AUX (LWIR) extrinsic adjustments with main camera ground truth

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

@@ -163,6 +163,15 @@ public class CLTParameters {
 	public boolean    ih_norm_center =  true;    // Replace samples with a single average with equal weight
 	public boolean    inf_restore_disp = true;   // Add disparity back to d{x,y}[i] (debug feature)
 	// Lazy eye parameters
+
+	public double     ly_gt_strength =  0.18; // use some configurable parameters
+	public boolean    ly_gt_use_wnd =   true;
+	public double     ly_gt_rms =        0.2; // split small source samples tp FG/BG if all aux tile RMS exceeds this value
+
+//	boolean split_fg_bg =  true;
+//	boolean for_adjust =  false;
+
+
 	public boolean    ly_on_scan =      true;    // Calculate and apply lazy eye correction after disparity scan (poly or extrinsic)
 	public boolean    ly_inf_en =       true;    // Simultaneously correct disparity at infinity (both poly and extrinsic)
 	public boolean    ly_aztilt_en =    true;    // Adjust azimuths and tilts
@@ -922,6 +931,10 @@ public class CLTParameters {
 		properties.setProperty(prefix+"ih_norm_center",             this.ih_norm_center+"");
 		properties.setProperty(prefix+"inf_restore_disp",           this.inf_restore_disp+"");
 
+		properties.setProperty(prefix+"ly_gt_strength",             this.ly_gt_strength+"");
+		properties.setProperty(prefix+"ly_gt_use_wnd",              this.ly_gt_use_wnd+"");
+		properties.setProperty(prefix+"ly_gt_rms",                  this.ly_gt_rms+"");
+
 		properties.setProperty(prefix+"ly_on_scan",                 this.ly_on_scan+"");
 		properties.setProperty(prefix+"ly_inf_en",                  this.ly_inf_en+"");
 		properties.setProperty(prefix+"ly_aztilt_en",               this.ly_aztilt_en+"");
@@ -1627,6 +1640,9 @@ public class CLTParameters {
 		if (properties.getProperty(prefix+"ih_norm_center")!=null)                this.ih_norm_center=Boolean.parseBoolean(properties.getProperty(prefix+"ih_norm_center"));
 		if (properties.getProperty(prefix+"inf_restore_disp")!=null)              this.inf_restore_disp=Boolean.parseBoolean(properties.getProperty(prefix+"inf_restore_disp"));
 
+		if (properties.getProperty(prefix+"ly_gt_strength")!=null)                this.ly_gt_strength=Double.parseDouble(properties.getProperty(prefix+"ly_gt_strength"));
+		if (properties.getProperty(prefix+"ly_gt_use_wnd")!=null)                 this.ly_gt_use_wnd=Boolean.parseBoolean(properties.getProperty(prefix+"ly_gt_use_wnd"));
+		if (properties.getProperty(prefix+"ly_gt_rms")!=null)                     this.ly_gt_rms=Double.parseDouble(properties.getProperty(prefix+"ly_gt_rms"));
 		if (properties.getProperty(prefix+"ly_on_scan")!=null)                    this.ly_on_scan=Boolean.parseBoolean(properties.getProperty(prefix+"ly_on_scan"));
 		if (properties.getProperty(prefix+"ly_inf_en")!=null)                     this.ly_inf_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_inf_en"));
 		if (properties.getProperty(prefix+"ly_aztilt_en")!=null)                  this.ly_aztilt_en=Boolean.parseBoolean(properties.getProperty(prefix+"ly_aztilt_en"));
@@ -2373,12 +2389,17 @@ public class CLTParameters {
 
 		gd.addTab         ("Lazy eye", "Lazy eye parameters");
 
