Implementing scene high frequency decay calculation/reporting

src/main/java/com/elphel/imagej/common/DoubleFHT.java

@@ -2424,7 +2424,27 @@ public class DoubleFHT {
 		return amp;
 	}
 
-	public double[] calculateAmplitudeNoSwap(double[] fht) {
+	public double [] getFreqAmplitude(
+			double [] data) {
+		updateMaxN(data);
+		swapQuadrants(data);
+		if (!transform(data, false))
+			return null; // direct FHT
+		double [] amp = calculateAmplitude(data);
+		return amp;
+	}
+	public double [] getFreqAmplitude2(
+			double [] data) {
+		updateMaxN(data);
+		swapQuadrants(data);
+		if (!transform(data, false))
+			return null; // direct FHT
+		double [] amp = calculateAmplitude2(data);
+		return amp;
+	}
+	
+	
+	public static double[] calculateAmplitudeNoSwap(double[] fht) {
 		int size = (int) Math.sqrt(fht.length);
 		double[] amp = new double[size * size];
 		for (int row = 0; row < size; row++) {
@@ -2473,7 +2493,7 @@ public class DoubleFHT {
 	}
 
 	/* Amplitude of one row from 2D Hartley Transform. */
-	void amplitude(int row, int size, double[] fht, double[] amplitude) {
+	static void amplitude(int row, int size, double[] fht, double[] amplitude) {
 		int base = row * size;
 		int l;
 		for (int c = 0; c < size; c++) {
@@ -2495,7 +2515,7 @@ public class DoubleFHT {
 	}
 
 	/* Squared amplitude of one row from 2D Hartley Transform. */
-	void amplitude2(int row, int size, double[] fht, double[] amplitude) {
+	static void amplitude2(int row, int size, double[] fht, double[] amplitude) {
 		int base = row * size;
 		int l;
 		for (int c = 0; c < size; c++) {

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

@@ -3531,6 +3531,347 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		return null;
 	}
 	
