improving pairwise matching

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

@@ -1597,7 +1597,19 @@ adjusted affines[1] for a pair: 1694564291_293695/1694564778_589341
 	}
 	
 	
-	
+	/**
+	 * 
+	 * @param clt_parameters
+	 * @param fpixels
+	 * @param img_width
+	 * @param woi
+	 * @param affine
+	 * @param tp_tasks_o
+	 * @param batch_mode
+	 * @param dbg_suffix
+	 * @param debugLevel
+	 * @return [2][tilesX*tilesY][3]
+	 */
 	public static double [][][] rectilinearVectorField( // scene0/scene1
 			final CLTParameters          clt_parameters,
 			final float  [][]            fpixels, // to check for empty

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

@@ -3461,7 +3461,7 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 	}
 	
 	/**
-	 * Remove (mask out) tiles that have high product of distance (in pixels) from the vertiacal point
+	 * Remove (mask out) tiles that have high product of distance (in pixels) from the vertical point
 	 * by the metric difference between the elevation and an approximation plane 
 	 * @param data elevation data, decimated to match GPU tile grid. May have NaNs.
 	 * @param mask_in null or boolean[] mask same dimension as the data[]/ False disables processing,

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

@@ -1449,10 +1449,10 @@ public class OrthoMapsCollection  implements Serializable{
 		double [][] ground_planes_metric = new double [tp_tasks.length][];
 		boolean [][] ground_planes_masks = new boolean[2][];
 		double    initial_above = 3; // m
-		double    initial_below = 3; // m
+		double    initial_below = 5; //3; // m
 		int       num_refine =    3;
-		double    frac_above =    0.3;
-		double    frac_below =    0.1;
+		double    frac_above =    0.5; // 0.3;
+		double    frac_below =    0.01; // 0.1;
 		double [][] jtj = null;
 		double rms = Double.NaN;
 		double last_center_radius = 0;
@@ -5067,7 +5067,8 @@ public class OrthoMapsCollection  implements Serializable{
 		int [] indices = getScenesSelection(
 				null, // boolean select_all,
 				" to find intersects"); // String purpose)
-		if (indices == null) {
+		if ((indices == null) || (indices.length < 2)) {
+			System.out.println ("generatePairwiseAffines(): indices[] is null or too short, exiting");
 			return false;
 		}
 		
@@ -5077,13 +5078,13 @@ public class OrthoMapsCollection  implements Serializable{
 		}
 		int num_defined = 0;
 		int num_undefined = 0;
-		
+		boolean single_pair = indices.length==2;
 		for (int i = 0; i < indices.length-1; i++) {
 			for (int j = i+1; j < indices.length; j++){
 				String name2 = ortho_maps[indices[j]].getName();
 				PairwiseOrthoMatch match = ortho_maps[indices[i]].getMatch(name2,true);
 				if (match != null) {
-					if (match.isDefined()) {
+					if (match.isDefined() && !single_pair) {
 						num_defined++;
 					} else {
 						num_undefined++;
@@ -5139,7 +5140,7 @@ public class OrthoMapsCollection  implements Serializable{
 		boolean use_multi = true;
 		int                          heur = 15;
 		int min_scene =              0;
-		GenericJTabbedDialog gd = new GenericJTabbedDialog("Pairwise Match Parameters",1200,1000);
+		GenericJTabbedDialog gd = new GenericJTabbedDialog("Pairwise Match Parameters",1200,1100);
 		gd.addMessage("Number of scenes - "+indices.length+
 				", number of defined pairs - "+num_defined+
 				", number of undefined pairs - "+num_undefined);
@@ -5232,7 +5233,7 @@ public class OrthoMapsCollection  implements Serializable{
 		heur =             (int) gd.getNextNumber();
 		use_multi =              gd.getNextBoolean();
 		double max_rmse_reuse= max_rms_refine;
-		int [][] pairs_defined = filterPairs(
+		int [][] pairs_defined = single_pair?(new int[0][]):filterPairs(
 				indices,          // int []  indices_in,
 				min_overlap_frac, // double  min_overlap_frac,
 				max_rmse_reuse,   // double  max_rmse,
@@ -5415,7 +5416,7 @@ public class OrthoMapsCollection  implements Serializable{
 				System.out.println ("Skipping "+ipair[0]+":"+ipair[1]+" until "+min_scene);
 				continue;
 			}
-			boolean direct = ipair[0] < ipair[0]; // always?
+			boolean direct = ipair[0] < ipair[1]; // always?
 	    	int min_zoom_lev = ortho_maps[ipair[0]].getOriginalZoomLevel();
 	    	int max_zoom_lev = ortho_maps[ipair[0]].getOriginalZoomLevel();
 	    	double max_agl =   ortho_maps[ipair[0]].getAGL();
@@ -5439,7 +5440,7 @@ public class OrthoMapsCollection  implements Serializable{
 			// unityAffine()
 			
