Fixed -ground_tilts-result.tiff image generation (ground disparity and

Z)

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

@@ -545,6 +545,12 @@ public class GroundPlane {
      	double [][] ground_xyzatr = ErsCorrection.invertXYZATR(to_ground_xyzatr); // straight down from the camera, then rotated
      	double [][] virtual_camera_from_ground_xyz = ErsCorrection.invertXYZATR(new double [][] {ground_xyzatr[0],new double[3]});
      	double [][] virtual_camera_from_camera =     ErsCorrection.combineXYZATR(ground_xyzatr, virtual_camera_from_ground_xyz);
+     	// FIXME: Next is correct (at least approximately, "-"/invert, order,), find out why
+     	System.out.println("FIXME: Inverted X, Y, kept Z, and ATR. Find out why.");
+     	
+     	double [][] vcfs_test = {
+     			{-virtual_camera_from_camera[0][0], -virtual_camera_from_camera[0][1],  virtual_camera_from_camera[0][2]},
+     			{ virtual_camera_from_camera[1][0],  virtual_camera_from_camera[1][1],  virtual_camera_from_camera[1][2]}};
      	
      	if ((dbg_title != null) || (gnd_disp != null)) {
      		// expand macrotiles results to match tiles
@@ -552,9 +558,9 @@ public class GroundPlane {
      		double [][] pXpYD_ground = OpticalFlow.transformToScenePxPyD(
      				null,                      // final Rectangle   full_woi_in,      // show larger than sensor WOI (or null) IN TILES
      				ref_disparity,             // final double []   disparity_ref,    // invalid tiles - NaN in disparity
-     				virtual_camera_from_camera,// final double [][] scene_xyzatr,     // camera center in world coordinates, camera orientation relative to world frame
+     				vcfs_test, // virtual_camera_from_camera,// final double [][] scene_xyzatr,     // camera center in world coordinates, camera orientation relative to world frame
      				ref_Clt);                  // final QuadCLT     scene_QuadClt)
-     		double [] gnd_disparity = (gnd_disp != null) ? gnd_disp : new double [ref_disparity.length];
+     		double [] gnd_disparity = (gnd_disp != null) ? gnd_disp.clone() : new double [ref_disparity.length];
      		Arrays.fill(gnd_disparity, Double.NaN);
      		for (int i = 0; i <ref_disparity.length; i++) {
      			double [] xyd = pXpYD_ground[i];