Improving preExpandCLTQuad3d

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

@@ -161,8 +161,9 @@ public class EyesisCorrectionParameters {
   		public boolean clt_batch_dbg1 =       true;  // Generate debug images if a single set is selected
   		public boolean clt_batch_dsi =        true;  // Create and save DSI combo image with the model
 		public boolean clt_batch_dsi_aux =    false;  // Calculate and save aux camera DSI (currently it is offset from the main/rig data
+		public boolean clt_batch_dsi_cm_strength = true;  // Use CM strength (no switch between LMA/no-LMA) for DSI export
 		public boolean clt_batch_dsi_aux_full=false;  // more than just preExpandCLTQuad3d() (same as for Lazy Eye
-  		public boolean clt_batch_save_extrinsics =    true;  // Save cameras extrinsic parameters with the model
+  		public boolean clt_batch_save_extrinsics = true;  // Save cameras extrinsic parameters with the model
   		public boolean clt_batch_save_all =   true;  // Save all parameters with the model
 
   		public boolean clt_batch_skip_scenes =     false;  // Skip all per-scene processing, go directly to processing sequences
@@ -320,6 +321,7 @@ public class EyesisCorrectionParameters {
 
   			cp.clt_batch_dsi=    		  this.clt_batch_dsi;
   			cp.clt_batch_dsi_aux=    	  this.clt_batch_dsi_aux;
+  			cp.clt_batch_dsi_cm_strength= this.clt_batch_dsi_cm_strength;
   			cp.clt_batch_dsi_aux_full= 	  this.clt_batch_dsi_aux_full;
   			cp.clt_batch_save_extrinsics= this.clt_batch_save_extrinsics;
   			cp.clt_batch_save_all=        this.clt_batch_save_all;
@@ -521,6 +523,7 @@ public class EyesisCorrectionParameters {
 
     		properties.setProperty(prefix+"clt_batch_dsi",             this.clt_batch_dsi+"");
     		properties.setProperty(prefix+"clt_batch_dsi_aux",         this.clt_batch_dsi_aux+"");
+    		properties.setProperty(prefix+"clt_batch_dsi_cm_strength", this.clt_batch_dsi_cm_strength+"");
     		properties.setProperty(prefix+"clt_batch_dsi_aux_full",    this.clt_batch_dsi_aux_full+"");
     		properties.setProperty(prefix+"clt_batch_save_extrinsics", this.clt_batch_save_extrinsics+"");
     		properties.setProperty(prefix+"clt_batch_save_all",        this.clt_batch_save_all+"");
@@ -700,6 +703,8 @@ public class EyesisCorrectionParameters {
 
 			if (properties.getProperty(prefix+"clt_batch_dsi")!= null)             this.clt_batch_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_dsi"));
 			if (properties.getProperty(prefix+"clt_batch_dsi_aux")!= null)         this.clt_batch_dsi_aux=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_dsi_aux"));
+			if (properties.getProperty(prefix+"clt_batch_dsi_cm_strength")!= null) this.clt_batch_dsi_cm_strength=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_dsi_cm_strength"));
+		
 			if (properties.getProperty(prefix+"clt_batch_dsi_aux_full")!= null)    this.clt_batch_dsi_aux_full=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_dsi_aux_full"));
 			if (properties.getProperty(prefix+"clt_batch_save_extrinsics")!= null) this.clt_batch_save_extrinsics=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_save_extrinsics"));
 			if (properties.getProperty(prefix+"clt_batch_save_all")!= null)        this.clt_batch_save_all=Boolean.parseBoolean(properties.getProperty(prefix+"clt_batch_save_all"));
@@ -1094,10 +1099,11 @@ public class EyesisCorrectionParameters {
     		gd.addCheckbox    ("Include/genarate separate aux camera DSI data in the combo DSI",     this.clt_batch_dsi_aux,
     				"8-rig: DSI for the AUX camera is offset (by the rig baseline) from the main and rig DSI. Aux DSI requires extra processing time."+
     		"EO+LWIR - generate a separate GT+AUX file");
+    		gd.addCheckbox    ("Use CM strength (no switch between LMA/no-LMA) for DSI",             this.clt_batch_dsi_cm_strength,
+    				"Generate CM-only, single-tile strength for each tile keeping disparity and LMA-disparity from multi-tile"+
+    		        "to use as a layer for interscene matching");
     		gd.addCheckbox    ("Additional steps to calculate Aux DSI (more than for LY adjustment)",   this.clt_batch_dsi_aux_full,
     				"(Not yet tested)");
-    		
-    		
     		gd.addCheckbox    ("Save field adjustment data with the model",                          this.clt_batch_save_extrinsics,
     				"This data can be used to restore specific filed-adjusted cameras extrinsics used when the model was generated");
     		gd.addCheckbox    ("Save all parameters with the model",                                 this.clt_batch_save_all,
@@ -1225,7 +1231,8 @@ public class EyesisCorrectionParameters {
     		this.clt_batch_dbg1=         gd.getNextBoolean(); // 29
     		this.clt_batch_dsi=             gd.getNextBoolean();
     		this.clt_batch_dsi_aux=         gd.getNextBoolean();
-    		this.clt_batch_dsi_aux_full=         gd.getNextBoolean();
+    		this.clt_batch_dsi_cm_strength= gd.getNextBoolean();
+    		this.clt_batch_dsi_aux_full=    gd.getNextBoolean();
     		this.clt_batch_save_extrinsics= gd.getNextBoolean();
     		this.clt_batch_save_all=        gd.getNextBoolean();
     		

