Next snapshot, debugging

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

@@ -258,6 +258,9 @@ public class Interscene {
 		quadCLTs[cent_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)  // null pointer
 				null, // String path,             // full name with extension or w/o path to use x3d directory
 				debugLevel+1);
+		if (debugLevel > -3) {
+			System.out.println("setInitialOrientationsCenterIms(): return earliest_scene2="+earliest_scene2);
+		}
 		return earliest_scene2;
 	}
 	
@@ -448,6 +451,7 @@ public class Interscene {
 					clt_parameters,      // CLTParameters  clt_parameters,
 					use_lma_dsi,         // clt_parameters.imp.use_lma_dsi,
 					false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+					true,               // boolean        disable_ers,
 					min_max,             // double []      min_max,       // null or pair of minimal and maximal offsets
 					fail_reason,         // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 					quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
@@ -820,6 +824,7 @@ public class Interscene {
 					clt_parameters,      // CLTParameters  clt_parameters,
 					use_lma_dsi,         // clt_parameters.imp.use_lma_dsi,
 					false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+					true,                // boolean        disable_ers,
 					min_max,             // double []      min_max,       // null or pair of minimal and maximal offsets
 					fail_reason,         // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 					quadCLTs[ref_index], // QuadCLT reference_QuadCLT,
@@ -966,6 +971,7 @@ public class Interscene {
 	public static int  reAdjustPairsLMAInterscene( // after combo dgi is available and preliminary poses are known
 			CLTParameters  clt_parameters,
 			double         mb_max_gain,
+			boolean        disable_ers,
 			boolean []     reliable_ref, // null or bitmask of reliable reference tiles			
     		QuadCLT []     quadCLTs,
     		int            ref_index,
@@ -1363,6 +1369,7 @@ public class Interscene {
 						clt_parameters,          // CLTParameters  clt_parameters,
 						false,                   // boolean        initial_adjust,
 						fpn_disable,             // 			boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+						disable_ers,             // boolean        disable_ers,
 						min_max,                 // double []      min_max,       // null or pair of minimal and maximal offsets
 						fail_reason,             // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 						quadCLTs[ref_index],                            // QuadCLT reference_QuadCLT,
@@ -1484,6 +1491,7 @@ public class Interscene {
 			CLTParameters  clt_parameters,
 		    boolean        use_lma_dsi,
 			boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+			boolean        disable_ers,
 			double []      min_max,       // null or pair of minimal and maximal offsets
 			int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 			QuadCLT        reference_QuadClt,
@@ -1533,6 +1541,7 @@ public class Interscene {
 				clt_parameters,    // CLTParameters  clt_parameters,
 				true,              // boolean        initial_adjust,
 				false,             // boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+				disable_ers,        // boolean        disable_ers,
 				min_max,                // double []      min_max,       // null or pair of minimal and maximal offsets
 				fail_reason,                // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 				reference_QuadClt, // QuadCLT        reference_QuadClt,
@@ -1561,6 +1570,7 @@ public class Interscene {
 			CLTParameters  clt_parameters,
 			boolean        initial_adjust,
 			boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+			boolean        disable_ers,
 			double []      min_max,       // null or pair of minimal and maximal offsets
 			int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 			QuadCLT        reference_QuadClt,
@@ -1641,9 +1651,8 @@ public class Interscene {
 	        for (int i:ErsCorrection.DP_ERS_INDICES) {
 	        	ers_lma |= param_select[i];
 	        }
-			boolean disable_ers=false;
 			boolean [] param_select_mod = param_select; 
-			if (ers_lma && filter_by_ers) {
+			if (ers_lma && filter_by_ers && !disable_ers) {
 				double [][] quad_strengths = getQuadStrengths(
 						coord_motion,                                      // double [][][] coord_motion,
 						gap_frac,                                          //double           gap_frac, // 0.25 
@@ -1651,9 +1660,19 @@ public class Interscene {
 				for (int i = 0; i < quad_strengths[0].length; i++) {
 					if ((quad_strengths[0][i] < min_quad_tiles) || (quad_strengths[1][i] < min_quad_weight)) {
 						disable_ers = true;
+						if (clt_parameters.imp.debug_level > -2) {
+							System.out.print("adjustPairsLMAInterscene(): insufficient data for ERS, skipping. ");
+							System.out.println ("quad_defined = ["+((int)quad_strengths[0][0])+","
+									+((int)quad_strengths[0][1])+","+((int)quad_strengths[0][2])+","+((int)quad_strengths[0][3])+"] (needed = "+
+									min_quad_tiles +"), rel_strengths = ["
+									+quad_strengths[1][0]+","+quad_strengths[1][1]+","
+									+quad_strengths[1][2]+","+quad_strengths[1][3]+"] (needed "
+									+min_quad_weight+")");
+						}
 						break;
 					}
 				}
+			}
 			if (disable_ers) {
 				param_select_mod = param_select.clone();
 				for (int i:ErsCorrection.DP_ERS_INDICES) {
@@ -1664,18 +1683,7 @@ public class Interscene {
 				ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();
 				ers_scene.ers_watr_center_dt = ers_ref.ers_watr_center_dt.clone();
 				ers_scene.ers_wxyz_center_dt = ers_ref.ers_wxyz_center_dt.clone();
-					if (clt_parameters.imp.debug_level > -2) {
-						System.out.print("adjustPairsLMAInterscene(): insufficient data for ERS, skipping. ");
-						System.out.println ("quad_defined = ["+((int)quad_strengths[0][0])+","
-								+((int)quad_strengths[0][1])+","+((int)quad_strengths[0][2])+","+((int)quad_strengths[0][3])+"] (needed = "+
-								min_quad_tiles +"), rel_strengths = ["
-								+quad_strengths[1][0]+","+quad_strengths[1][1]+","
-								+quad_strengths[1][2]+","+quad_strengths[1][3]+"] (needed "
-								+min_quad_weight+")");
-					}
 			}
-			}
-	        
 			intersceneLma.prepareLMA(
 					camera_xyz0,         // final double []   scene_xyz0,     // camera center in world coordinates (or null to use instance)
 					camera_atr0,         // final double []   scene_atr0,     // camera orientation relative to world frame (or null to use instance)

