Before updating IMS interpolation

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

@@ -103,7 +103,12 @@ public class EyesisCorrectionParameters {
     	public String sourceSequencesList=     "";
     	public boolean useSourceList=          false;
     	
-    	public String sourceImsDirectory=      ""; // source IMS log files
+//    	public String sourceImsDirectory=      ""; // source IMS log files
+    	public String imsRootDirectory=        ""; // source IMS log files
+    	public String imsDataSubdirectory=     "data"; // source IMS log files relative to imsRootDirectory
+    	public String imsPrintSubdirectory=    "print"; // directory to print DiD-s in human-readable format
+    	public String imsSuffix=               "-ims.corr-xml";  // model subdirectory to store IMS data
+    	public String egomotionSuffix=         "-egomotion.csv"; // Egomotion table
 
     	public String sourcePrefix=            "";
     	public String sourceSuffix=            ".tiff"; //".jp4"
@@ -205,6 +210,7 @@ public class EyesisCorrectionParameters {
 
     	public String x3dModelVersion="v01";
     	public String jp4SubDir="jp4"; // FIXME:
+    	
 
     	public String linkedModels="";   // linked models with reference scenes
     	public String x3dDirectory="";
@@ -279,7 +285,12 @@ public class EyesisCorrectionParameters {
   			cp.sourceSequencesList=     this.sourceSequencesList;
   			cp.useSourceList=    	    this.useSourceList;
 
-  			cp.sourceImsDirectory=    	this.sourceImsDirectory;
+///  			cp.sourceImsDirectory=    	this.sourceImsDirectory;
+  			cp.imsRootDirectory =       this.imsRootDirectory;      
+  			cp.imsDataSubdirectory =    this.imsDataSubdirectory;
+  			cp.imsPrintSubdirectory =   this.imsPrintSubdirectory;
+  			cp.imsSuffix =              this.imsSuffix;
+  			cp.egomotionSuffix =        this.egomotionSuffix;
   			
   			cp.tile_processor_gpu =     this.tile_processor_gpu;
   			cp.use_set_dirs =           this.use_set_dirs;
@@ -473,7 +484,12 @@ public class EyesisCorrectionParameters {
     		properties.setProperty(prefix+"sourceSequencesList",this.sourceSequencesList);
     		properties.setProperty(prefix+"useSourceList",this.useSourceList+"");
     		
-    		properties.setProperty(prefix+"sourceImsDirectory",this.sourceImsDirectory);
+///    		properties.setProperty(prefix+"sourceImsDirectory",this.sourceImsDirectory);
+    		properties.setProperty(prefix+"imsRootDirectory",    this.imsRootDirectory);
+    		properties.setProperty(prefix+"imsDataSubdirectory", this.imsDataSubdirectory);
+    		properties.setProperty(prefix+"imsPrintSubdirectory",this.imsPrintSubdirectory);
+    		properties.setProperty(prefix+"imsSuffix",           this.imsSuffix);
+    		properties.setProperty(prefix+"egomotionSuffix",     this.egomotionSuffix);
     		
     		properties.setProperty(prefix+"tile_processor_gpu",this.tile_processor_gpu);
 
@@ -664,7 +680,13 @@ public class EyesisCorrectionParameters {
 			if (properties.getProperty(prefix+"sourceDirectory")!=      null) this.sourceDirectory=properties.getProperty(prefix+"sourceDirectory");
 			if (properties.getProperty(prefix+"sourceSequencesList")!=  null) this.sourceSequencesList=properties.getProperty(prefix+"sourceSequencesList");			
   		    if (properties.getProperty(prefix+"useSourceList")!=null) this.useSourceList=Boolean.parseBoolean(properties.getProperty(prefix+"useSourceList")); // save 32-bit tiff also if the end result is 8 or 16 bit
-			if (properties.getProperty(prefix+"sourceImsDirectory")!=   null) this.sourceImsDirectory=properties.getProperty(prefix+"sourceImsDirectory");
+///			if (properties.getProperty(prefix+"sourceImsDirectory")!=   null) this.sourceImsDirectory=properties.getProperty(prefix+"sourceImsDirectory");
+			if (properties.getProperty(prefix+"imsRootDirectory")!=     null) this.imsRootDirectory    =properties.getProperty(prefix+"imsRootDirectory");
+			if (properties.getProperty(prefix+"imsDataSubdirectory")!=  null) this.imsDataSubdirectory =properties.getProperty(prefix+"imsDataSubdirectory");
+			if (properties.getProperty(prefix+"imsPrintSubdirectory")!= null) this.imsPrintSubdirectory=properties.getProperty(prefix+"imsPrintSubdirectory");
+			if (properties.getProperty(prefix+"imsSuffix")!= null)      this.imsSuffix=properties.getProperty(prefix+"imsSuffix");
+			if (properties.getProperty(prefix+"egomotionSuffix")!=null) this.egomotionSuffix=properties.getProperty(prefix+"egomotionSuffix");
+			
 			if (properties.getProperty(prefix+"tile_processor_gpu")!=   null) this.tile_processor_gpu=properties.getProperty(prefix+"tile_processor_gpu");
   		    if (properties.getProperty(prefix+"firstSubCamera")!=       null) this.firstSubCamera=Integer.parseInt(properties.getProperty(prefix+"firstSubCamera"));
   		    if (properties.getProperty(prefix+"firstSubCameraConfig")!= null) this.firstSubCameraConfig=Integer.parseInt(properties.getProperty(prefix+"firstSubCameraConfig"));
@@ -871,9 +893,16 @@ public class EyesisCorrectionParameters {
     		gd.addCheckbox    ("Select source directory",                          false);
     		gd.addCheckbox    ("Use individual subdirectory for image set",        this.use_set_dirs);
     		
-    		gd.addStringField ("Source IMS logs directory",                        this.sourceImsDirectory, 80);  // 10?
-    		gd.addCheckbox    ("Select IMS logs directory",                        false);                        // 10?
-
+///    		gd.addStringField ("Source IMS logs directory",                        this.sourceImsDirectory, 80);  // 10?
+///    		gd.addCheckbox    ("Select IMS logs directory",                        false);                        // 10?
+
+    		gd.addStringField ("IMS root directory",                               this.imsRootDirectory, 80);    // 10?
+    		gd.addCheckbox    ("Select IMS root directory",                        false);                        // 10?
+    		gd.addStringField ("IMS source logs subdirectory",                     this.imsDataSubdirectory, 80);    // 10?
+    		gd.addStringField ("IMS print human-readable subdirectory",            this.imsPrintSubdirectory, 80);
+    		gd.addStringField ("IMS data suffix",                                  this.imsSuffix, 80);
+    		gd.addStringField ("Egomotion table filename suffix",                  this.egomotionSuffix, 80);
+    		
     		gd.addStringField ("Source sequences list file",                       this.sourceSequencesList, 80);
     		gd.addCheckbox    ("Select source sequences file",                     false);
     		gd.addCheckbox    ("Use source list to iterate multiple sequences",    this.useSourceList);
@@ -1017,12 +1046,16 @@ public class EyesisCorrectionParameters {
     		this.sourceDirectory=        gd.getNextString(); if (gd.getNextBoolean()) selectSourceDirectory(false, false);
     		this.use_set_dirs =          gd.getNextBoolean();
     		
