Merge branch 'foliage-gpu' working on the airplane mode

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

@@ -231,8 +231,10 @@ public class ErsCorrection extends GeometryCorrection {
 			boolean use_ERS_roll) {
 		boolean [] param_select = new boolean[DP_NUM_PARS];
 //		for              (int i:DP_ZR_INDICES)      param_select[i] = true;
-		if (use_Z || use_XY)                        param_select[DP_DSZ] = true;
-		if (use_R || use_AT)                        param_select[DP_DSRL] = true;
+//		if (use_Z || use_XY)                        param_select[DP_DSZ] = true;
+//		if (use_R || use_AT)                        param_select[DP_DSRL] = true;
+		if (use_Z)                                  param_select[DP_DSZ] = true; // 12/12/2025 - removed ||
+		if (use_R)                                  param_select[DP_DSRL] = true; // 12/12/2025 - removed ||
 		if (use_XY) for  (int i:DP_XY_INDICES)      param_select[i] = true;
 		if (use_AT) for  (int i:DP_AT_INDICES)      param_select[i] = true;
 		if (use_ERS)                 param_select[DP_DSVAZ] = true;

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

@@ -1426,11 +1426,13 @@ public class Interscene {
 	        System.out.println();
 		}
 		// Now always, then - conditional
-		boolean adjust_disparity_ims = (debugLevel < 1000);
+		boolean adjust_disparity_ims = clt_parameters.imp.air_mode_en;
+		boolean apply_disparity_ims =  clt_parameters.imp.air_disp_corr;
 		if (adjust_disparity_ims) {
 	    	double scale_img = OpticalFlow.getImgImsScale( // correctInfinityFromIMS(
 	    			quadCLTs, // QuadCLT []       quadCLTs,
-	    			quadCLTs[ref_index]) ; // QuadCLT          master_CLT)
+	    			quadCLTs[ref_index], // QuadCLT          master_CLT)
+	    			earliest_scene);     // int              earliest_scene)
 			
 			double inf_disp = OpticalFlow.getImsDisparityCorrection(
 					scale_img,           // double           scale_img,
@@ -1439,29 +1441,34 @@ public class Interscene {
 	    	if (debugLevel > -3) {
 	    		System.out.println("Disparity at infinity ="+inf_disp+" in reference scene "+quadCLTs[ref_index].getImageName()+", scale_img="+scale_img);
 	    	}
-	    	// Update DSI_MAIN with disparity at infinity. Store it somewhere in quadCLTs[ref_index]
-	    	quadCLTs[ref_index].offsetDSI(
-	    			-inf_disp); // double inf_disp)
-	    	quadCLTs[ref_index].setDispInfinityRef(
-	    			inf_disp); // double disp)
-	    	// correct xyz
-	    	OpticalFlow.scaleImgXYZ(
-	        		1.0/scale_img, //  double           scale_xyz,
-	        		quadCLTs, //, // QuadCLT []       quadCLTs,
-	        		quadCLTs[ref_index]); //QuadCLT          master_CLT)
-	    	quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
-					null, // String path,             // full name with extension or w/o path to use x3d directory
-					//							 	null, // Properties properties,   // if null - will only save extrinsics)
-					debugLevel);
 	    	
-	    	if (debugLevel > -3) {
-	    		System.out.println("Updating DSI-MAIN with updated disparity at infinity for reference scene "+quadCLTs[ref_index].getImageName());
-	    	}
-	    	quadCLTs[ref_index].saveDSIAll (
-					"-DSI_MAIN", // String suffix, // "-DSI_MAIN"
-					quadCLTs[ref_index].dsi);
+	    	if (apply_disparity_ims) {
+	    		// Update DSI_MAIN with disparity at infinity. Store it somewhere in quadCLTs[ref_index]
+	    		quadCLTs[ref_index].offsetDSI(
+	    				inf_disp); // double inf_disp)
+	    		quadCLTs[ref_index].setDispInfinityRef( // may use incDispInfinityRef() - was 0 before
+	    				inf_disp); // double disp)
+	    		// correct xyz
+	    		OpticalFlow.scaleImgXYZ(
+	    				1.0/scale_img, //  double           scale_xyz,
+	    				quadCLTs, //, // QuadCLT []       quadCLTs,
+	    				quadCLTs[ref_index]); //QuadCLT          master_CLT)
+	    		quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
+	    				null, // String path,             // full name with extension or w/o path to use x3d directory
+	    				//							 	null, // Properties properties,   // if null - will only save extrinsics)
+	    				debugLevel);
 
