DEbugging SfM during initial orientation

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

@@ -435,7 +435,6 @@ public class MLStats {
 
 	public static boolean mlRecalc(String dir,
 			CLTParameters       clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters   debayerParameters,
 			ColorProcParameters colorProcParameters,
 			EyesisCorrectionParameters.RGBParameters       rgbParameters,
 			final int                                      threadsMax,  // maximal number of threads to launch

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

@@ -4071,7 +4071,6 @@ public class OpticalFlow {
 			CLTParameters                                 clt_parameters,
 			boolean                                       fast,
 			boolean                                       skip_photo,
-			EyesisCorrectionParameters.DebayerParameters  debayerParameters,
 			ColorProcParameters                           colorProcParameters,
 			EyesisCorrectionParameters.RGBParameters      rgbParameters,
     		boolean                                       batch_mode,
@@ -4195,7 +4194,6 @@ public class OpticalFlow {
 				disp_scan_count,     // int  disp_scan_count,
 				no_bg_generate,      // boolean no_bg_generate,
 				no_lma,              // boolean no_lma,			  
-				debayerParameters,
 				colorProcParameters,
 				rgbParameters,
 				threadsMax,  // maximal number of threads to launch
@@ -4733,7 +4731,6 @@ public class OpticalFlow {
 	 * @param quadCLT_main
 	 * @param last_index
 	 * @param clt_parameters
-	 * @param debayerParameters
 	 * @param colorProcParameters
 	 * @param channelGainParameters
 	 * @param rgbParameters
@@ -4755,7 +4752,6 @@ public class OpticalFlow {
 			QuadCLT                                              quadCLT_main, // tiles should be set
 			int                                                  last_index, // -1 - last
 			CLTParameters                                        clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 			ColorProcParameters                                  colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -5234,7 +5230,6 @@ public class OpticalFlow {
 						clt_parameters,                   // CLTParameters                                 clt_parameters,
 						fast,                             // boolean  fast,
 						false,                            // boolean                                       skip_photo,
-						debayerParameters,                // EyesisCorrectionParameters.DebayerParameters  debayerParameters,
 						colorProcParameters,              // ColorProcParameters                           colorProcParameters,
 					    rgbParameters, // EyesisCorrectionParameters.RGBParameters      rgbParameters,
 						batch_mode,                       // boolean                             batch_mode,
@@ -5387,14 +5382,13 @@ public class OpticalFlow {
 						updateStatus,        // final boolean                updateStatus,
 						debugLevel);
 				OK = earliest_scene >=0;
-			} else if (center_reference) {
+			} else if (center_reference) { // currently the main branch, others may be broken
 				es1 = Interscene.setInitialOrientationsCenterIms(
 						clt_parameters,      // final CLTParameters          clt_parameters,
 						use_ims_rotation,    // final boolean                compensate_ims_rotation,
 						inertial_only,       // final boolean                                inertial_only,
 						min_num_scenes,      // int                          min_num_scenes,
 						colorProcParameters, // final ColorProcParameters    colorProcParameters,
-						debayerParameters,	 // EyesisCorrectionParameters.DebayerParameters debayerParameters,			
 						rgbParameters,       // EyesisCorrectionParameters.RGBParameters     rgbParameters,
 						quadCLT_main,        // QuadCLT                                      quadCLT_main, // tiles should be set			
 						quadCLTs,            // final QuadCLT[]              quadCLTs, //
@@ -5583,7 +5577,7 @@ public class OpticalFlow {
 			*/
 			quadCLTs[ref_index].setQuadClt(); // just in case ?
 ///				quadCLTs[ref_index].setBlueSky(ref_blue_sky); //quadCLTs[ref_index].dsi has it 
-			quadCLTs[ref_index].setDSRBG( // is it needed?
+			quadCLTs[ref_index].setDSRBG( // is it needed? 
 					clt_parameters, // CLTParameters  clt_parameters,
 					threadsMax,     // int            threadsMax,  // maximal number of threads to launch
 					updateStatus,   // boolean        updateStatus,
@@ -5904,6 +5898,7 @@ public class OpticalFlow {
 								double inf_disp = OpticalFlow.getImsDisparityCorrection(
 										scale_img,           // double           scale_img,
 										quadCLTs[ref_index], // QuadCLT          master_CLT,
+										clt_parameters.imp.use_lma_dsi, // boolean          use_lma_dsi,
 										debugLevel);         // final int        debugLevel) {
 						    	if (debugLevel > -3) {
 						    		System.out.println("Disparity at infinity ="+inf_disp+" in reference scene "+quadCLTs[ref_index].getImageName()+", scale_img="+scale_img);
@@ -6145,7 +6140,6 @@ public class OpticalFlow {
 					clt_parameters,            // CLTParameters                                        clt_parameters,
 					run_ly_mode,               // int                                                  run_ly_mode, // +1 - lazy eye, +2 - infinity 
 					run_ly_ims,                // boolean                                              run_ly_ims, // adjust infinity (if enabled) using horizontal movement from the IMS
-					debayerParameters,         // EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 					colorProcParameters,       // ColorProcParameters                                  colorProcParameters,
 					channelGainParameters,     // CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 					rgbParameters,             // EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -6229,6 +6223,7 @@ public class OpticalFlow {
 					corr_index, // 				ref_index,      // int            ref_index,
 					master_CLT, // QuadCLT        ref_scene, // may be one of quadCLTs or center_CLT
 					earliest_scene, // int            earliest_scene,
+					-1,             // int            latest_scene,				
 					quat_rms,           // double []      rms // null or double[2];
 					null, // enu_corr,       //double []      enu_corr,
 					debugLevel); // int            debugLevel
@@ -7660,8 +7655,9 @@ public class OpticalFlow {
     public static double getImsDisparityCorrection(
     		double           scale_img,
     		QuadCLT          master_CLT,
+    		boolean          use_lma_dsi,
     		final int        debugLevel) {
-		double [] disparity_dsi = master_CLT.getDLS()[1]; // null
+		double [] disparity_dsi = master_CLT.getDLS()[use_lma_dsi?1:0]; // [1]; // null
 		double [] strength = master_CLT.getDLS()[2];
 		double sw=0,swd=0; // old, new-old
 		for (int i = 0; i < disparity_dsi.length; i++) {
@@ -7925,7 +7921,6 @@ public class OpticalFlow {
 			CLTParameters                                        clt_parameters,
 			int                                                  run_ly_mode, // +1 - lazy eye, +2 - infinity
 			boolean                                              run_ly_ims, // adjust infinity (if enabled) using horizontal movement from the IMS
-			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 			ColorProcParameters                                  colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,

