More debugging of individual scenes and pairs

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

@@ -2614,7 +2614,8 @@ public class Corr2dLMA {
 				lma_min_min_ac,   // minimal of A and C coefficients minimum (measures sharpest point)
 				lma_max_area,     // maximal half-area (if > 0.0)
 				lma_str_scale,    // convert lma-generated strength to match previous ones - scale
-				lma_str_offset    // convert lma-generated strength to match previous ones - add to result
+				lma_str_offset,    // convert lma-generated strength to match previous ones - add to result
+				false // boolean dbg_mode
 				)[0];
 	}
 
@@ -2626,11 +2627,12 @@ public class Corr2dLMA {
 			double  lma_min_strength, // minimal composite strength (sqrt(average amp squared over absolute RMS)
 			double  lma_min_max_ac,   // minimal of A and C coefficients maximum (measures sharpest point/line)
 			double  lma_min_min_ac,   // minimal of A and C coefficients minimum (measures sharpest point)
-			double  lma_max_area,     // maximal half-area (if > 0.0)
+			double  lma_max_area,     // maximal half-area (if > 0.0) // 20
 			double  lma_str_scale,    // convert lma-generated strength to match previous ones - scale
-			double  lma_str_offset    // convert lma-generated strength to match previous ones - add to result
+			double  lma_str_offset,    // convert lma-generated strength to match previous ones - add to result
+			boolean dbg_mode
 			){
-		double [][][] ds =         new double[numMax][numTiles][3];
+		double [][][] ds =         new double[numMax][numTiles][dbg_mode? 6 : 3];
 		double []   rms =        getRmsTile();
 		for (int nmax = 0; nmax < numMax; nmax++) {
 			double [][] maxmin_amp = getMaxMinAmpTile(nmax); // nmax
@@ -2654,8 +2656,6 @@ public class Corr2dLMA {
 							lmas_min_amp = lmas_min_amp_bg;
 							break;
 						}
-						
-						
 					}
 				}
 				if ((maxmin_amp[tile][1]/maxmin_amp[tile][0]) < lmas_min_amp) {
@@ -2663,25 +2663,25 @@ public class Corr2dLMA {
 				}
 				double avg = 0.50*(maxmin_amp[tile][0]+maxmin_amp[tile][1]); // max_min[1] can be negative - filter it out?
 				double rrms = rms[tile]/avg;
-				if (((lma_max_rel_rms > 0.0) && (rrms > lma_max_rel_rms)) ||
-						(Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac)
-						//					|| (Math.min(abc[tile][0], abc[tile][2]) < lma_min_min_ac)
-						) {
+				if ((lma_max_rel_rms > 0.00) && (rrms > lma_max_rel_rms)) {
 					continue;
 				}
-				if (lma_max_area > 0) {
+				if (Math.max(abc[tile][0], abc[tile][2]) < lma_min_max_ac) {
+					continue;
+				}
+				if ((lma_min_min_ac > 0.0) && ((abc[tile][0] < lma_min_min_ac) || (abc[tile][2] < lma_min_min_ac))){
+					continue; // too large a or c (not sharp along at least one direction)
+				}
+				double area = 0.0;
 				if ((abc[tile][0] > 0.0) && (abc[tile][2] > 0.0)) {
 					//					double area_old = 1.0/abc[tile][0] + 1.0/abc[tile][2]; // area of a maximum
-						double area =  1.0/Math.sqrt(abc[tile][0] * abc[tile][2]);
-						if (area > lma_max_area) {
+					area =  1.0/Math.sqrt(abc[tile][0] * abc[tile][2]);
+					if ((lma_max_area > 0) && (area > lma_max_area)) {
 						continue; // too wide maximum
 					}
 				} else {
 					continue; // not a maximum
 				}
-
-
-				}
 				double strength = Math.sqrt(avg/rrms);
 //				double disparity = -all_pars[DISP_INDEX + offs];
 				if ((strength < lma_min_strength) || Double.isNaN(disparity)) {
@@ -2695,6 +2695,11 @@ public class Corr2dLMA {
 				ds[nmax][tile][0] = disparity;
 				ds[nmax][tile][1] = (strength * lma_str_scale) + lma_str_offset;
 				ds[nmax][tile][2] = strength; // as is
+				if (ds[nmax][tile].length > 3) {
+					ds[nmax][tile][3] = area;
+					ds[nmax][tile][4] = ac;
+					ds[nmax][tile][5] = Math.min(abc[tile][0],abc[tile][2]);
+				}
 			}
 		}
 		return ds;

