Debugging for low-contrast targets

src/main/java/com/elphel/imagej/cuas/CuasRanging.java

@@ -255,7 +255,12 @@ public class CuasRanging {
 					cuasMotion.getTilesY(), // int height,
 					center_CLT.getImageName()+"-NOISE-MAP"); //String [] titles)
 			center_CLT.saveImagePlusInModelDirectory(imp_noise_map);  // ImagePlus   imp)
-
+			ImagePlus imp_noise_map8 = ShowDoubleFloatArrays.makeArrays(
+					cuasMotion.getNoiseMap8(), // float[][] pixels,
+					cuasMotion.getTilesX(), // int width,
+					cuasMotion.getTilesY(), // int height,
+					center_CLT.getImageName()+"-NOISE-MAP8"); //String [] titles)
+			center_CLT.saveImagePlusInModelDirectory(imp_noise_map8);  // ImagePlus   imp)
 		}
 		
 		

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

@@ -872,8 +872,12 @@ min_str_neib_fpn	0.35
 	// CUAS Motion LMA filter parameters
 	public double   cuas_lma_rms =       1.5; // 1.5; // Maximal RMS (should always match, regardless if A)
 	public double   cuas_lma_arms =      0.37; // 0.06; // Maximal absolute RMS (should match one of cuas_lma_arms OR cuas_lma_rrms (0.484)
-	public double   cuas_lma_rrms =      0.28; // 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) || (RMS < cuas_lma_rrms * A)
-	public double   cuas_lma_mina =      0.4; // 1.0;  // Minimal A (amplitude) = 1.0 (< 2.0)
+	public double   cuas_lma_rrms =      0.5; // 0.35; // 0.28; // 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) || (RMS < cuas_lma_rrms * A)
+	public double   cuas_lma_rrms2 =     0.35; // 0.28; // 0.15; // Maximal relative to A rms. OK is when (RMS < cuas_lma_arms) || (RMS < cuas_lma_rrms * A)
+	public double   cuas_lma_mina =      0.25; // 0.4; // 1.0;  // Minimal A (amplitude) = 1.0 (< 2.0)
+	public double   cuas_lma_mina2 =     0.4; // 1.0;  // Minimal A (amplitude) = 1.0 (< 2.0)
+	
+	
 	public double   cuas_lma_pre_mina =  0.5; // scale  cuas_lma_mina to filter initial candidates (if there are > one of them)
 	public int      cuas_min_keep =      2; // keep at least this number of candidates before using cuas_lma_pre_mina filter
 	
@@ -913,6 +917,7 @@ min_str_neib_fpn	0.35
 	public double   cuas_offcenter =     0.6;   // maximal off-center relative to the tile size (0.5 - how it was, +/-4 pix)
 	public double   cuas_scale_wnd =     2.0;   // When building noise map, scale search window range from original -8..+7 (2.0 -> -16..+15). 
 	public double   cuas_noisemax =     10.0;   // when (max-min) of a 16-pixel tile exceeds this, do not fail on far offcenter
+	public double   cuas_noisemax8 =    50.0;   // when (max-min) of a 8-pixel tile exceeds this, do not consider it
 	