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

@@ -871,7 +871,6 @@ public class QuadCLT extends QuadCLTCPU {
 	public void genSave4sliceImage(
 			CLTParameters                                   clt_parameters,
 			String                                          suffix,
-			EyesisCorrectionParameters.DebayerParameters    debayerParameters,
 			ColorProcParameters                             colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters        channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters        rgbParameters,
@@ -889,7 +888,6 @@ public class QuadCLT extends QuadCLTCPU {
 				null,                  // ImagePlus []                        imp_quad, //null will be OK
 				null,                  // boolean [][]                                    saturation_imp, // (near) saturated pixels or null // Not needed use this.saturation_imp
 				clt_parameters,        // CLTParameters                                   clt_parameters,
-				debayerParameters,     // EyesisCorrectionParameters.DebayerParameters    debayerParameters,
 				colorProcParameters,   // ColorProcParameters                             colorProcParameters,
 				channelGainParameters, // CorrectionColorProc.ColorGainsParameters        channelGainParameters,
 				rgbParameters,         // EyesisCorrectionParameters.RGBParameters        rgbParameters,
@@ -906,7 +904,6 @@ public class QuadCLT extends QuadCLTCPU {
 	// added 12/21
 	public void processCLTQuadCorrs( // not used in lwir
 			CLTParameters           clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters     debayerParameters,
 			ColorProcParameters colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters     channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -961,7 +958,6 @@ public class QuadCLT extends QuadCLTCPU {
 					null,           // imp_srcs, // [srcChannel], // should have properties "name"(base for saving results), "channel","path"
 					saturation_imp, // boolean [][] saturation_imp, // (near) saturated pixels or null
 					clt_parameters,
-					debayerParameters,
 					colorProcParameters,
 					channelGainParameters,
 					rgbParameters,
@@ -3618,7 +3614,6 @@ public class QuadCLT extends QuadCLTCPU {
 			ImagePlus []                                    imp_quad, //null will be OK
 			boolean [][]                                    saturation_imp, // (near) saturated pixels or null // Not needed use this.saturation_imp
 			CLTParameters                                   clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters    debayerParameters,
 			ColorProcParameters                             colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters        channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters        rgbParameters,
@@ -3636,7 +3631,6 @@ public class QuadCLT extends QuadCLTCPU {
 			processCLTQuadCorrCPU(
 					saturation_imp,        // boolean [][]                  saturation_imp, // (near) saturated pixels or null // Not needed use this.saturation_imp
 					clt_parameters,        // CLTParameters                 clt_parameters,
-					debayerParameters,     // EyesisCorrectionParameters.DebayerParameters     debayerParameters,
 					colorProcParameters,   // ColorProcParameters                              colorProcParameters,
 					channelGainParameters, // CorrectionColorProc.ColorGainsParameters         channelGainParameters,
 					rgbParameters, // EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -4197,7 +4191,6 @@ public class QuadCLT extends QuadCLTCPU {
 			boolean [][]                                    saturation_aux, // (near) saturated pixels or null
 			CLTParameters                                   clt_parameters,
 			EyesisCorrectionParameters.CorrectionParameters ecp,
-			EyesisCorrectionParameters.DebayerParameters    debayerParameters,
 			ColorProcParameters                             colorProcParameters,
 			ColorProcParameters                             colorProcParameters_aux,
 			EyesisCorrectionParameters.RGBParameters        rgbParameters,
@@ -6135,7 +6128,7 @@ if (debugLevel < -100) {
 					null,                 // final QuadCLTCPU     ref_scene, // may be null if scale_fpn <= 0
 					threadsMax,
 					debugLevel);
-			
+			quadCLT.isPhotometricUpdatedAndReset(); // reset changed 12/25/2025
 			return quadCLT;
 		}
 		public QuadCLT spawnNoModelQuadCLT( // copies quat_corr from this
@@ -6146,8 +6139,7 @@ if (debugLevel < -100) {
 				int                 debugLevel)
 		{
 			QuadCLT quadCLT = new QuadCLT(this, set_name); //null
-			
-			return (QuadCLT) quadCLT.restoreNoModel(
+			quadCLT.restoreNoModel(
 					clt_parameters,
 					colorProcParameters,
 					null,                 // double []    noise_sigma_level,
@@ -6155,6 +6147,8 @@ if (debugLevel < -100) {
 					null,                 // final QuadCLTCPU     ref_scene, // may be null if scale_fpn <= 0
 					threadsMax,
 					debugLevel);
+			quadCLT.isPhotometricUpdatedAndReset(); // reset changed 12/25/2025
+			return (QuadCLT) quadCLT;
 		}
 	    
