- 07 Jul, 2026 13 commits
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Andrey Filippov authoredWhere a small foreground object (the 3-tile roadside sign, disp ~22) stands in front of a distant background both disparities are legitimate, but for CUAS the background matters: a drone flying exactly behind the sign must stay detectable. conditionDisparityCuas now detects connected clusters of local near-outliers (disparity above the local 7x7 median by curt.disp_fg_over, default 2 px) up to curt.disp_fg_tiles (default 8, 0 = off) tiles and re-fills them with zero-curvature background disparity (TileProcessor.fillNaNs Laplacian relaxation). All three RT call sites (render, pose, appropriation) share the one conditioned source as before. Co-Authored-By:Claude Fable 5 <noreply@anthropic.com>
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Andrey Filippov authored
1. calculateRowColBackProject: ERODE the coverage mask (blurred mask >= ROWCOL_BP_ERODE=0.95 ~ 16px inside at sigma 10) before the masked UM and averaging - the back-projection is unreliable near its own boundary and boundary garbage dominated the partially-covered EDGE columns in v013-ROWCOL-02 (per-x maxima ~1000 for x<14, interior clean at 13-39 counts). Excluded edge lines drop below MIN_COVER and take the legacy per-line fallback. 2. RT conditioning row/col (problem 2, borrowed from the oracle path, /jp4/ input unchanged): - REORDER: row/col now AFTER photometric+FPN. Measuring on raw captured the FPN's static line structure (rms ~6/12 counts) which the later FPN subtraction removed AGAIN - negative FPN line structure was injected into the output. - UM before averaging (new curt.rowcol_um_sigma, default 10, 0=off): profiles measured on an unsharp-masked copy, subtracted from the original - content no longer biases the averages and the max_abs gate acts on residual counts. - rowcol_max_abs default 50 (calibrated counts; configs saved before this change carry 0 = no gate - set 50 to enable). 3. CuasQC (Andrey's regression-protection design): per-product health statistics with sequence-independent pass bands, appended per run to <center>-QC.json; FAIL prints loudly, never aborts. Increment 1: ROWCOL vectors (rms<=25, scene-max p95<=500 - both of today's defects would have failed) + FPN (rms, row/col line-structure energy), hooked after calculation AND reuse in CorrectionFPN. Co-Authored-By: -
Andrey Filippov authored
The first calculateRowColBackProject mixed two baselines in one image: content-excluded residual (~0, regression baseline) inside the back-projection coverage, full raw-level image-FPN outside it. Whole lines fell outside the max_abs gate and the outlier-weighted average degenerated to the content mean: vectors reached ~2300 counts (legacy ~340) and stamped junk bands at the coverage-window margins into all per-sensor images (v013-ROWCOL-01 MERGED-DBG slices 141/408 etc). Now the two baselines never mix: masked UM (blur(value*mask)/blur(mask)) high-passes the residual within coverage only; NaN-aware line averages use covered pixels only (getLineAvgNaN); lines with under 10% coverage (ROWCOL_BP_MIN_COVER) fall back to the pure legacy UM+gating estimate per line (mergeLineProfiles). Console reports the line-fallback share. Co-Authored-By: -
Andrey Filippov authored
The registry entry is cleared by submitCurrent() (and again by showDialog()) BEFORE applyCltDialog() runs the getNext*() reads, so getValueOrDefault() - which looked the session up via the registry - always saw null and fell back to every field's default: any value set via POST /mcp/dialog/values was silently lost and OK re-applied the loaded config. The dialog now keeps its OWN session reference for the reads and the await; the registry cleanup clears only its own session (covers the timeout path without clobbering a newer dialog). Co-Authored-By: -
Andrey Filippov authored
Delete-the-file rule (Andrey): FPN and row/col noise recalculate ONLY when <center>-FPN.tiff / <center>-ROWCOL.tiff are missing in the model directory. The two force-recalc checkboxes are removed from the dialog and the config (stale _cuas_calc_* keys in old corr-xml are ignored on load). Reuse printlns name the exact file to delete; the dialog shows addMessage() notes in place of the removed checkboxes. Co-Authored-By: -
Andrey Filippov authored
CLAUDE: Row/Col correction (RT step 2): curt rowcol_* dialog params + content-excluded noise calculation 2a: CuasConditioning rowcol_* Config now dialog-driven (curt.rowcol_en/ rowcol_hpf/rowcol_hpf_sigma/rowcol_max_abs/rowcol_outlier, "CUAS RT" tab) via CuasConditioning.configFromCurt(); RT Row/Col is optional/bypassable (turn rowcol_en OFF when the FLIR internal correction is verified OK). Defaults reproduce the previous hardcoded Config bit-exactly (rowcol_max_abs 0 = the old INFINITY no-gate). 2b: new CorrectionFPN.calculateRowColBackProject() (gated by NEW imp.cuas_backprop_rowcol, default ON): subtract the back-projected (pose-transformed, photometric-matched) virtual center from each scene BEFORE the UM + line averaging, so bright content no longer biases the row/col averages (the dark horizontal/vertical line artifact). Falls back to (image - FPN) where the back-projection is undefined; serial scene loop (GPU back-projection per scene) - borrowed/non-RT path only. Co-Authored-By: -
