working snapshot

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

@@ -187,6 +187,10 @@ public class ErsCorrection extends GeometryCorrection {
 				DP_DVX,   DP_DVY,   DP_DVZ,
 				DP_DSVAZ, DP_DSVTL, DP_DSVRL,
 				DP_DSVX,  DP_DSVY,  DP_DSVZ};
+	public static final int [] DP_XYZR_INDICES =    {DP_DSX,DP_DSY,DP_DSZ,DP_DSRL};
+	public static final int [] DP_AT_INDICES =      {DP_DSAZ,DP_DSTL};
+	public static final int [] DP_ATT_ERS_INDICES = {DP_DSVAZ,DP_DSVTL};
+
 	public static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;
 	static final double THRESHOLD = 1E-10;
 	static final double LINE_ERR = 0.001; // line accuracy for ERS when converting from world to pixels.
@@ -223,8 +227,29 @@ public class ErsCorrection extends GeometryCorrection {
 		if (d > 0) return 1.0/ERS_MIN_DISPARITY;
 		return -1.0/ERS_MIN_DISPARITY;
 	}
+	public static final int [] DP_XYZR_INDICES =    {DP_DSX,DP_DSY,DP_DSZ,DP_DSRL};
+	public static final int [] DP_AT_INDICES =      {DP_DSAZ,DP_DSTL};
+	public static final int [] DP_ATT_ERS_INDICES = {DP_DSVAZ,DP_DSVTL};
+	
 	*/
 	
+	public static boolean [] getParamSelect(
+			boolean use_AT,
+			boolean use_ERS) {
+		boolean [] param_select = new boolean[DP_NUM_PARS];
+		for (int i:DP_XYZR_INDICES)                 param_select[i] = true;
+		if (use_AT) for  (int i:DP_AT_INDICES)      param_select[i] = true;
+		if (use_ERS) for (int i:DP_ATT_ERS_INDICES) param_select[i] = true;
+		return param_select;
+	}
+	public static double [] getParamRegWeights(
+			double  reg_weight,
+			boolean use_AT) {
+		double [] reg_weights = new double[DP_NUM_PARS];
+		reg_weights[DP_DSX] = reg_weight;
+		reg_weights[DP_DSY] = reg_weight;
+		return reg_weights;
+	}	
 	public void setPose(
 			double []    camera_xyz,
 			double []    camera_atr) {

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

@@ -4712,11 +4712,16 @@ public class OpticalFlow {
 		int     test_ers0 =          clt_parameters.imp.test_ers0; // try adjusting a pair of scenes with ERS. Reference scene index
 		int     test_ers1 =          clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index
 		test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0);
-		boolean use_combo_relaible = clt_parameters.imp.use_combo_relaible;
+		boolean use_combo_relaible = clt_parameters.imp.use_combo_reliable;
 		boolean ref_need_lma =       clt_parameters.imp.ref_need_lma;
 		boolean ref_need_lma_combo = clt_parameters.imp.ref_need_lma_combo;
 		double  min_ref_str =        clt_parameters.imp.min_ref_str;
 
+		boolean sfm_filter =         clt_parameters.imp.sfm_filter;  //true;   // use SfM filtering if available 
+		double  sfm_minmax =         clt_parameters.imp.sfm_minmax;  //10.0;   // minimal value of the SfM gain maximum to consider available
+		double  sfm_fracmax =        clt_parameters.imp.sfm_fracmax; // 0.75;  // minimal fraction of the SfM maximal gain
+		double  sfm_fracall =        clt_parameters.imp.sfm_fracall; // 0.3;    // minimal relative area of the SfM-enabled tiles (do not apply filter if less)	
+		
 		double min_ref_frac=         clt_parameters.imp.min_ref_frac;		
 		double [] ref_blue_sky = null; // turn off "lma" in the ML output  
 		if (reuse_video) { // disable all other options
@@ -5234,8 +5239,12 @@ public class OpticalFlow {
 							min_ref_frac,       // double min_ref_frac,
 							ref_need_lma,       // boolean needs_lma);
 							ref_need_lma_combo, // boolean needs_lma);
-							reduced_strength);  // if not null will return >0 if had to reduce strength (no change if did not reduce)
-					
+							sfm_filter,  // boolean sfm_filter, // use SfM filtering if available                          
+							sfm_minmax,  // double  sfm_minmax, // minimal value of the SfM gain maximum to consider available
+							sfm_fracmax, // double  sfm_fracmax,// minimal fraction of the SfM maximal gain
+							sfm_fracall, // double  sfm_fracall,// minimal relative area of the SfM-enabled tiles (do not apply filter if less)								
+							reduced_strength,  // if not null will return >0 if had to reduce strength (no change if did not reduce)
+							debugLevel); // int       debugLevel)
 					if (show_reliable_ref) {
 						double [] dbg_img = new double [reliable_ref.length];
 						for (int i = 0; i < dbg_img.length; i++) {

