prepared ers data for fitting

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -708,6 +708,8 @@ private Panel panel1,
 
 			addButton("LWIR_TEST",                  panelClt_GPU, color_conf_process);
 			addButton("LWIR_ACQUIRE",               panelClt_GPU, color_conf_process);
+			addButton("IMU main",                   panelClt_GPU, color_conf_process);
+			addButton("IMU aux",                    panelClt_GPU, color_conf_process_aux);
 
 			plugInFrame.add(panelClt_GPU);
 		}
@@ -4955,6 +4957,12 @@ private Panel panel1,
 		QuadCLT dbg_QUAD_CLT_AUX = QUAD_CLT_AUX;
 
         return;
+/* ======================================================================== */
+    } else if (label.equals("IMU main")) {
+    	editIMU(false);
+/* ======================================================================== */
+    } else if (label.equals("IMU aux")) {
+    	editIMU(true);
 /* ======================================================================== */
     } else if (label.equals("LIST extrinsics")) {
         DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
@@ -5145,6 +5153,38 @@ private Panel panel1,
     }
   }
 /* ======================================================================== */
+	public boolean editIMU(boolean aux) {
+		if (aux) {
+	        if (QUAD_CLT_AUX == null){
+	        	if (EYESIS_CORRECTIONS_AUX == null) {
+	        		EYESIS_CORRECTIONS_AUX = new EyesisCorrections(SYNC_COMMAND.stopRequested,CORRECTION_PARAMETERS.getAux());
+	        	}
+	        	QUAD_CLT_AUX = new  QuadCLT (
+	        			QuadCLT.PREFIX_AUX,
+	        			PROPERTIES,
+	        			EYESIS_CORRECTIONS_AUX,
+	        			CORRECTION_PARAMETERS.getAux());
+	        	if (DEBUG_LEVEL > 0){
+	        		System.out.println("Created new QuadCLT instance, will need to read CLT kernels for aux camera");
+	        	}
+	        }
+	        return QUAD_CLT_AUX.editExtrinsicCorr();
+		} else {
+	        if (QUAD_CLT == null){
+	        	QUAD_CLT = new  QuadCLT (
+	        			QuadCLT.PREFIX,
+	        			PROPERTIES,
+	        			EYESIS_CORRECTIONS,
+	        			CORRECTION_PARAMETERS);
+	        	if (DEBUG_LEVEL > 0){
+	        		System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
+	        	}
+	        }
+	        return QUAD_CLT.editExtrinsicCorr();
+		}
+
+	}
+
 
 	public boolean mainToAux(boolean use_img) {
         if (QUAD_CLT == null){

src/main/java/com/elphel/imagej/tileprocessor/Corr2dLMA.java

@@ -1519,6 +1519,12 @@ public class Corr2dLMA {
 		return stats;
 	}
 
+	public double [] getStats(int num_good_tiles){
+		double [] stats = {total_weight/num_good_tiles, 1.0*total_tiles/num_good_tiles, last_rms[0]};
+		return stats;
+	}
+
+//
 
 	public void getDdNd(double [][] ddnd){ // this.all_pars should be current
 		if (ddnd != null) {

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

@@ -99,6 +99,7 @@ public class ImageDttParameters {
 	public double  corr_wndx_blur =         5.0;   // 100% to 0 % vertical transition range
 
 // LMA parameters
+	public double  lma_disp_range =         2.0;   // disparity range to combine in one cluster (to mitigate ERS
 // LMA single parameters
 	public boolean lmas_gaussian =           false; // model correlation maximum as a Gaussian (false - as a parabola)
 	public boolean lmas_adjust_wm =          true;  // used in new for width
@@ -312,6 +313,9 @@ public class ImageDttParameters {
 					"Transition range, shifted sine is used");
 
 			gd.addTab("Corr LMA","Parameters for LMA fitting of the correlation maximum parameters");
+			gd.addNumericField("Cluster disparity range",                                         this.lma_disp_range,  3, 6, "pix",
+					"Disparity range to combine in one cluster (to mitigate ERS");
+
 			gd.addMessage("Single-tile (no lazy eye) only parameters (some are common");
 
 			gd.addCheckbox    ("Correlation maximum as gaussian",                                 this.lmas_gaussian,
@@ -533,6 +537,7 @@ public class ImageDttParameters {
 			this.corr_wndx_blur =        gd.getNextNumber();
 
 //LMA tab
+			this.lma_disp_range =        gd.getNextNumber();
 			this.lmas_gaussian=          gd.getNextBoolean();
 			this.lmas_adjust_wm=         gd.getNextBoolean();
 			this.lmas_adjust_wy=         gd.getNextBoolean();
@@ -669,6 +674,8 @@ public class ImageDttParameters {
 		properties.setProperty(prefix+"corr_wndx_hwidth",     this.corr_wndx_hwidth +"");
 		properties.setProperty(prefix+"corr_wndx_blur",       this.corr_wndx_blur +"");
 
+
+		properties.setProperty(prefix+"lma_disp_range",       this.lma_disp_range +"");
 		properties.setProperty(prefix+"lmas_gaussian",        this.lmas_gaussian +"");
 		properties.setProperty(prefix+"lmas_adjust_wm",       this.lmas_adjust_wm +"");
 		properties.setProperty(prefix+"lmas_adjust_wy",       this.lmas_adjust_wy +"");
@@ -811,6 +818,8 @@ public class ImageDttParameters {
 		if (properties.getProperty(prefix+"corr_wndx_hwidth")!=null)     this.corr_wndx_hwidth=Double.parseDouble(properties.getProperty(prefix+"corr_wndx_hwidth"));
 		if (properties.getProperty(prefix+"corr_wndx_blur")!=null)       this.corr_wndx_blur=Double.parseDouble(properties.getProperty(prefix+"corr_wndx_blur"));
 
