Started with dual-max (FG+BG, such as semi-transparent grass, bushes)

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

@@ -2403,7 +2403,49 @@ public class Correlation2d {
 		return rslt;
 	}
 	
+	/**
+	 * Analyze 1d correlation (single centerline of the 3D phase correlation combined output
+	 * from all pairs or only diameters to detect double maximum (simultaneous FG+BG) 
+	 * @param combo_corrs 2D phase correlation, now 15x15 = 255 pixels long 
+	 * @param min_fraction minimal ratio of weaker maximum to the strongest
+	 * @return array of 1 or 2 {disparity, strength} pairs (zero pairs if no local max)
+	 */
+	public double [][] getDoublePoly(
+			double [] combo_corrs,
+			double    min_fraction
+			){
+		int center_x = 2* (transform_size - 1) * transform_size; // 112
+		int [] imx = new int[2];
+		for (int i = center_x - transform_size + 2; i < center_x + transform_size - 1; i++) {
+			double c = combo_corrs[i];
+			if ((c > combo_corrs[i - 1]) && (c > combo_corrs[i + 1])) {
+				if ((imx[0] == 0) || (c > combo_corrs[imx[0]]))  {
+					imx[1] = imx[0];
+					imx[0] = i;
+				} else if ((imx[1] == 0) || (c > combo_corrs[imx[1]]))  {
+					imx[1] = i;
+				}
+				i++; // skip next after max
+			}
+		}
+		if (imx[0] == 0) return new double[0][];
+		int nm = 1;
+		if ((imx[1] > 0) && (combo_corrs[imx[1]]/combo_corrs[imx[0]] > min_fraction)) {
+			nm++; 
+		}
+		double [][] maxes = new double [nm][2];
+		
+		for (int i = 0; i < nm; i++) {
+			double c = combo_corrs[imx[i]];
+			double a = (combo_corrs[imx[i] + 1] + combo_corrs[imx[i] - 1]) / 2 - c;
+			double b = (combo_corrs[imx[i] + 1] - combo_corrs[imx[i] - 1]);
+			maxes[i][0] = imx[i]- center_x - 0.5 * b / a;  
+			maxes[i][1] = c - 0.25 * b * b / a;
+		}
+		return maxes;
+	}
 	
+//corr_size	transform_size
 	/**
 	 * Calculate 1-d maximum location, strength and half-width for the special strip (odd rows shifted by 0.5
 	 * Negative values are ignored!