-    		this.sourceImsDirectory=     gd.getNextString(); if (gd.getNextBoolean()) selectSourceImsDirectory(false, false);   // 3
+///    		this.sourceImsDirectory=     gd.getNextString(); if (gd.getNextBoolean()) selectSourceImsDirectory(false, false);   // 3
+    		this.imsRootDirectory=       gd.getNextString(); if (gd.getNextBoolean()) selectImsRootDirectory(false, false);   // 3
+    		this.imsDataSubdirectory=    gd.getNextString();
+    		this.imsPrintSubdirectory=   gd.getNextString();
+    		this.imsSuffix=              gd.getNextString();
+    		this.egomotionSuffix=        gd.getNextString();
 
     		this.sourceSequencesList=    gd.getNextString(); if (gd.getNextBoolean()) selectSourceSequencesList(false, false);
     		this.useSourceList =         gd.getNextBoolean();
     		
-    		
     		this.sensorDirectory=        gd.getNextString(); if (gd.getNextBoolean()) selectSensorDirectory(false, false);
     		this.sharpKernelDirectory=   gd.getNextString(); if (gd.getNextBoolean()) selectSharpKernelDirectory(false, false);
     		this.smoothKernelDirectory=  gd.getNextString(); if (gd.getNextBoolean()) selectSmoothKernelDirectory(false, true);
@@ -1097,8 +1130,14 @@ public class EyesisCorrectionParameters {
     		gd.addCheckbox    ("Select source directory",                          false);                       // 3
     		gd.addCheckbox    ("Use individual subdirectory for each image set (timestamp as name)", this.use_set_dirs); //10
     		
-    		gd.addStringField ("Source IMS logs directory",                        this.sourceImsDirectory, 80);  // 10?
-    		gd.addCheckbox    ("Select IMS logs directory",                        false);                        // 10?
+///    		gd.addStringField ("Source IMS logs directory",                        this.sourceImsDirectory, 80);  // 10?
+///    		gd.addCheckbox    ("Select IMS logs directory",                        false);                        // 10?
+    		gd.addStringField ("IMS root directory",                               this.imsRootDirectory, 80);    // 10?
+    		gd.addCheckbox    ("Select IMS root directory",                        false);                        // 10?
+    		gd.addStringField ("IMS source logs subdirectory",                     this.imsDataSubdirectory, 80);    // 10?
+    		gd.addStringField ("IMS print human-readable subdirectory",            this.imsPrintSubdirectory, 80);    // 10?
+    		gd.addStringField ("IMS data suffix",                                  this.imsSuffix, 80);
+    		gd.addStringField ("Egomotion table filename suffix",                  this.egomotionSuffix, 80);
 
     		gd.addStringField ("Source sequences list file",                       this.sourceSequencesList, 80); // 10x
     		gd.addCheckbox    ("Select source sequences file",                     false);                        // 10y
@@ -1275,7 +1314,12 @@ public class EyesisCorrectionParameters {
     		this.sourceDirectory=        gd.getNextString(); if (gd.getNextBoolean()) selectSourceDirectory(false, false);   // 3
     		this.use_set_dirs =          gd.getNextBoolean();
     		
-    		this.sourceImsDirectory=     gd.getNextString(); if (gd.getNextBoolean()) selectSourceImsDirectory(false, false);   // 3
+//    		this.sourceImsDirectory=     gd.getNextString(); if (gd.getNextBoolean()) selectImsRootDirectory(false, false);   // 3
+    		this.imsRootDirectory=       gd.getNextString(); if (gd.getNextBoolean()) selectImsRootDirectory(false, false);   // 3
+    		this.imsDataSubdirectory=    gd.getNextString();
+    		this.imsPrintSubdirectory=   gd.getNextString();
+    		this.imsSuffix=              gd.getNextString();
+    		this.egomotionSuffix=        gd.getNextString();    		
     		
     		this.sourceSequencesList=    gd.getNextString(); if (gd.getNextBoolean()) selectSourceSequencesList(false, false); // 10x,10y
     		this.useSourceList =         gd.getNextBoolean();                                                                  // 10z
@@ -2221,18 +2265,41 @@ public class EyesisCorrectionParameters {
     		return dir;
     	}
     	
-    	public String selectSourceImsDirectory(boolean smart, boolean newAllowed) { // normally newAllowed=false
+    	public String selectImsRootDirectory(boolean smart, boolean newAllowed) { // normally newAllowed=false
     		String dir= CalibrationFileManagement.selectDirectory(
     				smart,
     				newAllowed, // save
-    				"Source (acquired from the camera) IMS logs directory", // title
-    				"Select source IMS directory", // button
+    				"IMS root directory", // title
+    				"Select IMS root directory", // button
     				null, // filter
-    				this.sourceImsDirectory); // this.sourceDirectory);
-    		if (dir!=null) this.sourceImsDirectory=dir;
+    				this.imsRootDirectory); // this.sourceDirectory);
+    		if (dir!=null) {
+    			while (dir.endsWith(Prefs.getFileSeparator())) {
+    				dir=dir.substring(0, dir.length()-1);
+    			}
+    			this.imsRootDirectory=dir;
+    		}
     		return dir;
     	}
+    	public String getImsSourceDirectory() {
+			while (this.imsDataSubdirectory.startsWith(Prefs.getFileSeparator())) {
+				this.imsDataSubdirectory=this.imsDataSubdirectory.substring(1);
+			}
+			while (this.imsDataSubdirectory.endsWith(Prefs.getFileSeparator())) {
+				this.imsDataSubdirectory=this.imsDataSubdirectory.substring(0, this.imsDataSubdirectory.length()-1);
+			}
+    		return this.imsRootDirectory + Prefs.getFileSeparator() + this.imsDataSubdirectory;
+     	}
 
+    	public String getImsPrintDirectory() {
+			while (this.imsPrintSubdirectory.startsWith(Prefs.getFileSeparator())) {
+				this.imsPrintSubdirectory=this.imsPrintSubdirectory.substring(1);
+			}
+			while (this.imsPrintSubdirectory.endsWith(Prefs.getFileSeparator())) {
+				this.imsPrintSubdirectory=this.imsPrintSubdirectory.substring(0, this.imsPrintSubdirectory.length()-1);
+			}
+    		return this.imsRootDirectory + Prefs.getFileSeparator() + this.imsPrintSubdirectory;
+     	}
     	
     	
     	public String selectSourceSequencesList(boolean smart, boolean newAllowed) { // normally newAllowed=false
@@ -2407,9 +2474,9 @@ public class EyesisCorrectionParameters {
     						null, // filter
     						name); //this.x3dDirectory + Prefs.getFileSeparator()+name); //this.sourceDirectory);
     			}
-    		}
-    		while (dir.endsWith(Prefs.getFileSeparator())) {
-    			dir = dir.substring(0, dir.length()-1);
+        		while (dir.endsWith(Prefs.getFileSeparator())) {
+        			dir = dir.substring(0, dir.length()-1);
+        		}
     		}
     		return dir;
     	}

