improving matching from the center to mitigate scale/rotations

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

@@ -1299,7 +1299,7 @@ adjusted affines[1] for a pair: 1694564291_293695/1694564778_589341
 				int nSlices = stack_scenes.getSize();
 				String [] scene_names = new String [nSlices];
 				for (int n = 0; n < scene_names.length; n++) {
-					scene_names[n] = stack_scenes.getSliceLabel(n+1).substring(0,17);
+					scene_names[n] = stack_scenes.getSliceLabel(n+1).substring(0,17); // wrong image opened-> StringIndexOutOfBoundsException: begin 0, end 17, length 8
 				}
 				if (all_scenes != null) {
 					all_scenes[0] = scene_names;

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

@@ -1013,13 +1013,17 @@ public class OrthoMapsCollection  implements Serializable{
 				null, // double [][] jtj,
 				Double.NaN, // double rms,
 				zoom_lev); // int zoom_lev); 
-		double           max_std = 1.5;      // maximal standard deviation to limit center area  
+		double           max_std =     0.5;      // maximal standard deviation to limit center area  
 		double           min_std_rad = 2.0;  // minimal radius of the central area (if less - fail)
 
 		while ((Math.abs(nx) <= nabs) && (Math.abs(ny) <= nabs)) {
-			affine1[0][2] = affines_init[1][0][2] + pix_step * pix_size * nx;
-			affine1[1][2] = affines_init[1][1][2] + pix_step * pix_size * ny;
+			for (int i = 0; i < affines_init.length; i++) {
+				System.arraycopy(affines_init[1][i], 0, affine1[i], 0, affine1[i].length);
+			}
+			affine1[0][2] += pix_step * pix_size * nx;
+			affine1[1][2] += pix_step * pix_size * ny;
 			pairwiseOrthoMatch.rms = Double.NaN;
+			
 			correlateOrthoPair(
 					clt_parameters,  // CLTParameters    clt_parameters,
 					pairwiseOrthoMatch, //PairwiseOrthoMatch pairwiseOrthoMatch, // will return statistics
@@ -1262,6 +1266,7 @@ public class OrthoMapsCollection  implements Serializable{
 		double    frac_below =    0.1;
 		double [][] jtj = null;
 		double rms = Double.NaN;
+		double last_center_radius = 0;
 		for (int ntry = 0; ntry < num_tries; ntry++) {
 			if (!batch_mode) {
 				if (debugLevel>-3) {
@@ -1500,6 +1505,15 @@ public class OrthoMapsCollection  implements Serializable{
 					min_std_rad,  // double        min_std_rad,  // minimal radius of the central area (if less - fail)
 
 					debugLevel);     // final int     debug_level)
+			last_center_radius = orthoPairLMA.getCenterRadius();
+			if ((min_std_rad >0) && (last_center_radius < 1)) {
+				if (debugLevel>-3) {
+					System.out.println("correlateOrthoPair(): center_radius="+
+							orthoPairLMA.getCenterRadius()+" < "+ 1);
+				}
+				return null;
+			}
+			
 			if (num_good_tiles < min_good_tiles) {
 				if (debugLevel>-4) {
 					System.out.println("correlateOrthoPair(): num_good_tiles="+
@@ -1563,6 +1577,14 @@ public class OrthoMapsCollection  implements Serializable{
 			prev_rms=rms;
 		} // for (int ntry = 0; ntry < num_tries; ntry++) {
 		
+		if ((min_std_rad > 0) && (last_center_radius < min_std_rad)) {
+			if (debugLevel>-3) {
+				System.out.println("correlateOrthoPair(): center_radius="+
+						last_center_radius+" < "+ min_std_rad);
+			}
+			return null;
+		}
+		
 		
 		
 		