 	public boolean  cuas_fail_mismatch =   false; // fail high mismatch early
 	public boolean  cuas_ignore_mismatch = false; // calculate mismatch but do not remove
@@ -2847,9 +2852,13 @@ min_str_neib_fpn	0.35
 				"Maximal RMS for target that should match always, regardless of the amplitude.");
 		gd.addNumericField("Maximal sufficient RMS",                 this.cuas_lma_arms, 5,8,"",
 				"Maximal sufficient RMS for target. Satisfying any of the sufficient or relative is enough");
-		gd.addNumericField("Maximal relative RMS",                   this.cuas_lma_rrms, 5,8,"",
+		gd.addNumericField("Maximal relative RMS, first pass",       this.cuas_lma_rrms, 5,8,"",
 				"Maximal relative (to amplitude) RMS for target. Satisfying any of the absolute and relative is sufficient");
-		gd.addNumericField("Minimal target amplitude",               this.cuas_lma_mina, 5,8,"",
+		gd.addNumericField("Maximal relative RMS, centered",         this.cuas_lma_rrms2, 5,8,"",
+				"Maximal relative (to amplitude) RMS for target. Satisfying any of the absolute and relative is sufficient");
+		gd.addNumericField("Minimal target amplitude, first pass",   this.cuas_lma_mina, 5,8,"",
+				"Filter out weak targets.");
+		gd.addNumericField("Minimal target amplitude, centered",     this.cuas_lma_mina2, 5,8,"",
 				"Filter out weak targets.");
 		gd.addNumericField("Scale minimal amplitude",                this.cuas_lma_pre_mina, 5,8,"",
 				"Scale cuas_lma_mina to filter initial candidates (if there are > one of them).");
@@ -2918,8 +2927,10 @@ min_str_neib_fpn	0.35
 				"Maximal relative offset of the maximum as a fraction of ther tile size (0.5 -> +/-4 pix).");
 		gd.addNumericField("Scale min/max search window",           this.cuas_scale_wnd, 5,8,"",
 				"When building noise map, scale search window range from original -8..+7 (2.0 -> -16..+15).");
-		gd.addNumericField("\"Maximal variations for \"far\" failures.", this.cuas_noisemax, 5,8,"",
+		gd.addNumericField("Maximal variations for \"far\" failures.", this.cuas_noisemax, 5,8,"",
 				"When (max-min) of a 16-pixel tile exceeds this, do not fail on far offcenter.");
+		gd.addNumericField("Maximal pixel variation in a sky tile", this.cuas_noisemax8, 5,8,"",
+				"When (max-min) of a 8-pixel tile exceeds this, do not use it (terrain background).");
 		
 		gd.addCheckbox ("Fail mismatch early",                      this.cuas_fail_mismatch,
 				"Fail after score calculation if there is not match both before and after.");
@@ -4450,7 +4461,9 @@ min_str_neib_fpn	0.35
 		this.cuas_lma_rms =             gd.getNextNumber();
 		this.cuas_lma_arms =            gd.getNextNumber();
 		this.cuas_lma_rrms =            gd.getNextNumber();
+		this.cuas_lma_rrms2 =           gd.getNextNumber();
 		this.cuas_lma_mina =            gd.getNextNumber();
+		this.cuas_lma_mina2 =           gd.getNextNumber();
 		this.cuas_lma_pre_mina =        gd.getNextNumber();
 		this.cuas_min_keep =      (int) gd.getNextNumber();
 		
@@ -4488,6 +4501,7 @@ min_str_neib_fpn	0.35
 		this.cuas_offcenter =           gd.getNextNumber();
 		this.cuas_scale_wnd =           gd.getNextNumber();
 		this.cuas_noisemax =            gd.getNextNumber();
+		this.cuas_noisemax8 =           gd.getNextNumber();
 
 		this.cuas_fail_mismatch =       gd.getNextBoolean();
 		this.cuas_ignore_mismatch =     gd.getNextBoolean();
@@ -5756,7 +5770,9 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_lma_rms",         this.cuas_lma_rms+"");        // double
 		properties.setProperty(prefix+"cuas_lma_arms",        this.cuas_lma_arms+"");       // double
 		properties.setProperty(prefix+"cuas_lma_rrms",        this.cuas_lma_rrms+"");       // double
+		properties.setProperty(prefix+"cuas_lma_rrms2",       this.cuas_lma_rrms2+"");      // double
 		properties.setProperty(prefix+"cuas_lma_mina",        this.cuas_lma_mina+"");       // double
+		properties.setProperty(prefix+"cuas_lma_mina2",       this.cuas_lma_mina2+"");      // double
 		properties.setProperty(prefix+"cuas_lma_pre_mina",    this.cuas_lma_pre_mina+"");   // double
 		properties.setProperty(prefix+"cuas_min_keep",        this.cuas_min_keep+"");       // int
 		