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -411,6 +411,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 	public static EyesisCorrections EYESIS_CORRECTIONS = null;
 	public static EyesisCorrections EYESIS_CORRECTIONS_AUX = null;
 	public static EyesisCorrectionParameters.EquirectangularParameters EQUIRECTANGULAR_PARAMETERS = new EyesisCorrectionParameters.EquirectangularParameters();
+	public static EventLogger EVENT_LOGGER = null;
 
 	public static int CONVOLVE_FFT_SIZE = 128; // FFT size for sliding convolution with kernel
 	public static int THREADS_MAX = 100; // testing multi-threading, limit maximal number of threads
@@ -5523,19 +5524,22 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
 			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
 			CLT_PARAMETERS.batch_run = true;
-			/*
-			Imx5 imx5 = new Imx5();
-			byte [] imx5_rslt = imx5.test_imx();
-			System.out.println("imx5_rslt.length="+imx5_rslt.length);
-			*/
-//			EventLogger eventLogger = new EventLogger ("/home/elphel/lwir16-proc/ims/ims_selected/");
-			String imx_logs = CORRECTION_PARAMETERS.sourceImsDirectory;
-			if ((imx_logs != null) && !imx_logs.equals("")) {
-				EventLogger eventLogger = new EventLogger (imx_logs);
+			String imx_logs = CORRECTION_PARAMETERS.getImsSourceDirectory(); // sourceImsDirectory;
+			if (EVENT_LOGGER == null) {
+				if ((imx_logs != null) && !imx_logs.equals("")) {
+					EVENT_LOGGER = new EventLogger (imx_logs);
+				} else {
+					System.out.println("sourceImsDirectory is not set. Use Setup CLT Batch parameters to define it.");
+				}
+			}
+			if (EVENT_LOGGER != null) {
+				EVENT_LOGGER.printPimu(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_pimu");
+				EVENT_LOGGER.printGps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_gps", 7);
+				EVENT_LOGGER.printDidIns1(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_ins1");
+				EVENT_LOGGER.printDidIns2(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_ins2");
 			} else {
-				System.out.println("sourceImsDirectory is not set. Use Setup CLT Batch parameters to define it.");
+				System.out.println("EVENT_LOGGEER is null.");
 			}
-			
 			return;
 //JTabbedTest
 // End of buttons code

src/main/java/com/elphel/imagej/ims/Did_gps_pos.java

@@ -2,6 +2,9 @@ package com.elphel.imagej.ims;
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.Properties;
+
+import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
 
 /** (DID_GPS1_POS, DID_GPS1_UBX_POS, DID_GPS2_POS) GPS position data */
 public class Did_gps_pos {
@@ -94,10 +97,14 @@ public class Did_gps_pos {
 	}
 	public Did_gps_pos() {}
 
+	public Did_gps_pos(String prefix, Properties properties) {
+		getProperties(prefix, properties);
+	}
+
 	public Did_gps_pos interpolate(double frac, Did_gps_pos next_did) {
 		Did_gps_pos new_did = new Did_gps_pos();
 		double time_ms_this = timeOfWeekMs + Did_strobe_in_time.WEEK_MS * week;
-		double time_ms_next = timeOfWeekMs + Did_strobe_in_time.WEEK_MS * week;
+		double time_ms_next = next_did.timeOfWeekMs + Did_strobe_in_time.WEEK_MS * next_did.week;
 		long   time_ms =      (long) Did_ins.interpolateDouble(frac, time_ms_this, time_ms_next);
 		new_did.week =         (int) Math.floor(time_ms / Did_strobe_in_time.WEEK_MS);
 		new_did.timeOfWeekMs = (int) (time_ms - new_did.week * Did_strobe_in_time.WEEK_MS); 
@@ -160,5 +167,46 @@ public class Did_gps_pos {
 		s += String.format("reserved:     %d",    ((int) reserved) & 0xff); 
 		return s;
 	}
+	
+ 	public void getProperties(String prefix, Properties properties) {
+		if (properties.getProperty(prefix+"week")!=null)         this.week= Integer.parseInt(properties.getProperty(prefix+"week"));
+		if (properties.getProperty(prefix+"timeOfWeekMs")!=null) this.timeOfWeekMs= Integer.parseInt(properties.getProperty(prefix+"week"));
+		if (properties.getProperty(prefix+"status")!=null)       this.status= Integer.parseInt(properties.getProperty(prefix+"status"));
+		if (properties.getProperty(prefix+"ecef")!=null) 	     this.ecef= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"ecef"),3);
+		if (properties.getProperty(prefix+"lla")!=null) 	     this.lla= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"lla"),3);
+		if (properties.getProperty(prefix+"hMSL")!=null)         this.hMSL= Float.parseFloat(properties.getProperty(prefix+"hMSL"));
+		if (properties.getProperty(prefix+"hAcc")!=null)         this.hAcc= Float.parseFloat(properties.getProperty(prefix+"hAcc"));
+		if (properties.getProperty(prefix+"vAcc")!=null)         this.vAcc= Float.parseFloat(properties.getProperty(prefix+"vAcc"));
+		if (properties.getProperty(prefix+"pDop")!=null)         this.pDop= Float.parseFloat(properties.getProperty(prefix+"pDop"));
+		if (properties.getProperty(prefix+"cnoMean")!=null)      this.cnoMean= Float.parseFloat(properties.getProperty(prefix+"cnoMean"));
+		if (properties.getProperty(prefix+"towOffset")!=null)    this.towOffset= Double.parseDouble(properties.getProperty(prefix+"towOffset"));
+		if (properties.getProperty(prefix+"leapS")!=null)        this.leapS= Byte.parseByte(properties.getProperty(prefix+"leapS"));
+		if (properties.getProperty(prefix+"satsUsed")!=null)     this.satsUsed= Byte.parseByte(properties.getProperty(prefix+"satsUsed"));
+		if (properties.getProperty(prefix+"cnoMeanSigma")!=null) this.cnoMeanSigma= Byte.parseByte(properties.getProperty(prefix+"cnoMeanSigma"));
+		if (properties.getProperty(prefix+"reserved")!=null)     this.reserved= Byte.parseByte(properties.getProperty(prefix+"reserved"));
+		
+	}
+ 	
+	public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
+		if (properties == null) {
+			properties = new Properties();
+		}
+		properties.setProperty(prefix+"week",         this.week+"");
+		properties.setProperty(prefix+"timeOfWeekMs", this.timeOfWeekMs+"");
+		properties.setProperty(prefix+"status",       this.status+"");
+		properties.setProperty(prefix+"ecef",         IntersceneMatchParameters.doublesToString(this.ecef));
+		properties.setProperty(prefix+"lla",          IntersceneMatchParameters.doublesToString(this.lla));
+		properties.setProperty(prefix+"hMSL",         this.hMSL+"");
+		properties.setProperty(prefix+"hAcc",         this.hAcc+"");
+		properties.setProperty(prefix+"vAcc",         this.vAcc+"");
+		properties.setProperty(prefix+"pDop",         this.pDop+"");
+		properties.setProperty(prefix+"cnoMean",      this.cnoMean+"");
+		properties.setProperty(prefix+"towOffset",    this.towOffset+"");
+		properties.setProperty(prefix+"leapS",        this.leapS+"");
+		properties.setProperty(prefix+"satsUsed",     this.satsUsed+"");
+		properties.setProperty(prefix+"cnoMeanSigma", this.cnoMeanSigma+"");
+		properties.setProperty(prefix+"reserved",     this.reserved+"");
+		return properties;
+	}
 
