working snapshot

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

@@ -5437,7 +5437,7 @@ public class OpticalFlow {
 	    	}
 	    	double [] rms = new double[5];
 	    	double [] quat = new double[4];
-	    	int quat_lma_mode = 2; // 1;
+	    	int quat_lma_mode = 3; //  2; // 1;
 	    	int debug_lev = 3;
 	        double avg_z = quadCLTs[ref_index].getAverageZ(true); // in meters		
 	    	double  translation_weight =   1.0 / (avg_z + 1.0);

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

@@ -274,6 +274,7 @@ public class QuadCLTCPU {
 				vect_y[nscene] = xyzatr[nscene];
 			}
 			quaternionLma.prepareLMA(
+					quat_lma_mode,      // int           mode,
 					avg_height,         // double        avg_height,
 					vect_x,             // double [][][] vect_x,
 					vect_y,             // double [][][] vect_y,
@@ -281,7 +282,7 @@ public class QuadCLTCPU {
 					translation_weight, // double        translation_weight, // 0.0 ... 1.0;
 					quat0,              // double []     quat0,
 					debugLevel);        // int           debug_level)
-		} else if (quat_lma_mode == 1) {
+		} else if ((quat_lma_mode == 1) || (quat_lma_mode == 3)) {
 			double [][][] vect_y = new double [quadCLTs.length][][]; // camera XYZATR
 			double [][][] vect_x = new double [quadCLTs.length][][]; // IMS XYZATR
 			for (int nscene = early_index; nscene <= last_index; nscene++) {
@@ -289,6 +290,7 @@ public class QuadCLTCPU {
 				vect_y[nscene] = xyzatr[nscene];
 			}
 			quaternionLma.prepareLMA(
+					quat_lma_mode,      // int           mode,
 					vect_x,             // double [][][] vect_x,
 					vect_y,             // double [][][] vect_y,
 					null,               // double []     vect_w, all same weight