Fixed dsi_main to inter-intra-lma difference with disparity offset - now

both use the same offset

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

@@ -1593,6 +1593,7 @@ public class Interscene {
 			double [][]    mb_vectors,  // now [2][ntiles];
 			int            debug_level)
 	{
+		boolean show_initial = true; // debug feature		
 		boolean use3D = clt_parameters.ilp.ilma_3d;
 		boolean filter_by_ers =   clt_parameters.ilp.ilma_ers_quads;
 		double  gap_frac =        clt_parameters.ilp.ilma_gap_frac ; // 0.25;
@@ -1825,9 +1826,6 @@ public class Interscene {
 					scene_QuadClt.getImageName()+"-"+reference_QuadClt.getImageName()+"-CORR-FPN",
 					fpn_dbg_titles);
 		}
-		
-		
-		
 		if (clt_parameters.imp.debug_level > -2) {
 			String [] lines1 = intersceneLma.printOldNew((clt_parameters.imp.debug_level > -1)); // false); // boolean allvectors)
 			System.out.println("Adjusted interscene, iteration="+nlma+
@@ -1837,6 +1835,12 @@ public class Interscene {
 			for (String line : lines1) {
 				System.out.println(line);
 			}
+			if (show_initial) {
+				lines1 = intersceneLma.printOldNew(true, 1); // force "was"
+				for (String line : lines1) {
+					System.out.println(line);
+				}
+			}
 		}
 		if ((rms_out != null) && (intersceneLma.getLastRms() != null)) {
 			rms_out[0] = intersceneLma.getLastRms()[0];

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

@@ -100,10 +100,16 @@ public class IntersceneLma {
 	}
 
 	public String [] printOldNew(boolean allvectors) {
-		return printOldNew(allvectors, 9, 6);
+		return printOldNew(allvectors, 0);
+	}
+
+	public String [] printOldNew(boolean allvectors, int mode) {
+		return printOldNew(allvectors, mode, 9, 6);
 	}
 	
 	public String [] printOldNew(boolean allvectors, int w, int d) {
+		return printOldNew(allvectors, 0, w, d);
+		/*
 		String fmt1 = String.format("%%%d.%df", w+2,d+2); // more for the differences
 		ArrayList<String> lines = new ArrayList<String>();
 		for (int n = ErsCorrection.DP_DVAZ; n < ErsCorrection.DP_NUM_PARS; n+=3) {
@@ -118,6 +124,26 @@ public class IntersceneLma {
 			}
 		}
 		return lines.toArray(new String[lines.size()]);
+		*/
+	}
+
+	public String [] printOldNew(boolean allvectors, int mode, int w, int d) {
+		// mode: 0 - auto, 1 - force "was", 2 force "pull"
+		
+		String fmt1 = String.format("%%%d.%df", w+2,d+2); // more for the differences
+		ArrayList<String> lines = new ArrayList<String>();
+		for (int n = ErsCorrection.DP_DVAZ; n < ErsCorrection.DP_NUM_PARS; n+=3) {
+			boolean adj = false;
+			for (int i = 0; i <3; i++) adj |= par_mask[n+i];
+			if (allvectors || adj) {
+				String line = printNameV3(n, false, mode, w,d)+"  (" + getCompareType(mode)+
+						" "+printNameV3(n, true, mode, w,d)+")";
+				line += ", diff_last="+String.format(fmt1, getV3Diff(n)[0]);
+				line += ", diff_first="+String.format(fmt1, getV3Diff(n)[1]);
+				lines.add(line);
+			}
+		}
+		return lines.toArray(new String[lines.size()]);
 	}
 	
