Debugging LY/no-LY runs

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

@@ -554,7 +554,7 @@ public class EstimateSceneRange {
 		final double [] sfm_gain2 =      new double [tilesX*tilesY]; // sfm gain squared
 		final double [] sfm_confidence = new double [tilesX*tilesY]; // sfm gain squared
 		final double [] accum_weights =  new double [tilesX*tilesY]; // sfm gain squared
-		
+		int num_sfm = 0;  // do not use if no sfm was performed (for LY with too few scenes and high altitude)
 		
 		
 		for (int scan_dir = 1; scan_dir >= -1; scan_dir -=2) {
@@ -605,6 +605,10 @@ public class EstimateSceneRange {
 						scenes_xyzatr[scene_index],// double [][] xyzatr1,
 						avg_z,                     // double average_z,
 	    				fmg_rectilinear);                   // boolean fmg_rectilinear)
+	      		if (center_offset_xy == null) {
+	      			System.out.println("center_offset_xy== null");
+	      			
+	      		}
 	    		boolean [] reliable_scene =  quadCLTs[cent_index].maskByOverlap(
 	    				reliable_ref, // boolean [] reliable_ref_tiles,
 	    				center_offset_xy); // double []  offset)
@@ -780,8 +784,8 @@ public class EstimateSceneRange {
 							System.out.println("Filtered disparity SFM, result "+sfm_filter_OK);
 						}
 					}
-
 					tp_tasks_ref[0] = null; // force re-calculate from disparity inside next  Interscene.adjustDiffPairsLMAInterscene( )
+					num_sfm++; // number of performed SFMs
 				}
 			} //for (int scene_index =  cent_index + scan_dir;...			
 		} // for (int scan_dir = 1; scan_dir >= -1; scan_dir -=2) {
@@ -911,7 +915,11 @@ public class EstimateSceneRange {
 					"-prescan-initial"); // String suffix)
 		}
 		// perform final filtering
-		if (filt_en) {
+		if (debugLevel > -3) {
+			System.out.println("Number of scenes with SfM =  "+num_sfm);
+		}
+		if (num_sfm > 0) {
+			if (filt_en) { // check weights - min non-zero number
 				boolean sfm_filter_OK = FilterDisparitySFM(
 						clt_parameters, // final CLTParameters           clt_parameters,
 						true,           // final boolean                 final_filter, // true after all pose adjustments are finished, fals at intermediate steps
@@ -933,6 +941,8 @@ public class EstimateSceneRange {
 			// TODO: Maintain (similar to sfm_gain2) and set strength??
 			// Do not yet set combo dsi - copy after disparity correction from IMS
 			quadCLTs[cent_index].setSFMGain2(sfm_gain2);
+		} // if (num_sfm > 0) {
+  		
 		// Now always, then - conditional
 		boolean adjust_disparity_ims = clt_parameters.imp.air_mode_en;
 		boolean apply_disparity_ims =  clt_parameters.imp.air_disp_corr;
@@ -986,14 +996,18 @@ public class EstimateSceneRange {
 		}
 		double [][] combo_dsn = quadCLTs[cent_index].comboFromMainFgBg(); // set FG/BG layers to avoid null pointers
 		QuadCLTCPU.cloneInner(combo_dsn); // separate data array from its source
-		
+		if (num_sfm > 0) {
 		quadCLTs[cent_index].saveDoubleArrayInModelDirectory(
 				QuadCLTCPU.DSI_SUFFIXES[0],   // String      suffix, always with LMA
 				OpticalFlow.COMBO_DSN_TITLES, // combo_dsn_titles_full, // null,          // String []   labels, // or null
 				combo_dsn,                    // dbg_data,         // double [][] data,
 				tilesX,                       // int         width,
 				tilesY);                      // int         height)
-		
+		} else {
+	    	if (debugLevel > -3) {
+	    		System.out.println("WARNING: Will not save INTER-INTRA as no SfM measurements were performed (can be high altitude during LY");
+	    	}
+		}
 		quadCLTs[cent_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)  // null pointer
 				null, // String path,             // full name with extension or w/o path to use x3d directory
 				debugLevel+1);