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

@@ -37,8 +37,8 @@ import Jama.Matrix;
 
 public class OrthoPairLMA {
 	private boolean           thread_invariant= true;
-	private int               N =               0;
-	private Rectangle         woi =             null;
+	private int               N =               0; // number of tiles in WOI:  woi.width * woi.height
+	private Rectangle         woi =             null; // in tiles
 	private int               width;
 	private double []         last_rms =        null; // {rms, rms_pure}, matching this.vector
 	private double []         good_or_bad_rms = null; // just for diagnostics, to read last (failed) rms
@@ -53,11 +53,15 @@ public class OrthoPairLMA {
 	private double []         last_ymfx =       null;
 	private double [][]       last_jt =         null;
 	private boolean           origin_center =   false; // true - origin in overlap center, false - top left corner (as it was)
-	private double []         origin =          null; // either {0,0} for top-left or center of the woi
+	private double []         origin =          null; // in pixels either {0,0} for top-left or center of the woi
+	private double            center_radius =   0;    // center zone radius (in tiles) that has limited standard deviation
 	public  int               num_good_tiles = 0;
 	public OrthoPairLMA (boolean origin_center) {
 		this.origin_center = origin_center;
 	}
+	public double getCenterRadius() {
+		return center_radius;
+	}
 	public int prepareLMA(
 			// will always calculate relative affine, starting with unity
 			int           width, // tilesX
@@ -95,6 +99,24 @@ public class OrthoPairLMA {
 		}
 		N = woi.width * woi.height;
 		parameters_vector = new double [] {1,0,0,1,0,0};
+		if (min_std_rad > 0) {
+			int         min_tiles = 4;
+			getCenterRadius(
+					max_std,       // final double      max_std,      // maximal standard deviation to limit center area  
+					min_tiles,     // final int         min_tiles,
+					vector_XYS,    // final double [][] vector_XYS,
+					weights_extra, // final double []   weights_extra, // null or additional weights (such as elevation-based)
+					centers);      // final double [][] centers)
+//			if (getCenterRadius() < min_std_rad) { // only after last pass of LMA!
+//				num_good_tiles = 0;
+//				return num_good_tiles;
+//			}
+			weights_extra = applyRadialWeights( // uses this.center_radius;
+					vector_XYS,    // final double [][] vector_XYS,
+					weights_extra, // final double []   weights_extra,
+					centers);      // final double [][] centers)	
+		}
+		
 		setSamplesWeightsYCenters(
 				vector_XYS,
 				weights_extra, // null or additional weights (such as elevation-based)
@@ -137,6 +159,175 @@ public class OrthoPairLMA {
 //	lambda, // *10, // temporary
 //	this.last_jt)
 