src/main/java/com/elphel/imagej/tileprocessor/CLTPass3d.java

@@ -978,6 +978,16 @@ public class CLTPass3d{
 			restoreTileOpDisparity();
 			saveTileOpDisparity();
 		}
+		public int setTileOpDisparity(
+				double []  disparity) {
+			boolean [] selection = new boolean [disparity.length];
+			for (int i = 0; i < disparity.length; i++) {
+				selection[i] = !Double.isNaN(disparity[i]);
+			}
+			return setTileOpDisparity(
+					selection, // boolean [] selection,
+					disparity); // double []  disparity)
+		}
 
 		public int setTileOpDisparity(
 				boolean [] selection,

src/main/java/com/elphel/imagej/tileprocessor/Correlation2d.java

@@ -2429,7 +2429,7 @@ public class Correlation2d {
 		int [] imx = new int[2];
 		for (int i = center_x - transform_size + 2; i < center_x + transform_size - 1; i++) {
 			double c = combo_corrs[i];
-			if ((c > combo_corrs[i - 1]) && (c > combo_corrs[i + 1])) {
+			if ((c > combo_corrs[i - 1]) && (c > combo_corrs[i + 1]) && (c > 0.0)) {
 				if ((imx[0] == 0) || (c > combo_corrs[imx[0]]))  {
 					imx[1] = imx[0];
 					imx[0] = i;
@@ -2439,7 +2439,9 @@ public class Correlation2d {
 				i++; // skip next after max
 			}
 		}
-		if (imx[0] == 0) return new double[0][];
+		if (imx[0] == 0) {
+			return new double[0][];
+		}
 		int nm = 1;
 		if ((imx[1] > 0) && (combo_corrs[imx[1]]/combo_corrs[imx[0]] > min_fraction)) {
 			nm++; 
@@ -4621,61 +4623,6 @@ public class Correlation2d {
     			own_masks =        new double [][][] {own_masks0       [sel_max]};
         		common_scale =     new boolean[]     {(sel_max == fg_max) ? imgdtt_params.bimax_common_fg : imgdtt_params.bimax_common_bg}; 
     		}
-    		
-    		/*
-    		int nearest_max = (Math.abs(disp_str_dual[0][0]) < Math.abs(disp_str_dual[1][0]))? 0 : 1;
-    		int fg_max =  (disp_str_dual[0][0] > disp_str_dual[1][0]) ? 0 : 1;
-    		
-    		switch (combine_mode) {
-    		case 0: // keep both
-        		pair_offsets =     pair_offsets0;
-    			lma_corr_weights = lma_corr_weights0; 
-    			disp_str_all =     disp_str_dual;
-        		own_masks =        own_masks0;
-        		common_scale = new boolean[disp_str_dual.length];
-        		for (int i = 0; i < common_scale.length; i++) {
-        			common_scale[i] = (i == fg_max) ? imgdtt_params.bimax_common_fg : imgdtt_params.bimax_common_bg; 
-        		}
-    			break; 
-    		case 1: // keep strongest
-        		pair_offsets =     new double [][][] {pair_offsets0    [0]};
-    			lma_corr_weights = new double [][][] {lma_corr_weights0[0]};
-    			disp_str_all =     new double [][]   {disp_str_dual    [0]};
-    			own_masks =        new double [][][] {own_masks0       [0]};
-        		common_scale =     new boolean[]     {(0 == fg_max) ? imgdtt_params.bimax_common_fg : imgdtt_params.bimax_common_bg}; 
-    			break;
-    		case 2: // keep nearest
-        		pair_offsets =     new double [][][] {pair_offsets0    [nearest_max]};
-    			lma_corr_weights = new double [][][] {lma_corr_weights0[nearest_max]};
-    			disp_str_all =     new double [][]   {disp_str_dual    [nearest_max]};
-    			own_masks =        new double [][][] {own_masks0       [nearest_max]};
-        		common_scale =     new boolean[]     {(nearest_max == fg_max) ? imgdtt_params.bimax_common_fg : imgdtt_params.bimax_common_bg}; 
-    			break;
-    		case 3: // keep foreground
-        		pair_offsets =     new double [][][] {pair_offsets0    [fg_max]};
-    			lma_corr_weights = new double [][][] {lma_corr_weights0[fg_max]};
-    			disp_str_all =     new double [][]   {disp_str_dual    [fg_max]};
-    			own_masks =        new double [][][] {own_masks0       [fg_max]};
-        		common_scale =     new boolean[]     {imgdtt_params.bimax_common_fg}; 
-    			break;
-    		case 4: // keep background
-        		pair_offsets =     new double [][][] {pair_offsets0    [1-fg_max]};
-    			lma_corr_weights = new double [][][] {lma_corr_weights0[1-fg_max]};
-    			disp_str_all =     new double [][]   {disp_str_dual    [1-fg_max]};
-    			own_masks =        new double [][][] {own_masks0       [1-fg_max]};
-        		common_scale =     new boolean[]     {imgdtt_params.bimax_common_bg}; 
-    			break;
-    		default: // keep both
-        		pair_offsets =     pair_offsets0;
-    			lma_corr_weights = lma_corr_weights0;
-    			disp_str_all =     disp_str_dual;
-    			own_masks =        own_masks0;
-        		common_scale = new boolean[disp_str_dual.length];
-        		for (int i = 0; i < common_scale.length; i++) {
-        			common_scale[i] = (i == fg_max) ? imgdtt_params.bimax_common_fg : imgdtt_params.bimax_common_bg; 
-        		}
-    		}
-    		*/
     	}
     	