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

@@ -4842,7 +4842,8 @@ public class Correlation2d {
 					imgdtt_params.lmas_min_min_ac,   // minimal of A and C coefficients minimum (measures sharpest point)
 					imgdtt_params.lmas_max_area,     //double  lma_max_area,     // maximal half-area (if > 0.0)
 					imgdtt_params.lma_str_scale,     // convert lma-generated strength to match previous ones - scale
-					imgdtt_params.lma_str_offset     // convert lma-generated strength to match previous ones - add to result
+					imgdtt_params.lma_str_offset,    // convert lma-generated strength to match previous ones - add to result
+					false // boolean dbg_mode
 					);
 			for (int nmax = 00; nmax < dispStrs.length; nmax++) if (dispStrs[nmax][0][1] <= 0) {
 				lmaSuccess = false;

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

@@ -2681,11 +2681,12 @@ public class ImageDtt extends ImageDttCPU {
 														(debugTile0 ? 1: -2),         // int                 debug_level,
 														tileX,                        // int                 tileX, // just for debug output
 														tileY );
-												if (debugTile1) {
+												if (debugTile1 && (lma_dual!= null)) { // addad (lma_dual != null)
 													System.out.println("clt_process_tl_correlations() corrLMA2DualMax() done, lma_dual="+
 															((lma_dual== null)? "null": " not null"));
 												}
 												if (lma_dual != null) {
+													boolean dbg_dispStrs = (debug_lma != null);
 													double [][][] dispStrs = lma_dual.lmaDisparityStrengths( //TODO: add parameter to filter out negative minimums ?
 															imgdtt_params.lmas_min_amp,      //  minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
 															imgdtt_params.lmas_min_amp_bg,   //  minimal ratio of minimal pair correlation amplitude to maximal pair correlation amplitude
@@ -2695,13 +2696,18 @@ public class ImageDtt extends ImageDttCPU {
 															imgdtt_params.lmas_min_min_ac,   // minimal of A and C coefficients minimum (measures sharpest point)
 															imgdtt_params.lmas_max_area,     //double  lma_max_area,     // maximal half-area (if > 0.0)
 															imgdtt_params.lma_str_scale,     // convert lma-generated strength to match previous ones - scale
-															imgdtt_params.lma_str_offset     // convert lma-generated strength to match previous ones - add to result
+															imgdtt_params.lma_str_offset,    // convert lma-generated strength to match previous ones - add to result
+															dbg_dispStrs // false // boolean dbg_mode
 															);
-
 													disp_str_lma = new double [dispStrs.length][]; // order matching input ones
 													for (int nmax = 0;nmax < dispStrs.length; nmax++) {
 														if ((dispStrs[nmax] != null) && (dispStrs[nmax].length >0)) {
 															disp_str_lma[nmax] = dispStrs[nmax][0];
+															if (dbg_dispStrs) {
+																for (int i = 0; i < dispStrs[nmax][0].length; i++) {
+																	debug_lma[i][nTile] = dispStrs[nmax][0][i];
+																}
+															}
 														}
 													}
 													if (imgdtt_params.bimax_post_LMA && (sel_max >=0)) {
@@ -2866,6 +2872,16 @@ public class ImageDtt extends ImageDttCPU {
 			}
 			startAndJoin(threads);
 			if (debug_lma != null) {
+				if (imgdtt_params.bimax_dual_LMA) {
+					(new ShowDoubleFloatArrays()).showArrays(
+							debug_lma,
+							tilesX,
+							tilesY,
+							true,
+							"lma_debug_dual_LMA",
+							new String[] {"disparity","strength_mod","strength", "area","ac","min(a,c)"}
+							);
+				} else {
 					(new ShowDoubleFloatArrays()).showArrays(
 							debug_lma,
 							tilesX,
@@ -2874,10 +2890,10 @@ public class ImageDtt extends ImageDttCPU {
 							"lma_debug",
 							new String[] {"disp_samples","num_cnvx_samples","num_comb_samples", "num_lmas","num_iters","rms"}
 							);
+				}
 