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

@@ -225,7 +225,7 @@ public class GroundPlane {
 			final int        debugLevel) {
 		
 		final boolean [] good_tiles = new boolean[ref_scene.getTilesX()*ref_scene.getTilesY()];
-		String     dbg_title =ref_scene.getImageName()+"-ground tilts"; 
+		String     dbg_title =ref_scene.getImageName()+"-ground_tilts"; 
 		double [][] to_ground_xyzatr_frac= getPlaneDualPassMetric( // returns to_ground_xyzatr (rotated around the ground point nadir of teh drone)
 				clt_parameters,        // final CLTParameters    clt_parameters,
 				ref_scene,             // final QuadCLT    ref_Clt,

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

@@ -5267,6 +5267,9 @@ public class OpticalFlow {
 					// set reference to scene properties and quadCLT_main
 					CorrVector corr_vector = quadCLTs[last_index].getGeometryCorrection().getCorrVector(); // set in restoreFieldCalibration(true,...)
 					quadCLT_main.getGeometryCorrection().setCorrVector(corr_vector); // updated system corr vector with the current updated one
+					
+					
+					
 				} else {
 					if (debugLevel > -3) {
 						System.out.println("No LY data is available, using global data for quadCLT_main ("+
@@ -5454,9 +5457,18 @@ public class OpticalFlow {
 		
 		if (operation_mode == RESULTS_BUILD_SEQ_LY) {
 			if (debugLevel >-3) {
-				System.out.println("===== LY field calibration is requested. =====");
+				System.out.println("===== LY field calibration is requested. force_ly="+force_ly+",  extr_corr "+ ((extr_corr ==null)?" ==":"!=")+"null, continue_ly="+continue_ly+"  =====");
 			}
-			if (!force_ly && (extr_corr != null) && !continue_ly ) { // this is valid even if it is not force_initial_orientations
+//			if (!force_ly && (extr_corr != null) && !continue_ly ) { // this is valid even if it is not force_initial_orientations
+//			Maybe if  (continue_ly) still return with null, and the caller will restart. It will do initial disparity fro the reference scene twice, but the logic will be simpler 
+			if (!force_ly && (extr_corr != null) ) { // this is valid even if it is not force_initial_orientations
+				if (!continue_ly) {
+					exec_ly_correction = false;
+					operation_mode = RESULTS_BUILD_SEQ_DEFAULT; // so adjustment range would not be shortened for LY
+					if (debugLevel >-3) {
+						System.out.println("===== LY calibration data already available, continue_ly is TRUE, and force_ly is FALSE, contiunue in normal mode =====");
+					}
+				} else {
 					if (debugLevel >-3) {
 						System.out.println("===== But LY calibration data already available, continue_ly is FALSE, and force_ly is FALSE, terminating processing =====");
 					}
@@ -5466,6 +5478,7 @@ public class OpticalFlow {
 					return null;
 				}
 			}
+		}
 		if (debugLevel >-3) {
 			System.out.println("===== Considering building initial orientations, force_initial_orientations="+force_initial_orientations+". =====");
 		}
@@ -6245,7 +6258,6 @@ public class OpticalFlow {
 			// Calculate and fill per-scene target disparities as scene.dsrbg
 			double [] ref_target_disparity=master_CLT.getDLS()[0]; // 0];
 			// filter scenes, keeping only processed 
-
 			// now (11/24/2025) intepolateSceneDisparity() returns nulls for the scenes that do not have orientation
 			double [][] interpolated_disparities = intepolateSceneDisparity(
 					clt_parameters,            // final CLTParameters  clt_parameters,
@@ -7311,8 +7323,11 @@ public class OpticalFlow {
 ///						"-INTER-INTRA-LMA", // String      suffix,
 ///						0, // int         num_slices, // (0 - all)
 ///						null); // int []      wh);
-				combo_dsn_final =master_CLT.restoreComboDSI(true); // also sets quadCLTs[ref_index].dsi and blue sky
-				
+				combo_dsn_final =master_CLT.restoreComboDSI(false); // Let it show that file is not available
+				if (combo_dsn_final == null) {
+					System.out.println("combo_dsn is not available (-INTER-INTRA-LMA.tiff) - bailing out");
+					return null;
+				}
 			}
 			