+	/**
+	 * Trying to estimate image OTF to modify correlation results. Some images are better, some - worse
+	 * (blurred because of elevation errors)? For all image or parts of it? So on some images all
+	 * real objects (and false ones) get higher correlation, on some - all get lower. So some compensation
+	 * on image quality may help to discriminate   
+	 * @param data   image to process (may have NaNs)
+	 * @param width  image width
+	 * @param size   FFT size (now 128)
+	 * @param center_period period (in pixels) corresponding to the frequency to measure OTF derivative 
+	 * @param range_period relative frequency range to average: low band from center/range_period to center,
+	 *                     high band - from center to center*range_period
+	 * @param wh           if not null, should be int[2] - will return {tilesX,tilesY} for the result
+	 * @param debugLevel
+	 * @return per tile: null or a pair of high_frequency_response/low_frequency_response (around center)
+	 *         for horizontal and vertical directions
+	 */
+	public static double [][] getHiFreq(
+			final double [] data,
+			final int       width,
+			final int       size,      // power of 2, such as 64
+			final double    center_period,// center frequency is size/center_period
+			final double    range_period, // ~1.5 - from center/range to center*range
+			final int []    wh,           // result size
+			final int       debugLevel){
+	    final int dbg_x = -2668;
+	    final int dbg_y =  256;
+
+		final int height = data.length/width;
+		final int tilesX = (int) Math.ceil(width/(size/2)) + 1;
+		final int tilesY = (int) Math.ceil(height/(size/2)) + 1;
+		if (wh != null) {
+			wh[0] = tilesX;
+			wh[1] = tilesY;
+		}
+		final double [][] hi_feq = new double [tilesX*tilesY][];
+		int center_freq = (int) Math.round(size/center_period);
+		int low_freq = (int) Math.round(size/center_period/range_period);
+		int high_freq = (int) Math.round(size/center_period*range_period);
+		final int [][][] ranges = {		// {first, second},{low freq, high freq}, {start, end}
+			{   {size/2 - center_freq + 1, size/2 - low_freq},
+				{size/2 - high_freq,      size/2 - center_freq - 1}
+			},
+			{{size/2 + low_freq,       size/2 + center_freq - 1},
+			{size/2 + center_freq + 1, size/2 + high_freq}}};
+		final double [] range_npix = {
+				size*(center_freq-low_freq),
+				size*(high_freq-center_freq)};
+		final double [] window = new double [size*size];
+		final double [] wnd1d = new double[size/2];
+		for (int i = 0; i < size/2; i++) {
+			wnd1d[i] = Math.sin((i+0.5)*Math.PI/size);
+		}
+		for (int i = 0; i < size/2; i++) {
+			for (int j = 0; j < size/2; j++) {
+				double w = wnd1d[i]*wnd1d[j];
+				int k = i*size + j;
+				window[k] = w;
+				window[window.length-1-k] = w;
+				k = (i+ 1)*size - 1 -j;
+				window[k] = w;
+				window[window.length-1-k] = w;
+			}
+		}
+		
+		final Thread[] threads = ImageDtt.newThreadArray();
+		final AtomicInteger ai = new AtomicInteger(0);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					double [] dtile = new double [size*size];
+					TileNeibs tn =  new TileNeibs(size,size);
+					DoubleFHT doubleFHT = new DoubleFHT();
+					for (int nTile = ai.getAndIncrement(); nTile <hi_feq.length; nTile = ai.getAndIncrement()){
+						int tileX = nTile % tilesX;
+						int tileY = nTile / tilesX;
+						int px0 = (size/2) * tileX; // absolute in the original/result image 
+						int py0 = (size/2) * tileY;
+						int x0 = Math.max(0, -px0);
+						int y0 = Math.max(0, -py0);
+						int x1 = Math.min(size, width- px0);
+						int y1 = Math.min(size, height-py0);
+						boolean dbg_tile = (Math.abs((px0 + size/2) - dbg_x) < size/4) && (Math.abs((py0 + size/2) - dbg_y) < size/4);
+						if (dbg_tile) {
+							System.out.println("getHiFreq(): tileX="+tileX+", tileY="+tileY);
+							System.out.println("getHiFreq(): px0="+px0+", py0="+py0);
+						}
+						int lwidth=x1-x0;
+						boolean has_NaN = false; 
+						if ((x0>0) || (y0>0) || (x1 < size) || (y1 < size)) {
+							Arrays.fill(dtile,Double.NaN);
+						}
+						for (int y = y0; y < y1; y++) {
+							System.arraycopy(
+									data,
+									(py0 + y)*width+(px0+x0),
+									dtile,
+									y*size+x0,
+									lwidth);
+						}
+						for (int i = 0; i < dtile.length; i++) {
+							if (Double.isNaN(dtile[i])) {
+								has_NaN = true;
+								break;
+							}
+						}
+						if (has_NaN) {
+							fillNaNs(dtile, tn, 3);
+						}
+						for (int i = 0; i < dtile.length; i++) {
+							dtile[i] *= window[i];
+						}
+						if (dbg_tile) {
+							String [] rslt_titles= {"windowed"};
+							ShowDoubleFloatArrays.showArrays(
+									new double[][] {dtile},
+									size,
+									size,
+									true,
+									"windowed_data_tx"+tileX+"_ty"+tileY,
+									rslt_titles);
+						}
+						double [] amp = doubleFHT.getFreqAmplitude(dtile);
+						if (dbg_tile) {
+							String [] rslt_titles= {"amplitude"};
+							ShowDoubleFloatArrays.showArrays(
+									new double[][] {amp},
+									size,
+									size,
+									true,
+									"amplitude_tx"+tileX+"_ty"+tileY,
+									rslt_titles);
+						}
+						double [][] lo_hi_avg = new double[2][2]; // {x,y}{low,high}
+						for (int hl = 0; hl < 2; hl++) { // 0 - low, 1 - high
+							for (int sf = 0; sf < 2; sf++) { // 0 - fist, 1 second range
+								for (int i = ranges[sf][hl][0]; i <=ranges[sf][hl][1]; i++) { 
+									for (int j = 0; j < size; j++) {
+										lo_hi_avg[0][hl] += amp[j*size + i];
+										lo_hi_avg[1][hl] += amp[i*size + j];
+									}
+								}
+							}
+						}
+						hi_feq[nTile] = new double[2];
+						for (int yx = 0; yx < 2; yx++) { // 0 - y, 1 - x
+							for (int hl = 0; hl < 2; hl++) { // 0 - low, 1 - high
+								lo_hi_avg[yx][hl] /= range_npix[hl];
+							}
+							hi_feq[nTile][yx] = lo_hi_avg[yx][1]/lo_hi_avg[yx][0];  