Andrey Filippov authored
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Andrey Filippov authored
CLAUDE: test 7 - windowed-LoG TD product (correlation machinery): broadband exact, crease bands UNCHANGED Andrey's separate-LoG proposal prototyped on the CPU oracle: LoG as a windowed 16x16 DATA tile (taps pre-divided by the sine window AND cosAtten so the effective filter is the exact flux-normalized LoG), full 16-mult quad product per tile (GPU correlateAccumulateTiles table == convolve_tile(conj(data),k) - verified term-by-term), dttt_iie back (mode-TRANSPOSED = GPU dttii_2d), corr_unfold_tile, windowed OLA with sum(w^2) normalization. RESULT: impulse fidelity 2.0e-3 (no aberration-kernel cross-term - a separate pass), but the ramp crease bands are IDENTICAL to the per-bin fold (+/-0.546): the DTT symmetric-extension reflection is only attenuated by the window, not removed - the crease is BASIS-INHERENT to any single-tile TD product. The per-bin fold is the degenerate (symmetric-kernel) case of this same product. Band-free LoG requires pixel-domain convolution on the assembled image. Calibrated conventions along the way (documented in code): correlation product table, dttii mode transpose, corr_unfold patch mapping (+1 offset, no flip), global gain 4.000, window and cos tap precompensation. Co-Authored-By: -
Andrey Filippov authored
Same ramp, same chain: identity 0.000; aberration-like kernel 0.624 counts (band/output 0.18% - present in every render, invisible under content); pure LoG 0.547 (176% of its near-zero output); folded 0.682. The aberration kernels DO band identically in absolute counts - the LoG only unmasks them by removing the content. Corollary: the CURRENT pixel-LoG conditioning also reveals the render's own crease bands (the oracle product bands too, with a different pattern). Co-Authored-By: -
Andrey Filippov authored
CLAUDE: test 6 - sky-band root cause reproduced: symmetric-extension crease response to LINEAR content Constant -> exactly 0; ramp 5/row -> 8-row-periodic band pattern (0,-0.008,-0.297,-0.547,+0.547,+0.297,+0.008,0) = the LOG-01 run's measured sky bands scaled by the gradient (2.5/row -> -0.14,-0.30,+0.35,+0.16). Pure double CPU chain -> not float32, not GPU, not a kernel coefficient: pixel LoG of a ramp is 0 (odd symmetry) but the per-tile symmetric convolution sees the mirrored extension's slope crease at tile boundaries. Inherent to any per-bin TD multiply (present under aberration kernels too, masked by content - Andrey's LPF-era artifact class, confirmed in substance). Co-Authored-By: -
Andrey Filippov authored
Andrey's discriminator for the fold-vs-kernel-interaction question: with rend_test + new 'RT render LoG isolation (identity krnl)' ON, saves -CUAS-RT-RENDER-ID (identity kernels: q0=1, q1..3=0, CltExtra=0 - aberration correction AND fractional offsets skipped), -ID-LOG-ORACLE (pixel LoG of -ID), and -LOG-ONLY (pure-LoG kernels, CuasLogFold.uniformKernels(log_td)). If -LOG-ONLY vs -ID-LOG-ORACLE residual persists, the fold/L0 is wrong; if it collapses to the wrap floor, the aberration-kernel interaction is responsible. Refactor: pixel-LoG application extracted to applyPixelLog(); log_test and log_ident share the kernel fetch/restore (finally). Evidence so far (offline, this evening's run): per-sensor high-bin tilt varies s07 +1.3% .. s01 +2.4% with identical scene content => kernel-dependent; per-quadrant deviation maps identical (no single-coefficient signature); kx=0 column regionally incoherent (row-structure channel, separate issue). Co-Authored-By: -
Andrey Filippov authored
t (channels): merged FIRST then s00..s15; z (frames): 'average' (all scenes) + 'average-f:l' (middle-half, renderSceneSequence default range) then scenes - same dimensions as -CUAS-INDIVIDUAL-CUAS-DBG (17 x 499 x H x W) so ImageJ can subtract the stacks directly. NaN-tolerant per-pixel averages. Applies to all three products (RT-RENDER, -LOG-ORACLE, -LOG-FOLDED). Per Andrey 07/06/2026. Co-Authored-By: -
Andrey Filippov authored