      	double [][][] filtWeight =    new double [lma_corr_weights.length][corrs.length][];

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

@@ -769,7 +769,7 @@ public class ErsCorrection extends GeometryCorrection {
 	}
 
 	// setup from extrinsics vector
-	public void setupERSfromExtrinsics()
+	public void setupERSfromExtrinsics() 
 	{
 		double BUGS = 1.0;
 		if (line_time == OLD_LINE_TIME) {

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

@@ -16587,12 +16587,13 @@ public class ImageDttCPU {
 		startAndJoin(threads);
 		return texture_tiles;
 	}
-	private double [][][] prepareNeibs(
+	private static double [][][] prepareNeibs(
 			int                 nTileC,
 			boolean             float_center, // false - center around provided value: target_disparity[center] or dcenter[0] if dcenter != null
 											  // dcenter[0] - center offset, dcenter[1] - tiltX, dcenter[2] - tiltY
 			double []           target_disparity, //  = new double [tilesY * tilesX];
 			TileNeibs           tn,
+			TileNeibs           tn_clust,
 			int                 clustRadius,
 			double []           wnd_neib,
 			int [][]            dtx_dty, // null or int [][] dtx_dty =    new int [wnd_neib.length][]; 
@@ -16608,6 +16609,7 @@ public class ImageDttCPU {
 			disparity_center = dcenter[0]; // 
 		}
 		double disparity_range = 2*(arange + rrange * Math.abs(disparity_center));
+		boolean [] left_pix = new boolean[clustDiameter*clustDiameter];
 		if (float_center) {
 			final double [] disp = new double [wnd_neib.length];
 			Arrays.fill(disp, Double.NaN);
@@ -16625,6 +16627,7 @@ public class ImageDttCPU {
 							double w = wnd_neib[indx];
 							swd += w * d;
 							sw += w;
+							left_pix[indx] = true;
 						}
 					}
 					indx++;
@@ -16637,21 +16640,25 @@ public class ImageDttCPU {
 				}
 			});
 			// Remove "worst" of min and max disparity tiles, until difference is smaller than the specified range
-			boolean [] update_mm = {true,true}; // do not recalculate the min/max end if it was not removed 
+			boolean [] update_mm = {true,true}; // do not recalculate the min/max end if it was not removed
+			double [] mm_diffs = new double[2];
 			while ((disp[tileList.get(tileList.size()-1)] - disp[tileList.get(0)]) > disparity_range) {
 				int [] min_max_indices = {tileList.get(0), tileList.get(tileList.size()-1)};
-				double [] mm_diffs = new double[2];
+//				double [] mm_diffs = new double[2];
 				boolean both_with_neib = true;
 				for (int imm = 0; imm < 2; imm++) if (update_mm[imm]){ // do not recalc same
 					update_mm[imm] = false;
 					int idy = (min_max_indices[imm] / clustDiameter) - clustRadius + 1;
 					int idx = (min_max_indices[imm] % clustDiameter) - clustRadius + 1;
 					int tileMM = tn.getNeibIndex(nTileC, idx, idy); // full tile index
+					int tile_clust = tn_clust.getNeibIndex(center_indx, idx, idy); // local tile index
 					double snw = 0.0, snwd = 0.0;
 					int nn = 0;
 					for (int dir = 0; dir < 8; dir++) {
 						int nTile1 = tn.getNeibIndex(tileMM, dir);
-						if ((nTile1 >= 0) && !Double.isNaN(target_disparity[nTile1])){
+						int tile_clust1 = tn_clust.getNeibIndex(tile_clust, dir);
+//						if ((nTile1 >= 0) && !Double.isNaN(target_disparity[nTile1])){
+						if ((nTile1 >= 0) && !Double.isNaN(target_disparity[nTile1]) && ((tile_clust1 < 0) || left_pix[tile_clust1] )){
 							double w = ((dir & 1) != 0) ? 1.0:1.5;
 							snw += w;