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		return hi_feq;
+	}
+	
+
+	/**
+	 * Similar to above, but calculates for 2 rings 
+	 * @param data
+	 * @param width
+	 * @param size
+	 * @param center_period
+	 * @param range_period
+	 * @param blank_xy      discard data long x and y axes (probably remaining row/column noise?)
+	 * @param wh
+	 * @param debugLevel
+	 * @return
+	 */
+	public static double [][] getHiFreqCirc(
+			final double [] data,
+			final int       width,
+			final int       size,      // power of 2, such as 64
+			final double    center_period,// center frequency is size/center_period
+			final double    range_period, // ~1.5 - from center/range to center*range
+			final int       blank_xy, // 
+			final int []    wh,           // result size
+			final int       debugLevel){
+	    final int dbg_x = 1144; // -2668;
+	    final int dbg_y = 199;  //  256;
+
+		final int height = data.length/width;
+		final int tilesX = (int) Math.ceil(width/(size/2)) + 1;
+		final int tilesY = (int) Math.ceil(height/(size/2)) + 1;
+		if (wh != null) {
+			wh[0] = tilesX;
+			wh[1] = tilesY;
+		}
+		final double [][] hi_feq = new double [tilesX*tilesY][];
+		int center_freq = (int) Math.round(size/center_period);
+		int low_freq = (int) Math.round(size/center_period/range_period);
+		int high_freq = (int) Math.round(size/center_period*range_period);
+		final double blank2 = (blank_xy-1) * (blank_xy-1) + 0.5;
+		final double [][] masks= new double [2][size*size];
+		for (int y = 0; y<size; y++) {
+			double y2 = (y-size/2);
+			y2*=y2;
+			if ((blank_xy == 0) || (y2 > blank2)) {
+				for (int x = 0; x < size; x++) {
+					double x2 = (x-size/2);
+					x2*=x2;
+					if ((blank_xy == 0) || (x2 > blank2)) {
+						double r = Math.sqrt(x2+y2);
+						if ((r >= low_freq) && (r <= high_freq)) {
+							int indx = y*size + x;
+							if (r < center_freq) {
+								masks[0][indx] =  Math.sin(Math.PI *(center_freq - r)/(center_freq-low_freq));
+							} else {
+								masks[1][indx] =  Math.sin(Math.PI *(r - center_freq)/(high_freq -center_freq));
+							}
+						}
+					}
+				}
+			}
+		}
+		if ((dbg_x >=0) && (dbg_y >=0)) {
+			String [] rslt_titles= {"low_mask","high_mask"};
+			ShowDoubleFloatArrays.showArrays(
+					masks,
+					size,
+					size,
+					true,
+					"masks",
+					rslt_titles);
+		}
+		for (int n = 0; n < 2; n++) {
+			double s=0.0;
+			for (int i = 0; i < masks[n].length; i++) {
+				s+=masks[n][i];
+			}
+			s = 1/s;
+			for (int i = 0; i < masks[n].length; i++) {
+				masks[n][i]*=s;
+			}
+		}
+		final double [] window = new double [size*size];
+		final double [] wnd1d = new double[size/2];
+		for (int i = 0; i < size/2; i++) {
+			wnd1d[i] = Math.sin((i+0.5)*Math.PI/size);
+		}
+		for (int i = 0; i < size/2; i++) {
+			for (int j = 0; j < size/2; j++) {
+				double w = wnd1d[i]*wnd1d[j];
+				int k = i*size + j;
+				window[k] = w;
+				window[window.length-1-k] = w;
+				k = (i+ 1)*size - 1 -j;
+				window[k] = w;
+				window[window.length-1-k] = w;
+			}
+		}
+		
+		final Thread[] threads = ImageDtt.newThreadArray();
+		final AtomicInteger ai = new AtomicInteger(0);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					double [] dtile = new double [size*size];
+					TileNeibs tn =  new TileNeibs(size,size);
+					DoubleFHT doubleFHT = new DoubleFHT();
+					for (int nTile = ai.getAndIncrement(); nTile <hi_feq.length; nTile = ai.getAndIncrement()){
+						int tileX = nTile % tilesX;
+						int tileY = nTile / tilesX;
+						int px0 = (size/2) * tileX; // absolute in the original/result image 
+						int py0 = (size/2) * tileY;
+						int x0 = Math.max(0, -px0);
+						int y0 = Math.max(0, -py0);
+						int x1 = Math.min(size, width- px0);
+						int y1 = Math.min(size, height-py0);
+						boolean dbg_tile = (Math.abs((px0 + size/2) - dbg_x) < size/4) && (Math.abs((py0 + size/2) - dbg_y) < size/4);
+						if (dbg_tile) {
+							System.out.println("getHiFreq(): tileX="+tileX+", tileY="+tileY);
+							System.out.println("getHiFreq(): px0="+px0+", py0="+py0);
+						}
+						int lwidth=x1-x0;
+						boolean has_NaN = false; 
+						if ((x0>0) || (y0>0) || (x1 < size) || (y1 < size)) {
+							Arrays.fill(dtile,Double.NaN);
+						}
+						for (int y = y0; y < y1; y++) {
+							System.arraycopy(
+									data,
+									(py0 + y)*width+(px0+x0),
+									dtile,
+									y*size+x0,
+									lwidth);
+						}
+						for (int i = 0; i < dtile.length; i++) {
+							if (Double.isNaN(dtile[i])) {
+								has_NaN = true;
+								break;
+							}
+						}
+						if (has_NaN) {
+							continue;
+//							fillNaNs(dtile, tn, 3);
+						}
+						for (int i = 0; i < dtile.length; i++) {
+							dtile[i] *= window[i];
+						}
+						if (dbg_tile) {
+							String [] rslt_titles= {"windowed"};
+							ShowDoubleFloatArrays.showArrays(
+									new double[][] {dtile},
+									size,
+									size,
+									true,
+									"windowed_data_tx"+tileX+"_ty"+tileY,
+									rslt_titles);
+						}
+						double [] amp2 = doubleFHT.getFreqAmplitude2(dtile);
+						if (dbg_tile) {
+							String [] rslt_titles= {"amplitude2","low_mask","high_mask"};
+							ShowDoubleFloatArrays.showArrays(
+									new double[][] {amp2,masks[0],masks[1]},
+									size,
+									size,
+									true,
+									"amplitude2_tx"+tileX+"_ty"+tileY,
+									rslt_titles);
+						}
+						hi_feq[nTile] = new double[masks.length];
+						for (int n = 0; n < masks.length; n++) { 
+							for (int i = 0; i < masks[n].length; i++) {
+								hi_feq[nTile][n] += masks[n][i] * amp2[i];
+							}
+							hi_feq[nTile][n] = Math.sqrt(hi_feq[nTile][n]);
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		return hi_feq;
+	}
+	
+	
+	
+	
 	public static double [] correlateWithPattern(
 			final double [] data,
 			final int       width,