 	/**
@@ -142,11 +168,19 @@ public class IntersceneLma {
 	}
 	
 	public String getCompareType() {
-		return (parameters_pull != null)? "pull": "was";
+		return getCompareType(0);
+//		return (parameters_pull != null)? "pull": "was";
+	}
+
+	public String getCompareType(int mode) {
+		boolean is_pull = (mode == 0) ? (parameters_pull != null) : (mode > 1);  
+//		return (parameters_pull != null)? "pull": "was";
+		return is_pull? "pull": "was";
 	}
 	
 	public String printNameV3(int indx, boolean initial, int w, int d) {
-		boolean use_pull = parameters_pull != null;
+		return printNameV3(indx, initial, 0, w, d);
+		/*
 		double [] full_vector = initial? 
 				(use_pull? getFullVector(parameters_pull) : backup_parameters_full):
 			getFullVector(parameters_vector);
@@ -156,8 +190,25 @@ public class IntersceneLma {
 		}
 		String name = ErsCorrection.DP_VECTORS_NAMES[indx];
 		return printNameV3(name, vector, w, d);
+		*/
 	}
 
+	public String printNameV3(int indx, boolean initial, int mode, int w, int d) {
+		// mode: 0 - auto, 1 - was, 2 - pull 
+		boolean use_pull = (mode == 0) ? (parameters_pull != null) : (mode > 1);  		
+//		boolean use_pull = parameters_pull != null;
+		double [] full_vector = initial? 
+				(use_pull? getFullVector(parameters_pull) : backup_parameters_full):
+			getFullVector(parameters_vector);
+		double [] vector = new double[3];
+		for (int i = 0; i <3; i++) {
+			vector[i] = full_vector[indx + i];
+		}
+		String name = ErsCorrection.DP_VECTORS_NAMES[indx];
+		return printNameV3(name, vector, w, d);
+	}
+	
+	
 	public static String printNameV3(String name, double[] vector) {
 		return printNameV3(name, vector, 10, 6);
 	}

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

@@ -48,6 +48,7 @@ public class IntersceneMatchParameters {
     public  double  sfp_tolerance =      0.05;   // average SfM pairs if their baselines differ less
 	public  int     sfm_readjust =       5;      // number of SfM readjustment cycles 
 	public  double  sfm_prev_frac =      0.6;    // update if new sfm gain > this fraction of the old one
+	public  double  sfm_same_weight =    0.8;    // correction weight when new SfM gain is the same as the old one
 	public  int     sfm_shrink =         2;      // shrink sfm gain area before applying sfm_fade_sigma
     public  double  sfm_fade_sigma =     3.0;    // fade SfM gains at the edges 
 	public  double  sfm_min_str =        0.4;    // update if correction strength exceeds
@@ -462,6 +463,8 @@ public class IntersceneMatchParameters {
 				"Number of SfM readjustment cycles.");
 		gd.addNumericField("Minimal SfM gain from previous",         this.sfm_prev_frac, 5,8,"",
 				"Update if new sfm gain > this fraction of the old one.");
+		gd.addNumericField("Correction scale for equal gains",         this.sfm_same_weight, 5,8,"",
+				"Correction scale when new SfM gain is the same as the old one.");
 		gd.addNumericField("Shrink SfM area",                        this.sfm_shrink, 0,3,"",
 				"Shrink sfm gain area before applying sfm_fade_sigmas.");