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

@@ -44,6 +44,16 @@ public class IntersceneMatchParameters {
 		
 	public  boolean sfm_use =            true;   // use SfM to improve depth map
 	public  double  sfm_min_base =       2.0;    // use SfM if baseline exceeds this
+    public  int     sfm_num_pairs =     16;      // desired number of SfM pairs to average
+    public  double  sfp_tolerance =      0.05;   // average SfM pairs if their baselines differ less
+	public  int     sfm_readjust =       5;      // number of SfM readjustment cycles 
+	public  double  sfm_prev_frac =      0.6;    // update if new sfm gain > this fraction of the old one
+	public  int     sfm_shrink =         2;      // shrink sfm gain area before applying sfm_fade_sigma
+    public  double  sfm_fade_sigma =     3.0;    // fade SfM gains at the edges 
+	public  double  sfm_min_str =        0.4;    // update if correction strength exceeds
+	public  boolean sfm_use_neibs =      true;   // use neighbors if individual corr is too weak
+	public  double  sfm_neib_too_str=    0.4;    // do not count neighbors stronger than that
+	public  double  sfm_neib_str=        0.5;    // update if no-individual and neibs correction strength exceeds 
 	
 	
 	public double [] getImsMountATR() {
@@ -443,6 +453,28 @@ public class IntersceneMatchParameters {
 		gd.addNumericField("Minimal SfM baseline",                   this.sfm_min_base, 5,8,"m",
 				"Use SfM only if the baseline (lateral offset between scenes in a series) exceeds this value.");
 		