+
+		if (properties.getProperty(prefix+"lma_disp_range")!=null)       this.lma_disp_range=Double.parseDouble(properties.getProperty(prefix+"lma_disp_range"));
 		if (properties.getProperty(prefix+"lmas_gaussian")!=null)        this.lmas_gaussian=Boolean.parseBoolean(properties.getProperty(prefix+"lmas_gaussian"));
 		if (properties.getProperty(prefix+"lmas_adjust_wm")!=null)       this.lmas_adjust_wm=Boolean.parseBoolean(properties.getProperty(prefix+"lmas_adjust_wm"));
 		if (properties.getProperty(prefix+"lmas_adjust_wy")!=null)       this.lmas_adjust_wy=Boolean.parseBoolean(properties.getProperty(prefix+"lmas_adjust_wy"));
@@ -948,6 +957,7 @@ public class ImageDttParameters {
 		idp.corr_wndx_hwidth =       this.corr_wndx_hwidth;
 		idp.corr_wndx_blur =         this.corr_wndx_blur;
 
+		idp.lma_disp_range=          this.lma_disp_range;
 		idp.lmas_gaussian =          this.lmas_gaussian;
 		idp.lmas_adjust_wm =         this.lmas_adjust_wm;
 		idp.lmas_adjust_wy =         this.lmas_adjust_wy;

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

@@ -4723,7 +4723,8 @@ public class QuadCLT {
 			  z_correction +=clt_parameters.z_corr_map.get(name);// not used in lwir
 		  }
 		  final double disparity_corr = (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
-		  double [][][][][][] clt_data = image_dtt.clt_aberrations_quad_corr_min(
+//		  double [][][][][][] clt_data = image_dtt.clt_aberrations_quad_corr_min(
+		  double [][] lazy_eye_data = image_dtt.cltMeasureLazyEye(
 				  clt_parameters.img_dtt,       // final ImageDttParameters  imgdtt_params,   // Now just extra correlation parameters, later will include, most others
 //				  1,                            // final int  macro_scale, // to correlate tile data instead of the pixel data: 1 - pixels, 8 - tiles
 				  tile_op,                      // per-tile operation bit codes
@@ -4780,6 +4781,54 @@ public class QuadCLT {
 				  //				  (clt_parameters.dbg_mode & 256) != 0, // transpose convolve
 				  threadsMax,
 				  debugLevel);
+
+		  if (lazy_eye_data != null) {
+			  int ns = 0;
+			  for (int n = 0; n < lazy_eye_data.length; n++) {
+				  if (lazy_eye_data[n] != null) {
+					  ns = lazy_eye_data[n].length;
+					  break;
+				  }
+			  }
+			  if (ns > 0) {
+				  String [] titles = new String [ns];
+				  titles [0] = "disparity";
+				  titles [1] = "strength";
+				  for (int i = 0; i < (ns - 2)/2; i++) {
+					  titles [2*i + 2] = "dx-"+i;
+					  titles [2*i + 3] = "dy-"+i;
+				  }
+				  int clustersX= (tilesX + clt_parameters.tileStep - 1) / clt_parameters.tileStep;
+				  int clustersY= (tilesY + clt_parameters.tileStep - 1) / clt_parameters.tileStep;
+				  double [][] dbg_cluster = new double [ns][clustersY * clustersX];
+				  for (int n = 0; n < lazy_eye_data.length; n++) {
+					  if ((lazy_eye_data[n] != null) && (lazy_eye_data[n][1] >= clt_parameters.img_dtt.lma_diff_minw)) {
+						  dbg_cluster[0][n] = lazy_eye_data[n][0]; // disparity
+						  dbg_cluster[1][n] = lazy_eye_data[n][1] - clt_parameters.img_dtt.lma_diff_minw; // strength
+						  for (int i = 0; i < (ns - 2)/2; i++) {
+							  dbg_cluster[2 * i + 2][n] = lazy_eye_data[n][2 * i + 2]; // x
+							  dbg_cluster[2 * i + 3][n] = lazy_eye_data[n][2 * i + 3]; // y
+						  }
+					  } else {
+						  dbg_cluster[0][n] = Double.NaN;
+						  dbg_cluster[1][n] = 0.0;
+						  for (int i = 0; i < (ns - 2)/2; i++) {
+							  dbg_cluster[2 * i + 2][n] = Double.NaN; // x
+							  dbg_cluster[2 * i + 3][n] = Double.NaN; // y
+						  }
+					  }
+				  }
+				  //clt_parameters.img_dtt.lma_diff_minw
+				  sdfa_instance.showArrays(
+						  dbg_cluster,
+						  clustersX,
+						  clustersY,
+						  true,
+						  name+sAux()+"-CLT_MISMATCH-D"+clt_parameters.disparity+"_"+clt_parameters.tileStep+"x"+clt_parameters.tileStep,
+						  titles);
+			  }
+		  }
+
 		  if (disparity_map != null){
 			  if (!batch_mode && clt_parameters.show_map &&  (debugLevel > -2)){
 				  sdfa_instance.showArrays(
@@ -5435,6 +5484,18 @@ public class QuadCLT {
 		  }
 	  }
 
+	  public boolean editExtrinsicCorr() // not used in lwir
+	  {
+		  if (geometryCorrection == null){
+			  System.out.println("are not set, will be:");
+			  return new GeometryCorrection(this.extrinsic_vect).getCorrVector().editIMU();
+		  } else {
+			  return geometryCorrection.getCorrVector().editIMU();
+		  }
+	  }
+
+
+
 	  public boolean editRig() // not used in lwir
 	  {
 		  if (!is_aux) {