 			}			
 		}
-		
 		return;
 	}	
 	

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

@@ -220,7 +220,7 @@ public class ImageDttParameters {
 	public double  lmas_min_strength =       0.7;   // LWIR16: 0.4 minimal composite strength (sqrt(average amp squared over absolute RMS)
 	public double  lmas_min_ac =             0.02;  // LWIR16: 0.01  minimal of a and C coefficients maximum (measures sharpest point/line)
 	public double  lmas_min_min_ac =         0.007; // LWIR16: 0.007 minimal of a and C coefficients minimum (measures sharpest point)
-	public double  lmas_max_area =           0.0;   // LWIR16: 0.0  maximal half-area (if > 0.0)
+	public double  lmas_max_area =          20.0;   // LWIR16: 0.0  maximal half-area (if > 0.0)
 
 //	public boolean lma_gaussian =           false; // model correlation maximum as a Gaussian (false - as a parabola)
 	public int     lma_gaussian =           0;     // 0 - parabola, 1 - Gaussian, 2 - limited parabola, 3 - limited squared parabola

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

@@ -3236,7 +3236,7 @@ public class OpticalFlow {
 						reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
 			}
 		}
-		for (int i = 0; i < scenes.length; i++) {
+		for (int i = 00; i < scenes.length; i++) {
 			int i_prev = i - ((i > 0) ? 1 : 0);
 			int i_next = i + ((i < (scenes.length - 1)) ? 1 : 0);
 			double dt =  scenes[i_next].getTimeStamp() - scenes[i_prev].getTimeStamp();
@@ -3287,6 +3287,14 @@ public class OpticalFlow {
 				double [] dbg_img = new double [dbg_w * dbg_h];
 				for (int dh = 0; dh  < dbg_h; dh++) {
 					for (int dw = 0; dw  < dbg_w; dw++) {
+						if (ers_xyzatr[dw] == null) {
+							System.out.println("adjustPairsDualPass(): ers_xyzatr["+dw+"] == null");
+							continue;
+						}
+						if (ers_xyzatr[dw][dh/3] == null) {
+							System.out.println("adjustPairsDualPass(): ers_xyzatr["+dw+"]["+(dh/3)+"] == null");
+							continue;
+						}
 						dbg_img[dh*dbg_w + dw] = ers_xyzatr[dw][dh / 3][dh % 3];
 					}
 				}
@@ -3373,135 +3381,12 @@ public class OpticalFlow {
 		