+		
+		gd.addNumericField("Number of SfM pairs to average",         this.sfm_num_pairs, 0,3,"",
+				"Desired number of SfM pairs to average, will be reduced if not enough or tolerance (below) is violated.");
+		gd.addNumericField("SfP inter-pair baseline tolerance",      this.sfp_tolerance, 5,8,"",
+				"Average SfM pairs if their baselines differ less.");
+		gd.addNumericField("Readjust SfM cycles",                    this.sfm_readjust, 0,3,"",
+				"Number of SfM readjustment cycles.");
+		gd.addNumericField("Minimal SfM gain from previous",         this.sfm_prev_frac, 5,8,"",
+				"Update if new sfm gain > this fraction of the old one.");
+		gd.addNumericField("Shrink SfM area",                        this.sfm_shrink, 0,3,"",
+				"Shrink sfm gain area before applying sfm_fade_sigmas.");
+		gd.addNumericField("Fade SfM area sigma",                    this.sfm_fade_sigma, 5,8,"",
+				"Fade SfM gains at the edges.");
+		gd.addNumericField("Minimal correlation strength",           this.sfm_min_str, 5,8,"",
+				"Update if correction strength of individual tiles exceeds.");
+		gd.addCheckbox ("Use neighbors",                             this.sfm_use_neibs,
+				"Use neighbors if individual corr is too weak.");
+		gd.addNumericField("Too strong neighbors",                   this.sfm_neib_too_str, 5,8,"",
+				"Do not accumulate neighbors stronger than that.");
+		gd.addNumericField("Minimal neighbors strength",             this.sfm_neib_str, 5,8,"",
+				"Update if no-individual and neighbors correction strength exceeds this.");
+		
 		gd.addTab         ("Scene Series", "Processing series of scenes and multi-series sets");
 		gd.addMessage  ("Build series options");
 		