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

@@ -356,7 +356,7 @@ public class QuadCLTCPU {
     	double [] ims_ortho =     clt_parameters.imp.ims_ortho;
     	double [] ims_mount_atr = clt_parameters.imp.getImsMountATR(); // converts to radians
     	double [][][] scenes_xyzatr = new double [quadCLTs.length][][];
-//		scenes_xyzatr[ref_index] =         new double[2][3]; // all zeros
+    	//		scenes_xyzatr[ref_index] =         new double[2][3]; // all zeros
 
     	Did_ins_2   d2_ref = did_ins_2;
     	// apply correction to orientation - better not to prevent extra loops.
@@ -485,11 +485,11 @@ public class QuadCLTCPU {
     		}
     	}
     	return fl;
-//    	if ((fl[0] >= 0) && (fl[1] >= 0)) {
-//    		return fl;
-//    	} else {
-//    		return null;
-//    	}
+    	//    	if ((fl[0] >= 0) && (fl[1] >= 0)) {
+    	//    		return fl;
+    	//    	} else {
+    	//    		return null;
+    	//    	}
     }
 
     /**
@@ -989,7 +989,7 @@ public class QuadCLTCPU {
     			d2.getQEnu(),
     			ims_mount_atr,
     			ims_ortho);
-//
+    	//
     	double [] quat_corr = getQuatCorr();
     	if (apply_quat_corr && (quat_corr != null)) {
     		cam_quat_enu=Imx5.applyQuaternionToQuaternion(quat_corr, cam_quat_enu, false);
@@ -1030,7 +1030,7 @@ public class QuadCLTCPU {
     			xy_range,                 // double [][] xy_range,     // should be double[2][]; meters
     			debug_level);             // int debug_level)
     	// camera position and orientation relative to the same lat/long on the ground below it 
-//    	double [][] scene_abs_xyzatr_enu = new double [][] {new double[] {0,0,-agl},	scene_abs_atr_enu};
+    	//    	double [][] scene_abs_xyzatr_enu = new double [][] {new double[] {0,0,-agl},	scene_abs_atr_enu};
     	double [][] scene_abs_xyzatr_enu = new double [][] {new double[] {0,0,use_parallel_proj?0:-agl}, scene_abs_atr_enu};
     	//	    	double [][] ground_xyzatr = new double [][] {
     	//	    		{0,          0,          z_tilts[0]},
@@ -1102,7 +1102,7 @@ public class QuadCLTCPU {
     	double hist_rlow =    0.5;
     	double hist_rhigh =   2.0;
     	int    min_good =       20; //number of good tiles
-//    	double rel_hight =  0.2; // when calculating scale, ignore objects far from plane 
+    	//    	double rel_hight =  0.2; // when calculating scale, ignore objects far from plane 
     	int    num_bins = 1000;
     	double sw=0, swd=0;
     	boolean [] good_tiles = new boolean[ref_disparity.length];
@@ -1176,8 +1176,8 @@ public class QuadCLTCPU {
     		return Double.NaN;
     	}
 
-//    	double dl = discard_low * sw;
-//    	double dh = discard_high * sw;
+    	//    	double dl = discard_low * sw;
+    	//    	double dh = discard_high * sw;
     	double dl = discard_high * sw;
     	double dh = discard_low * sw;
     	double sh = 0.0;
@@ -1234,7 +1234,7 @@ public class QuadCLTCPU {
 
     public double [][] getDLS(){ // get disparity, disparity_lma, strength, sfm_gain
     	if (dsi == null) {
-//    		System.out.println("dsi== null, use spawnQuadCLT(), restoreFromModel(), ... to set it");
+    		//    		System.out.println("dsi== null, use spawnQuadCLT(), restoreFromModel(), ... to set it");
     		return null;
     	}
     	double [][] dls = new double[4][];
@@ -1294,7 +1294,7 @@ public class QuadCLTCPU {
     	this.new_image_data =         qParent.new_image_data;
     	if (qParent.saturation_imp != null) this.saturation_imp = qParent.saturation_imp.clone(); // each camera will be re-written, not just modified, so shallow copy 
     	this.is_aux =                 qParent.is_aux;
-//		this.is_mono =                 qParent.is_mono;
+    	//		this.is_mono =                 qParent.is_mono;
 
     	this.photometric_scene =      qParent.photometric_scene; 
     	this.lwir_offsets =           ErsCorrection.clone1d(qParent.lwir_offsets);
@@ -1404,7 +1404,7 @@ public class QuadCLTCPU {
 
     public static double getTimeStamp(String ts) {
     	String sts = ts.replace("_", ".");
-//		Matcher m = Pattern.compile("\\d").matcher(sts);
+    	//		Matcher m = Pattern.compile("\\d").matcher(sts);
     	Matcher m = Pattern.compile("\\d{5,10}\\.\\d{6}").matcher(sts);
     	//
     	if(m.find()) {
@@ -1556,10 +1556,10 @@ public class QuadCLTCPU {
     	int height = strength.length/width;
 
     	int dbg_tile = -1150;
-//		int sky_bottleneck = 5; // shrink full selection, then re-expand from seed to disable
+    	//		int sky_bottleneck = 5; // shrink full selection, then re-expand from seed to disable
     	// small (narrow) leaks (or just disable leaks near margins)?
-//		int shrink_for_temp = 10;
-//		double sky_temp_override = -300;      // really cold average seed - ignore lowest_sky_row filter
+    	//		int shrink_for_temp = 10;
+    	//		double sky_temp_override = -300;      // really cold average seed - ignore lowest_sky_row filter
     	double [] temp_scales = null;
     	boolean failure = false;
     	double temp_cold = Double.NaN;
@@ -2130,7 +2130,7 @@ public class QuadCLTCPU {
     }
 