With 'CUAS RT render' + new 'RT render LoG A/B (folded kernels)' checkboxes ON, testRenderSequence saves two more hyperstacks comparable to -CUAS-RT-RENDER: - -CUAS-RT-RENDER-LOG-ORACLE: the product convolved with the EXISTING pre-DNN pixel-domain LoG (same CuasRTUtils.convolve2DLReLU instance construction as CuasDetectRT.detectTargets, LINEAR alpha=1); - -CUAS-RT-RENDER-LOG-FOLDED: the same render chain re-run with the LoG folded into the GPU aberration kernels (CuasLogFold.getLogTd tap-precompensated + foldKernels, setConvolutionKernels force re-upload) - NO pixel convolution; original kernels restored in a finally block. Render loop extracted verbatim into renderPass(), hyperstack save into saveRenderHyper() so both passes share the exact chain. Offline verdict: attic/CLAUDE/compare_cuda_versions.py --only LOG- Co-Authored-By:
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- 06 Jul, 2026 10 commits
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Andrey Filippov authored
CLAUDE: CuasLogFold - LoG-into-kernel fold + synthetic impulse/grating self-test (roadmap RT-seed step 1) Findings (all validated to stated precision by the self-test, exit 0): - Per-bin TD quad-multiply == pixel convolution with cos(pi*dx/16)*cos(pi*dy/16) ATTENUATED taps (matches norm_sym_weights in calculateCLTKernel; shift-tap error exactly 1-cos(pi/16) before compensation). getLogTd() therefore pre-compensates LoG taps by 1/cosAtten so the EFFECTIVE filter is the true pixel LoG (machine-exact at non-bin gratings). - Residual floors: symmetric-extension wrap ~0.5-2.5% (inherent to the lapped structure); folded-vs-pixel-LoG A/B cross-term ~7% on a pessimistic spread kernel (test 5 - predicts the full-run A/B floor). - clt_symmetrize_kernel quadrant-3 (AA) sign pattern looks like a latent copy-paste of the AS expression: pure-AA kernel test - math sign 2.6e-3, code sign 1.9e-1. Production kernel files likely carry the wrong AA sign. Co-Authored-By: -
Andrey Filippov authored
POSE-13 forensics (from files, run 02:18-02:24): the iteration executed but dG came out defined on only 5% of the frame (right-edge strip + terrain patches), so fpn2 = fpn1 over 95% - the ghost survived. Chain: rebuild accumulation was healthy (494/494 scenes, ~75% per scene, ~85% union) but a single-sequence new-average center keeps NaN holes in the weak sky (no parent cumulative, no fillNewGaps), and convert_direct of a NaN-holed center image NaN-poisons nearly all back-projected tiles (task inversion + overlap spread). Fix: composite before the second back-propagation - keep rebuilt values where defined, fall back to the original center in the holes. There dG measures the pass-1 residual (~0), so it degrades to "no correction where not rebuilt" instead of NaN. Adds a coverage printout and a cuas_debug save of the composited center (-FPN-CENTER2-ITERn) so the next run is file-verifiable. Co-Authored-By: -
Andrey Filippov authored
FPN = mean(scene - backProject(center)) is a fixed point that preserves the center's own content residual (the rotating ghost): recomputing against the same contaminated center reproduces the same ghost regardless of rot_period or photometric vintage (POSE-12 confirmed: 43.1/92.0 unchanged). Iterate per Andrey's design (internal handoff 2026-07-06): 1. subtract fpn_k from scenes in memory (setApplyFPN, delta-aware) 2. rebuild the center IMAGE from the corrected scenes over integer rotations - new Cuas.rebuildCenterImageInMemory(): new-average only (no parent cumulative fold), NOTHING persisted, center_clt and image_center untouched (the .cuas cumulative is upstream state) 3. back-propagate against the rebuilt center image (swapped in/restored around the measurement) -> residual dG = the ghost 4. fpn_{k+1} = fpn_k + dG in NEW arrays (scenes hold fpn_k references as applied-FPN for delta re-apply); prints |dG| RMS/max per iteration 5. cuas_debug saves per-iteration -FPN-DG-ITERn Gated by new dialog field "FPN back-propagation iterations" next to "Rotation period"; default 1 keeps the POSE-12 baseline bit-reproducible. Verify by RT-RENDER horizon/sky pk-pk (43.1/92.0 -> temporal-noise floor). Data path verified: applyFPN sets hasNewImageData, honored by both GpuQuad.setBayerImages and GpuQuadJna, so corrected pixels reach the GPU for the rebuild and the second back-propagation. Co-Authored-By: -
Andrey Filippov authored
Andrey's clutter rule: calibration force-rerun = erase the file, not a config checkbox. pose_recalc removed everywhere (field/dialog/properties/ copy; old configs' leftover key is ignored harmlessly), poseSequencePass lost its allow_recalc parameter. Every file-gated reuse now prints the delete-to-recalculate hint: - TILE-CALIB: 'reusing ... delete <name>-POSE-RT-TILE-CALIB.tiff to recalculate' - RT-STATE dc_center: 'delete <name>-RT-STATE.json (or its dc_center field)' - FPN (CorrectionFPN): 'reusing saved <name>-FPN.tiff - delete it to recalculate (verify Rotation period first - a mismatch bakes an azimuth-sector content ghost into the FPN)' Co-Authored-By: -
Andrey Filippov authored