@@ -1114,6 +1146,16 @@ public class IntersceneMatchParameters {
 		this.ims_mount_xyz = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 3);
 		this.sfm_use =                        gd.getNextBoolean();
 		this.sfm_min_base =                   gd.getNextNumber();
+        this.sfm_num_pairs =            (int) gd.getNextNumber(); 
+        this.sfp_tolerance =                  gd.getNextNumber();  
+        this.sfm_readjust =             (int) gd.getNextNumber(); 
+        this.sfm_prev_frac =                  gd.getNextNumber();
+        this.sfm_shrink =               (int) gd.getNextNumber();
+        this.sfm_fade_sigma =                 gd.getNextNumber(); 
+        this.sfm_min_str =                    gd.getNextNumber(); 
+        this.sfm_use_neibs =                  gd.getNextBoolean(); 
+        this.sfm_neib_too_str =               gd.getNextNumber(); 
+        this.sfm_neib_str =	                  gd.getNextNumber(); 
 		this.center_reference =               gd.getNextBoolean();
 		this.force_ref_dsi =                  gd.getNextBoolean();
 		this.force_orientations =             gd.getNextBoolean();
@@ -1469,6 +1511,16 @@ public class IntersceneMatchParameters {
 		properties.setProperty(prefix+"ims_mount_xyz",                 IntersceneMatchParameters.doublesToString(this.ims_mount_xyz));
 		properties.setProperty(prefix+"sfm_use",                       this.sfm_use + "");                     // boolean
 		properties.setProperty(prefix+"sfm_min_base",                  this.sfm_min_base+"");                  // double
+		properties.setProperty(prefix+"sfm_num_pairs",                 this.sfm_num_pairs+"");                 // int
+		properties.setProperty(prefix+"sfp_tolerance",                 this.sfp_tolerance+"");                 // double
+		properties.setProperty(prefix+"sfm_readjust",                  this.sfm_readjust+"");                  // int
+		properties.setProperty(prefix+"sfm_prev_frac",                 this.sfm_prev_frac+"");                 // double
+		properties.setProperty(prefix+"sfm_shrink",                    this.sfm_shrink+"");                  // int
+		properties.setProperty(prefix+"sfm_fade_sigma",                this.sfm_fade_sigma+"");                // double
+		properties.setProperty(prefix+"sfm_min_str",                   this.sfm_min_str+"");                   // double
+		properties.setProperty(prefix+"sfm_use_neibs",                 this.sfm_use_neibs+"");                 // boolean
+		properties.setProperty(prefix+"sfm_neib_too_str",              this.sfm_neib_too_str+"");              // double
+		properties.setProperty(prefix+"sfm_neib_str",                  this.sfm_neib_str +"");                 // double
 		properties.setProperty(prefix+"center_reference",              this.center_reference + "");            // boolean
 		properties.setProperty(prefix+"force_ref_dsi",                 this.force_ref_dsi + "");               // boolean
 		properties.setProperty(prefix+"force_orientations",            this.force_orientations + "");          // boolean
@@ -1784,6 +1836,16 @@ public class IntersceneMatchParameters {
 		if (properties.getProperty(prefix+"ims_mount_xyz")!=null) 	   this.ims_mount_xyz= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ims_mount_xyz"),3);
 		if (properties.getProperty(prefix+"sfm_use")!=null)            this.sfm_use=Boolean.parseBoolean(properties.getProperty(prefix+"sfm_use"));		
 		if (properties.getProperty(prefix+"sfm_min_base")!=null)       this.sfm_min_base=Double.parseDouble(properties.getProperty(prefix+"sfm_min_base"));
+		if (properties.getProperty(prefix+"sfm_num_pairs")!=null)      this.sfm_num_pairs=Integer.parseInt(properties.getProperty(prefix+"sfm_num_pairs"));
+		if (properties.getProperty(prefix+"sfp_tolerance")!=null)      this.sfp_tolerance=Double.parseDouble(properties.getProperty(prefix+"sfp_tolerance"));
+		if (properties.getProperty(prefix+"sfm_readjust")!=null)       this.sfm_readjust=Integer.parseInt(properties.getProperty(prefix+"sfm_readjust"));
+		if (properties.getProperty(prefix+"sfm_prev_frac")!=null)      this.sfm_prev_frac=Double.parseDouble(properties.getProperty(prefix+"sfm_prev_frac"));
+		if (properties.getProperty(prefix+"sfm_shrink")!=null)         this.sfm_shrink=Integer.parseInt(properties.getProperty(prefix+"sfm_shrink"));
+		if (properties.getProperty(prefix+"sfm_fade_sigma")!=null)     this.sfm_fade_sigma=Double.parseDouble(properties.getProperty(prefix+"sfm_fade_sigma"));
+		if (properties.getProperty(prefix+"sfm_min_str")!=null)        this.sfm_min_str=Double.parseDouble(properties.getProperty(prefix+"sfm_min_str"));
+		if (properties.getProperty(prefix+"sfm_use_neibs")!=null)      this.sfm_use_neibs=Boolean.parseBoolean(properties.getProperty(prefix+"sfm_use_neibs"));
+		if (properties.getProperty(prefix+"sfm_neib_too_str")!=null)   this.sfm_neib_too_str=Double.parseDouble(properties.getProperty(prefix+"sfm_neib_too_str"));
+		if (properties.getProperty(prefix+"sfm_neib_str")!=null)       this.sfm_neib_str=Double.parseDouble(properties.getProperty(prefix+"sfm_neib_str"));
 		if (properties.getProperty(prefix+"center_reference")!=null)              this.center_reference=Boolean.parseBoolean(properties.getProperty(prefix+"center_reference"));		
 		if (properties.getProperty(prefix+"force_ref_dsi")!=null)                 this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));		
 		if (properties.getProperty(prefix+"force_orientations")!=null)            this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));		
@@ -2126,6 +2188,16 @@ public class IntersceneMatchParameters {
  		imp.ims_mount_xyz                 = this.ims_mount_xyz.clone();
  		imp.sfm_use                       = this.sfm_use;
  		imp.sfm_min_base                  = this.sfm_min_base;
+ 		imp.sfm_num_pairs 	              = this.sfm_num_pairs;
+ 		imp.sfp_tolerance 	              = this.sfp_tolerance;
+ 		imp.sfm_readjust                  = this.sfm_readjust;
+ 		imp.sfm_prev_frac 	              = this.sfm_prev_frac;
+ 		imp.sfm_shrink                    = this.sfm_shrink;
+ 		imp.sfm_fade_sigma	              = this.sfm_fade_sigma;
+ 		imp.sfm_min_str   	              = this.sfm_min_str;
+ 		imp.sfm_use_neibs 	              = this.sfm_use_neibs;
+ 		imp.sfm_neib_too_str              = this.sfm_neib_too_str;
+ 		imp.sfm_neib_str   	              = this.sfm_neib_str;
 		imp.center_reference              = this.center_reference;
 		imp.force_ref_dsi                 = this.force_ref_dsi;
 		imp.force_orientations            = this.force_orientations;