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

@@ -2303,7 +2303,7 @@ public class ImageDtt extends ImageDttCPU {
 			final int                 threadsMax,      // maximal number of threads to launch
 			final int                 globalDebugLevel)
 	{
-		
+		final boolean diameters_combo = (imgdtt_params.mcorr_dual_fract > 0.0); // add diameters-only combo after all-combo
 		if (this.gpuQuad == null) {
 			System.out.println("clt_aberrations_quad_corr_GPU(): this.gpuQuad is null, bailing out");
 			return;
@@ -2483,13 +2483,18 @@ public class ImageDtt extends ImageDttCPU {
 							nTile = tileY * tilesX + tileX;
 							if (tp_tasks[iTile].getTask() == 0) continue; // nothing to do for this tile
 							boolean debugTile0 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > 0);
+							boolean debugTile1 =(tileX == debug_tileX) && (tileY == debug_tileY) && (globalDebugLevel > -10);
 							if (debugTile0) {
 								System.out.println("clt_process_tl_correlations(): tileX="+tileX+", tileY="+tileY+", iTile="+iTile+", nTile="+nTile);
 							}
 							// TODO: move port coordinates out of color channel loop
 							// double [][] centersXY = tp_tasks[iTile].getDoubleXY(); // isAux());
+							
+							
+							// Generate +1/+2
 							double [][] disp_dist = tp_tasks[iTile].getDoubleDispDist();
-							double [][] corrs =      new double [correlation2d.getNumPairs() + (combine_corrs? 1 : 0)][]; // extra for combo "all"
+							int num_combo = combine_corrs? (diameters_combo? 2 : 1) : 0;
+							double [][] corrs =      new double [correlation2d.getNumPairs() + num_combo][]; // extra for combo "all"
 							// copy correlation tiles from the GPU's floating point arrays 
 							for (int ipair = 0; ipair < used_pairs_list.length; ipair++) {
 								int pair = used_pairs_list[ipair];
@@ -2511,7 +2516,8 @@ public class ImageDtt extends ImageDttCPU {
 							double [] disp_str = {0.0, 0.0}; // disparity = 0 will be initial approximation for LMA if no averaging
 							if (combine_corrs) {
 								double [] corr_combo_tile = correlation2d.accumulateInit(); // combine all available pairs
-								double sumw = 0.0;
+								double [] corr_dia_tile = diameters_combo ? correlation2d.accumulateInit(): null; // combine diameters
+								double sumw = 0.0, sumw_dia = 0.0;
 								if (imgdtt_params.mcorr_static_weights || imgdtt_params.mcorr_dynamic_weights) {
 									double [] weights = new double [correlation2d.getNumPairs()];
 									if (imgdtt_params.mcorr_static_weights) {
@@ -2552,23 +2558,73 @@ public class ImageDtt extends ImageDttCPU {
 											corr_combo_tile,      // double []   accum_tile,
 											corrs,                // double [][] corr_tiles, may be longer than selection, extra will be ignored 
 											weights);             // double []     weights);
+									if (corr_dia_tile != null) {
+										double [] weights_dia = weights.clone();
+										boolean [] sel_dia = correlation2d.selectDiameters(null);
+										for (int i= 0; i < sel_dia.length; i++) {
+											if (!sel_dia[i]) {
+												weights_dia[i] = 0.0;
+											}
+										}
+										sumw_dia = correlation2d.accummulatePairs(
+												corr_dia_tile,        // double []   accum_tile,
+												corrs,                // double [][] corr_tiles, may be longer than selection, extra will be ignored 
+												weights_dia);         // double []     weights);
+									}
 								} else { // old way, same weight for all pairs
 									sumw = correlation2d.accummulatePairs(
 											corr_combo_tile,           // double []   accum_tile,
 											corrs,                     // double [][] corr_tiles, may be longer than selection, extra will be ignored 
 											correlation2d.selectAll(), // boolean []  selection,
 											1.0);             // double      weight);
+									if (corr_dia_tile != null) {
+										sumw_dia = correlation2d.accummulatePairs(
+												corr_dia_tile,           // double []   accum_tile,
+												corrs,                     // double [][] corr_tiles, may be longer than selection, extra will be ignored 
+												correlation2d.selectDiameters(null), // boolean []  selection,
+												1.0);             // double      weight);
+									}
 								}
 
 
 								correlation2d.normalizeAccumulatedPairs(
 										corr_combo_tile,
 										sumw);
-//								corrs[dcorr_td[iTile].length] = corr_combo_tile;  // last element
-								corrs[corrs.length -1] = corr_combo_tile;  // last element
+								
+//								corrs[corrs.length -1] = corr_combo_tile;  // last element
+								corrs[correlation2d.getNumPairs()] = corr_combo_tile;
+								if (corr_dia_tile != null) {
+									correlation2d.normalizeAccumulatedPairs(
+											corr_dia_tile,
+											sumw_dia);
+									corrs[correlation2d.getNumPairs()+1] = corr_dia_tile;
+								}
+								
 								// copy to output for monitoring if non-null;
 								if ((clt_corr_out != null) && (clt_corr_out.length > num_pairs)) {
 									clt_corr_out[num_pairs][tileY][tileX] = corr_combo_tile;
+									if ((clt_corr_out.length > (num_pairs+1)) && (corr_dia_tile != null)) {
+										clt_corr_out[num_pairs + 1][tileY][tileX] = corr_dia_tile;
+									}
+								}
+								// calculate 0,1, or 2 maximums
+								if (debugTile1) {
+									System.out.println("clt_process_tl_correlations(): debugTile1");
+								}
+								double [][] maxes = correlation2d.getDoublePoly(
+										((corr_dia_tile != null) ? corr_dia_tile : corr_combo_tile), // double [] combo_corrs,
+										imgdtt_params.mcorr_dual_fract); //double    min_fraction
+								// TODO: add corr layer - copy of combo with singles as nulls
+//								if ((maxes.length < 2) && (clt_corr_out != null) && (clt_corr_out.length > num_pairs)) {
+								if ((maxes.length < 2) && (corr_dia_tile!=null)) { //FIXME: Debug
+//									corrs[correlation2d.getNumPairs()] = null; // temporarily keep only with pairs
+									Arrays.fill(corrs[correlation2d.getNumPairs()+1], Double.NaN);
+								}
+								if (debugTile1) {
+									System.out.println("clt_process_tl_correlations() maxes=");
+									for (int i = 0; i < maxes.length; i++) {
+										System.out.println(String.format("maxes[%d][0]=%f, maxes[%d][1]=%f", i, maxes[i][0], i, maxes[i][1]));
+									}
 								}
 								if (disparity_map != null) {
 									int [] ixy =   correlation2d.getMaxXYInt( // find integer pair or null if below threshold // USED in lwir