 							snwd += w * target_disparity[nTile1];
@@ -16677,7 +16684,7 @@ public class ImageDttCPU {
 					double w = wnd_neib[ri];
 					sw -= w;
 					swd -= w * disp[ri];
-					
+					left_pix[ri] = false;
 				} else {
 					break;
 				}
@@ -16879,7 +16886,9 @@ public class ImageDttCPU {
 				@Override
 				public void run() {
 					int tileXC, tileYC, nTileC;
-					TileNeibs tn = new TileNeibs(tilesX,tilesY);
+					TileNeibs tn =            new TileNeibs(tilesX,tilesY);
+					TileNeibs tn_clust =      new TileNeibs(2*clustRadius-1,    2*clustRadius-1);
+					TileNeibs tn_clust_tilt = new TileNeibs(2*clustRadiusTilt-1,2*clustRadiusTilt-1);
 					double [] dcenter = new double[3];
 					PolynomialApproximation pa = new PolynomialApproximation();
 					for (int iTileC = ai.getAndIncrement(); iTileC < tp_tasks.length; iTileC = ai.getAndIncrement()) if (tp_tasks[iTileC].getTask() != 0) {
@@ -16901,6 +16910,7 @@ public class ImageDttCPU {
 								float_center,     // boolean             float_center, // false - center around provided value
 								target_disparity, //double []           target_disparity, //  = new double [tilesY * tilesX];
 								tn,               //        TileNeibs           tn,
+								tn_clust_tilt,    // TileNeibs           tn_clust,
 								clustRadiusTilt , // int                 clustRadius,
 								wnd_neib_tilt,    // double []           wnd_neib,
 								null,             // int [][]            dtx_dty, // null or int [][] dtx_dty =    new int [wnd_neib.length][]; 
@@ -16943,6 +16953,7 @@ public class ImageDttCPU {
 								false, // float_center,     // boolean             float_center, // false - center around provided value
 								target_disparity, //double []           target_disparity, //  = new double [tilesY * tilesX];
 								tn,               //        TileNeibs           tn,
+								tn_clust,         // TileNeibs           tn_clust,
 								clustRadius ,     // int                 clustRadius,
 								wnd_neib,         // double []           wnd_neib,
 								dtx_dty,          // int [][]            dtx_dty, // null or int [][] dtx_dty =    new int [wnd_neib.length][]; 

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

@@ -496,9 +496,10 @@ public class ImageDttParameters {
 					"When dual max, LMA with two maximums, then select. If false,select before LMA");
 			gd. addChoice("Multiple maximums select mode", COMBINE_MODES, COMBINE_MODES[bimax_combine_mode], 
 					"Which maximum to keep after LMA");
-			gd.addCheckbox    ("Use updated LMA capable of FG/BG",                                this.bimax_dual_LMA,
-					"When dual max, LMA with two maximums, then select. If false,select before LMA");
-			gd.addCheckbox    ("Process only tiles with dual maximums (requires bimax_dual_LMA)",                                this.bimax_dual_only,
+			gd.addCheckbox    ("Use updated LMA capable of FG/BG, force CM strength for strength",this.bimax_dual_LMA,
+					"Use LMA capable of FG/BG. Use CM strength (now 3) as DISPARITY_STRENGTH_INDEX (now 10)."+
+			        "When false (old) use LMA (DISPARITY_INDEX_POLY+1 now 9) as DISPARITY_STRENGTH_INDEX");
+			gd.addCheckbox    ("Process only tiles with dual maximums (requires bimax_dual_LMA)", this.bimax_dual_only,
 					"May be used to determine BG after refining FG. First refine with false and mode = 3 (FG), then with true and mode = 4 (BG)");
 			
 			gd.addMessage("LMA samples filter based on estimated disparity");