 }
\ No newline at end of file

src/main/java/com/elphel/imagej/ims/Did_ins.java

 package com.elphel.imagej.ims;
 
+import java.util.Properties;
+
+import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
+
 public abstract class Did_ins <T extends Did_ins <T>>{
 	final static int WEEK_SECONDS = 7 * 24 * 3600;
 	/** GPS number of weeks since January 6th, 1980 */
@@ -42,4 +46,23 @@ public abstract class Did_ins <T extends Did_ins <T>>{
     		new_did.lla[i] =   interpolateDouble(frac, lla[i], next_did.lla[i]) ;
     	}
 	}
+	
+	public void getProperties(String prefix, Properties properties) {
+		if (properties.getProperty(prefix+"week")!=null)       this.week= Integer.parseInt(properties.getProperty(prefix+"week"));
+		if (properties.getProperty(prefix+"timeOfWeek")!=null) this.timeOfWeek= Double.parseDouble(properties.getProperty(prefix+"timeOfWeek"));
+		if (properties.getProperty(prefix+"insStatus")!=null)  this.insStatus= Integer.parseInt(properties.getProperty(prefix+"insStatus"));
+		if (properties.getProperty(prefix+"hdwStatus")!=null)  this.hdwStatus= Integer.parseInt(properties.getProperty(prefix+"hdwStatus"));
+		if (properties.getProperty(prefix+"lla")!=null) 	   this.lla= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"lla"),3);
+	}
+	public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
+		if (properties == null) {
+			properties = new Properties();
+		}
+		properties.setProperty(prefix+"week",       this.week+"");
+		properties.setProperty(prefix+"timeOfWeek", this.timeOfWeek+"");
+		properties.setProperty(prefix+"insStatus",  this.insStatus+"");
+		properties.setProperty(prefix+"hdwStatus",  this.hdwStatus+"");
+		properties.setProperty(prefix+"lla",        IntersceneMatchParameters.doublesToString(this.lla));		
+		return properties;
+	}
 }
\ No newline at end of file

src/main/java/com/elphel/imagej/ims/Did_ins_1.java

@@ -3,6 +3,9 @@ package com.elphel.imagej.ims;
 //import java.io.Serializable;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.Properties;
+
+import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
 
 //public class Did_ins_1 implements Serializable {
 //	static final long serialVersionUID = 4;
@@ -36,6 +39,10 @@ public class Did_ins_1 extends Did_ins <Did_ins_1>{
 		ned[0]=    bb.getFloat();  ned[1] =   bb.getFloat();  ned[2]=   bb.getFloat();
 	}
 	public Did_ins_1() {}
+	public Did_ins_1(String prefix, Properties properties) {
+		getProperties(prefix, properties);
+	}
+	
 
 	public Did_ins_1 interpolate(double frac, Did_ins_1 next_did) {
 		Did_ins_1 new_did = new Did_ins_1();
@@ -75,6 +82,19 @@ public class Did_ins_1 extends Did_ins <Did_ins_1>{
 		s += String.format("ned:        %f, %f, %f",   ned[0], ned[1], ned[2]); 
 		return s;
 	}
-	
+
+	public void getProperties(String prefix, Properties properties) {
+		super.getProperties(prefix, properties);
+		if (properties.getProperty(prefix+"theta")!=null) 	   this.theta= IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"theta"),3);
+		if (properties.getProperty(prefix+"uvw")!=null) 	   this.uvw=   IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"uvw"),3);
+		if (properties.getProperty(prefix+"ned")!=null) 	   this.ned=   IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"ned"),3);
+	}
+	public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
+		properties = super.setProperties(prefix, properties);
+		properties.setProperty(prefix+"theta",        IntersceneMatchParameters.floatsToString(this.theta));		
+		properties.setProperty(prefix+"uvw",          IntersceneMatchParameters.floatsToString(this.uvw));		
+		properties.setProperty(prefix+"ned",          IntersceneMatchParameters.floatsToString(this.ned));		
+		return properties;
+	}	
 