@@ -5794,6 +5810,7 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_offcenter",       this.cuas_offcenter+"");      // double
 		properties.setProperty(prefix+"cuas_scale_wnd",       this.cuas_scale_wnd+"");      // double
 		properties.setProperty(prefix+"cuas_noisemax",        this.cuas_noisemax+"");       // double
+		properties.setProperty(prefix+"cuas_noisemax8",       this.cuas_noisemax8+"");      // double
 		
 		properties.setProperty(prefix+"cuas_fail_mismatch",   this.cuas_fail_mismatch+"");  // boolean
 		properties.setProperty(prefix+"cuas_ignore_mismatch", this.cuas_ignore_mismatch+"");// boolean
@@ -7004,7 +7021,9 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_lma_rms")!=null)         this.cuas_lma_rms=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_rms"));
 		if (properties.getProperty(prefix+"cuas_lma_arms")!=null)        this.cuas_lma_arms=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_arms"));
 		if (properties.getProperty(prefix+"cuas_lma_rrms")!=null)        this.cuas_lma_rrms=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_rrms"));
+		if (properties.getProperty(prefix+"cuas_lma_rrms2")!=null)       this.cuas_lma_rrms2=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_rrms2"));
 		if (properties.getProperty(prefix+"cuas_lma_mina")!=null)        this.cuas_lma_mina=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_mina"));
+		if (properties.getProperty(prefix+"cuas_lma_mina2")!=null)       this.cuas_lma_mina2=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_mina2"));
 		if (properties.getProperty(prefix+"cuas_lma_pre_mina")!=null)    this.cuas_lma_pre_mina=Double.parseDouble(properties.getProperty(prefix+"cuas_lma_pre_mina"));
 		if (properties.getProperty(prefix+"cuas_min_keep")!=null)        this.cuas_min_keep=Integer.parseInt(properties.getProperty(prefix+  "cuas_min_keep"));
 		
@@ -7039,6 +7058,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_offcenter")!=null)       this.cuas_offcenter=Double.parseDouble(properties.getProperty(prefix+"cuas_offcenter"));
 		if (properties.getProperty(prefix+"cuas_scale_wnd")!=null)       this.cuas_scale_wnd=Double.parseDouble(properties.getProperty(prefix+"cuas_scale_wnd"));
 		if (properties.getProperty(prefix+"cuas_noisemax")!=null)        this.cuas_noisemax=Double.parseDouble(properties.getProperty(prefix+"cuas_noisemax"));
+		if (properties.getProperty(prefix+"cuas_noisemax8")!=null)       this.cuas_noisemax8=Double.parseDouble(properties.getProperty(prefix+"cuas_noisemax8"));
 		
 		if (properties.getProperty(prefix+"cuas_fail_mismatch")!=null)   this.cuas_fail_mismatch=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_fail_mismatch"));
 		if (properties.getProperty(prefix+"cuas_ignore_mismatch")!=null) this.cuas_ignore_mismatch=Boolean.parseBoolean(properties.getProperty(prefix+"cuas_ignore_mismatch"));
@@ -8265,7 +8285,9 @@ min_str_neib_fpn	0.35
 		imp.cuas_lma_rms =          this.cuas_lma_rms;
 		imp.cuas_lma_arms =         this.cuas_lma_arms;
 		imp.cuas_lma_rrms =         this.cuas_lma_rrms;
+		imp.cuas_lma_rrms2 =        this.cuas_lma_rrms2;
 		imp.cuas_lma_mina =         this.cuas_lma_mina;
+		imp.cuas_lma_mina2 =        this.cuas_lma_mina2;
 		imp.cuas_lma_pre_mina =     this.cuas_lma_pre_mina;
 		imp.cuas_min_keep =         this.cuas_min_keep;
 		
@@ -8300,6 +8322,7 @@ min_str_neib_fpn	0.35
 		imp.cuas_offcenter =        this.cuas_offcenter;
 		imp.cuas_scale_wnd =        this.cuas_scale_wnd;
 		imp.cuas_noisemax =         this.cuas_noisemax;
+		imp.cuas_noisemax8 =        this.cuas_noisemax8;
 		
 		imp.cuas_fail_mismatch =    this.cuas_fail_mismatch; 
 		imp.cuas_ignore_mismatch =  this.cuas_ignore_mismatch;