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

@@ -131,6 +131,7 @@ public class ImageDttParameters {
 	public boolean mcorr_static_weights =   true; // when mixing , apply static weights to pairs depending on their lengths
 	public double  mcorr_weights_power =    2.0;  // divide pair by horizontal (disparity) width after rotation/scaling (skip negative when measuring width)
 	public boolean mcorr_dynamic_weights =  true; // Apply weights to pairs dependent on the width in disparity direction
+	public double  mcorr_dual_fract=        0.15; // Minimal relative strength of the second correlation maximum to treat as FG+BG
 	
 	/// these are just for testing, actual will be generated specifically for different applications (LY will use closest pairs)  
 	public int     mcorr_comb_width =       15;
@@ -557,6 +558,8 @@ public class ImageDttParameters {
 					"Increase weight of pairs with linear features perpendicular to the base direction and long base pairs");
 			gd.addCheckbox    ("Apply dynaminc (feature-dependent) weights defined above",        this.mcorr_dynamic_weights,
 					"Calculate each pairs's width (in the disparity direction) after rotation/scaling and apply");
+			gd.addNumericField("Minimal relative strength of the second maximum (0 - ignore)",    this.mcorr_dual_fract,  3,6,"",
+					"Minimal relative strength of the second correlation maximum to treat as FG+BG (0 - ignore dual maximums, no special treatment)");
 
 			gd.addMessage("Generating grid for combining visualization, actual will be provided programmatically");
 			gd.addNumericField("Width of a combined correlation tile",                            this.mcorr_comb_width,  0, 3, "pix",
@@ -909,6 +912,7 @@ public class ImageDttParameters {
   			this.mcorr_static_weights =  gd.getNextBoolean();
   			this.mcorr_weights_power=    gd.getNextNumber();
   			this.mcorr_dynamic_weights = gd.getNextBoolean();
+  			this.mcorr_dual_fract=       gd.getNextNumber();
   			
   			this.mcorr_comb_width= (int) gd.getNextNumber();
   			this.mcorr_comb_height=(int) gd.getNextNumber();
@@ -1126,6 +1130,7 @@ public class ImageDttParameters {
 		properties.setProperty(prefix+"mcorr_static_weights", this.mcorr_static_weights +"");
 		properties.setProperty(prefix+"mcorr_weights_power",  this.mcorr_weights_power +"");
 		properties.setProperty(prefix+"mcorr_dynamic_weights",this.mcorr_dynamic_weights +"");
+		properties.setProperty(prefix+"mcorr_dual_fract",     this.mcorr_dual_fract +"");
 		
 		properties.setProperty(prefix+"mcorr_comb_width",     this.mcorr_comb_width +"");
 		properties.setProperty(prefix+"mcorr_comb_height",    this.mcorr_comb_height +"");
@@ -1349,6 +1354,7 @@ public class ImageDttParameters {
 		if (properties.getProperty(prefix+"mcorr_static_weights")!=null) this.mcorr_static_weights=Boolean.parseBoolean(properties.getProperty(prefix+"mcorr_static_weights"));
 		if (properties.getProperty(prefix+"mcorr_weights_power")!=null)  this.mcorr_weights_power=Double.parseDouble(properties.getProperty(prefix+"mcorr_weights_power"));
 		if (properties.getProperty(prefix+"mcorr_dynamic_weights")!=null)this.mcorr_dynamic_weights=Boolean.parseBoolean(properties.getProperty(prefix+"mcorr_dynamic_weights"));
+		if (properties.getProperty(prefix+"mcorr_dual_fract")!=null)     this.mcorr_dual_fract=Double.parseDouble(properties.getProperty(prefix+"mcorr_dual_fract"));
 		
 		if (properties.getProperty(prefix+"mcorr_comb_width")!=null)     this.mcorr_comb_width=Integer.parseInt(properties.getProperty(prefix+"mcorr_comb_width"));
 		if (properties.getProperty(prefix+"mcorr_comb_height")!=null)    this.mcorr_comb_height=Integer.parseInt(properties.getProperty(prefix+"mcorr_comb_height"));
@@ -1587,6 +1593,7 @@ public class ImageDttParameters {
 		idp.mcorr_static_weights=    this.mcorr_static_weights;
 		idp.mcorr_weights_power=     this.mcorr_weights_power;
 		idp.mcorr_dynamic_weights=   this.mcorr_dynamic_weights;
+		idp.mcorr_dual_fract=        this.mcorr_dual_fract;
 		
 		idp.mcorr_comb_width=        this.mcorr_comb_width;
 		idp.mcorr_comb_height=       this.mcorr_comb_height;