 }
\ No newline at end of file

src/main/java/com/elphel/imagej/ims/Did_ins_2.java

+package com.elphel.imagej.ims;
+
+//import java.io.Serializable;
+import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
+import java.util.Properties;
+
+import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
+
+//public class Did_ins_1 implements Serializable {
+//	static final long serialVersionUID = 4;
+public class Did_ins_2 extends Did_ins <Did_ins_2>{
+	/** GPS number of weeks since January 6th, 1980 */
+//	public int				week;      // uint32_t
+	/** GPS time of week (since Sunday morning) in seconds */
+//	public double			timeOfWeek;
+	/** INS status flags (eInsStatusFlags). Copy of DID_SYS_PARAMS.insStatus */
+//	public int				insStatus; //uint32_t
+	/** Hardware status flags (eHdwStatusFlags). Copy of DID_SYS_PARAMS.hdwStatus */
+//	public int				hdwStatus; // uint32_t
+	/** Euler angles: roll, pitch, yaw in radians with respect to NED */
+	public float []		qn2b = new float[4];
+	/** Velocity U, V, W in meters per second.  Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )". */
+	public float []		uvw =   new float [3];
+	/** WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters) */
+//	public double []		lla =   new double [3];
+
+	public Did_ins_2 (ByteBuffer bb) {
+		bb.order(ByteOrder.LITTLE_ENDIAN);		
+		week=      bb.getInt();
+		timeOfWeek=bb.getDouble();
+		insStatus= bb.getInt();
+		hdwStatus= bb.getInt();
+		qn2b[0]=  bb.getFloat();  qn2b[1] = bb.getFloat();  qn2b[2]= bb.getFloat(); qn2b[3]= bb.getFloat();
+		uvw[0]=    bb.getFloat();  uvw[1] =   bb.getFloat();  uvw[2]=   bb.getFloat();
+		lla[0]=    bb.getDouble(); lla[1] =   bb.getDouble(); lla[2]=   bb.getDouble();
+	}
+	public Did_ins_2() {}
+	public Did_ins_2(String prefix, Properties properties) {
+		getProperties(prefix, properties);
+	}
+	
+
+	public Did_ins_2 interpolate(double frac, Did_ins_2 next_did) {
+		Did_ins_2 new_did = new Did_ins_2();
+		interpolateBase(frac, next_did, new_did);
+    	for (int i = 0; i < qn2b.length; i++) {
+    		new_did.qn2b[i] =   interpolateFloat(frac, qn2b[i], next_did.qn2b[i]) ;
+    	}    	
+    	for (int i = 0; i < uvw.length; i++) {
+    		new_did.uvw[i] =   interpolateFloat(frac, uvw[i], next_did.uvw[i]) ;
+    	}    	
+		return new_did;
+	}
+	
+	
+	public int pack(ByteBuffer bb) {
+		int p_start = bb.position();
+		bb.putInt(week);
+		bb.putDouble(timeOfWeek);
+		bb.putInt(insStatus);
+		bb.putInt(hdwStatus);
+		bb.putFloat(qn2b[0]); bb.putFloat(qn2b[1]); bb.putFloat(qn2b[2]); bb.putFloat(qn2b[3]);
+		bb.putFloat(uvw[0]);   bb.putFloat(uvw[1]);   bb.putFloat(uvw[2]);
+		bb.putDouble(lla[0]);  bb.putDouble(lla[1]);  bb.putDouble(lla[2]);
+		int p_end = bb.position();
+		return p_end - p_start;
+	}
+	
+	public String toString() {
+		String s = "DID_INS_2\n";
+		s += String.format("week:       %d\n", week); 
+		s += String.format("timeOfWeek: %f\n", timeOfWeek); 
+		s += String.format("insStatus:  0x%x\n", insStatus); 
+		s += String.format("hdwStatus:  0x%x\n", hdwStatus); 
+		s += String.format("qn2b:       %f, %f, %f, %f\n", qn2b[0], qn2b[1], qn2b[2], qn2b[3]); 
+		s += String.format("uvw:        %f, %f, %f\n", uvw[0], uvw[1], uvw[2]); 
+		s += String.format("lla:        %f, %f, %f\n", lla[0], lla[1], lla[2]); 
+		return s;
+	}
+
+	public void getProperties(String prefix, Properties properties) {
+		super.getProperties(prefix, properties);
+		if (properties.getProperty(prefix+"qn2b")!=null) 	   this.qn2b= IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"qn2b"),4);
+		if (properties.getProperty(prefix+"uvw")!=null) 	   this.uvw=   IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"uvw"),3);
+	}
+	public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
+		properties = super.setProperties(prefix, properties);
+		properties.setProperty(prefix+"qn2b",        IntersceneMatchParameters.floatsToString(this.qn2b));		
+		properties.setProperty(prefix+"uvw",          IntersceneMatchParameters.floatsToString(this.uvw));		
+		return properties;
+	}	
+}
\ No newline at end of file

src/main/java/com/elphel/imagej/ims/Did_pimu.java

@@ -2,6 +2,9 @@ package com.elphel.imagej.ims;
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.Properties;
+
+import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
 
 public class Did_pimu {
 	/** Time since boot up in seconds.  Convert to GPS time of week by adding gps.towOffset */
@@ -25,6 +28,10 @@ public class Did_pimu {
 	}
 	public Did_pimu() {}
 
+	public Did_pimu(String prefix, Properties properties) {
+		getProperties(prefix, properties);
+	}
+	
 	public Did_pimu interpolate(double frac, Did_pimu next_did) {
 		Did_pimu new_did = new Did_pimu();
 		new_did.time = Did_ins.interpolateDouble(frac, time, next_did.time);
@@ -58,5 +65,25 @@ public class Did_pimu {
 		s += String.format("vel:        %f, %f, %f",   vel[0], vel[1], vel[2]); 
 		return s;
 	}
+	
+	public void getProperties(String prefix, Properties properties) {
+		if (properties.getProperty(prefix+"time")!=null)       this.time=   Double.parseDouble(properties.getProperty(prefix+"time"));
+		if (properties.getProperty(prefix+"dt")!=null)         this.dt=     Float.parseFloat(properties.getProperty(prefix+"dt"));
+		if (properties.getProperty(prefix+"status")!=null)     this.status= Integer.parseInt(properties.getProperty(prefix+"status"));
+		if (properties.getProperty(prefix+"theta")!=null) 	   this.theta=  IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"theta"),3);
+		if (properties.getProperty(prefix+"vel")!=null) 	   this.vel=    IntersceneMatchParameters.StringToFloats(properties.getProperty(prefix+"vel"),3);
+	}
 
+	public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
+		if (properties == null) {
+			properties = new Properties();
+		}
+		properties.setProperty(prefix+"time",     this.time+"");
+		properties.setProperty(prefix+"dt",       this.dt+"");
+		properties.setProperty(prefix+"status",   this.status+"");
+		properties.setProperty(prefix+"theta",    IntersceneMatchParameters.floatsToString(this.theta));
+		properties.setProperty(prefix+"vel",      IntersceneMatchParameters.floatsToString(this.vel));
+		return properties;
+	}
+	
 }
\ No newline at end of file

src/main/java/com/elphel/imagej/ims/Did_strobe_in_time.java

@@ -17,7 +17,7 @@ typedef struct PACKED
 } strobe_in_time_t;
 */
 public class Did_strobe_in_time {
-	public final static int WEEK_MS = 7 * 24 * 3600 * 1000; // milliseconds in a week
+	public final static long WEEK_MS = 7 * 24 * 3600 * 1000; // milliseconds in a week
 	public int 	week;
 
 	/** GPS time of week (since Sunday morning) in milliseconds */

src/main/java/com/elphel/imagej/ims/EventLogger.java

@@ -35,10 +35,10 @@ public class EventLogger {
 		}
 		Arrays.sort(logger_files); // increasing start time stamps
 		
-		testInterpolateDidIns1();
-		testInterpolateDidIns1();
-		testInterpolateDidIns1();
-		
+//		testInterpolateDidIns1();
+//		testInterpolateDidIns1();
+//		testInterpolateDidIns1();
+		/*
 //		String out_did_gps_path = "/home/elphel/lwir16-proc/office_04/did_gps";
 		String out_did_gps_path = dir+"../did_gps/did_gps";
 		out_did_gps_path = Paths.get(out_did_gps_path).normalize().toString();
@@ -56,8 +56,9 @@ public class EventLogger {
 				e.printStackTrace();
 			}
 		}
-		
+		*/
 //		String out_did1_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich/ims/test_out/did_ins1";
+		/*
 		String out_did1_path = dir+"../did_ins1/did_ins1";
 		out_did1_path = Paths.get(out_did1_path).normalize().toString();
 		Path op_did1 = Paths.get(out_did1_path);
@@ -73,9 +74,82 @@ public class EventLogger {
 				e.printStackTrace();
 			}
 		}
+		*/
 		System.out.println("Processed "+logger_files.length+" event log files");
 	}
 	