 			double [][] affine0 = pmtch_use_affine?ortho_maps[ipair[0]].getAffine():unityAffine(); // {{1,0,0},{0,1,0}}; // will always stay the same
-			double [][] affine1 = pmtch_use_affine?ortho_maps[ipair[0]].getAffine():unityAffine(); // {{1,0,0},{0,1,0}}; // here (manual mode) start from the center, may use prediction in auto
+			double [][] affine1 = pmtch_use_affine?ortho_maps[ipair[1]].getAffine():unityAffine(); // {{1,0,0},{0,1,0}}; // here (manual mode) start from the center, may use prediction in auto
 			double [][][] affines = new double[][][] {affine0,affine1};
 			double spiral_rms = Double.NaN;
 				// now always unity, but after partial adjustment may be non-unity

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

@@ -237,6 +237,8 @@ public class OrthoPairLMA {
 								double r_pix = Math.sqrt(r_pix2); // radius in pixels
 								double wr = 0.5*(1.0 + Math.cos(0.5*Math.PI*r_pix/radius_pix));
 								weights[aTile] = w*wr;
+							} else {
+								weights[aTile] = 0;
 							}
 						}
 					}
@@ -275,6 +277,7 @@ public class OrthoPairLMA {
 			final double [][] vector_XYS,
 			final double []   weights_extra, // null or additional weights (such as elevation-based)
 			final double [][] centers) {
+		boolean dbg = false;
 		final int rad_max = Math.max(woi.width,woi.height)/2 +1; 
 		final int rad_length = rad_max +1; 
 		final Thread[] threads = ImageDtt.newThreadArray();
@@ -286,53 +289,6 @@ public class OrthoPairLMA {
 		final double [][] sy_arr =  new double [threads.length][rad_length];
 		final double [][] sy2_arr = new double [threads.length][rad_length];
 		final int    [][] sn_arr =  new int [threads.length][rad_length];
-		boolean dbg = false;
-		if (dbg) {
-			String [] titles = {"fx","fy","vw","w","cent-x","cent-y","dx","dy","r_t","irt"};
-			final double [][] dbg_img = new double [titles.length][woi.width*woi.height];
-			for (int i = 0; i < dbg_img.length; i++) {
-				Arrays.fill(dbg_img[i], Double.NaN);
-			}
-			for (int ithread = 0; ithread < threads.length; ithread++) {
-				threads[ithread] = new Thread() {
-					public void run() {
-						for (int iTile = ai.getAndIncrement(); iTile < N; iTile = ai.getAndIncrement()) {
-							int tileX = iTile % woi.width + woi.x;
-							int tileY = iTile / woi.width + woi.y;
-							int aTile = tileY * width + tileX;
-							if ((vector_XYS[aTile] != null) && (centers[aTile] != null)) {
-								double w = vector_XYS[aTile][2];
-								if (weights_extra != null) w *= weights_extra[aTile]; 
-								if (Double.isNaN(w)) w = 0;
-								double dx = centers[aTile][0] - origin[0];
-								double dy = centers[aTile][1] - origin[1];
-								double r_t = Math.sqrt(dx*dx+dy*dy)/GPUTileProcessor.DTT_SIZE; // radius in tiles
-								int irt = (int) Math.round(r_t);
-								dbg_img[0][iTile] = vector_XYS[aTile][0];
-								dbg_img[1][iTile] = vector_XYS[aTile][1];
-								dbg_img[2][iTile] = vector_XYS[aTile][2];
-								dbg_img[3][iTile] = w;
-								dbg_img[4][iTile] = centers[aTile][0];
-								dbg_img[5][iTile] = centers[aTile][1];
-								dbg_img[6][iTile] = dx;
-								dbg_img[7][iTile] = dy;
-								dbg_img[8][iTile] = r_t;
-								dbg_img[9][iTile] = irt;
-							}
-						}
-					}
-				};
-			}		      
-			ImageDtt.startAndJoin(threads);
-			ai.set(0);
-			ShowDoubleFloatArrays.showArrays(
-					dbg_img,
-					woi.width,
-					woi.height,
-					true,
-					"getCenterRadius",
-					titles);
-		}
 		for (int ithread = 0; ithread < threads.length; ithread++) {
 			threads[ithread] = new Thread() {
 				public void run() {
@@ -416,6 +372,60 @@ public class OrthoPairLMA {
 			}
 			std_prev = std;
 		}
+	
+		if (dbg) {
+			final double [] weights_center = applyRadialWeights( // uses this.center_radius;
+					vector_XYS, // final double [][] vector_XYS,
+					weights_extra, // final double []   weights_extra,
+					centers); // final double [][] centers);
+			
+			String [] titles = {"fx","fy","wc","vw","w","cent-x","cent-y","dx","dy","r_t","irt"};
+			final double [][] dbg_img = new double [titles.length][woi.width*woi.height];
+			for (int i = 0; i < dbg_img.length; i++) {
+				Arrays.fill(dbg_img[i], Double.NaN);
+			}
+			for (int ithread = 0; ithread < threads.length; ithread++) {
+				threads[ithread] = new Thread() {
+					public void run() {
+						for (int iTile = ai.getAndIncrement(); iTile < N; iTile = ai.getAndIncrement()) {
+							int tileX = iTile % woi.width + woi.x;
+							int tileY = iTile / woi.width + woi.y;
+							int aTile = tileY * width + tileX;
+							dbg_img[ 2][iTile] = weights_center[aTile];
+							if ((vector_XYS[aTile] != null) && (centers[aTile] != null)) {
+								double w = vector_XYS[aTile][2];
+								if (weights_extra != null) w *= weights_extra[aTile]; 
+								if (Double.isNaN(w)) w = 0;
+								double dx = centers[aTile][0] - origin[0];
+								double dy = centers[aTile][1] - origin[1];
+								double r_t = Math.sqrt(dx*dx+dy*dy)/GPUTileProcessor.DTT_SIZE; // radius in tiles
+								int irt = (int) Math.round(r_t);
+								dbg_img[ 0][iTile] = vector_XYS[aTile][0];
+								dbg_img[ 1][iTile] = vector_XYS[aTile][1];
+								dbg_img[ 3][iTile] = vector_XYS[aTile][2];
+								dbg_img[ 4][iTile] = w;
+								dbg_img[ 5][iTile] = centers[aTile][0];
+								dbg_img[ 6][iTile] = centers[aTile][1];
+								dbg_img[ 7][iTile] = dx;
+								dbg_img[ 8][iTile] = dy;
+								dbg_img[ 9][iTile] = r_t;
+								dbg_img[10][iTile] = irt;
+							}
+						}
+					}
+				};
+			}		      
+			ImageDtt.startAndJoin(threads);
+			ai.set(0);
+			ShowDoubleFloatArrays.showArrays(
+					dbg_img,
+					woi.width,
+					woi.height,
+					true,
+					"getCenterRadius",
+					titles);
+		}
+		
 		if ((min_tiles > 0) && (min_radius > 0) && (scnc < min_tiles)) {
 			center_radius = 0;
 		}