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

@@ -38,8 +38,7 @@ public class OpticalFlowParameters {
 	public double      change_laplassian = 0.005 ;
 	public double      tolerance_absolute_inter = 0.25; // absolute disparity half-range in each tile
 	public double      tolerance_relative_inter = 0.2; // relative disparity half-range in each tile
-	public double      occupancy_inter =         0.25;   // fraction of remaining  tiles in the center 8x8 area (<1.0)
-
+	public double      occupancy_inter =          0.25;   // fraction of remaining  tiles in the center 8x8 area (<1.0)
 	public double      nsigma =                   1.5; // Remove outliers by more that this scaled sigma
 	public double      nsigma2 =                  2.0; // Second time  outlier filter (<0 - disable)
 	public double []   chn_weights = {1.0,1.0,1.0,1.0}; // strength, r,b,g
@@ -50,23 +49,20 @@ public class OpticalFlowParameters {
 	public double      frac_radius =              0.9;  // add to integer radius for window calculation
 	public double      tolerance_absolute_macro = 0.25; // absolute disparity half-range to consolidate macro tiles
 	public double      tolerance_relative_macro = 0.2;  // relative disparity half-range to consolidate macro tiles
-
 	public int         iradius_cm =               3;      // half-size of the square to process 
 	public double      dradius_cm =               1.5;      // weight calculation (1/(r/dradius)^2 + 1)
 	public int         refine_num_cm =            5;   // number of iterations to apply weights around new center
-	
 	public double      magic_scale = 0.85; // 2.0 * 0.85;
 	public int         max_refines =             50;
 	public int         num_refine_all =           3;
 	public double      min_change =               0.1; // 01;//   sqrt (dx*dx + dy*dy) for correction (int tiles) in pixels
-	
 	public int         best_neibs_num =           4; // use  4 best neighbors to calculate std deviation
 	public double      ref_stdev =                5.0; // strength 0.5 if standard deviation of best neighbors to tile difference is this.
-	
+	public boolean     ignore_ers =               false; // ignore velocities from individual ERS (LWIR - ignore, RGB - do not ignore
+	public double      lpf_pairs =                5.0;  // velocities LPF during pairwise fitting
+	public double      lpf_series =               5.0;  // velocities LPF during all-to-reference fitting 
 	public boolean     combine_empty_only =       true; // false;
-
 	public boolean     late_normalize_iterate =   true;
-	
 	public int         test_corr_rad_max =        3;
 	
 	// for recalculateFlowXY()
@@ -150,6 +146,14 @@ public class OpticalFlowParameters {
 				"Use this number of the neighbors (of total 8) that are most similar to the current tile to calculate confidence. Zero confidence if there are not enough neighbors.");
 		gd.addNumericField("Expected standard deviation of the Optical Flow",                 this.ref_stdev,     3,6,"pix",
 				"Calculate for the best neighbors around the current tile: confidence= (ref_stdev ^ 2)/(ref_stdev ^2 + stdev^2)");
+
+		gd.addMessage("Linear and Rotational Velocities");
+	    gd.addCheckbox    ("Ignore velocities from individual ERS",                           this.ignore_ers,
+			"Ignore relative pose from individa-scene ERS when calculating relative poses");
+		gd.addNumericField("Velocities LPF during pairwise fitting",                          this.lpf_pairs,     3,6,"samples",
+				"Half of the full width LPF to smooth ERS velocities during consecutive pairs pose fitting");
+		gd.addNumericField("Velocities LPF during all-to-reference fitting",                  this.lpf_series,     3,6,"samples",
+				"Half of the full width LPF to smooth ERS velocities during all scenes to reference pose fitting");
 		
 		gd.addMessage("Testing and Debug");
 	    gd.addCheckbox    ("Consolidate correlation macrotiles only if the current macrotile is null",  this.combine_empty_only,
@@ -203,9 +207,13 @@ public class OpticalFlowParameters {
 		this.best_neibs_num =         (int) gd.getNextNumber();
 		this.ref_stdev =                    gd.getNextNumber();
 