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

@@ -3572,6 +3572,7 @@ public class OpticalFlow {
 					clt_parameters,                                 // CLTParameters  clt_parameters,
 				    clt_parameters.imp.use_lma_dsi,
 					false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+					false,               // boolean        disable_ers,
 					null,                // double []      min_max,       // null or pair of minimal and maximal offsets
 					null,                // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 					reference_QuadClt,                              // QuadCLT reference_QuadCLT,
@@ -4885,7 +4886,7 @@ public class OpticalFlow {
 			boolean OK = false;
 			int es1 = -1;
 			if (center_reference) {
-				ref_index = Interscene.setInitialOrientationsCenterIms(
+				es1 = Interscene.setInitialOrientationsCenterIms(
 						clt_parameters,      // final CLTParameters          clt_parameters,
 						min_num_scenes,      // int                          min_num_scenes,
 						colorProcParameters, // final ColorProcParameters    colorProcParameters,
@@ -4896,14 +4897,20 @@ public class OpticalFlow {
 						last_index,           // final int                    ref_index,
 						set_channels,        // final QuadCLT.SetChannels [] set_channels,
 						batch_mode,          // final boolean                batch_mode,
-						earliest_scene,      // int                          earliest_scene,
+						earliest_scene,      // int                          ,
 						start_ref_pointers,  // int []                       start_ref_pointers, // [0] - earliest valid scene, [1] ref_index
 						threadsMax,          // final int                    threadsMax,
 						updateStatus,        // final boolean                updateStatus,
 						debugLevel);
-				OK = ref_index >= 0;
+				OK = es1 >= 0;
+				if (OK) {
+					ref_index =quadCLTs[last_index].getReferenceIndex(quadCLTs);
+					int [] first_last_index = quadCLTs[ref_index].getFirstLastIndex(quadCLTs);
+					earliest_scene = first_last_index[0];
+					last_index =  first_last_index[1];
+				}
 			} else if (ims_use) {	
-				es1 =	Interscene.setInitialOrientationsIms(
+				earliest_scene =	Interscene.setInitialOrientationsIms(
 						clt_parameters,      // final CLTParameters          clt_parameters,
 						min_num_scenes,      // int                          min_num_scenes,
 						colorProcParameters, // final ColorProcParameters    colorProcParameters,
@@ -4916,9 +4923,9 @@ public class OpticalFlow {
 						threadsMax,          // final int                    threadsMax,
 						updateStatus,        // final boolean                updateStatus,
 						debugLevel);         // final int                    debugLevel)
-				OK = es1 >=0;
+				OK = earliest_scene >=0;
 			} else {
-				es1=	Interscene.setInitialOrientations(
+				earliest_scene=	Interscene.setInitialOrientations(
 						clt_parameters,      // final CLTParameters          clt_parameters,
 						min_num_scenes,      // int                          min_num_scenes,
 						colorProcParameters, // final ColorProcParameters    colorProcParameters,
@@ -4931,7 +4938,7 @@ public class OpticalFlow {
 						threadsMax,          // final int                    threadsMax,
 						updateStatus,        // final boolean                updateStatus,
 						debugLevel);         // final int                    debugLevel)
-				OK = es1 >=0;
+				OK = earliest_scene >=0;
 			}
 			if (!OK) {
 				return null;
@@ -5033,7 +5040,7 @@ public class OpticalFlow {
 							debugLevel);              // final int                    debugLevel)
 					*/
 //					int      num_avg_pairs = 16; // number of scene pairs to average
-					int      num_avg_pairs = 1;  // number of scene pairs to average
+					int      num_avg_pairs = clt_parameters.imp.sfm_num_pairs;  // number of scene pairs to average
 					QuadCLT[][][] scenes_seq_pairs = new QuadCLT[3][num_avg_pairs][2];
 					for (int i = 0; i < num_avg_pairs; i++) {
 						scenes_seq_pairs[0][i][0] = quadCLTs[ref_index + num_avg_pairs - 1 - i];
@@ -5045,7 +5052,19 @@ public class OpticalFlow {
 						scenes_seq_pairs[2][i][0] = quadCLTs[last_index - i];
 						scenes_seq_pairs[2][i][1] = quadCLTs[earliest_scene + num_avg_pairs - 1 - i];
 					}
+					double [][] sfm_dsn = StructureFromMotion.sfmPairsSet(
+							clt_parameters,           // final CLTParameters          clt_parameters,
+							quadCLTs[ref_index],      // final QuadCLT                ref_scene,
+							scenes_seq_pairs,         // scenes_pairs,             // final QuadCLT [][]           scenes_pairs,
+							mb_max_gain,              // double                       mb_max_gain,
+							batch_mode,               // final boolean                batch_mode,
+							debugLevel);              // final int                    debugLevel)
+					if (sfm_dsn != null) {
+						combo_dsn_final = sfm_dsn;
+						done_sfm = true;
+					}
 