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

@@ -1994,7 +1994,7 @@ public class OrthoMapsCollection  implements Serializable{
 		int           debugLevel =        1;
 
 		String        save_top_dir =      "/media/elphel/NVME/lwir16-proc/ortho_videos/debug/sept12-13/pattern_match/";
-		String        sub_dir =           "dbg_recenter_06";
+		String        sub_dir =           "dbg_recenter_07";
 		boolean       show_images =       true;
 		boolean       save_images =       true;
 		String alt_mode="??m";
@@ -2323,7 +2323,7 @@ public class OrthoMapsCollection  implements Serializable{
 		// from (128/spectrum_sample[0])/spectrum_sample[1]
 		// to (128/spectrum_sample[0])*spectrum_sample[1].
 		// Calculate average of FFT power spectrum on both sides, in both directions and get ratio
-		double [] spectrum_sample = {14, 1.5};
+		double [] spectrum_sample = {14, 1.5, 1.0};
 		 
 		double search_radius_recenter = 3; // how far to look for updated correlation peak after recenter
 		if (warp != null) {
@@ -2383,7 +2383,7 @@ public class OrthoMapsCollection  implements Serializable{
 					zoom_level,    // int         zoom_level,
 					wh,            // int []      wh,
 					origin,        // int []      origin){ // maps[0] as a reference
-					centers);      // double [][] centers)
+					null); // centers);      // double [][] centers) // already set with dmulti
 
 		}
 		
@@ -2580,6 +2580,79 @@ public class OrthoMapsCollection  implements Serializable{
 		