+		this.ignore_ers =                   gd.getNextBoolean();
+		this.lpf_pairs =                    gd.getNextNumber();
+		this.lpf_series =                   gd.getNextNumber();
+		
 		this.combine_empty_only =           gd.getNextBoolean();
 		this.late_normalize_iterate =       gd.getNextBoolean();
-		this.test_corr_rad_max =                (int) gd.getNextNumber();
+		this.test_corr_rad_max =      (int) gd.getNextNumber();
 		this.debug_level_optical =    (int) gd.getNextNumber();
 		this.debug_level_iterate =    (int) gd.getNextNumber();
 		this.enable_debug_images =          gd.getNextBoolean();
@@ -245,6 +253,10 @@ public class OpticalFlowParameters {
 	
 		properties.setProperty(prefix+"best_neibs_num",           this.best_neibs_num+"");
 		properties.setProperty(prefix+"ref_stdev",                this.ref_stdev+"");
+		
+		properties.setProperty(prefix+"ignore_ers",               this.ignore_ers+"");
+		properties.setProperty(prefix+"lpf_pairs",                this.lpf_pairs+"");
+		properties.setProperty(prefix+"lpf_series",               this.lpf_series+"");
 
 		properties.setProperty(prefix+"combine_empty_only",       this.combine_empty_only+"");
 		properties.setProperty(prefix+"late_normalize_iterate",   this.late_normalize_iterate+"");
@@ -289,6 +301,11 @@ public class OpticalFlowParameters {
 		if (properties.getProperty(prefix+"best_neibs_num")!=null)           this.best_neibs_num=Integer.parseInt(properties.getProperty(prefix+"best_neibs_num"));
 		if (properties.getProperty(prefix+"ref_stdev")!=null)                this.ref_stdev=Double.parseDouble(properties.getProperty(prefix+"ref_stdev"));
 		
+		
+		if (properties.getProperty(prefix+"ignore_ers")!=null)               this.ignore_ers=Boolean.parseBoolean(properties.getProperty(prefix+"ignore_ers"));
+		if (properties.getProperty(prefix+"lpf_pairs")!=null)                this.lpf_pairs=Double.parseDouble(properties.getProperty(prefix+"lpf_pairs"));
+		if (properties.getProperty(prefix+"lpf_series")!=null)               this.lpf_series=Double.parseDouble(properties.getProperty(prefix+"lpf_series"));
+		
 		if (properties.getProperty(prefix+"combine_empty_only")!=null)       this.combine_empty_only=Boolean.parseBoolean(properties.getProperty(prefix+"combine_empty_only"));
 		if (properties.getProperty(prefix+"late_normalize_iterate")!=null)   this.late_normalize_iterate=Boolean.parseBoolean(properties.getProperty(prefix+"late_normalize_iterate"));
 		if (properties.getProperty(prefix+"test_corr_rad_max")!=null)        this.test_corr_rad_max=Integer.parseInt(properties.getProperty(prefix+"test_corr_rad_max"));
@@ -331,6 +348,10 @@ public class OpticalFlowParameters {
 		ofp.best_neibs_num =                this.best_neibs_num;
 		ofp.ref_stdev =                     this.ref_stdev;
 		
+		ofp.ignore_ers =                    this.ignore_ers;
+		ofp.lpf_pairs =                     this.lpf_pairs;
+		ofp.lpf_series =                    this.lpf_series; 
+		
 		ofp.combine_empty_only =            this.combine_empty_only;
 		ofp.late_normalize_iterate =        this.late_normalize_iterate;
 		ofp.test_corr_rad_max =             this.test_corr_rad_max;

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

@@ -3573,7 +3573,7 @@ ImageDtt.startAndJoin(threads);
 		}
 		return ds;
 	}
-	public double [][] getDSLMA(
+	public static double [][] getDSLMA(
 			CLTPass3d   scan,
 			boolean use_final)
 	{