+	public void printGps(
+			String out_did_gps_path,
+			int gps_mask) { // 7: // +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
+		out_did_gps_path = Paths.get(out_did_gps_path).normalize().toString();
+		Path op_did_gps = Paths.get(out_did_gps_path);
+		op_did_gps=op_did_gps.normalize();
+		(new File(op_did_gps.getParent().toString())).mkdirs();
+		for (int nf = 0; nf < logger_files.length; nf++) {
+			String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".out";
+			System.out.println("Printing all DID_GPS data in "+logger_files[nf].abs_path+" to "+out_path);
+			try {
+				logger_files[nf].listGPS(out_path, gps_mask, false);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+		
+	}
+	
+	public void printDidIns1(String out_did1_path) {
+		out_did1_path = Paths.get(out_did1_path).normalize().toString();
+		Path op_did1 = Paths.get(out_did1_path);
+		op_did1=op_did1.normalize();
+		(new File(op_did1.getParent().toString())).mkdirs();
+		for (int nf = 0; nf < logger_files.length; nf++) {
+			String out_path= out_did1_path+"-"+String.format("%03d", nf)+".out";
+			System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
+			try {
+				logger_files[nf].listDidIns1(out_path,false);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+	}
+
+	public void printDidIns2(String out_did2_path) {
+		out_did2_path = Paths.get(out_did2_path).normalize().toString();
+		Path op_did2 = Paths.get(out_did2_path);
+		op_did2=op_did2.normalize();
+		(new File(op_did2.getParent().toString())).mkdirs();
+		for (int nf = 0; nf < logger_files.length; nf++) {
+			String out_path= out_did2_path+"-"+String.format("%03d", nf)+".out";
+			System.out.println("Printing all DID_INS_2 data in "+logger_files[nf].abs_path+" to "+out_path);
+			try {
+				logger_files[nf].listDidIns2(out_path,false);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+	}
+	
+	public void printPimu(String out_pimu_path) {
+		out_pimu_path = Paths.get(out_pimu_path).normalize().toString();
+		Path op_pimu = Paths.get(out_pimu_path);
+		op_pimu=op_pimu.normalize();
+		(new File(op_pimu.getParent().toString())).mkdirs();
+		for (int nf = 0; nf < logger_files.length; nf++) {
+			String out_path= out_pimu_path+"-"+String.format("%03d", nf)+".out";
+			System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
+			try {
+				logger_files[nf].listPimu(out_path,false);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+	}
+	
+	
 	public void testInterpolateDidIns1() {
 		boolean exit_now = false;
 		double ts_master = 1694576078.939126;
@@ -96,7 +170,7 @@ public class EventLogger {
 	
 	
 	//Did_ins_1
-	Did_ins_1 interpolateDidIns1(
+	public Did_ins_1 interpolateDidIns1(
 			double ts_master,
 			int       debug_level) throws IOException {
 		byte [][] payload = new byte[2][];
@@ -118,6 +192,77 @@ public class EventLogger {
 				frac, // double frac,
 				did_above); // Did_ins_1 next_did))
 	}
+	//Did_ins_2
+	public Did_ins_2 interpolateDidIns2(
+			double ts_master,
+			int       debug_level) throws IOException {
+		byte [][] payload = new byte[2][];
+		int did = Imx5.DID_INS_2;
+		double frac = getDidAtTS(
+				ts_master, // double    ts_master,
+				did, // int       did,   // DID value (4 for DID_INS_1, 3 for DID_PIMU) 
+				payload, // byte [][] payload,
+				debug_level); // int       debug_level)
+		if (Double.isNaN(frac)) {
+			if (debug_level > -1){
+				System.out.println("interpolateDidIns1(): Failed to extract DID_INS_2 data");
+			}
+			return null;
+		}
+		Did_ins_2 did_below = new Did_ins_2(ByteBuffer.wrap(payload[0]));
+		Did_ins_2 did_above = new Did_ins_2(ByteBuffer.wrap(payload[1]));
+		return did_below.interpolate(
+				frac, // double frac,
+				did_above); // Did_ins_1 next_did))
+	}
+	
+	public Did_gps_pos interpolateDidGpsPos(
+			double ts_master,
+			int    did, // Imx5.DID_GPS1_POS, Imx5.DID_GPS2_POS, Imx5.DID_GPS1_UBX_POS
+			int       debug_level) throws IOException {
+		byte [][] payload = new byte[2][];
+		double frac = getDidAtTS(
+				ts_master, // double    ts_master,
+				did, // int       did,   // DID value (4 for DID_INS_1, 3 for DID_PIMU) 
+				payload, // byte [][] payload,
+				debug_level); // int       debug_level)
+		if (Double.isNaN(frac)) {
+			if (debug_level > -1){
+				System.out.println("interpolateDidIns1(): Failed to extract DID_GPS_POS data");
+			}
+			return null;
+		}
+		Did_gps_pos did_below = new Did_gps_pos(ByteBuffer.wrap(payload[0]));
+		Did_gps_pos did_above = new Did_gps_pos(ByteBuffer.wrap(payload[1]));
+		return did_below.interpolate(
+				frac, // double frac,
+				did_above); // Did_gps_pos next_did))
+	}
+	
+	public Did_pimu interpolateDidPimu(
+			double ts_master,
+			int       debug_level) throws IOException {
+		byte [][] payload = new byte[2][];
+		int did = Imx5.DID_PIMU;
+		double frac = getDidAtTS(
+				ts_master, // double    ts_master,
+				did, // int       did,   // DID value (4 for DID_INS_1, 3 for DID_PIMU) 
+				payload, // byte [][] payload,
+				debug_level); // int       debug_level)
+		if (Double.isNaN(frac)) {
+			if (debug_level > -1){
+				System.out.println("interpolateDidIns1(): Failed to extract DID_PIMU data");
+			}
+			return null;
+		}
+		Did_pimu did_below = new Did_pimu(ByteBuffer.wrap(payload[0]));
+		Did_pimu did_above = new Did_pimu(ByteBuffer.wrap(payload[1]));
+		return did_below.interpolate(
+				frac, // double frac,
+				did_above); // Did_ins_1 next_did))
+	}
+	
+	
 	
 	public double getDidAtTS(
 			double    ts_master,

src/main/java/com/elphel/imagej/ims/EventLoggerFileInfo.java

@@ -403,7 +403,7 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
 		}
 	}
 	
-	public void listDid1(String path, boolean keep) throws IOException {
+	public void listDidIns1(String path, boolean keep) throws IOException {
 		double max_offset = 1000; // m
 		open();
 		float [] start_ned = null;
@@ -430,7 +430,7 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
 		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) | EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
 		for (int nrec = 0; nrec < num_recs; nrec++) {
 			if (nrec == dbg_nrec) {
-				System.out.println("listDid1(): nrec="+nrec);
+				System.out.println("listDidIns1(): nrec="+nrec);
 			}
 			int [] full_type = getFullType(bb, nrec);
 			if ((full_type != null) && (full_type[0] == type) && (full_type[1] == Imx5.DID_INS_1)) {
@@ -487,6 +487,75 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
 		}
 	}
 