 		// Splitting - above done for both scenes, below - just for the main one
 		int scene_num = 0;
+		double hi_lo_freq = 0.0;
+		double [][] hi_freq_arr = null;
+		int []  hi_freq_wh = new int[2];
+		{
+			// Just testing for now
+			int shrink_sel = 4;
+			double spectrum_sigma = 2.0;
+			int blank_xy = (int) Math.round(spectrum_sample[1]);
+			double [][] hi_freq = OrthoMap.getHiFreqCirc(
+					dmulti[scene_num],  // final double [] data,
+					width,              // final int       width,
+					corr_size,          // final int       size,      // power of 2, such as 64
+					spectrum_sample[0], // final double    center_period,// center frequency is size/center_period
+					spectrum_sample[1], // final double    range_period, // ~1.5 - from center/range to center*range
+					blank_xy,           // final int       blank_xy, //
+					hi_freq_wh,         // final int []    wh,           // result size
+					debugLevel);        // final int       debugLevel);
+			hi_freq_arr = new double [4][hi_freq.length];
+			for (int i = 0; i < hi_freq_arr.length; i++) {
+				Arrays.fill(hi_freq_arr[i], Double.NaN);
+			}
+			for (int i = 0; i < hi_freq.length;i++) if (hi_freq[i] != null) {
+				hi_freq_arr[2][i] = hi_freq[i][0];
+				hi_freq_arr[3][i] = hi_freq[i][1];
+				hi_freq_arr[1][i] = hi_freq[i][1]/hi_freq[i][0];
+			}
+			
+			hi_freq_arr[0] = hi_freq_arr[1].clone();
+			TileNeibs tn =  new TileNeibs(hi_freq_wh[0],hi_freq_wh[1]); 
+			OrthoMap.fillNaNs(
+					hi_freq_arr[0], // double [] data,
+					tn, // TileNeibs tn,
+					3); // int min_neibs)
+			(new DoubleGaussianBlur()).blurDouble(
+					hi_freq_arr[0], // double[] pixels,
+					hi_freq_wh[0], // int width,
+					hi_freq_wh[1], // int height,
+					spectrum_sigma, // double sigmaX,
+					spectrum_sigma, // double sigmaY,
+					0.01); // double accuracy);
+			boolean [] mask = new boolean[hi_freq.length];
+			for (int i = 0; i < mask.length;i++) {
+				mask[i] = hi_freq[i] != null;
+			}
+			tn.shrinkSelection(
+					shrink_sel, // final int        shrink,           // grow tile selection by 1 over non-background tiles 1: 4 directions, 2 - 8 directions, 3 - 8 by 1, 4 by 1 more
+					mask,       // final boolean [] tiles,  
+					null);      // final boolean [] prohibit)
+			double swd = 0.0, sw = 0.0;
+			for (int i = 0; i < mask.length;i++) if (mask[i]){
+				swd += hi_freq[i][1]/hi_freq[i][0];
+				sw+= 1.0;
+			}
+			hi_lo_freq = swd/sw;
+			String [] hi_freq_titles = {"blur","ratio","low","high"};
+			ImagePlus img_hi_freq = ShowDoubleFloatArrays.makeArrays(
+					hi_freq_arr,
+					hi_freq_wh[0],
+					hi_freq_wh[1],
+					indices[scene_num]+"-"+ortho_maps[indices[scene_num]].getName()+"-HIGH_FREQ",				
+					hi_freq_titles);
+			showSaveImagePlus(
+					img_hi_freq,         // ImagePlus imp,
+					show_images, // boolean   show,
+					save_images, // boolean   save,
+					save_dir,    // String    save_dir,
+					debugLevel); // int       debugLevel)
+			
+			System.out.println("Average hi_lo_freq="+hi_lo_freq);
+			System.out.println();
+		}
+		
+		
 		corrs_out[scene_num] = correlateAllPatterns(
 				dmulti[scene_num],           // double []    data,
 				width,                       // int          width,
@@ -2703,7 +2776,8 @@ public class OrthoMapsCollection  implements Serializable{
 		if (num_non_overlap > 0) {
 			System.out.println("Removed "+num_non_overlap+" objects outside of the scenes overlap, "+match_sort.size()+" remain");
 		}
-		System.out.print(String.format("%4s: %9s %8s %8s %6s %3s"," # ", "  x/y  ", "sel-corr"," best ","round", "sub"));
+		System.out.print(String.format("%4s: %9s %8s %8s %8s %6s %3s %6s %6s",
+				" # ", "  x/y  ", " hfreq ", "sel-corr"," best ","round", "sub"," dist ","  az  "));
 		for (int j = 0; j < (corrs_out[scene_num].length + 1); j++) if (j != sort_pattern_index) {