 		for (int i = 1; i < scenes.length; i++) {
 			QuadCLT reference_QuadClt = scenes[i];
-/*			
-			QuadCLT scene_QuadClt = scenes[i - 1];
-			ErsCorrection ers_scene =     scene_QuadClt.getErsCorrection();
-			reference_QuadClt.getErsCorrection().addScene(scene_QuadClt.getImageName(),
-					scenes_xyzatr1[i][0],
-					scenes_xyzatr1[i][1],
-					ers_scene.getErsXYZ_dt(),		
-					ers_scene.getErsATR_dt()		
-					);
-*/					
 			reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
 		            null, // String path,             // full name with extension or w/o path to use x3d directory
 		            debug_level+1);
 		}		
 	}
-/*
-	public void adjustSeries(
-			CLTParameters  clt_parameters,			
-			double k_prev, 
-			QuadCLT [] scenes, // ordered by increasing timestamps
-			int debug_level
-			)
-	{
-		double [][][] scenes_xyzatr = new double [scenes.length][][]; // previous scene relative to the next one
-//		double [][][] ers_xyzatr = new double [scenes.length][][]; // previous scene relative to the next one
-		QuadCLT reference_QuadClt = scenes[scenes.length-1]; // last acquired
-		ErsCorrection ers_reference = reference_QuadClt.getErsCorrection();
-		// modify LMA parameters to freeze reference ERS, remove pull on scene ERS
-		boolean[]   param_select2 =     clt_parameters.ilp.ilma_lma_select.clone();             // final boolean[]   param_select,
-		double []   param_regweights2 = clt_parameters.ilp.ilma_regularization_weights; //  final double []   param_regweights,
-		boolean delete_scene_asap = (debug_level < 10); // to save memory
-		// freeze reference ERS, free scene ERS
-		for (int j = 0; j <3; j++) {
-			param_select2[ErsCorrection.DP_DVX  + j] = false;
-			param_select2[ErsCorrection.DP_DVAZ + j] = false;
-			param_regweights2[ErsCorrection.DP_DSVX +  j] = 0.0+0;
-			param_regweights2[ErsCorrection.DP_DSVAZ + j] = 0.0;
-		}
-		
-		for (int i =  scenes.length - 3; i >=0 ; i--) {
-			QuadCLT scene_QuadClt =      scenes[i];
-			String last_known_ts =           scenes[i+1].getImageName(); // it should be present in the reference scene scenes
-			String scene_ts =                scenes[i].getImageName(); // it should be present in the scenes[i+1] scenes
-			ErsCorrection ers_scene_last_known = scenes[i+1].getErsCorrection();
-			ErsCorrection ers_scene =            scene_QuadClt.getErsCorrection();
-			
-			double [] last_known_xyz = ers_reference.getSceneXYZ(last_known_ts);
-			double [] last_known_atr = ers_reference.getSceneATR(last_known_ts);
-
-			double [] new_from_last_xyz = ers_scene_last_known.getSceneXYZ(scene_ts);
-			double [] new_from_last_atr = ers_scene_last_known.getSceneATR(scene_ts);
-			
-			// combine two rotations and two translations 
-			System.out.println("Processing scene "+i+": "+scene_QuadClt.getImageName());
-			double [][] combo_XYZATR = ErsCorrection.combineXYZATR(
-					last_known_xyz,     // double [] reference_xyz,
-					last_known_atr,     // double [] reference_atr, // null?
-					new_from_last_xyz,  // double [] scene_xyz,
-					new_from_last_atr); // double [] scene_atr)
-			
-			// before adjusting - save original ERS, restart afterwards
-			double [] ers_scene_original_xyz_dt = ers_scene.getErsXYZ_dt();
-			double [] ers_scene_original_atr_dt = ers_scene.getErsATR_dt();
-			
-			// ers should be correct for both
-			
-			scenes_xyzatr[i] = adjustPairsLMA(
-					clt_parameters,     // CLTParameters  clt_parameters,			
-					reference_QuadClt, // QuadCLT reference_QuadCLT,
-					scene_QuadClt, // QuadCLT scene_QuadCLT,
-					combo_XYZATR[0], // xyz
-					combo_XYZATR[1], // atr
-					param_select2,             // final boolean[]   param_select,
-					param_regweights2, //  final double []   param_regweights,
-					debug_level); // int debug_level)
-			ers_reference.addScene(scene_QuadClt.getImageName(),
-					scenes_xyzatr[i][0],
-					scenes_xyzatr[i][1],
-					ers_scene.getErsXYZ_dt(),		
-					ers_scene.getErsATR_dt()		
-					);
-			
-			// restore original ers data
-			ers_scene.setErsDt(
-					ers_scene_original_xyz_dt, // double []    ers_xyz_dt,
-					ers_scene_original_atr_dt); // double []    ers_atr_dt)(ers_scene_original_xyz_dt);
-			ers_scene.setupERS();
-			if (debug_level > -1) {
-				System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+
-						reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");
-			}
-			if (delete_scene_asap) {
-				scenes[i+1] = null;
-			}
-//			Runtime.getRuntime().gc();
-//			System.out.println("Scene "+i+", --- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
 