+	public void listDidIns2(String path, boolean keep) throws IOException {
+		open();
+		FileWriter writer = null;
+		if (path != null) {
+			writer = new FileWriter (path);
+		}
+		String header = "record "+
+		        "     master TS    "+
+		        "     local TS     "+
+		        "timeOfWeek " +
+		        " insStat "+
+		        " hdwStat "+
+		        "                     qn2b                     "+
+		        "           uvw                "+
+		        "                 lla                      \n"; 
+		if (writer != null) {
+			writer.write(header);
+		} else {
+			System.out.print(header);
+		}
+		int dbg_nrec = -5000;
+		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) | EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
+		for (int nrec = 0; nrec < num_recs; nrec++) {
+			if (nrec == dbg_nrec) {
+				System.out.println("listDidIns1(): nrec="+nrec);
+			}
+			int [] full_type = getFullType(bb, nrec);
+			if ((full_type != null) && (full_type[0] == type) && (full_type[1] == Imx5.DID_INS_2)) {
+				byte [] payload = getDidPayload(
+						null, // next_fileinfo, // may be null if payload does not extend beyond single record 
+						nrec);
+				if (payload == null) {
+					System.out.println("EventLoggerFileInfo(): payload == null, nrec="+nrec);
+					break;
+				}
+				ByteBuffer bb_payload = ByteBuffer.wrap(payload);
+				bb_payload.order(ByteOrder.LITTLE_ENDIAN);
+				Did_ins_2 did_ins_2 = new Did_ins_2(bb_payload);
+				if ((did_ins_2.uvw[0] == 0) && (did_ins_2.uvw[1] == 0) && (did_ins_2.uvw[2] == 0)) {
+					continue;
+				}
+				String line =String.format(
+						"%6d %17.6f %17.6f %10.3f %08x %08x [%8.4f, %8.4f, %8.4f, %8.4f] "+
+				        "[%8.3f, %8.3f, %8.3f] [%12.7f, %12.7f, %12.7f]\n",
+						nrec,
+						getMasterTS(nrec),
+						getLocalTS(nrec),
+						did_ins_2.timeOfWeek,
+						did_ins_2.insStatus,
+						did_ins_2.hdwStatus,
+						did_ins_2.qn2b[0], did_ins_2.qn2b[1], did_ins_2.qn2b[2], did_ins_2.qn2b[3], // Quaternion body rotation with respect to NED: W, X, Y, Z
+						did_ins_2.uvw[0], did_ins_2.uvw[1], did_ins_2.uvw[2],                       // Velocity U, V, W in meters per second.  Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
+						did_ins_2.lla[0], did_ins_2.lla[1], did_ins_2.lla[2]                        //  WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
+						);
+				if (writer != null) {
+					writer.write(line);
+				} else {
+					System.out.print(line);
+				}
+			}
+		}
+		if (writer != null) {
+			writer.close();
+		}
+		if (!keep) {
+			close();
+		}
+	}
+	
 	public void listGPS (String path, int gps_mask, boolean keep) throws IOException {
 		// +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
 //		double max_offset = 1000; // m
@@ -594,6 +663,76 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
 	}
 	
 	
+	public void listPimu(String path, boolean keep) throws IOException {
+		open();
+		FileWriter writer = null;
+		if (path != null) {
+			writer = new FileWriter (path);
+		}
+		String header = "record "+
+		        "     master TS    "+
+		        "     local TS     "+
+		        " time since boot  " +
+		        "    dt   "+
+		        "  status "+
+
+		        "           omega (rad/s)              "+
+		        "           a (m/s^2)             "+"\n"; 
+		if (writer != null) {
+			writer.write(header);
+		} else {
+			System.out.print(header);
+		}
+		int dbg_nrec = -5000;
+		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) | EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
+		for (int nrec = 0; nrec < num_recs; nrec++) {
+			if (nrec == dbg_nrec) {
+				System.out.println("listPimu(): nrec="+nrec);
+			}
+			int [] full_type = getFullType(bb, nrec);
+			if ((full_type != null) && (full_type[0] == type) && (full_type[1] == Imx5.DID_PIMU)) {
+				byte [] payload = getDidPayload(
+						null, // next_fileinfo, // may be null if payload does not extend beyond single record 
+						nrec);
+				if (payload == null) {
+					System.out.println("EventLoggerFileInfo(): payload == null, nrec="+nrec);
+					break;
+				}
+				ByteBuffer bb_payload = ByteBuffer.wrap(payload);
+				bb_payload.order(ByteOrder.LITTLE_ENDIAN);
+				Did_pimu did_pimu = new Did_pimu(bb_payload);
+				if ((did_pimu.vel[0] == 0) && (did_pimu.vel[1] == 0) && (did_pimu.vel[2] == 0)) {
+					continue; // skip no-movement
+				}
+				String line =String.format(
+						"%6d %17.6f %17.6f %17.6f %8.6f %08x [%9.5f, %9.5f, %9.5f] "+
+				        "[%9.4f, %9.4f, %9.4f]\n",
+						nrec,
+						getMasterTS(nrec),
+						getLocalTS(nrec),
+						did_pimu.time,
+						did_pimu.dt,
+						did_pimu.status,
+						did_pimu.theta[0]/did_pimu.dt, did_pimu.theta[1]/did_pimu.dt, did_pimu.theta[2]/did_pimu.dt, // Euler angles: roll, pitch, yaw in radians with respect to NED
+						did_pimu.vel[0]/did_pimu.dt, did_pimu.vel[1]/did_pimu.dt, did_pimu.vel[2]/did_pimu.dt       // Velocity U, V, W in meters per second.  Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
+						);
+				if (writer != null) {
+					writer.write(line);
+				} else {
+					System.out.print(line);
+				}
+			}
+		}
+		if (writer != null) {
+			writer.close();
+		}
+		if (!keep) {
+			close();
+		}
+	}
+	
+	
+	
 	byte [] getDidPayload(
 			EventLoggerFileInfo next_fileinfo, // may be null if payload does not extend beyond single record 
 			int nrec) throws IOException {

src/main/java/com/elphel/imagej/ims/Imx5.java

 package com.elphel.imagej.ims;
 
-import java.io.ByteArrayOutputStream;
-import java.io.IOException;
-import java.io.ObjectOutputStream;
+//import java.io.ByteArrayOutputStream;
+//import java.io.IOException;
+//import java.io.ObjectOutputStream;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
+
+
 public class Imx5 {
 	
+	
 	// defines adapted from Inertial Sense data_sets.h 
 	public static int DID_NULL                        = 0 ; /** NULL (INVALID) */
 	public static int DID_DEV_INFO                    = 1 ; /** (dev_info_t) Device information */
@@ -119,6 +125,7 @@ public class Imx5 {
 	/** Count of data ids (including null data id 0) - MUST BE MULTPLE OF 4 and larger than last DID number! */
 	public static int DID_COUNT		= 120;	// Used in SDK
 	public static int DID_COUNT_UINS	= 100;	// Used in uINS
+	public static double EARTH_RADIUS =	6356752.0; // meters
 