+	private double [] applyRadialWeights( // uses this.center_radius;
+			final double [][] vector_XYS,
+			final double []   weights_extra,
+			final double [][] centers) { // null or additional weights (such as elevation-based)
+		return applyRadialWeights(
+				center_radius, // final double      radius_tiles,
+				vector_XYS,    // final double [][] vector_XYS,
+				weights_extra, // final double []   weights_extra,  // null or additional weights (such as elevation-based)
+				centers);      // final double [][] centers);
+	}
+	private double [] applyRadialWeights(
+			final double      radius_tiles,
+			final double [][] vector_XYS,
+			final double []   weights_extra,  // null or additional weights (such as elevation-based)
+			final double [][] centers) {
+		if (Double.isInfinite(radius_tiles)) {
+			return weights_extra; // may be null - should be OK
+		}
+		final double radius_pix = radius_tiles * GPUTileProcessor.DTT_SIZE;
+		final double radius_pix2 = radius_pix*radius_pix;
+		final double [] weights = new double [vector_XYS.length];
+		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() {
+					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_pix2 = dx*dx+dy*dy; // radius in pixels, squared
+							if (r_pix2 < 4*radius_pix2) {
+								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;
+							}
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		return weights;
+	}
+	
+	
+	
+	/**
+	 * Calculate center radius (in tiles) to use for LMA when initial rotation or
+	 * scaling is inaccurate so the peripheral areas do not fit into correlation range.
+	 * In that case try to adjust only the central area first, then increase that area
+	 * in next iterations. 
+	 * @param max_std       maximal standard deviation (average for X and Y) inside center area
+	 * @param min_tiles     minimal tiles in the center zone
+	 * @param vector_XYS    2D correlation-measured X,Y, and strength
+	 * @param weights_extra null or optional additional weights of the samples
+	 * @param centers       per tile (matching vector_XYS and weights_extra) tile centers in pixels
+	 * @return maximal radius from the center (in pixels) where standard deviation of the inside samples is
+	 *         below max_std. Returns Double.POSITIVE_INFINITY if std is not reached
+	 */
+	private double getCenterRadius(
+	        final double      max_std,      // maximal standard deviation to limit center area  
+//	        final double      min_std_rad,  // minimal radius of the central area (if less - fail)
+	        final int         min_tiles,
+			final double [][] vector_XYS,
+			final double []   weights_extra, // null or additional weights (such as elevation-based)
+			final double [][] centers) {
+		final int rad_max = Math.max(woi.width,woi.height)/2 +1; 
+		final int rad_length = rad_max +1; 
+		final Thread[] threads = ImageDtt.newThreadArray();
+		final AtomicInteger ai = new AtomicInteger(0);
+		final AtomicInteger ati = new AtomicInteger(0);
+		final double [][] s0_arr =  new double [threads.length][rad_length];
+		final double [][] sx_arr =  new double [threads.length][rad_length];
+		final double [][] sx2_arr = new double [threads.length][rad_length];
+		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];
+		
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					int thread_num = ati.getAndIncrement();
+					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);
+							if (irt < rad_length) {
+								double fx = vector_XYS[aTile][0];
+								double fy = vector_XYS[aTile][1];
+								sn_arr [thread_num][irt] += 1;
+								s0_arr [thread_num][irt] += w;
+								sx_arr [thread_num][irt] += w * fx;
+								sx2_arr[thread_num][irt] += w * fx*fx;
+								sy_arr [thread_num][irt] += w * fy;
+								sy2_arr[thread_num][irt] += w * fy * fy;
+							}
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		final double [] s0 =  new double [rad_length];
+		final double [] sx =  new double [rad_length];
+		final double [] sx2 = new double [rad_length];
+		final double [] sy =  new double [rad_length];
+		final double [] sy2 = new double [rad_length];
+		final int []    sn =  new int [rad_length];
+		ai.set(0);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					for (int iRad = ai.getAndIncrement(); iRad < rad_length; iRad = ai.getAndIncrement()) {
+						for (int i = 0; i < threads.length; i++) {
+							s0 [iRad]+=s0_arr [i][iRad];
+							sx [iRad]+=sx_arr [i][iRad];
+							sx2[iRad]+=sx2_arr[i][iRad];
+							sy [iRad]+=sy_arr [i][iRad];
+							sy2[iRad]+=sy2_arr[i][iRad];
+							sn [iRad]+=sn_arr [i][iRad];
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		double sc0=0, scx=0,scx2=0,scy=0,scy2=0,std_prev=0, std=0;
+		int    scn=0;
+		center_radius = Double.POSITIVE_INFINITY; 
+		for (int iRad=0; iRad < rad_length; iRad++) {
+			sc0+= s0 [iRad];
+			scx+= sx [iRad];
+			scx2+=sx2[iRad];
+			scy+= sy [iRad];
+			scy2+=sy2[iRad];
+			scn+= sn [iRad];
+			if ((scn > min_tiles) && (sc0 > 0)) {// for one tile gets scrt() of a small negative error
+				std = Math.sqrt((scx2*sc0 - scx*scx + scy2*sc0 - scy*scy)/2)/sc0;
+			}
+			if ((scn >= min_tiles) && (std >= max_std)) {
+				if (iRad==0) {
+					center_radius = 0;
+					break; // probably can not happen
+				}
+				center_radius = iRad - (std - max_std) / (std - std_prev);
+				break;
+			}
+			std_prev = std;
+		}
+		return center_radius;
+	}
+	
+	
+	
 	private void setSamplesWeightsYCenters(
 			final double [][] vector_XYS,
 			final double []   weights_extra, // null or additional weights (such as elevation-based)