 			System.out.print(String.format(" %8s ","match_"+j));
 		}
@@ -2713,13 +2787,27 @@ public class OrthoMapsCollection  implements Serializable{
 			ItemMatch match = matches_list.get(indx);
 			double [] match_values = match.getMatchValues(gops[scene_num]);
 			int [] icenter_xy = match.getIntXY();
-			System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %6.3f %3d",
+			double hfr = Double.NaN;
+            if (hi_freq_arr != null) {
+				int hfr_x = icenter_xy[0]/(corr_size/2);
+				int hfr_y = icenter_xy[1]/(corr_size/2);
+				hfr = hi_freq_arr[0][hfr_x + hfr_y * hi_freq_wh[0]];
+			}
+			double [] vert_offs = new double[2];
+			for (int j = 0; j < vert_offs.length; j++) {
+				vert_offs[j] = icenter_xy[j] - origin[j];
+			}
+			double vert_dist = Math.sqrt(vert_offs[0]*vert_offs[0]+vert_offs[1]*vert_offs[1]);
+			double vert_az= Math.atan2(vert_offs[1],vert_offs[0])*180.0/Math.PI;
+			System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %8.5f %6.3f %3d %6.1f %6.1f",
 					i,
 					icenter_xy[0],icenter_xy[1],
+					hfr,
 					match.getMatchValue(gops[scene_num]),
 					match.getMatchBestValue(gops[scene_num]),
 					match.getRoundness (gops[scene_num]),
-					match.getPatternMatch(gops[scene_num]).getBestSub())); // 1-based
+					match.getPatternMatch(gops[scene_num]).getBestSub(), // 1-based
+					vert_dist, vert_az));  // horizontal distance and azimuth from the camera ground projection
 			for (int j = 0; j < match_values.length; j++) if (j != sort_pattern_index) {
 				System.out.print(String.format(" %8.5f",match_values[j]));
 				if (j == (match_values.length-1)) {
@@ -2883,7 +2971,8 @@ public class OrthoMapsCollection  implements Serializable{
 			System.out.println("Centered match candidates ("+match_sort.size()+
 					")"); // +min_corrs[scene_num]);
 			// print updated list
-			System.out.print(String.format("%4s: %9s %8s %8s %6s %3s"," # ", "  x/y  ", "sel-corr"," best ","round", "sub"));
+			System.out.print(String.format("%4s: %9s %8s %8s %8s %6s %3s  %6s %6s",
+					" # ", "  x/y  ",  " hfreq ", "sel-corr"," best ","round", "sub"," dist ","  az  "));
 			for (int j = 0; j < (corrs_out[scene_num].length + 1); j++) if (j != sort_pattern_index) {
 				System.out.print(String.format(" %8s ","match_"+j));
 			}
@@ -2893,13 +2982,27 @@ public class OrthoMapsCollection  implements Serializable{
 				ItemMatch match = matches_list.get(indx);
 				double [] match_values = match.getMatchValues(gops[scene_num]);
 				int [] icenter_xy = match.getIntXY();
-				System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %6.3f %3d",
+				double hfr = Double.NaN;
+	            if (hi_freq_arr != null) {
+					int hfr_x = icenter_xy[0]/(corr_size/2);
+					int hfr_y = icenter_xy[1]/(corr_size/2);
+					hfr = hi_freq_arr[0][hfr_x + hfr_y * hi_freq_wh[0]];
+				}
+				double [] vert_offs = new double[2];
+				for (int j = 0; j < vert_offs.length; j++) {
+					vert_offs[j] = icenter_xy[j] - origin[j];
+				}
+				double vert_dist = Math.sqrt(vert_offs[0]*vert_offs[0]+vert_offs[1]*vert_offs[1]);
+				double vert_az= Math.atan2(vert_offs[1],vert_offs[0])*180.0/Math.PI;
+				System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %8.5f %6.3f %3d %6.1f %6.1f",
 						i,
 						icenter_xy[0],icenter_xy[1],
+						hfr,
 						match.getMatchValue(gops[scene_num]),
 						match.getMatchBestValue(gops[scene_num]),
 						match.getRoundness (gops[scene_num]),
-						match.getPatternMatch(gops[scene_num]).getBestSub())); // 1-based
+						match.getPatternMatch(gops[scene_num]).getBestSub(), // 1-based
+						vert_dist, vert_az));  // horizontal distance and azimuth from the camera ground projection
 				for (int j = 0; j < match_values.length; j++) if (j != sort_pattern_index) {
 					System.out.print(String.format(" %8.5f",match_values[j]));
