask_clt,         // final int         sensor_mask,
         		true, // merge_clt,               // boolean             merge_channels,

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

@@ -368,6 +368,9 @@ public class QuadCLTCPU {
 			center_CLT.setCenterClt(
 					center_clt, // float [] clt,
 					center_clt_weights);    // int      clt_width);
+		} else {
+			System.out.println("restoreCenterClt(): No FCLT data in "+center_CLT.getImagePath());
+			return null;
 		}
 		center_CLT.restoreComboDSI(true);
 		return center_CLT;
@@ -2925,12 +2928,13 @@ public class QuadCLTCPU {
     	// create from existing instance
     	this.properties =      new Properties(); // properties will be different
     	// is it needed at all?
-    	for (Enumeration<?> e = qParent.properties.propertyNames(); e.hasMoreElements();) {
-    		String key = (String) e.nextElement();
-    		this.properties.setProperty(key, qParent.properties.getProperty(key));
+    	if (qParent.properties != null) { // 05.30.2025
+    		for (Enumeration<?> e = qParent.properties.propertyNames(); e.hasMoreElements();) {
+    			String key = (String) e.nextElement();
+    			this.properties.setProperty(key, qParent.properties.getProperty(key));
+    		}
+    		this.properties.putAll(qParent.properties);
     	}
-
-    	this.properties.putAll(qParent.properties);
     	this.eyesisCorrections=      qParent.eyesisCorrections;
     	this.correctionsParameters = qParent.correctionsParameters;
     	this.clt_kernels =           qParent.clt_kernels;
@@ -4560,14 +4564,19 @@ public class QuadCLTCPU {
     		String x3d_path = getX3dDirectory();
     		path = x3d_path+Prefs.getFileSeparator()+path;
     	}
-    	properties = loadProperties(
+    	Properties new_properties = loadProperties(
     			path, // String path,
     			properties, // Properties properties)
     			true); // false); // boolean silent)
-    	if (properties == null ) {
+    	if (new_properties == null ) {
     		System.out.println("Failed to restore interframe properties from :"+path);
+    		System.out.println("Resetting properties");
+    		properties = new Properties();
     		return null;
+//    		System.out.println("Keeping old properies");
+//   		return null;
     	}
+    	properties = new_properties; 
     	String prefix = is_aux?PREFIX_AUX:PREFIX; 
     	getProperties(prefix); // will set Geometry correction non-null
     	if (!(geometryCorrection instanceof ErsCorrection)) { // should only be for the new GeometryCorrection created in getProperties
@@ -4684,7 +4693,7 @@ public class QuadCLTCPU {
     		}
     		return;
     	}
-    	setDSRBG( // will likely not be used at all. Use  getDLS() instead
+    	setDSRBG( // will likely not be used at all. Use  getDLS() instead // null
     			this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
     			this.dsi[is_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN],
     			this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA],
@@ -4714,7 +4723,7 @@ public class QuadCLTCPU {
 
     	}
 
-    	double[][] rbg = getTileRBG(
+    	double[][] rbg = getTileRBG(  // null
     			clt_parameters,
     			disparity,
     			strength,
@@ -4774,7 +4783,7 @@ public class QuadCLTCPU {
 		} else {
 			scan.setLMA(disparity_lma);
 		}
-		boolean [] selection = new boolean [disparity.length];
+		boolean [] selection = new boolean [disparity.length]; //null
 		for (int i = 0; i < disparity.length; i++) {
 			selection[i] = (!Double.isNaN(disparity[i]) && ((strength == null) || (strength[i] > 0)));
 		}