bug fix in readjust

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

@@ -437,7 +437,8 @@ public class Interscene {
 //		int    search_rad =        clt_parameters.imp.search_rad;    // 10;
 		boolean scale_ims_velocities = true;
 		Did_ins_2   d2_ref = quadCLTs[ref_index].did_ins_2;
-		// apply correction to orientation
+		// apply correction to orientation - better not to prevent extra loops.
+		// And it only applies to rotations
 		double [] cam_quat_ref_enu =Imx5.quaternionImsToCam(d2_ref.getQEnu() ,
 				ims_mount_atr,
 				ims_ortho);
@@ -450,7 +451,7 @@ public class Interscene {
 		ers_reference.addScene(quadCLTs[ref_index].getImageName(), // add reference scene (itself) too
 				scenes_xyzatr[ref_index][0],
 				scenes_xyzatr[ref_index][1],
-				cam_dxyzatr_ref[0],  // ZERO3, // ers_scene.getErsXYZ_dt(),		
+				cam_dxyzatr_ref[0],  // later may overwrite from overlap		
 				cam_dxyzatr_ref[1]); // ZERO3);// ers_scene.getErsATR_dt()	
 		// Will be used in prepareLMA()
 		quadCLTs[ref_index].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
@@ -488,7 +489,7 @@ public class Interscene {
 			double [] scene_abs_atr_enu = Imx5.quatToCamAtr(cam_quat_enu);
 			double [][] ims_scene_xyzatr_enu = {cam_xyz_enu, scene_abs_atr_enu }; // try with xyz?
 			// set initial approximation from IMS, subtract reference XYZATR
-			// predicted bny IMU from the reference scene
+			// predicted by IMU from the reference scene
 			double [][] pose_ims = ErsCorrection.combineXYZATR(
 					ims_scene_xyzatr_enu,
 					ErsCorrection.invertXYZATR(ims_ref_xyzatr_enu));
@@ -613,7 +614,7 @@ public class Interscene {
 			last_corr_xyzatr = ErsCorrection.combineXYZATR (
 					last_corr_xyzatr,
 					corr_diff);
-			
+			// not used here with IMS: after_spiral == false
 			if (after_spiral && (scene_index < (ref_index-1))) { // need to interpolate skipped scenes
 				// here we expect very small translations/angles, so linear scaling is OK
 				double s = 1.0 / (ref_index - scene_index);
@@ -1303,11 +1304,11 @@ public class Interscene {
 					scaled_dxyzatr_dt[0], // (ers_use_xyz? dxyzatr_dt[nscene][0]: ZERO3), //, // dxyzatr_dt[nscene][0], // double []    ers_xyz_dt,
 					scaled_dxyzatr_dt[1]); // dxyzatr_dt[nscene][1]); // double []    ers_atr_dt)(ers_scene_original_xyz_dt);
 			
+			*/
 			quadCLTs[nscene].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
 					QuadCLTCPU.scaleDtToErs(
 							clt_parameters,
 							dxyzatr_dt[nscene]));		
-			*/
 			if (dbg_mb_img != null) {
 				boolean show_corrected = false;
 				if (nscene == debug_scene) {

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

@@ -5088,7 +5088,7 @@ public class OpticalFlow {
 
 //		double [][] combo_dsn_final = null;
 		// below ref_index is not necessary the last (fix all where it is supposed to be the last
-		ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection();
+		ErsCorrection ers_reference = quadCLTs[ref_index].getErsCorrection(); // only used in ml_export
 		while (!reuse_video && ((quadCLTs[ref_index].getNumOrient() < min_num_orient) || (quadCLTs[ref_index].getNumAccum() < min_num_interscene))) {
 			if ((quadCLTs[ref_index].getNumAccum() < min_num_interscene) &&
 					((quadCLTs[ref_index].getNumAccum() <  quadCLTs[ref_index].getNumOrient())||
@@ -5224,12 +5224,18 @@ public class OpticalFlow {
 					mb_max_gain = clt_parameters.imp.mb_max_gain_inter;
 				}
 				boolean        disable_ers = (quadCLTs[ref_index].getNumOrient() < 2); // first orient - no ERS!
-				boolean ers_from_ims = false; // change later
+				boolean ers_from_ims = true; // false; // change later
 //				int            ers_mode = (quadCLTs[ref_index].getNumOrient() < 2) ? (ers_from_ims? 2 : 1):0;
 				int ers_mode = 0; // keep
 				// with IMS it is already set during initial orientation. In non-IMS mode
 				if (!ers_from_ims && (quadCLTs[ref_index].getNumOrient() < 2)) {
 					ers_mode = 1; // calculate velocity
+					if (debugLevel > -3) {
+						System.out.println("Setting ERS data from velocity");
+					}
+				}
+				if (debugLevel > -3) {
+					System.out.println("ers_mode="+ers_mode);
 				}
 				earliest_scene = Interscene.reAdjustPairsLMAInterscene( // after combo dsi is available and preliminary poses are known
 						clt_parameters, // CLTParameters  clt_parameters,