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

@@ -2590,7 +2590,7 @@ public class OpticalFlow {
 					for (int indx = ai.getAndIncrement(); indx < pXpYD.length; indx = ai.getAndIncrement()) if (pXpYD[indx] != null) {
 						int tx = (int)Math.round(pXpYD[indx][0]/tileSize);
 						int ty = (int)Math.round(pXpYD[indx][1]/tileSize);
-						if ((debug_level > 0) && (tx == dbg_tileX) && (ty == dbg_tileY)) {
+						if ((debug_level > 0) && (indx == dbg_nTile)) { //(tx == dbg_tileX) && (ty == dbg_tileY)) {
 							System.out.println("filterBG(): tx = "+tx+", ty="+ty+", indx="+indx);
 							System.out.print("");
 						}
@@ -4873,19 +4873,19 @@ public class OpticalFlow {
 			fs.saveAsTiff(file_path);
 			System.out.println("intersceneExport(): saved "+file_path);
 		}
-		
-		String offsets_suffix = "-DISP_OFFSETS";
-		if (randomize_offsets) {
-			offsets_suffix+="-RND";
-		}			
+		if (disparity_steps > 0) {
+			String offsets_suffix = "-DISP_OFFSETS";
+			if (randomize_offsets) {
+				offsets_suffix+="-RND";
+			}			
 
-		ref_scene.saveDoubleArrayInModelDirectory(
-				offsets_suffix,      // String      suffix,
-				soffset_centers,     // null,          // String []   labels, // or null
-				all_offsets,         // dbg_data,         // double [][] data,
-				tilesX,              // int         width,
-				tilesY);             // int         height)
-		
+			ref_scene.saveDoubleArrayInModelDirectory(
+					offsets_suffix,      // String      suffix,
+					soffset_centers,     // null,          // String []   labels, // or null
+					all_offsets,         // dbg_data,         // double [][] data,
+					tilesX,              // int         width,
+					tilesY);             // int         height)
+		}
 	}
 	
 	/**
@@ -6451,16 +6451,19 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
 						ref_scene); // final QuadCLT     reference_QuadClt)
 				
 				double max_overlap = 0.6; 
-				double [] disparity_cam = null; // for now
 //				double min_str_cam =    0.1;
 				double min_adisp_cam =  0.2;
 				double min_rdisp_cam =  0.03;
-				
+				double [][] scene_ds =conditionInitialDS(
+						clt_parameters, // CLTParameters  clt_parameters,
+						scenes[nscene], // QuadCLT        scene,
+						-1); // int debug_level); 
+				double [] disparity_cam = scene_ds[0]; // null; // for now
 				scene_pXpYD = filterBG (
 						scenes[indx_ref].getTileProcessor(), // final TileProcessor tp,
 						scene_pXpYD_prefilter, // final double [][] pXpYD,
 						max_overlap,           // final double max_overlap,
-						disparity_cam,         // final double [] disparity_cam,
+						null, // disparity_cam,         // final double [] disparity_cam,
 						min_adisp_cam,         // final double min_adisp_cam,
 						min_rdisp_cam,         // final double min_rdisp_cam,
 						clt_parameters.tileX,  // final int    dbg_tileX,
@@ -6663,7 +6666,7 @@ public double[][] correlateIntersceneDebug( // only uses GPU and quad
 		}
 ///		Runtime.getRuntime().gc();
 ///		System.out.println("--- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
-		// Normalize accumulated corelations
+		// Normalize accumulated correlations
 		if (ref_scene.hasGPU()) {
 			 accumulateCorrelationsAcOnly(
 					 num_acc,       // final int [][][]     num_acc,          // number of accumulated tiles [tilesY][tilesX][pair]

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

@@ -9104,6 +9104,9 @@ if (debugLevel > -100) return true; // temporarily !
 					colorProcParameters,       // ColorProcParameters colorProcParameters,
 					clt_parameters.inp.noise_debug_level // clt_parameters.ofp.debug_level_optical - 1); // 1); // -1); // int debug_level);
 					);
+			if (ref_step == 0) {
+				break;
+			}
 		}
 		System.out.println("End of interIntraExportML()");
 	}