-		gd.addCheckbox    ("Calculate and apply lazy eye correction after disparity scan (poly or extrinsic), may repeat",          this.ly_on_scan);
-		gd.addCheckbox    ("Adjust disparity using objects at infinity by changing individual tilt and azimuth ",           this.ly_inf_en," disable if there are no really far objects in the scene");
+		gd.addMessage     ("--- main-to-aux depth map parameters ---");
+		gd.addNumericField("Minimal reference (main) channel orrelation strength",                              this.ly_gt_strength,        3);
+		gd.addCheckbox    ("Use window for AUX tiles to reduce weight of the hi-res tiles near low-res tile boundaries", this.ly_gt_use_wnd);
+		gd.addNumericField("Aux disparity thershold to split FG and BG (and disable AUX tile for adjustment)",  this.ly_gt_rms,        3);
+		gd.addMessage     ("--- others ---");
+		gd.addCheckbox    ("Calculate and apply lazy eye correction after disparity scan (poly or extrinsic), may repeat", this.ly_on_scan);
+		gd.addCheckbox    ("Adjust disparity using objects at infinity by changing individual tilt and azimuth ",          this.ly_inf_en," disable if there are no really far objects in the scene");
 		gd.addCheckbox    ("Adjust azimuths and tilts",                                                         this.ly_aztilt_en,"Adjust azimuths and tilts excluding those that change disparity");
 		gd.addCheckbox    ("Adjust differential rolls",                                                         this.ly_diff_roll_en,"Adjust differential rolls (3 of 4 rolls, keeping average roll)");
 		gd.addCheckbox    ("Correct scales (focal length temperature? variations)",                             this.ly_focalLength);
-		gd.addCheckbox    ("Enable common roll adjustment (valid for high disparity range scans only)",           this.ly_com_roll);
+		gd.addCheckbox    ("Enable common roll adjustment (valid for high disparity range scans only)",         this.ly_com_roll);
 
 		gd.addNumericField("Manual parameter mask selection (0 use checkboxes above)",                          this.ly_par_sel,  0, 5,"",
 				"bit 0 - sym0, bit1 - sym1, ...");
@@ -3164,7 +3185,6 @@ public class CLTParameters {
 
 		this.inf_disp_apply=        gd.getNextBoolean();
 		this.inf_repeat=      (int) gd.getNextNumber();
-		//  			          this.inf_mism_apply=        gd.getNextBoolean();
 		this.inf_iters=       (int) gd.getNextNumber();
 		this.inf_final_diff=        gd.getNextNumber();
 		this.inf_far_pull=          gd.getNextNumber();
@@ -3184,6 +3204,9 @@ public class CLTParameters {
 		this.ih_norm_center=        gd.getNextBoolean();
 		this.inf_restore_disp=      gd.getNextBoolean();
 
+		this.ly_gt_strength=        gd.getNextNumber();
+		this.ly_gt_use_wnd=         gd.getNextBoolean();
+		this.ly_gt_rms=             gd.getNextNumber();
 		this.ly_on_scan=            gd.getNextBoolean();
 		this.ly_inf_en=             gd.getNextBoolean();
 		this.ly_aztilt_en=          gd.getNextBoolean();

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

@@ -2311,7 +2311,7 @@ B = |+dy0   -dy1      -2*dy3 |
 					clt_parameters.ly_par_sel,     //int     manual_par_sel,    // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
 					mismatch_list,                          // ArrayList<Mismatch> mismatch_list,
 					qc.geometryCorrection,                  // GeometryCorrection geometryCorrection,
-					null, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
+///					null, // GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
 					qc.geometryCorrection.getCorrVector(),  // GeometryCorrection.CorrVector corr_vector,
 					old_new_rms,                            // double [] old_new_rms, // should be double[2]
 //					2); // debugLevel); // 2); // 1); // int debugLevel)
@@ -2360,7 +2360,7 @@ B = |+dy0   -dy1      -2*dy3 |
 
 
 	public double [][][] lazyEyeCorrectionFromGT(
-			final GeometryCorrection geometryCorrection_main, // if not null - this is an AUX camera of a rig
+//			final GeometryCorrection geometryCorrection_main, // if not null - this is an AUX camera of a rig
 			final boolean    use_poly, // Use polynomial correction, false - correct tilt/azimuth/roll of each sensor
 			final boolean    restore_disp_inf, // Restore subtracted disparity for scan #0 (infinity) always true
 			final double     fcorr_radius,
@@ -2398,7 +2398,6 @@ B = |+dy0   -dy1      -2*dy3 |
 			int              debugLevel){
 
