tested LMA converging

src/main/java/com/elphel/imagej/orthomosaic/OrthoMap.java

@@ -861,4 +861,21 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		}
 		return true;
 	}
+	public static double [][] combineAffine(
+			double [][] ref_affine,
+			double [][] other_affine){
+		Matrix m_ref =   new Matrix(ref_affine);
+		Matrix m_other = new Matrix(other_affine);
+		Matrix A1 =  m_ref.getMatrix(0,1,0,1);
+		Matrix A2 =m_other.getMatrix(0,1,0,1);
+		Matrix B1 =  m_ref.getMatrix(0,1,2,2);
+		Matrix B2 =m_other.getMatrix(0,1,2,2);
+		Matrix A = A2.times(A1);
+		Matrix B = A2.times(B1).plus(B2);
+		double [][] affine = {
+				{A.get(0,0),A.get(0,1),B.get(0,0)}, 
+				{A.get(1,0),A.get(1,1),B.get(1,0)}};
+		return affine;
+	}
+	
 }

src/main/java/com/elphel/imagej/orthomosaic/OrthoMapsCollection.java

@@ -533,6 +533,10 @@ public class OrthoMapsCollection  implements Serializable{
 		// uses fixed_size gpu image size
 //		TDCorrTile [] td_corr_tiles =
 		TpTask [][] tp_tasks = new TpTask [2][];
+		int num_tries = 5;
+		double prev_rms = Double.NaN;
+		double rel_improve = 1E-3;
+		for (int ntry = 0; ntry < num_tries; ntry++) {
 			double [][][] vector_field = 
 					ComboMatch.rectilinearVectorField(//rectilinearCorrelate_TD( // scene0/scene1
 							clt_parameters, // final CLTParameters          clt_parameters,
@@ -601,7 +605,32 @@ public class OrthoMapsCollection  implements Serializable{
 					num_iter,           // int    num_iter,         // 20
 					last_run,           // boolean last_run,
 					debugLevel);       // int    debug_level)
+			if (debugLevel > -1) {
 				System.out.println("LMA result = "+lma_rslt);
+			}
+			if (lma_rslt < 0) {
+				System.out.println("LMA failed, result="+lma_rslt);
+				return null;
+			}
+			double rms = orthoPairLMA.getRms();
+			if (rms > prev_rms) {
+				if (debugLevel > -3) {
+				System.out.println("LMA RMSE worsened: new"+rms+" ("+ orthoPairLMA.getInitialRms()+"), prev="+prev_rms);
+				}
+				break;
+			}
+			affines_gpu[1]=OrthoMap.combineAffine(affines_gpu[1], orthoPairLMA.getAffine());
+			double [][] jtj = orthoPairLMA.getLastJtJ();
+			if ((prev_rms - rms)/prev_rms < rel_improve) {
+				if (debugLevel > -2) {
+					System.out.println("LMA relative RMSE improvement = "+((prev_rms - rms)/prev_rms)+" < "+rel_improve+", exiting.");
+				}
+				break;
+			}
+			prev_rms=rms;
+		} // for (int ntry = 0; ntry < num_tries; ntry++) {
+
+		
 // analyze result, re-run correlation
 		
 /*
@@ -637,7 +666,7 @@ public class OrthoMapsCollection  implements Serializable{
 		}
 
  */
-		if (debugLevel > 1) {
+		if (debugLevel > 1) {// show result here
 			String [] map_names = {ortho_maps[gpu_pair[0]].getName(),ortho_maps[gpu_pair[1]].getName()};
 			ShowDoubleFloatArrays.showArrays( 
 					gpu_pair_img,

src/main/java/com/elphel/imagej/orthomosaic/OrthoPairLMA.java

@@ -99,6 +99,30 @@ public class OrthoPairLMA {
 		
 	}
 	
+	public double [][] getAffine(){
+		return new double [][] {
+			{parameters_vector[0],parameters_vector[1],parameters_vector[4]},
+			{parameters_vector[2],parameters_vector[3],parameters_vector[5]}};
+	}
+	public double getRms() {
+		return last_rms[0];
+		
+	}
+	public double getInitialRms() {
+		return initial_rms[0];
+	}
+	public double getWeight() {
+		return weight;
+	}
+	public double [][] getLastJtJ(){
+		return getWJtJlambda(
+				0.0, // lambda, // *10, // temporary
+				this.last_jt);
+	}
+	//getWJtJlambda(
+//	lambda, // *10, // temporary
+//	this.last_jt)
+	
 	private void setSamplesWeightsYCenters(
 			final double [][] vector_XYS,
 			final double []   weights_extra, // null or additional weights (such as elevation-based)