 		gd.addNumericField("Fade SfM area sigma",                    this.sfm_fade_sigma, 5,8,"",
@@ -1150,6 +1153,7 @@ public class IntersceneMatchParameters {
         this.sfp_tolerance =                  gd.getNextNumber();  
         this.sfm_readjust =             (int) gd.getNextNumber(); 
         this.sfm_prev_frac =                  gd.getNextNumber();
+        this.sfm_same_weight =                gd.getNextNumber();
         this.sfm_shrink =               (int) gd.getNextNumber();
         this.sfm_fade_sigma =                 gd.getNextNumber(); 
         this.sfm_min_str =                    gd.getNextNumber(); 
@@ -1515,6 +1519,7 @@ public class IntersceneMatchParameters {
 		properties.setProperty(prefix+"sfp_tolerance",                 this.sfp_tolerance+"");                 // double
 		properties.setProperty(prefix+"sfm_readjust",                  this.sfm_readjust+"");                  // int
 		properties.setProperty(prefix+"sfm_prev_frac",                 this.sfm_prev_frac+"");                 // double
+		properties.setProperty(prefix+"sfm_same_weight",               this.sfm_same_weight+"");               // double
 		properties.setProperty(prefix+"sfm_shrink",                    this.sfm_shrink+"");                    // int
 		properties.setProperty(prefix+"sfm_fade_sigma",                this.sfm_fade_sigma+"");                // double
 		properties.setProperty(prefix+"sfm_min_str",                   this.sfm_min_str+"");                   // double
@@ -1840,6 +1845,7 @@ public class IntersceneMatchParameters {
 		if (properties.getProperty(prefix+"sfp_tolerance")!=null)      this.sfp_tolerance=Double.parseDouble(properties.getProperty(prefix+"sfp_tolerance"));
 		if (properties.getProperty(prefix+"sfm_readjust")!=null)       this.sfm_readjust=Integer.parseInt(properties.getProperty(prefix+"sfm_readjust"));
 		if (properties.getProperty(prefix+"sfm_prev_frac")!=null)      this.sfm_prev_frac=Double.parseDouble(properties.getProperty(prefix+"sfm_prev_frac"));
+		if (properties.getProperty(prefix+"sfm_same_weight")!=null)    this.sfm_same_weight=Double.parseDouble(properties.getProperty(prefix+"sfm_same_weight"));
 		if (properties.getProperty(prefix+"sfm_shrink")!=null)         this.sfm_shrink=Integer.parseInt(properties.getProperty(prefix+"sfm_shrink"));
 		if (properties.getProperty(prefix+"sfm_fade_sigma")!=null)     this.sfm_fade_sigma=Double.parseDouble(properties.getProperty(prefix+"sfm_fade_sigma"));
 		if (properties.getProperty(prefix+"sfm_min_str")!=null)        this.sfm_min_str=Double.parseDouble(properties.getProperty(prefix+"sfm_min_str"));
@@ -2192,6 +2198,7 @@ public class IntersceneMatchParameters {
  		imp.sfp_tolerance 	              = this.sfp_tolerance;
  		imp.sfm_readjust                  = this.sfm_readjust;
  		imp.sfm_prev_frac 	              = this.sfm_prev_frac;
+ 		imp.sfm_same_weight               = this.sfm_same_weight;
  		imp.sfm_shrink                    = this.sfm_shrink;
  		imp.sfm_fade_sigma	              = this.sfm_fade_sigma;
  		imp.sfm_min_str   	              = this.sfm_min_str;