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

@@ -8233,7 +8233,7 @@ if (debugLevel > -100) return true; // temporarily !
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,
 			EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
 			Properties                                           properties,
-			boolean                                              reset_from_extrinsics,
+			boolean                                              reset_from_extrinsics, // true
 			final int        threadsMax,  // maximal number of threads to launch
 			final boolean    updateStatus,
 			final int        debugLevel)  throws Exception
@@ -8291,7 +8291,7 @@ if (debugLevel > -100) return true; // temporarily !
 //			QuadCLT qPrev = (i > 0) ? quadCLTs[i - 1] : null;
 			QuadCLTCPU qPrev = (i > 0) ? quadCLTs[i - 1] : null;
 			//			double [][][] pair_sets =
-			double [][] pose = 	opticalFlow.getPoseFromErs(
+			double [][] pose = 	OpticalFlow.getPoseFromErs(
 					// FIXME: *********** update getPoseFromErs to use QUADCLTCPU ! **********				
 					clt_parameters.ofp.k_prev, // k_prev,
 					(QuadCLT) quadCLTs[i],
@@ -8324,7 +8324,6 @@ if (debugLevel > -100) return true; // temporarily !
 			CLTParameters             clt_parameters,
 			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 			ColorProcParameters                                  colorProcParameters,
-//			ColorProcParameters                                  colorProcParameters_aux,
 			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,
 			EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
@@ -8347,12 +8346,8 @@ if (debugLevel > -100) return true; // temporarily !
 			return;
 		}
 		QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
-//		String set_name = set_channels[0].set_name;
-		
-//		QuadCLT [] quadCLTs = new QuadCLT [set_channels.length]; 
-//		QuadCLTCPU [] quadCLTs = new QuadCLTCPU [set_channels.length]; 
 		QuadCLT [] quadCLTs = new QuadCLT [set_channels.length]; 
-		for (int i = 0; i < quadCLTs.length; i++) {
+		for (int i = 00; i < quadCLTs.length; i++) {
 			quadCLTs[i] = (QuadCLT) quadCLT_main.spawnQuadCLT(
 					set_channels[i].set_name,
 					clt_parameters,
@@ -8361,8 +8356,8 @@ if (debugLevel > -100) return true; // temporarily !
 					debugLevel);
 			// temporarily fix wrong sign:
 			ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
-			if (reset_from_extrinsics) {
-				System.out.println("Reset ERS parameters from intraframe extrinsics");
+			if (reset_from_extrinsics) { // extrinsics vector "IMU" parameters
+ 				System.out.println("Reset ERS parameters from intraframe extrinsics");
 				ers.setupERSfromExtrinsics();
 			}
 			quadCLTs[i].setDSRBG(
@@ -8394,71 +8389,6 @@ if (debugLevel > -100) return true; // temporarily !
 
 	}
 
-	/*
-	public void interSeriesLMA(
-			QuadCLT                                              quadCLT_main, // tiles should be set
-			CLTParameters             clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
-			ColorProcParameters                                  colorProcParameters,
-//			ColorProcParameters                                  colorProcParameters_aux,
-			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
-			EyesisCorrectionParameters.RGBParameters             rgbParameters,
-			EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
-			Properties                                           properties,
-			boolean                                              reset_from_extrinsics,
-			final int        threadsMax,  // maximal number of threads to launch
-			final boolean    updateStatus,
-			final int        debugLevel)  throws Exception
-	{
-		if ((quadCLT_main != null) && (quadCLT_main.getGPU() != null)) {
-			quadCLT_main.getGPU().resetGeometryCorrection();
-			quadCLT_main.gpuResetCorrVector(); // .getGPU().resetGeometryCorrectionVector();
-		}
-		// final boolean    batch_mode = clt_parameters.batch_run;
-		this.startTime=System.nanoTime();
-		String [] sourceFiles0=quadCLT_main.correctionsParameters.getSourcePaths();
-		QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
-		if ((set_channels_main == null) || (set_channels_main.length==0)) {
-			System.out.println("No files to process (of "+sourceFiles0.length+")");
-			return;
-		}
-		QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
-		
-		QuadCLT [] quadCLTs = new QuadCLT [set_channels.length]; 
-//		QuadCLTCPU [] quadCLTs = new QuadCLTCPU [set_channels.length]; 
-		for (int i = 0; i < quadCLTs.length; i++) {
-			quadCLTs[i] = (QuadCLT) quadCLT_main.spawnQuadCLT(
-					set_channels[i].set_name,
-					clt_parameters,
-					colorProcParameters, //
-					threadsMax,
-					debugLevel);
-			// temporarily fix wrong sign:
-//			ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
-			quadCLTs[i].setDSRBG(
-					clt_parameters, // CLTParameters  clt_parameters,
-					threadsMax,     // int            threadsMax,  // maximal number of threads to launch
-					updateStatus,   // boolean        updateStatus,
-					debugLevel);    // int            debugLevel)
-		}
-		
-		
-		OpticalFlow opticalFlow = new OpticalFlow(
-				quadCLT_main.getNumSensors(),
-				clt_parameters.ofp.scale_no_lma_disparity, // double         scale_no_lma_disparity,
-				threadsMax,                                // int            threadsMax,  // maximal number of threads to launch
-				updateStatus);                             // boolean        updateStatus);
-		
-		opticalFlow.adjustSeries(
-				clt_parameters, // CLTParameters  clt_parameters,			
-				clt_parameters.ofp.k_prev, // k_prev,\
-				// FIXME: *********** update adjustSeries to use QUADCLTCPU ! **********								
-//				(QuadCLT []) 
-				quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps
-				clt_parameters.ofp.debug_level_optical); // 1); // -1); // int debug_level);
-		System.out.println("End of interSeriesLMA()");
-	}
-	*/
 	