+					/*							
 					for (int num_seq = 0; num_seq < scenes_seq_pairs.length; num_seq++) {
 						double [][] sfm_dsn = StructureFromMotion.sfmPair(
 								clt_parameters,           // final CLTParameters          clt_parameters,
@@ -5059,6 +5078,7 @@ public class OpticalFlow {
 							done_sfm = true;
 						}
 					}
+*/					
 				} 
 				if (!done_sfm) { // first pass or sfm failed
 					// should skip scenes w/o orientation 06/29/2022
@@ -5119,9 +5139,11 @@ public class OpticalFlow {
 				if (quadCLTs[ref_index].getNumOrient() < (min_num_orient - 1)) {
 					mb_max_gain = clt_parameters.imp.mb_max_gain_inter;
 				}
+				boolean        disable_ers = (quadCLTs[ref_index].getNumOrient() < 2); // first orient - no ERS!
 				earliest_scene = Interscene.reAdjustPairsLMAInterscene( // after combo dsi is available and preliminary poses are known
 						clt_parameters, // CLTParameters  clt_parameters,
 						mb_max_gain,    // double         mb_max_gain,
+						disable_ers,    // boolean        disable_ers,
 						reliable_ref,   // boolean []     reliable_ref, // null or bitmask of reliable reference tiles
 						quadCLTs,       // QuadCLT []     quadCLTs,
 						ref_index,      // int            ref_index,
@@ -6698,6 +6720,7 @@ public class OpticalFlow {
 				clt_parameters,                                 // CLTParameters  clt_parameters,
 			    clt_parameters.imp.use_lma_dsi,
 				false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+				false,               // boolean        disable_ers,
 				null,                // double []      min_max,       // null or pair of minimal and maximal offsets
 				null,                // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 				quadCLTs[other_ref[1]],                         // QuadCLT reference_QuadCLT,
@@ -7267,6 +7290,7 @@ public class OpticalFlow {
 							clt_parameters,                                 // CLTParameters  clt_parameters,
 						    clt_parameters.imp.use_lma_dsi,
 							false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+							false,               // boolean        disable_ers,
 							null,                // double []      min_max,       // null or pair of minimal and maximal offsets
 							null,                // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 							reference_QuadClt,                              // QuadCLT reference_QuadCLT,
@@ -7381,6 +7405,7 @@ public class OpticalFlow {
 							clt_parameters,                                 // CLTParameters  clt_parameters,
 						    clt_parameters.imp.use_lma_dsi,
 							false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+							false,               // boolean        disable_ers,
 							null,                // double []      min_max,       // null or pair of minimal and maximal offsets
 							null,                // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 							reference_QuadClt,                              // QuadCLT reference_QuadCLT,
@@ -7527,6 +7552,7 @@ public class OpticalFlow {
 							clt_parameters,                  // CLTParameters  clt_parameters,
 						    clt_parameters.imp.use_lma_dsi,
 							false,               //	boolean        fpn_disable,   // disable fpn filter if images are known to be too close
+							false,               // boolean        disable_ers,
 							null,                // double []      min_max,       // null or pair of minimal and maximal offsets
 							null,                // int []         fail_reason,   // null or int[1]: 0 - OK, 1 - LMA, 2 - min, 3 - max
 							reference_QuadClt,               // QuadCLT reference_QuadCLT,
@@ -11927,7 +11953,7 @@ public class OpticalFlow {
 		final int tilesY = scene.getTileProcessor().getTilesY();
 		final int transform_size = scene.getTileProcessor().getTileSize();
 		final int tiles =tilesX * tilesY;
-
+		boolean debug_images = (debug_level > 0) && clt_parameters.ofp.enable_debug_images;
 		String [] dbg_titles = {"str", "lma", "clean-lma", "disp","-sky","-lma","by-lma","-nonlma", "few_weak", "old-disp","old-sngl","weak","filled"}; 
 		double [][] dbg_img = new double [dbg_titles.length][];
 		double [] clean_lma = dls[1].clone();
@@ -12121,7 +12147,7 @@ public class OpticalFlow {
 		ImageDtt.startAndJoin(threads);
 		