Andrey's ruling: the pose stage normally ALWAYS runs (it is part of the RT cycle, not a mutually-exclusive test) - the last run had rend_test ON which silently skipped the pose stage (old precedence) and left TILE-CALIB unbuilt. Now: pose_test runs FIRST, rend_test render follows when also ON, cond_test stays standalone (only when nothing else ran). Dialog/tooltips updated ('CUAS RT render (full product)'). Verified meanwhile (POSE-11 renders): frozen per-sequence DC cut the RT-RENDER horizon wobble 234 -> 42.4 counts pk-pk (5.5x), exactly to the oracle DBG floor - the residual at 1-rev period is the shared FPN ghost; FPN.tiff still Jun-1 vintage because cuas_calc_fpn was OFF (the '(Re)calculate FPN' checkbox) - the rot_period=164.9 recompute has not actually run yet. Co-Authored-By: -
Andrey Filippov authored
POSE-10 forensics: RT-RENDER merged horizon pk-pk 234 counts (sky 187) with the dominant period 165.7 scenes = EXACTLY one camera revolution (21.83 rpm @ 60 fps -> 164.9); POSE-RT-COMPOSITE real slices the same. Cause: the per-SCENE zero-DC sky median (Config.dc_level=NaN auto) oscillates with azimuth as warm terrain sweeps through the sky half; downstream temporal averages convert the wobble into content-correlated residuals - the faint rotating ghost ('real image treated as FPN'). Oracle MERGED-DBG shows a separate, 3-6x smaller wobble at the same period (pre-existing, prepared path - not addressed here). Fix (Andrey's rule: one constant per sequence, from the average scene): - CuasRT.sequenceDcLevel(): manual curt.dc_center override when nonzero, else the RT-STATE value derived by appropriateCenter() from the borrowed center (= the sequence average) - scenes and center shift by the IDENTICAL constant. - CuasPoseRT (A2 ingest) + CuasRender (render test) now pass a Config with that dc_level instead of null; NaN fallback (per-scene) kept but warns loudly. Config.dc_level doc updated. Co-Authored-By: -
Andrey Filippov authored
New checkbox 'Save oracle DBG renders (11GB)' (default ON - current behavior preserved): gates the EXTRA per-sensor -CUAS-INDIVIDUAL-CUAS-DBG render pass and the -CUAS-MERGED-CUAS-DBG save in CuasRanging.prepareFpixels (the merged render itself stays - it is the production imp_targets input). Turn OFF to save render time and disk once -CUAS-RT-RENDER (rend_test, the RT-chain full render) is the trusted full product. Also refreshed the stale dc_center GUI tooltip (RT-STATE.json semantics). Co-Authored-By: -
Andrey Filippov authored
Missing-file rule (Andrey): calibrations are FILE-gated; missing -> rebuild (slow first run), present -> reuse, erase -> force. Config keeps parameters only. - TILE-CALIB bootstrap: testPoseSequence = wrapper over poseSequencePass; missing -POSE-RT-TILE-CALIB (or pose_recalc ON) -> FULL pass generates and saves it, then AUTOMATICALLY re-runs filtered (~150 cluster tiles) - first run on a v013_min copy ends in the warmed-system state, per sequence (mixed-state batches self-serve). Bootstrap re-run ignores pose_recalc; pose_full still never reads/writes the calibration. - NEW CuasRtState (-RT-STATE.json, Gson): per-sequence RT-only persistent variables in the CENTER model dir; global params stay with quadCLT_main / corr-xml (GUI save + compare/combine). Data-pure (paths, no QuadCLT), forward-compatible, failure-safe load. First tenant: dc_center - AUTO now reuses/derives-and-stores per sequence; the corr-xml config is never mutated (nonzero = manual override). - INTERFRAME is QuadCLT-workflow/POSES ONLY (Andrey): rtPhotometricCalibration no longer writes the ref INTERFRAME; photometric persists via the explicit corr-xml save after a calib-ON run (quadCLT_main carries the values). Co-Authored-By: -
Andrey Filippov authored
- NEW cuas/rt/CuasRT.java: the ENTIRE CUAS RT mode moved out of OpticalFlow.buildSeries (curt_en branch) into one readable top method: 1. INITIALIZATION (ingest, photometric calibration, center appropriation) 2. DIAGNOSTICS (rend/pose/cond tests - exclusive, never grow the top) 3. PRODUCTION (detection; the MVP per-scene jp4 loop will replace the bulk oracle ingest without changing this structure). - Borrow boundary (Andrey ruling): all transforms of borrowed QuadCLT data happen at CuasRT initialization ONLY. appropriateCenter() zeroes the center CLT IN MEMORY (setCenterClt; -CLT-UPDATED is saved upstream, so the zeroed copy never persists) - the pose test drops its per-run GPU appropriation and uploads an already-zeroed reference. The pure math is CuasConditioning.zeroDcClt(fclt, pattern, level) - knows no QuadCLT. - FIX (POSE-09 silent no-op): the DC-pattern uniform image must be set on gpuQuad.getQuadCLT() - what both backends actually read (GpuQuadJna setBayerImages(center=true), JCuda base, CorrectionFPN recipe) - not on center_CLT; plus an all-zero-pattern guard (warn loudly, never fake-offset). - FIX (POSE-09 1470-count per-sensor sky spread vs 17 calibrated): rtPhotometricCalibration applies the fit to the ALREADY-SPAWNED per-scene instances too (created by ingest before the calib step). The recalibrated photometric persists only via ref INTERFRAME + a config save after a calib-ON run - all current configs still carry the stale values. Co-Authored-By: -