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

@@ -14868,7 +14868,12 @@ public class QuadCLTCPU {
 		  if (clt_parameters.z_corr_map.containsKey(image_name)){ // not used in lwir
 			  z_correction +=clt_parameters.z_corr_map.get(image_name);
 		  }
-		  final double disparity_corr = (z_correction == 0) ? 0.00 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
+		  // currently it was 0.
+		  if (z_correction != 0) {
+			  System.out.println("CLTMeas(): z_correction="+z_correction+" != 0! ***********");
+		  }
+		  final double disparity_corr = (z_correction == 0) ? clt_parameters.imp.disparity_corr : geometryCorrection.getDisparityFromZ(1.0/z_correction);
+		  
 		  int mcorr_sel = save_corr ? Correlation2d.corrSelEncode(clt_parameters.img_dtt, getNumSensors()) : 0;
 		  TpTask[] tp_tasks = GpuQuad.setTasks( // null on geometryCorrection 
 				  num_sensors,                  // final int                      num_cams,

src/main/java/com/elphel/imagej/tileprocessor/sfm/StructureFromMotion.java

@@ -515,6 +515,7 @@ public class StructureFromMotion {
 		final boolean use_neibs =            clt_parameters.imp.sfm_use_neibs; // true;
 		final double  min_neib_strength=     clt_parameters.imp.sfm_neib_str;  //  0.5; // update if no-individual and neibs correction strength exceeds 
 		final double  prev_sfm_frac =        clt_parameters.imp.sfm_prev_frac; //  0.6; // update if new sfm gain > this fraction of the old one
+		final double  same_weight =          clt_parameters.imp.sfm_same_weight; // 0.8;
 		final double  range_disparity_offset = clt_parameters.imp.range_disparity_offset;
     	final double  centroid_radius = clt_parameters.imp.centroid_radius; // final double              centroid_radius, // 0 - use all tile, >0 - cosine window around local max
     	final int     n_recenter = clt_parameters.imp.n_recenter;           // when cosine window, re-center window this many times
@@ -673,11 +674,32 @@ public class StructureFromMotion {
 // combine corrections
     		final Thread[] threads = ImageDtt.newThreadArray(QuadCLT.THREADS_MAX);
     		final AtomicInteger ai = new AtomicInteger(0);
+    		final double wscale = -0.5/Math.log(prev_sfm_frac);
     		for (int ithread = 0; ithread < threads.length; ithread++) {
     			threads[ithread] = new Thread() {
     				public void run() {
     					for (int nTile = ai.getAndIncrement(); nTile < sfmCorr.length; nTile = ai.getAndIncrement())
     						if (sfmCorr[nTile] != null){
+    							if (sfmCorr[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){
+									double w = 1.0;
+									if (ref_sfm_gain[nTile] > 0) {
+										w = same_weight + wscale*Math.log(sfmCorr[nTile].sfm_gain/ref_sfm_gain[nTile]);
+									}
+									if      (w < 0.0) w = 0;
+									else if (w > 1.0) w = 1.0;
+									// Update some strength too?
+									if ((sfmCorr[nTile].corr_ind != null) && (sfmCorr[nTile].corr_ind[1] > min_strength)) {
+										ref_disparity[nTile] +=  w *sfmCorr[nTile].corr_ind[0];
+										// TODO: add same (as above) for strengths?
+										ref_sfm_gain[nTile] = (1-w) *ref_sfm_gain[nTile] + w * sfmCorr[nTile].sfm_gain; 
+									}  else if ((sfmCorr[nTile].corr_neib != null) && (sfmCorr[nTile].corr_neib[1] > min_neib_strength)) {
+										ref_disparity[nTile] +=  w *sfmCorr[nTile].corr_neib[0];
+										// TODO: add same (as above) for strengths?
+										ref_sfm_gain[nTile] = (1-w) *ref_sfm_gain[nTile] + w * sfmCorr[nTile].sfm_gain; 
+									}   								
+    							}
+    							
+    							/*
     							if (sfmCorr[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){
     								if (prev_sfm_frac*sfmCorr[nTile].sfm_gain >= ref_sfm_gain[nTile]){ // copy 100%
     									// Update some strength too?
@@ -691,6 +713,7 @@ public class StructureFromMotion {
 
     								}
     							}
+    							*/
     						}
     				}
     			};
@@ -749,6 +772,7 @@ public class StructureFromMotion {
 		final boolean use_neibs =            clt_parameters.imp.sfm_use_neibs; // true;
 		final double  min_neib_strength=     clt_parameters.imp.sfm_neib_str;  //  0.5; // update if no-individual and neibs correction strength exceeds 
 		final double  prev_sfm_frac =        clt_parameters.imp.sfm_prev_frac; //  0.6; // update if new sfm gain > this fraction of the old one
+		final double  same_weight =          clt_parameters.imp.sfm_same_weight; // 0.8;
 		final double  range_disparity_offset = clt_parameters.imp.range_disparity_offset;
     	final double  centroid_radius = clt_parameters.imp.centroid_radius; // final double              centroid_radius, // 0 - use all tile, >0 - cosine window around local max
     	final int     n_recenter = clt_parameters.imp.n_recenter;           // when cosine window, re-center window this many times
@@ -978,7 +1002,7 @@ public class StructureFromMotion {
     							if (sfmCorrCombo[nTile].sfm_gain >= prev_sfm_frac*ref_sfm_gain[nTile]){
 									double w = 1.0;
 									if (ref_sfm_gain[nTile] > 0) {
-										w = 0.5 + wscale*Math.log(sfmCorrCombo[nTile].sfm_gain/ref_sfm_gain[nTile]);
+										w = same_weight + wscale*Math.log(sfmCorrCombo[nTile].sfm_gain/ref_sfm_gain[nTile]);
 									}
 									if      (w < 0.0) w = 0;
 									else if (w > 1.0) w = 1.0;