 	    public static double [][][] unsharpMaskSourceMono(

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

@@ -48,6 +48,7 @@ public class TileNeibs{
 	
 	final int              sizeX;
 	final int              sizeY;
+	public Rectangle       inner2 = null;
 	public Rectangle       inner = null;
 	public Rectangle       full = null;
 
@@ -64,6 +65,14 @@ public class TileNeibs{
 		}
 		return inner;
 	}
+
+	public Rectangle getStrongInnerRectangle() {
+		if (inner2 == null) {
+			inner2 = new Rectangle(2,2,sizeX-4, sizeY-4);
+		}
+		return inner2;
+	}
+	
 	
 	int last_grown; // actual grown until died
 	public int dirs = DIRS;

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwirWorld.java

@@ -51,7 +51,6 @@ public class LwirWorld {
 			int                                                  ref_index_unused, // -1 - last
 			int                                                  ref_step_unused, // not used here
 			CLTParameters             clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 			ColorProcParameters                                  colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -128,7 +127,6 @@ public class LwirWorld {
 						quadCLT_main,              // QuadCLT                                              quadCLT_main, // tiles should be set
 						ref_index,                 // int                                                  ref_index, // -1 - last
 						clt_parameters,            // CLTParameters             clt_parameters,
-						debayerParameters,         // EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 						colorProcParameters,       // ColorProcParameters                                  colorProcParameters,
 						channelGainParameters,     // CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 						rgbParameters,             // EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -173,7 +171,6 @@ public class LwirWorld {
 			QuadCLT                                              quadCLT_main, // tiles should be set
 			int                                                  ref_index, // -1 - last
 			CLTParameters                                        clt_parameters,
-			EyesisCorrectionParameters.DebayerParameters         debayerParameters,
 			ColorProcParameters                                  colorProcParameters,
 			CorrectionColorProc.ColorGainsParameters             channelGainParameters,
 			EyesisCorrectionParameters.RGBParameters             rgbParameters,
@@ -349,7 +346,6 @@ public class LwirWorld {
 						clt_parameters.disp_scan_count,     // double  disp_scan_count,
 						false,                              // boolean no_bg_generate,			  
 						false,                              // boolean no_lma,			  
-						debayerParameters,
 						colorProcParameters,
 						rgbParameters,
 						MultiThreading.THREADS_MAX, // threadsMax,

src/main/java/com/elphel/imagej/tileprocessor/sfm/StructureFromMotion.java

@@ -238,6 +238,7 @@ public class StructureFromMotion {
 				false,               // initial_adjust,      // boolean             initial_adjust,
 				mb_vectors,          // double [][]        mb_vectors,  // now [2][ntiles];
 				-1,                  // int                niter,
+				false,               //	boolean            img_debug, // generate debug images
 				clt_parameters.imp.debug_level, // int                imp_debug_level,
 				debugLevel); // 1); // -1); // int debug_level);
 		return true;
@@ -2238,7 +2239,18 @@ public class StructureFromMotion {
 		}
 		return tiles;
 	}
-		
+	/**
+	 * 	Get pX and pY derivatives with respect to disparity
+	 * @param scenes_xyzatr           {scene0_xyzatr,scene1_xyzatr}
+	 * @param scene0 scene0          instance of QuadCLT (used if scenes_xyzatr[0]== null. Needed even if scenes_xyzatr[i] != null
+	 * @param scene1 scene0          instance of QuadCLT (used if scenes_xyzatr[0]== null. Needed even if scenes_xyzatr[i] != null
+	 * @param ref_QuadClt            reference scene instance
+	 * @param ref_pXpYD              sparce reference array of {pX,pY,Disparity}
+	 * @param range_disparity_offset disparity at infinity
+	 * @param batch_mode             batch mode (reduce images)
+	 * @param debug_level            debug level
+	 * @return sparse per-tile array of dx, dy pairs or nulls
+	 */
 	public static double [][]   getSfmDpxDpyDdisp(
 			final double [][][] scenes_xyzatr, // cameras center in world coordinates (or null to use instance)
 			final QuadCLT       scene0,