Andrey Filippov authored
getCenterAverage() is null in the pose flow, so the auto DC level silently no-op'd (composite virtual sky stayed at -4511). Derive the level from the reference buffer render itself - perSensorImagesFromTD(gpuQuad, true)[0] sky-half median - i.e. the exact data being zeroed, right after setReferenceGPU uploads it. Failure-safe warnings preserved; explicit curt.dc_center and adoption/persistence semantics unchanged. Verify: pose run -> console 'AUTO center DC level', composite virtual sky ~0. Co-Authored-By:
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- 05 Jul, 2026 13 commits
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Andrey Filippov authored
Three coupled improvements from tonight's design discussion with Andrey: 1. ZERO-DC in CuasConditioning (Config default ON): LWIR microbolometers are ADDITIVE (fixed tau=8ms exposure, F#~1 for NETD, ~100 counts/K) - day/night and seasons SHIFT the level, never scale it; the MCLT has no clean DC/AC separation, so a large DC (current ~-3500 counts under ~300 counts AC) spreads over many TD points and costs float32 mantissa bits. Subtract ONE common constant from all 16 sensors (pure shift, never rescale). AUTO level = MEDIAN OF THE TOP (SKY) HALF, robust to the snowy-ground-vs-summer- calibration mismatch and to targets. 2. RT-DECOUPLED FAT ZERO (curt.fz_inter=10000, curt.fz_intra=2000 reserved): the lean code erroneously used the INTRA getGpuFatZero (2000) instead of the INTER value - Andrey's FZ sweep (200/1000/3000/10000: corrRMS .54/.39/.37/.31, roll bias +.80/+.62/+.50/+.39) independently rediscovered the oracle's INTER operating point (10000). RT now owns its FZ pair, no AUX switch; legacy gpu_fatz*/FOPEN configs untouched. Sweep recorded as characterization: FZ tolerant over a broad range; revisit only together with the argmax method redesign (sharp peaks starve the centroid). 3. BORROWED-CENTER APPROPRIATION (curt.dc_center, 0=auto): the restored CenterClt reflects its own footage vintage - offset it ONCE at the borrow boundary (firewall: never re-compensate downstream) to match the zero-sky scenes. Auto level = sky-half median of the borrowed center average, ADOPTED into curt.dc_center (persisted with the config - borrowable later like the photometric calibration). Mechanics: DC pattern = CLT of a uniform image via the existing back-propagation convert (setImageCenter + no_kernels + use_center_image, the CorrectionFPN recipe); failure-safe (any missing piece leaves the reference unchanged, with a warning). Roadmap recorded: per-pixel offset (recalibrated per-sensor + FPN) and per-pixel scale maps to the GPU; the average stored in TD AFTER LoG (aberration+LoG combined kernels) for fpixels subtraction - possibly for poses too; center-average window length trades reference stability vs extremely-slow-target detectability. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: restore the pose test using the new (certified) data. - Disparity: ONE source for all of RT - the plain DSI slice through CuasRender.conditionDisparityCuas (defined for ALL tiles, sky=infinity, negatives clamped). The use_lma_dsi gate removed from the pose test (the LMA slice is NaN over the sky and silently shrank the usable set). - leanMeasure/leanFitScene: MB compensation (lean v2) - the same certified machinery as CuasRender: setInterTasksMotionBlur two task sets + the erase-first interCorrTDMotionBlur double convert (undefined tiles NaN for the consolidation), gated by imp.mb_en, vectors from the existing per-scene getMotionBlur block (previously computed but unused by lean). - pose_stored branch gets the same MB treatment. Expected in the next lean run (LMA, 150-cluster selection, mb_en ON): az/tilt wobble (v*tau, 0.5 px rotating) collapses toward the MBEN oracle (0.029/0.021 mrad), corr RMS toward ~0.08; roll bias = the remaining open question (FPN-mask lead). Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: the sky has nothing to match but is the BACKGROUND FOR DRONES - it must render (at infinity), NaN acceptable only outside the image. Root of the NaN tiles in -CUAS-RT-RENDER: use_lma_dsi=true selected the LMA DSI slice, which is NaN wherever the LMA did not fit (the whole sky) -> tiles dropped from the task list. The plain slice has no NaN but carries garbage (crazy < -1 tiles in the sky, negatives near the sign post). Fix: NEW static QuadCLT-free conditionDisparityCuas() (the legacy conditionInitialDS takes a QuadCLT instance - out per the RT rules): plain slice 0, NaN -> 0.0 (infinity), negatives -> 0.0. testRenderSequence now uses it unconditionally (not gated by use_lma_dsi - that gate is for the pose measurement, not rendering). Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: undefined tiles (= not in the task list; the fixed-length 5120 arrays represent them as nulls) must be handled by the channel consolidation - weighted-by-existing average, all-NaN tile when no sensor has it (now Java CuasTD.consolidateSensorsTD, later the CUDA clt_average_sensors kernel). The consolidation detects missing by NaN, but the MB double convert ran with erase=-1, leaving STALE (valid-looking) data at undefined tiles. - ImageDtt.interCorrTDMotionBlur: new erase-capable overload (erase_clt_first: >0 NaN, 0 zeros, <0 legacy no-erase) - erases before the FIRST (SET) convert only; the SECOND (negative-scale SUBTRACT) never erases. Legacy signature delegates with -1: oracle/SfM callers byte-identical. - CuasRender MB path uses erase_clt_first=1: the GPU TD buffer's NaN pattern now mirrors the task-list membership, so consolidation + renders see undefined tiles as NaN - never the previous scene. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: of the 3 expected render-vs-oracle mismatch causes, the legitimate one is the better photometric calibration; the other two - ERS and motion blur - must be implemented in the RT chain: - ERS: NEW CuasConditioning.conditionSceneToGpuCuas(scene, cfg, omegas, velocities, ...) - the ONE place per-scene motion enters the ingest. Sets the scene ERS rates (fully-preserved ErsCorrection path); velocities = provision ({0,0,0}/null for the rotation-only camera). In production the omegas come analytically from wobble radius + RPM; the GPU corr_vector imu_rot/imu_move feed is the future upgrade (after the double-application check vs CPU pXpYD ERS). Legacy conditionSceneToGpu delegates (unchanged behavior for the pose loop). - MB: renderSceneVirtual takes mb_vectors/mb_tau/mb_max_gain; when enabled uses the ORACLE machinery (setInterTasksMotionBlur two-task-set + interCorrTDMotionBlur double convert: positive original + negative shifted scale pair summing to 1, ratio from 1-pix-time/tau, offset stretched when scales would exceed mb_max_gain). No erased re-convert in MB mode (would destroy the accumulation) - comparisons must mask to task tiles. - testRenderSequence: MB gated by imp.mb_en (matching the oracle DBG products: ON -> compare vs MB DBG, OFF -> vs -NOMB DBG); vectors from the same OpticalFlow.getMotionBlur at borrowed pose + stored rates; ingest via the new wrapper. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey (2026-07-05): today's problems came from jumping over the standalone certification of conditionSceneToGpu (single caller inside the pose test, never image-tested by itself). Test and debug the ingest+render chain FIRST, only then return to the pose test. NEW class cuas/rt/CuasRender (the start of the dedicated renderer per the spec in imagej-elphel-internal handoffs/2026-07-05_cuas_rt_dataflow_and_grids.md par.6: virtual uniform grid always, raw center DSI disparity, jp4+CuasConditioning pixels, QuadCLT borrow-only, static methods): - renderSceneVirtual(): tasks at pose (ALL valid-disparity tiles) -> convert (erase=1, NaN outside tasks) -> 16 per-sensor renders + consolidated (NaN-aware weighted average) merged render. No correlation. - testRenderSequence(): per scene raw /jp4/ -> conditionSceneToGpu -> render at BORROWED stored pose + stored ERS rates (the exact sources the oracle DBG renders use) -> saves <center>-CUAS-RT-RENDER.tiff hyperstack [t: s00..s15, merged][z: scenes], slice-by-slice comparable to -CUAS-INDIVIDUAL-CUAS-DBG / -CUAS-MERGED-CUAS-DBG. New checkbox "CUAS RT render test (ingest+render)" (curt.rend_test), takes precedence over the pose test in the curt_en branch. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
LEAN-07 (stored poses, all tiles, sum-scaled input): sqrt_l0 3.22 -> 5.58 (wider, not the predicted ~2.1), corr RMS 0.82 -> 1.005. At 16x signal-to- fat-zero the normalize amplifies the blur-decorrelated high frequencies - the fat zero was regularizing usefully. Root of the misdiagnosis: the width comparison used the MB-COMPENSATED oracles (FILT150A 2.08, MBEN 2.75); the correct no-MB control (NOMB oracle) has sqrt_l0 3.58 ~ lean's 3.22 - lean peak shapes were normal all along, and Andrey's "there was no 16x difference" was right where it mattered. Consequences: (1) correlator input back to the true weighted average (the same data as the -POSE-RT-COMPOSITE debug render - single upload again); (2) the "fz-broadened peak content pull" roll-bias mechanism is falsified - the +0.52/+0.33 mrad roll bias needs a new suspect (remaining engine differences vs the NOMB oracle: neighbor consolidation min_str_neib, min_confidence gates, peak-extraction parameters); (3) MB compensation in lean (v2) is the main quality lever - MBEN sharpens peaks 3.6 -> 2.8 and removes the 0.5 px wobble. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey's input-verification methodology: the -POSE-RT-COMPOSITE "real" component must be the weighted 16-sensor average (comparable to the virtual render), while the correlator receives the per-tile SUM (379b3cf6 fix). Render moved BEFORE the sum scaling (extra H2D + imclt in debug mode only); the post-correlation render (which would now show the count-stepped sum) removed. Verified: mvn -DskipTests clean package OK. Co-Authored-By:
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Andrey Filippov authored
CLAUDE: lean pose FIX: consolidated TD scaled to per-tile sensor SUM (oracle fat-zero operating point) The lean conj-multiply fed the plain 16-sensor AVERAGE into the same FZ-normalize (same absolute fat zero; JNA drops per-tile weights) that the oracle feeds with the unweighted SUM of pair products - 1/16 the amplitude, so the effective fat zero was 16x larger. Invisible in output scale (the normalize hides it) but measured in peak shape: sqrt_l0 3.22 vs oracle 2.08 and sqrt_l1 5.83 vs 4.15 on identical tiles, corr RMS 0.46 vs 0.33 - and suspected as the roll-bias mechanism (asymmetric-content centroid pull on broadened peaks; +0.52 mrad @ 150 edge-weighted tiles, +0.33 @ all tiles). Fix: multiply each consolidated tile by its per-sensor count (SUM semantics, matching the oracle exactly incl. partial tiles). consolidateSensorsTD itself unchanged (A2 validation still uses the true average). Expected in LEAN-05 (normal LMA run): sqrt_l0 ~2.1 in the HYPER eigen slices, corr RMS toward ~0.33, roll bias collapse if the mechanism is confirmed (survival = clean falsification). Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Andrey's diagnosis: the composite-vs-DBG sub-pixel warp field (static, sy- dominated: uniform 0.24px, x-shear, +0.3% y-scale ~ tilt_rate*frame_time) comes from the ErsCorrection infrastructure - the render path sets each scene's ERS from the STORED scenes_<ts>_dt (xyz_dt AND atr_dt, renderSceneSequence/OpticalFlow:10555) while the pose loop used finite- difference ATR-only rates with xyz_dt=0. Different scene-side ERS by construction. (Virtual center's own ERS rates confirmed ZERO in corr-xml; GPU corr_vector imu_rot/imu_move ERS support confirmed present but dormant.) pose_stored mode now sets setErsDt from ers_center.getSceneErsXYZ_dt/ getSceneErsATR_dt - the exact calls the render uses - so the decoupled measurement/render applies IDENTICAL poses AND ERS as CUAS-MERGED-CUAS-DBG. If the warp field collapses in the next pose_stored run, the divergence is proven. Live (LMA) mode unchanged: finite-difference rates - to be replaced by rates computed from pose + rotation model (RT design: ErsCorrection preserved fully, thin non-QuadCLT plumbing; per-sensor ERS available on GPU via corr_vector imu when fed). Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: static per-tile dx offsets found in -POSE-RT-HYPER (e.g. tile x=15,y=41: dx mean +0.92 constant over all 497 scenes, far tile disp 0.02; tile x=71,y=51: dx +0.86 dy +1.91, near tile disp 13.2 - neighbors with similar disparity are near zero) -> suspect broken per-tile task data. New checkbox "Pose test stored poses (no LMA)" (curt.pose_stored): every scene is measured/rendered at its STORED (oracle-vintage) pose, the LMA is skipped entirely. -POSE-RT-HYPER/-CORR2D/-COMPOSITE come from that single measurement; CSV rms column = weighted RMS of the measured offsets. The -POSE-RT-COMPOSITE "real" component must then match the oracle CUAS-MERGED-CUAS-DBG per-scene renders tile-for-tile (and "virtual" its [average] slice) - any mismatch localizes the broken tiles in the task/render/correlation chain, independent of the solver. Observability only - the fitting paths are unchanged. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey (no blind fixes - see what is going on): save the composite (TD-averaged, grid-transformed) scenes actually correlated against the virtual center, WITH the virtual render for comparison: - curt.pose_img_save (checkbox "Pose test save composite scenes"): -POSE-RT-COMPOSITE.tiff hyperstack [t: real, virtual][z: scene] - the virtual-center render repeated for every scene so the component slider blink-compares at any z. z aligned with -POSE-RT-HYPER/-CORR2D. - leanMeasure img_out holder: when requested, re-runs execConvertDirect with erase_clt=1 (NaN outside task tiles - the standard interCorrTD erase=-1 leaves the previous scene's tiles as ghosts in a render; correlation itself unaffected), then imclt renders sensor slot 0 = the consolidated average (last LMA cycle, converged pose). - Virtual component = imclt of the reference buffer (what the conj-multiply actually sees), not a re-render from prepared data. Observability only - processing unchanged, roll-bias symptom preserved. Verified: mvn -DskipTests clean package OK. Co-Authored-By: -
Andrey Filippov authored