 
-//	@Deprecated
+    //	@Deprecated
     public void setBlueSky (boolean [] blue_sky) {
     	double [] double_blue_sky = new double [blue_sky.length];
     	for (int i = 0; i < blue_sky.length; i++) {
@@ -2214,7 +2214,7 @@ public class QuadCLTCPU {
     		QuadCLT   dbg_scene,    // use to save debug images if not null
     		int debugLevel) {
     	int width = tp.getTilesX();
-//		this.blue_sky = getBlueSky  (
+    	//		this.blue_sky = getBlueSky  (
     	setBlueSky(getBlueSky  (
     			max_disparity,
     			max_disparity_strength,
@@ -2403,23 +2403,27 @@ public class QuadCLTCPU {
     			dsi,
     			silent);
     }
-//min_ref_frac	
+    //min_ref_frac	
     public boolean [] getReliableTiles(
     		boolean   use_combo,
     		double    min_strength,
     		double    min_ref_frac,
     		boolean   needs_lma,
     		boolean   needs_lma_combo,
-			double [] reduced_strength // if not null will return >0 if had to reduce strength (no change if did not reduce)
+    		boolean   sfm_filter, 
+    		double    sfm_minmax, 
+    		double    sfm_fracmax,
+    		double    sfm_fracall,    		
+    		double [] reduced_strength, // if not null will return >0 if had to reduce strength (no change if did not reduce)
+    		int       debugLevel
     		) {
     	int NUM_BINS = 1024;
-// 10.15.2023 - was error here,	readComboDSI (silent) returns combo_dsi, not converted to this.dsi format;	
-//		double [][] main_dsi = use_combo? readComboDSI (silent): readDsiMain();
+    	// 10.15.2023 - was error here,	readComboDSI (silent) returns combo_dsi, not converted to this.dsi format;	
+    	//		double [][] main_dsi = use_combo? readComboDSI (silent): readDsiMain();
     	double [][] main_dsi = null;
     	boolean silent = false;
     	if (use_combo) {
     		readComboDSI (silent);
-			main_dsi = this.dsi;
     		needs_lma = needs_lma_combo;
     	} else {
     		main_dsi =  readDsiMain();
@@ -2427,6 +2431,7 @@ public class QuadCLTCPU {
     	if (main_dsi == null) {
     		return null;
     	}
+    	
     	double [] disparity_lma = main_dsi[isAux()?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA];
     	double [] strength = main_dsi[isAux()?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN];
     	double [] sfm_gain = main_dsi[isAux()?TwoQuadCLT.DSI_SFM_GAIN_AUX:TwoQuadCLT.DSI_SFM_GAIN_MAIN];
@@ -2449,22 +2454,34 @@ public class QuadCLTCPU {
     			}
     		}
     	}
-		if (sfm_gain != null) {
+    	if (sfm_filter && (sfm_gain != null)) {
+    		double sfm_max = 0.0;
+    		for (int i = 0; i < reliable.length; i++) {
+    			if (sfm_gain[i] > sfm_max) sfm_max = sfm_gain[i];
+    		}
+    		if (sfm_max > sfm_minmax) {
+    			double sfm_thresh = sfm_max * sfm_fracmax;
+    			boolean [] sfm_good = new boolean [reliable.length];
     			int num_sfm_gain = 0;
     			for (int i = 0; i < reliable.length; i++) {
-				if (sfm_gain[i] >0) {
+    				if (sfm_gain[i] >= sfm_thresh) {
+    					sfm_good[i] = true;
     					num_sfm_gain++;
     				}
     			}
-			if (num_sfm_gain > min_reliable) {
+    			if (num_sfm_gain > (sfm_fracall * reliable.length)) {
+    				if (debugLevel > -3) {
+    					System.out.println("getReliableTiles(): Using SfM filter");
+    				}
     				for (int i = 0; i < reliable.length; i++) {
-					if (sfm_gain[i] <= 0){
+    					if (!sfm_good[i]) { // sfm_gain[i] <= 0){
     						reliable[i] = false;
     						strength[i] = 0.0;
     					}
     				}
     			}
     		}
+    	}
     	int num_reliable = 0;
     	for (boolean b: reliable) if (b) num_reliable++;
     	if (num_reliable < min_reliable) { // not enough, select best tiles, ignoring LMA
@@ -2697,7 +2714,7 @@ public class QuadCLTCPU {
 
 
 
-//	Moving here form QC:
+    //	Moving here form QC:
     public double [][]  getDSRBG (){
     	return dsrbg;
     }