 		
-		if ((debug_level > 0) && (clt_parameters.ofp.enable_debug_images)) {
+		if (debug_images) {
 					dbg_titles = new String[]{"disp", "disp_outliers", "disp_blur", "disp_filled", "str", "str_filled"};
 			dbg_img = new double[][]{dls[0], disp_outliers, ds[0], ds_filled[0], ds[1], ds_filled[1]};
 			ShowDoubleFloatArrays.showArrays(

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

@@ -255,6 +255,10 @@ public class TDCorrTile {
 	 * @param neib_weights_od 2-element array of the relative (to the center tile) weights
 	 *                        of neighbors in four orthogonal [0] and four diagonal [1]
 	 *                        directions.
+	 * @param corr_pd pixel-domain phase correlation corresponding to tiles to discard too
+	 *                strong neighbors. They likely belong the foreground while this (weak)
+	 *                is from the background. If null - do not filter by strength.                       
+	 * @param neib_too_strong discard stronger neighbors from accumulating.                      
 	 * @param process_all process tiles even if the center tile is null. False - process only
 	 *                    the tiles around non-null ones.           
 	 * @return
@@ -263,6 +267,8 @@ public class TDCorrTile {
 			TDCorrTile [] tiles,
 			final int     tilesX,
 			double []     neib_weights_od, // {orhto, diag}
+			double [][]   corr_pd,
+			double        neib_too_strong,
 			final boolean process_all			
 			) {
 		final int tilesY = tiles.length / tilesX;
@@ -286,6 +292,16 @@ public class TDCorrTile {
 						for (int dir = 0; dir < tn.dirs; dir++) {
 							int iTile1 = tn.getNeibIndex(iTile, dir);
 							if ((iTile1 >=0) && (tiles[iTile1] != null)) {
+								if ((corr_pd != null) && (corr_pd[iTile1] != null)) {
+									boolean is_weak = true;
+									for (double s:corr_pd[iTile1]) if (s >= neib_too_strong) {
+										is_weak = false;
+										break;
+									}
+									if (!is_weak) {
+										continue; // skip this strong neighbor from accumulating
+									}
+								}
 								if (rslt[iTile] == null) {
 									rslt[iTile] = tiles[iTile1].clone();
 									rslt[iTile].scale(weights[dir]);
@@ -413,12 +429,18 @@ public class TDCorrTile {
 						int nTile = (indices[nt * num_pairs] >> GPUTileProcessor.CORR_NTILE_SHIFT);
 						int fdata_offset = (nt * num_pairs + index_combo) * corr_size_td;
 						double [] tile_data = new double [corr_size_td];
+						copy_data: {
 							for (int i = 0; i < tile_data.length; i++) {
-							tile_data[i] =fdata[fdata_offset+i]; 
+								double d = fdata[fdata_offset+i];
+								if (Double.isNaN(d)) {
+									break copy_data; // accumulated tile may be NaN
+								}
+								tile_data[i] =d; 
 							}
 							tiles[nTile] = new TDCorrTile (index_combo, tile_data); //  default weight = 16?
 						}
 					}
+				}
 			};
 		}		      
 		ImageDtt.startAndJoin(threads);