Per Andrey's debug approach (same as used on the oracle): render the actual scene-vs-virtual-center correlations in the pixel domain and save them as a scene sequence. Observability only - NO processing changes, the roll-bias symptom is preserved. - curt.pose_corr_save (checkbox "Pose test save 2D correlations"): save -POSE-RT-CORR2D.tiff - z=scenes (aligned with -POSE-RT-HYPER incl. NaN slices for failed/coasted scenes), tile grid of 16x16-pix cells, last LMA cycle per scene, ImageDtt.corr_partial_dbg convention as CuasMotion CORR2D. Lean engine only (the oracle does not expose its correlation tiles). - curt.pose_full (checkbox "Pose test ALL tiles (ignore calibration)"): temporarily drop the 150-tile filter and use all strength-selected (~1074) tiles; -POSE-RT-TILE-CALIB is neither read NOR written so a debug run never pollutes the persistent tile calibration. - leanMeasure/leanFitScene: optional corr_pd_out holder (last-cycle PD tiles). Context: lean run v013-LEAN-01 confirmed the v*tau signature on az/tilt (implied tau = 8.4/8.0 ms = mb_tau) but showed a constant +0.52 mrad roll bias; peaks ~50% wider than oracle on common tiles (suspect: consolidation averages /16 while oracle sums pairs -> effective fat-zero 16x larger). These debug outputs are for inspecting exactly that before changing the processing. Verified: mvn -DskipTests clean package OK. Co-Authored-By:
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- 04 Jul, 2026 4 commits
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Andrey Filippov authored
Per Andrey: insert an XML comment right after <properties> in every modified file with the absolute path of the script that did the migration + timestamp (absolute path intentional; adjust per machine). Java loadFromXML ignores XML comments (verified with a real load: 4153 entries) but drops them on re-save. Applied to the live config LV396-v013-...-POSEJP4-ENMB.corr-xml: 87 keys renamed, .bak kept, Java load verified. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: CuasRtParameters should be instantiated like the other parameter classes at CLTParameters:1175..1185 (img_dtt/ofp/imp/ilp/...), not nested inside IntersceneMatchParameters. Changes: - CLTParameters: new peer field curt, set/getProperties wiring, own "CUAS RT" dialog tab right after imp's questions/answers (tab content unchanged; tab position moves from inside imp's tab row to after it). - IntersceneMatchParameters: the six curt wiring sites removed (field, dialogQ/A, set/getProperties, clone). - Access rename: clt_parameters.imp.curt.X -> clt_parameters.curt.X (105 sites: OpticalFlow, CuasDetectRT, CuasPoseRT). - corr-xml keys change _imp_curt_* -> _curt_*. getProperties keeps a legacy fallback (reads _imp_curt_* first, _curt_* overrides), so old configs still load unmigrated. - NEW scripts/migrate_curt_config.py: renames _imp_curt_* keys in existing corr-xml files (in-place with .bak, --dry-run, idempotent, drops duplicate legacy entries with a warning). Validated on a copy of LV396-v013-...-POSEJP4-ENMB.corr-xml: 87 keys renamed, byte-identical otherwise. Verified: mvn -DskipTests clean package OK; no imp.curt references remain. Co-Authored-By: -
Andrey Filippov authored
The reader was at 63291/65535 (bloated by ~1103 non-CUAS getProperty reads, not curt). Split its second half into a private getProperties2(prefix, properties) continuation (same pattern as the earlier getPropertiesCuasRT split): getProperties 63291->33327, getProperties2 29970 - both comfortably under the limit. Behavior identical (order preserved, same args). All IMP methods now safely under 64K (largest = setProperties 52127). mvn compile clean. Co-Authored-By: -
Andrey Filippov authored
Per Andrey: move every curt_* parameter out of IntersceneMatchParameters into its own class (like CLTParameters.imp/ofp/... peers), held as IntersceneMatchParameters.curt = new CuasRtParameters(). All 61 params: field decls, dialogQuestions/Answers, set/getProperties, clone. Access changes imp.curt_X -> imp.curt.X (114 external sites across OpticalFlow/CuasDetectRT/ CuasPoseRT); short field names (curt_ prefix dropped, class name conveys it). corr-xml COMPATIBLE (no conversion needed): delegated as curt.set/getProperties(prefix+"curt_", props) with short keys, so full keys stay ..._imp_curt_X byte-identical (verified: 61 old == 61 new). Verified: compiles clean; 61 params in every section; dialogQ add* == dialogA getNext* == 61, verbatim order (pairing preserved); interleaved non-curt air_/fgnd_ decls intact. Relieves setProperties 54865->52127, dialogQuestions 22385->21267, clone -503B (the methods our pose work grows). NOTE: getProperties READER stays 63291/65535 - its bloat is ~1103 NON-curt getProperty reads (curt reads were already in getPropertiesCuasRT since 06/12); relieving it needs a separate non-curt extraction (flagged for Andrey). Co-Authored-By:
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