-		}
-		reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
-	            null, // String path,             // full name with extension or w/o path to use x3d directory
-	            debug_level+1);
-		if (!delete_scene_asap && (debug_level > -1)) {
-			System.out.println("adjustSeries(): preparing image set...");
-			int nscenes = scenes.length;
-			int indx_ref = nscenes - 1; 
-			double [][][] all_scenes_xyzatr = new double [scenes.length][][]; // includes reference (last)
-			double [][][] all_scenes_ers_dt = new double [scenes.length][][]; // includes reference (last)
-			all_scenes_xyzatr[indx_ref] = new double [][] {ZERO3,ZERO3};
-			all_scenes_ers_dt[indx_ref] = new double [][] {
-				ers_reference.getErsXYZ_dt(),
-				ers_reference.getErsATR_dt()};
-				for (int i = 0; i < nscenes; i++) if (i != indx_ref) {
-					String ts = scenes[i].getImageName();
-					all_scenes_xyzatr[i] = new double[][] {ers_reference.getSceneXYZ(ts),       ers_reference.getSceneATR(ts)}; 		
-					all_scenes_ers_dt[i] = new double[][] {ers_reference.getSceneErsXYZ_dt(ts), ers_reference.getSceneErsATR_dt(ts)}; 		
-				}
-		compareRefSceneTiles(
-				"" ,               // String suffix,
-				false,             // boolean blur_reference,
-				all_scenes_xyzatr, // double [][][] scene_xyzatr, // does not include reference
-				all_scenes_ers_dt, // double [][][] scene_ers_dt, // does not include reference
-				scenes,            // QuadCLT [] scenes,
-				8);                // int iscale) // 8
-		}		
-		if (debug_level > -1) {
-			System.out.println("adjustSeries() Done.");
-		}
-	}
-*/
 	public void adjustSeries(
 			CLTParameters  clt_parameters,			
 			double         k_prev, 
@@ -3910,7 +3795,7 @@ Maybe later - add same weight. Or use CM instead, even for LMA?
 		double [] weights = new double [(int) Math.floor(half_run_range)+1];
 		weights[0] = 1;
 		for (int i = 1; i < weights.length; i++) {
-			weights[i] = 0.5* (Math.cos(i*Math.PI/half_run_range));
+			weights[i] = 0.5* (Math.cos(i*Math.PI/half_run_range) + 1.0);
 		}
 		double [][][] ers_xyzatr = new double [ers_xyzatr_in.length][][];
 		for (int nscene = 0; nscene < ers_xyzatr_in.length; nscene ++) {
@@ -3918,12 +3803,12 @@ Maybe later - add same weight. Or use CM instead, even for LMA?
 			double [][] swd =  new double[2][3]; 
 			for (int ds = -weights.length + 1; ds < weights.length; ds++) {
 				int ns = nscene + ds;
-				if ((ns >= 0) && (ns < ers_xyzatr.length) && (ers_xyzatr[ns] != null)) {
+				if ((ns >= 0) && (ns < ers_xyzatr_in.length) && (ers_xyzatr_in[ns] != null)) {
 					double w = (ds >= 0) ? weights[ds] : weights[-ds];
 					sw += w;
 					for (int m = 0; m < swd.length; m++) {
 						for (int d = 0; d < swd[m].length; d++) {
-							swd[m][d] += w * ers_xyzatr[ns][m][d];
+							swd[m][d] += w * ers_xyzatr_in[ns][m][d];
 						}
 					}
 				}

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

@@ -12805,7 +12805,7 @@ public class QuadCLTCPU {
 		  if (clt_parameters.z_corr_map.containsKey(image_name)){ // not used in lwir
 			  z_correction +=clt_parameters.z_corr_map.get(image_name);
 		  }
-		  final double disparity_corr = (z_correction == 0) ? 0.0 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
+		  final double disparity_corr = (z_correction == 0) ? 0.00 : geometryCorrection.getDisparityFromZ(1.0/z_correction);
 		  int mcorr_sel = save_corr ? Correlation2d.corrSelEncode(clt_parameters.img_dtt, getNumSensors()) : 0;
 		  TpTask[] tp_tasks = GpuQuad.setTasks( // null on geometryCorrection 
 				  num_sensors,                  // final int                      num_cams,