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

@@ -147,13 +147,18 @@ public class PairsGraph {
 			timestamps[i] = ortho_maps[indices[i]].getTimeStamp();
 		}
 		
-		for (int [] u_pair: undefined_pairs) {
-			pair_state[u_pair[0]][u_pair[0]] = PAIR_UNDEFINED;
+		for (int [] pair: undefined_pairs) {
+			pair_state[pair[0]][pair[1]] = PAIR_UNDEFINED;
+			PairwiseOrthoMatch match = ortho_maps[indices[pair[0]]].getMatch(ortho_maps[indices[pair[1]]].getName(),true);
+			overlaps[pair[0]][pair[1]] = match.getOverlap();
+
 		}
-		for (int [] d_pair: defined_pairs) {
-			pair_state[d_pair[0]][d_pair[0]] = PAIR_DEFINED;
+		for (int [] pair: defined_pairs) {
+			pair_state[pair[0]][pair[1]] = PAIR_DEFINED;
+			PairwiseOrthoMatch match = ortho_maps[indices[pair[0]]].getMatch(ortho_maps[indices[pair[1]]].getName(),true);
+			overlaps[pair[0]][pair[1]] = match.getOverlap();
 			recordPair(
-					d_pair, // int []   pair,
+					pair, // int []   pair,
 					true,             // boolean  success,
 					multi);
 		}