 					if (j == (match_values.length-1)) {
@@ -3068,7 +3171,8 @@ public class OrthoMapsCollection  implements Serializable{
 		if (indices.length > 1) {
 			// print updated table after some scenes may be removed by the filter
 			System.out.println("\nAfter first scene filtering:");
-			System.out.print(String.format("%4s: %9s %8s %8s %8s %6s %3s"," # ", "  x/y  ", "sel-corr"," best ","contrast","round", "sub"));
+			System.out.print(String.format("%4s: %9s %8s %8s %8s %8s %6s %3s %6s %6s",
+					" # ", "  x/y  ", " hfreq ", "sel-corr"," best ","contrast","round", "sub"," dist ","  az  "));
 			for (int j = 0; j < (corrs_out[scene_num].length + 1); j++) if (j != sort_pattern_index) {
 				System.out.print(String.format(" %8s ","match_"+j));
 			}
@@ -3080,19 +3184,34 @@ public class OrthoMapsCollection  implements Serializable{
 				ItemMatch match = matches_list.get(indx);
 				double [] match_values = match.getMatchValues(gops[scene_num]);
 				int [] icenter_xy = match.getIntXY();
+				double hfr = Double.NaN;
+	            if (hi_freq_arr != null) {
+					int hfr_x = icenter_xy[0]/(corr_size/2);
+					int hfr_y = icenter_xy[1]/(corr_size/2);
+					hfr = hi_freq_arr[0][hfr_x + hfr_y * hi_freq_wh[0]];
+				}
+				double [] vert_offs = new double[2];
+				for (int j = 0; j < vert_offs.length; j++) {
+					vert_offs[j] = icenter_xy[j] - origin[j];
+				}
+				double vert_dist = Math.sqrt(vert_offs[0]*vert_offs[0]+vert_offs[1]*vert_offs[1]);
+				double vert_az= Math.atan2(vert_offs[1],vert_offs[0])*180.0/Math.PI;
+	            
 				boolean removed = match.isRemoved();
 				String sremoved = removed?" removed":"";
 				//						double best_val = match.getMatchValue(gops[scene_num],sort_pattern_index);
 				// so it is updated after best subpattern could be changed in setAbsoluteContrasts()
 				//match_values[match.getPatternMatch(gops[scene_num]).getBestSub() -1];
-				System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %8.3f %6.3f %3d",
+				System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %8.5f %8.3f %6.3f %3d %6.1f %6.1f",
 						i,
 						icenter_xy[0],icenter_xy[1],
+						hfr,
 						match.getMatchValue(gops[scene_num]),
 						match.getMatchBestValue(gops[scene_num]),
 						match.getAbsoluteContrast(),
 						match.getRoundness(gops[scene_num]),
-						match.getPatternMatch(gops[scene_num]).getBestSub())); // 1-based
+						match.getPatternMatch(gops[scene_num]).getBestSub(), // 1-based
+						vert_dist, vert_az));  // horizontal distance and azimuth from the camera ground projection
 				for (int j = 0; j < match_values.length; j++) if (j != sort_pattern_index) {
 					System.out.print(String.format(" %8.5f",match_values[j]));
 					if (j == (match_values.length-1)) {
@@ -3271,14 +3390,14 @@ public class OrthoMapsCollection  implements Serializable{
 		System.out.println("abs_edge_frac="+abs_edge_frac+", abs_oversize="+abs_oversize+
 				", abs_force_round="+abs_force_round+", abs_mode="+abs_mode+", abs_invert="+abs_invert);
 		System.out.println("abs_outliers_frac="+abs_outliers_frac+", abs_obscure_warm="+abs_obscure_warm+
-				", abs_obscure_frac="+abs_obscure_frac);
-
+				", abs_obscure_frac="+abs_obscure_frac + ", Average hi_lo_freq="+hi_lo_freq);
 		if (indices.length > 1) {
 			System.out.println("Second image is offset by dx="+scene_xy_offset[0]+", dy="+scene_xy_offset[1]+", dist="+
 					Math.sqrt(scene_xy_offset[0]*scene_xy_offset[0]+scene_xy_offset[1]*scene_xy_offset[1])+" pix");
 		}
 		//				System.out.println("Updated object list with main scene peak areas and secondary scene maximums, areas and maximum distances from the main");
-		System.out.print(String.format("%4s: %9s %8s %8s %8s %6s %3s"," # ", "  x/y  ", "sel-corr", " best ","contrast","round","sub"));
+		System.out.print(String.format("%4s: %9s %8s %8s %8s %8s %6s %3s %6s %6s",