-	    	
+	    		if (debugLevel > -3) {
+	    			System.out.println("Updating DSI-MAIN with updated disparity at infinity for reference scene "+quadCLTs[ref_index].getImageName());
+	    		}
+	    		quadCLTs[ref_index].saveDSIAll (
+	    				"-DSI_MAIN", // String suffix, // "-DSI_MAIN"
+	    				quadCLTs[ref_index].dsi);
+	    	} else {
+		    	if (debugLevel > -3) {
+		    		System.out.println("Skipping application of disparity adjustment in reference scene "+quadCLTs[ref_index].getImageName()+", scale_img="+scale_img);
+		    	}
+	    	}
 		}
 		
 		quadCLTs[ref_index].set_orient(1); // first orientation
@@ -6878,7 +6885,7 @@ public class Interscene {
 		return;
 	}
 	
-	   /**
+	 /**
      * Calculates data availability in 4 corners (excluding center gap)
      * To disable ERS calculation in LMA 
      * @param coord_motion interCorrPair() output - here only defined (non-null)

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

@@ -291,7 +291,7 @@ public class QuadCLTCPU {
      * Increment disparity at infinity for this scene when it is a reference one.
      * @param disp disparity at infinity value to add to the previous one. Will be used when calculating INTER-INTRA
      */
-    public void IncDispInfinityRef(
+    public void incDispInfinityRef(
     		double disp) {
     	disp_infinity_ref += disp;
     }
@@ -6389,12 +6389,49 @@ public class QuadCLTCPU {
 		for (int nslice:TwoQuadCLT.DSI_DISPARITY)  if (dsi[nslice] != null){
 			double [] slice = dsi[nslice];
 			for (int i = 0; i < slice.length; i++) {
-				slice[i] += inf_disp;
+				slice[i] -= inf_disp;
 			}
 		}
 		return;
 	}
 	
+	public boolean offsetComboDSI(
+			CLTParameters clt_parameters,
+			double        inf_disp,
+			boolean       silent) {
+		double [][] combo_dsi = restoreComboDSI ( silent);
+		if (combo_dsi==null) {
+			return false;
+		}
+		offsetComboDSI(
+				inf_disp, // double inf_disp,
+				combo_dsi); // double [][] dsi)
+		String rslt_suffix = "-INTER-INTRA";
+		rslt_suffix += (clt_parameters.correlate_lma?"-LMA":"-NOLMA");
+		saveDoubleArrayInModelDirectory( // error
+				rslt_suffix,           // String      suffix,
+				OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null,          // String []   labels, // or null
+				combo_dsi,             // dbg_data,         // double [][] data,
+				getTilesX(),                // int         width,
+				getTilesY());               // int         height)
+		return true;
+	}
+	
+	
+	public static void offsetComboDSI(
+			double inf_disp,
+			double [][] combo_dsi) {
+		if (combo_dsi == null) {
+			throw new IllegalArgumentException ("offsetDSI(): can not apply as dsi==null");
+		}
+		for (int nslice:OpticalFlow.COMBO_DSN_DISPARITY)  if (combo_dsi[nslice] != null){
+			double [] slice = combo_dsi[nslice];
+			for (int i = 0; i < slice.length; i++) {
+				slice[i] -= inf_disp;
+			}
+		}
+		return;
+	}
 	
 
 	// Save GT from main and AUX calculated DS