 	public void interSeriesLMA(
 			QuadCLT                                              quadCLT_main, // tiles should be set
@@ -8491,7 +8421,6 @@ if (debugLevel > -100) return true; // temporarily !
 		QuadCLT.SetChannels [] set_channels=quadCLT_main.setChannels(debugLevel);
 		
 		QuadCLT [] quadCLTs = new QuadCLT [set_channels.length]; 
-//		QuadCLTCPU [] quadCLTs = new QuadCLTCPU [set_channels.length]; 
 		for (int i = 0; i < quadCLTs.length; i++) {
 			quadCLTs[i] = (QuadCLT) quadCLT_main.spawnQuadCLT(
 					set_channels[i].set_name,
@@ -8499,8 +8428,6 @@ if (debugLevel > -100) return true; // temporarily !
 					colorProcParameters, //
 					threadsMax,
 					debugLevel);
-			// temporarily fix wrong sign:
-//			ErsCorrection ers = (ErsCorrection) (quadCLTs[i].getGeometryCorrection());
 			quadCLTs[i].setDSRBG(
 					clt_parameters, // CLTParameters  clt_parameters,
 					threadsMax,     // int            threadsMax,  // maximal number of threads to launch
@@ -11786,15 +11713,48 @@ if (debugLevel > -100) return true; // temporarily !
 									updateStatus,
 									debugLevel);
 						}
+						if (debugLevel > -2) { //  && clt_parameters.show_first_bg) {
+							quadCLT_aux.tp.showScan(
+									quadCLT_aux.tp.clt_3d_passes.get( quadCLT_aux.tp.clt_3d_passes.size() -1), //last
+									"last_data-"+quadCLT_aux.tp.clt_3d_passes.size());
+						}
+
+
 						//					double [][] aux_last_scan = quadCLT_aux.tp.getShowDS(
 						//							quadCLT_aux.tp.clt_3d_passes.get( quadCLT_aux.tp.clt_3d_passes.size() -1),
 						//							false); // boolean force_final);
-						double [][] aux_last_scan = quadCLT_aux.tp.getDSLMA(
+						double [][] aux_last_scan = TileProcessor.getDSLMA(
 								quadCLT_aux.tp.clt_3d_passes.get( quadCLT_aux.tp.clt_3d_passes.size() -1),
 								false); // boolean force_final);
+						//measure w/o LMA just to get strength w/o any averaging
+						
 						dsi[DSI_DISPARITY_AUX] =     aux_last_scan[0];
 						dsi[DSI_STRENGTH_AUX] =      aux_last_scan[1];
 						dsi[DSI_DISPARITY_AUX_LMA] = aux_last_scan[2];
+						
+						if (quadCLT_main.correctionsParameters.clt_batch_dsi_cm_strength) {
+							CLTPass3d scan = new CLTPass3d(quadCLT_aux.tp);
+							scan.setTileOpDisparity(aux_last_scan[0]); // measure w/o LMA, use just strength
+							quadCLT_aux.CLTMeas( // perform single pass according to prepared tiles operations and disparity
+									clt_parameters, // EyesisCorrectionParameters.CLTParameters           clt_parameters,
+									scan,           // final CLTPass3d   scan,
+									false,          // final boolean     save_textures,
+									false,          // final boolean       need_diffs,     // calculate diffs even if textures are not needed 
+									0,              // final int         clust_radius,
+									true,           // final boolean     save_corr,
+									false,          // final boolean     run_lma, // =    true;
+									threadsMax,     // final int         threadsMax,  // maximal number of threads to launch
+									updateStatus,   // final boolean     updateStatus,
+									debugLevel);    // final int         debugLevel);
+							dsi[DSI_STRENGTH_AUX] =      scan.getStrength();
+							if (debugLevel > 1) {
+								quadCLT_aux.tp.showScan(
+										scan, // CLTPass3d   scan,
+										"test-strength");
+							}
+						} else {
+							dsi[DSI_STRENGTH_AUX] =      aux_last_scan[1];
+						}
 
 						//					quadCLT_main.saveDSIMain (dsi);
 						quadCLT_aux.saveDSIAll (