 //		final double lazyEyeDispRelVariation = 0.02;
-//geometryCorrection_main
 		final int dbg_nTile = -34145; // 37005; // -59038;
 		final int num_scans = scans_14.length/NUM_ALL_SLICES;
 		final int num_tiles = scans_14[0].length;
@@ -2791,7 +2790,7 @@ B = |+dy0   -dy1      -2*dy3 |
 					clt_parameters.ly_par_sel,     // int     manual_par_sel,    // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
 					mismatch_list,                          // ArrayList<Mismatch> mismatch_list,
 					qc.geometryCorrection,                  // GeometryCorrection geometryCorrection,
-					geometryCorrection_main, //  GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
+///					geometryCorrection_main, //  GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
 					qc.geometryCorrection.getCorrVector(),  // GeometryCorrection.CorrVector corr_vector,
 					old_new_rms,                            // double [] old_new_rms, // should be double[2]
 //					2); // debugLevel); // 2); // 1); // int debugLevel)
@@ -3326,7 +3325,7 @@ B = |+dy0   -dy1      -2*dy3 |
 	  		int     manual_par_sel,    // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)
 			ArrayList<Mismatch> mismatch_list,
 			GeometryCorrection geometryCorrection,
-			GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
+///			GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels
 			GeometryCorrection.CorrVector corr_vector,
 			double [] old_new_rms, // should be double[2]
 			int debugLevel)

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

@@ -3680,7 +3680,7 @@ if (debugLevel > -100) return true; // temporarily !
 
 		// Get DSI from the main camera
 		quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
-		// last but not including any rid data
+		// last but not including any rig data
 		CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes_size -1); // get last one
 		double [][] disparity_bimap = setBimapFromCLTPass3d(
 				scan_last,      // CLTPass3d                                scan,
@@ -7445,14 +7445,25 @@ if (debugLevel > -100) return true; // temporarily !
 					System.out.println("Adjusting main camera image set for "+quadCLT_main.image_name+
 							" (with rig DSI), pass "+(num_adjust_main+1)+" of "+quadCLT_main.correctionsParameters.rig_batch_adjust_main_gt);
 				}
+				double [][] gt_disp_strength = quadCLT_main.getRigDSFromTwoQuadCL(
+						this, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
+						clt_parameters,
+						debugLevelInner); // final int        debugLevel)
+
+//				  GeometryCorrection geometryCorrection_main = null;
+//				  if (geometryCorrection.getRotMatrix(true) != null) {
+//					  geometryCorrection_main = twoQuadCLT.quadCLT_main.getGeometryCorrection();
+//				  }
 
 				quadCLT_main.extrinsicsCLTfromGT(
-						  this,   // TwoQuadCLT       twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
-						  clt_parameters, // EyesisCorrectionParameters.CLTParameters           clt_parameters,
-						  false,
-						  threadsMax,  //final int        threadsMax,  // maximal number of threads to launch
-						  updateStatus,// final boolean    updateStatus,
-						  debugLevelInner); // final int        debugLevel)
+						//						  this,   // TwoQuadCLT       twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
+						null,
+						gt_disp_strength,
+						clt_parameters, // EyesisCorrectionParameters.CLTParameters           clt_parameters,
+						false,
+						threadsMax,  //final int        threadsMax,  // maximal number of threads to launch
+						updateStatus,// final boolean    updateStatus,
+						debugLevelInner); // final int        debugLevel)
 			}
 
 			for (int num_adjust_aux = 0; num_adjust_aux < quadCLT_main.correctionsParameters.rig_batch_adjust_aux_gt; num_adjust_aux++) {
@@ -7462,9 +7473,15 @@ if (debugLevel > -100) return true; // temporarily !
 					System.out.println("Adjusting aux camera image set for "+quadCLT_main.image_name+
 							" (with rig DSI), pass "+(num_adjust_aux+1)+" of "+quadCLT_main.correctionsParameters.rig_batch_adjust_aux_gt);
 				}
+				double [][] gt_disp_strength = quadCLT_aux.getRigDSFromTwoQuadCL(
+						this, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
+						clt_parameters,
+						debugLevelInner); // final int        debugLevel)
 
 				quadCLT_aux.extrinsicsCLTfromGT(
-						  this,   // TwoQuadCLT       twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
+//						  this,   // TwoQuadCLT       twoQuadCLT, //maybe null in no-rig mode, otherwise may contain rig measurements to be used as infinity ground truth
+						  quadCLT_main.getGeometryCorrection(),
+						  gt_disp_strength,
 						  clt_parameters, // EyesisCorrectionParameters.CLTParameters           clt_parameters,
 						  false,
 						  threadsMax,  //final int        threadsMax,  // maximal number of threads to launch