+				" # ", "  x/y  ", " hfreq ","sel-corr", " best ","contrast","round","sub"," dist ","  az  "));
 		for (int j = 0; j < (corrs_out[scene_num].length + 1); j++) if (j != sort_pattern_index) {
 			System.out.print(String.format(" %8s ","match_"+j));
 		}
@@ -3288,6 +3407,7 @@ public class OrthoMapsCollection  implements Serializable{
 			System.out.print(String.format(" %8s %6s %6s %6s %7s %7s %7s %7s %7s | %8s %6s %6s %6s %6s %6s %7s %7s",
 					"of-corr","of-rad","of-eln", "of-dst", "of-dx",  "of-dy","of-par","of-prp","elevat",
 					"oh-corr","oh-rad","oh-eln", "oh-ofr", "o_fhr", "oh-dst", "oh-dx","oh-dy"));
+			System.out.print(String.format("| %6s %6s"," dist2","  az2 "));
 		}
 		System.out.println(String.format(" %7s",
 				"removed"));
@@ -3298,14 +3418,28 @@ public class OrthoMapsCollection  implements Serializable{
 			double [] match_values = match.getMatchValues(gops[scene_num]);
 			CorrelationPeakStats [][] filter_data = match.filter_data;
 			int [] icenter_xy = match.getIntXY();
-			System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %8.3f %6.3f %3d",
+			double hfr = Double.NaN;
+			if (hi_freq_arr != null) {
+				int hfr_x = icenter_xy[0]/(corr_size/2);
+				int hfr_y = icenter_xy[1]/(corr_size/2);
+				hfr = hi_freq_arr[0][hfr_x + hfr_y * hi_freq_wh[0]];
+			}
+			double [] vert_offs = new double[2];
+			for (int j = 0; j < vert_offs.length; j++) {
+				vert_offs[j] = icenter_xy[j] - origin[j];
+			}
+			double vert_dist = Math.sqrt(vert_offs[0]*vert_offs[0]+vert_offs[1]*vert_offs[1]);
+			double vert_az= Math.atan2(vert_offs[1],vert_offs[0])*180.0/Math.PI;
+			System.out.print(String.format("%4d: %4d/%4d %8.5f %8.5f %8.5f %8.3f %6.3f %3d %6.1f %6.1f",
 					i,
 					icenter_xy[0],icenter_xy[1],
+					hfr,
 					match.getMatchValue(gops[scene_num]), // ,sort_pattern_index),
 					match.getMatchBestValue(gops[scene_num]),
 					match.getAbsoluteContrast(),
 					match.getRoundness(gops[scene_num]),
-					match.getPatternMatch(gops[scene_num]).getBestSub())); // 1-based
+					match.getPatternMatch(gops[scene_num]).getBestSub(), // 1-based
+					vert_dist, vert_az));  // horizontal distance and azimuth from the camera ground projection
 			for (int j = 0; j < match_values.length; j++) if (j != sort_pattern_index) {
 				System.out.print(String.format(" %8.5f",match_values[j]));
 				if (j != (match_values.length-1)) {
@@ -3317,6 +3451,7 @@ public class OrthoMapsCollection  implements Serializable{
 			double m_fhr = filter_data[0][0].best_d/filter_data[0][1].best_d;
 			boolean removed = match.isRemoved();
 			String sremoved = removed?" removed":"";
+			
 			System.out.print(String.format(
 					"%6.3f %6.3f %6.3f %6.3f %6.3f %6.3f |",
 					// main full and best half areas only, radius and elongation
@@ -3326,6 +3461,13 @@ public class OrthoMapsCollection  implements Serializable{
 					m_fhr));
 
 			if (indices.length > 1) {
+				double [] vert_offs2 = new double[2];
+				for (int j = 0; j < vert_offs.length; j++) {
+					vert_offs2[j] = icenter_xy[j] - centers[1][j];
+				}
+				double vert_dist2 = Math.sqrt(vert_offs2[0]*vert_offs2[0]+vert_offs2[1]*vert_offs2[1]);
+				double vert_az2= Math.atan2(vert_offs2[1],vert_offs2[0])*180.0/Math.PI;
+
 				double [] second_xy_offsets = filter_data[1][0].cent_offs;
 				// try elevation for second scene and full pattern only
 				double [] scnd_xy_proj = projectOffsetOnVector(
@@ -3349,6 +3491,8 @@ public class OrthoMapsCollection  implements Serializable{
 						filter_data[1][1].max_other, ///
 						o_fhr,
 						filter_data[1][1].dist, filter_data[1][1].cent_offs[0], filter_data[1][1].cent_offs[1]));  // half: dist, dx, dy
+				System.out.print(String.format(
+						"| %6.1f %6.1f", vert_dist2, vert_az2));
 			}
 			System.out.println(String.format(" %7s",
 					sremoved));