 			// re-load , should create quadCLTs[ref_index].dsi

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

@@ -2144,6 +2144,11 @@ public class QuadCLTCPU {
     			xyzatr1_a[0], // double [] camera_xyz,     // camera center in world coordinates
     			xyzatr1_a[1], // double [] camera_atr,     // camera orientation relative to world frame
     			OpticalFlow.LINE_ERR); // double    line_err);       // threshold error in scan lines (1.0)
+  		if (pXpYD == null) {
+  			System.out.println("estimateCenterShiftXY(): pXpYD== null");
+  			System.out.println("estimateCenterShiftXY(): pXpYD== null");
+  		}
+    	
     	if (pXpYD == null) {
     		return null;
     	} else {

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

@@ -8618,7 +8618,8 @@ if (debugLevel > -100) return true; // temporarily !
 								debugLevel+2);             // final int        debugLevel)
 						LogTee.clearSceneLog();   // stop per‑scene logging
 						if (debugLevel > -4){
-							System.out.println("3. cuas_centers="+((cuas_centers != null)?("[\""+cuas_centers[0]+"\",\""+cuas_centers[1]+"\"]"):"null"));
+							System.out.println("3. cuas_centers="+((cuas_centers != null)?("[\""+cuas_centers[0]+"\",\""+cuas_centers[1]+"\"]"):"null")+
+									",  model_directory"+((model_directory == null)?"==":"!=")+"null");
 						}
 						if (operation_mode == OpticalFlow.RESULTS_BUILD_SEQ_DEFAULT) {
 							break;
@@ -8664,7 +8665,8 @@ if (debugLevel > -100) return true; // temporarily !
 						System.out.println("Continue from index "+ref_index);
 						continue; // and go to the to next scene sequence from the list
 					}
-
+					initial_operation_mode = OpticalFlow.RESULTS_BUILD_SEQ_DEFAULT; // to prevent trying to get field_calibration for all but the first (latest in time) segment in a sequence 
+					operation_mode = OpticalFlow.RESULTS_BUILD_SEQ_DEFAULT;
 
 					if ((start_ref_pointers[0]==0) && (start_ref_pointers[1]==0)) { // bail out for debug
 						System.out.println("\n ----- PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+") ABORTED in "+
@@ -8688,6 +8690,20 @@ if (debugLevel > -100) return true; // temporarily !
 							ref_index)); // start_ref_pointers[1])); // int reference_scene);
 
 					// testing half-step
+					if (start_ref_pointers[0] >= (min_num_scenes-1)) {
+						System.out.println("testing half-step: start_ref_pointers[0]="+start_ref_pointers[0]+
+								", start_ref_pointers[1]="+start_ref_pointers[1]+", ref_index="+ref_index);
+						int offset1 = (int) (overlap_scale * (start_ref_pointers[1] - start_ref_pointers[0]));
+						int offset2 = (start_ref_pointers[1] - start_ref_pointers[0]) - offset1;
+						System.out.println("testing half-step:  offset1="+offset1+
+								",  offset2="+offset2+" overlap_scale="+overlap_scale);
+						start_ref_pointers[0] = start_ref_pointers[1]  - offset1;
+						// incorrect, fix  "-1" to actual last scene
+						start_ref_pointers[1] += offset2;  
+						System.out.println("testing half-step: start_ref_pointers[0]="+start_ref_pointers[0]+
+								", start_ref_pointers[1]="+start_ref_pointers[1]+", ref_index="+ref_index);
+					}
+					/*
 					if (start_ref_pointers[0] >= (min_num_scenes-1)) {
 						System.out.println("testing half-step: start_ref_pointers[0]="+start_ref_pointers[0]+
 								", start_ref_pointers[1]="+start_ref_pointers[1]+", ref_index="+ref_index);
@@ -8697,6 +8713,9 @@ if (debugLevel > -100) return true; // temporarily !
 						System.out.println("testing half-step: start_ref_pointers[0]="+start_ref_pointers[0]+
 								", start_ref_pointers[1]="+start_ref_pointers[1]+", ref_index="+ref_index);
 					}
+					 */
+					
+					
 					String series_action = (start_ref_pointers[0] < (min_num_scenes-1))?"is FINISHED ":("will continue down from scene "+(start_ref_pointers[0]));
 
 
@@ -8752,6 +8771,9 @@ if (debugLevel > -100) return true; // temporarily !
 						System.out.println("Exiting after processing the first series.");
 						return;
 					}
+					
+					
+					
 				} // while ((ref_index < 0) || ((ref_index + 1) >= min_num_scenes)) {
 				
 				if ((initial_operation_mode == OpticalFlow.RESULTS_BUILD_SEQ_LY) && !continue_ly) {