 	/** Maximum number of data ids */
 	public static int DID_MAX_COUNT  = 256;
@@ -150,44 +157,80 @@ public class Imx5 {
 		Did_ins_1 did_ins_1_2 = new Did_ins_1(bb);
 		System.out.println("did_ins_1_2 = "+did_ins_1_2);
 		return bb.array();
-		
-/*
-ByteArrayOutputStream bos = new ByteArrayOutputStream();
-ObjectOutputStream out = null;
-try {
-  out = new ObjectOutputStream(bos);   
-  out.writeObject(yourObject);
-  out.flush();
-  byte[] yourBytes = bos.toByteArray();
-  ...
-} finally {
-  try {
-    bos.close();
-  } catch (IOException ex) {
-    // ignore close exception
-  }
-}
-
-Create an object from a byte array:
-
-ByteArrayInputStream bis = new ByteArrayInputStream(yourBytes);
-ObjectInput in = null;
-try {
-  in = new ObjectInputStream(bis);
-  Object o = in.readObject(); 
-  ...
-} finally {
-  try {
-    if (in != null) {
-      in.close();
-    }
-  } catch (IOException ex) {
-    // ignore close exception
-  }
-}
+	}
+//	static final RotationConvention ROT_CONV = RotationConvention.FRAME_TRANSFORM;
+//	RotationConvention.VECTOR_OPERATOR
+//RotationOrder.YXZ, ROT_CONV
+	public static double [] applyQuternionTo(double[]quat, double[] vector, boolean inverse) {
+		Rotation ims_rot = new Rotation(quat[0],quat[1],quat[2],quat[3],true);
+		double [] rslt = new double[3];
+		if (inverse) {
+			ims_rot.applyInverseTo(vector, rslt);
 
- */
+		} else {
+			ims_rot.applyTo(vector, rslt);
+		}
+		return rslt;
+	}
+	
+	public static double [] imsToCamRotations(double [] ims_theta, int ord, boolean rev_order, boolean rev_matrix ) {
+		RotationConvention rc = RotationConvention.FRAME_TRANSFORM;
+//		RotationOrder ro =  zyx ? RotationOrder.ZYX : RotationOrder.XYZ; // XYZ; // ZYX;
+		RotationOrder ro = RotationOrder.XYZ;
+		switch (ord) {
+		case 0: ro = RotationOrder.XYZ; break;
+		case 1: ro = RotationOrder.XZY; break;
+		case 2: ro = RotationOrder.YXZ; break;
+		case 3: ro = RotationOrder.YZX; break;
+		case 4: ro = RotationOrder.ZXY; break;
+		case 5: ro = RotationOrder.ZYX; break;
+		}
+		RotationOrder ro1 = ro; // ? RotationOrder.ZYX : RotationOrder.XYZ; //.XYZ;
+		Rotation cam_to_ims0 = new Rotation(new double [][] {{0,0,1},{-1,0,0},{0,-1,0}}, 1E-8);
+//		Rotation cam_to_ims1 = new Rotation(ro, rc, -Math.PI/2, 0, -Math.PI/2);
+		Rotation cam_to_ims = rev_matrix? (new Rotation(ro, rc,  -Math.PI/2, 0,  -Math.PI/2)):(new Rotation(ro, rc,  Math.PI/2, 0,  Math.PI/2));
+		double [] angles1 = cam_to_ims.getAngles(ro1, rc);
+		Rotation ims_rot = new Rotation(ro, rc, ims_theta[0], ims_theta[1], ims_theta[2]);
+				//Rotation r1= new Rotation(RotationOrder.YXZ, RC, ro.aux_azimuth, ro.aux_tilt, ro.aux_roll)
+		Rotation comb_rot = rev_order?ims_rot.applyTo(cam_to_ims): cam_to_ims.applyTo(ims_rot);
+		double [] angles = comb_rot.getAngles(ro1, rc);
+		return angles;
 	}
 	
+	public static double [] imsQToCamRotations(double [] ims_qn2b, int ord, boolean rev_order, boolean rev_matrix ) {
+		RotationConvention rc = RotationConvention.FRAME_TRANSFORM;
+//		RotationOrder ro =  zyx ? RotationOrder.ZYX : RotationOrder.XYZ; // XYZ; // ZYX;
+		RotationOrder ro = RotationOrder.XYZ;
+		switch (ord) {
+		case 0: ro = RotationOrder.XYZ; break;
+		case 1: ro = RotationOrder.XZY; break;
+		case 2: ro = RotationOrder.YXZ; break;
+		case 3: ro = RotationOrder.YZX; break;
+		case 4: ro = RotationOrder.ZXY; break;
+		case 5: ro = RotationOrder.ZYX; break;
+		}
+		RotationOrder ro1 = ro; // ? RotationOrder.ZYX : RotationOrder.XYZ; //.XYZ;
+		Rotation cam_to_ims0 = new Rotation(new double [][] {{0,0,1},{-1,0,0},{0,-1,0}}, 1E-8);
+//		Rotation cam_to_ims1 = new Rotation(ro, rc, -Math.PI/2, 0, -Math.PI/2);
+		Rotation cam_to_ims = rev_matrix? (new Rotation(ro, rc,  -Math.PI/2, 0,  -Math.PI/2)):(new Rotation(ro, rc,  Math.PI/2, 0,  Math.PI/2));
+		double [] angles1 = cam_to_ims.getAngles(ro1, rc);
+		
+//		Rotation ims_rot = new Rotation(ro, rc, ims_theta[0], ims_theta[1], ims_theta[2]);
+//  public Rotation(double q0, double q1, double q2, double q3,  boolean needsNormalization) {
+		Rotation ims_rot = new Rotation(ims_qn2b[0],ims_qn2b[1],ims_qn2b[2],ims_qn2b[3],true);
+		//Rotation r1= new Rotation(RotationOrder.YXZ, RC, ro.aux_azimuth, ro.aux_tilt, ro.aux_roll)
+		Rotation comb_rot = rev_order?ims_rot.applyTo(cam_to_ims): cam_to_ims.applyTo(ims_rot);
+		double [] angles = comb_rot.getAngles(ro1, rc);
+		return angles;
+	}
+
+	public static double [] nedFromLla (double [] lla, double [] lla_ref) {
+		double [] ned = new double[] { 
+				EARTH_RADIUS* Math.cos(lla[0] * Math.PI / 180)*(lla[1] - lla_ref[1]) * Math.PI / 180.0,
+				EARTH_RADIUS* (lla[0]-lla_ref[0]) * Math.PI / 180,
+				-(lla[2] - lla_ref[2])
+		};
+		return ned;
+	}
 	
 }

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

@@ -34,12 +34,18 @@ public class IntersceneMatchParameters {
 	public static String [] MODES3D = {"RAW", "INF", "FG", "BG"}; // RAW:-1
 	public static String [] MODES_AVI = {"RAW", "JPEG", "PNG"};
 	// Maybe add parameters to make sure there is enough data? Enough in each zone? Enough spread?
+	public  boolean ims_use =            true;   // use IMS data
+	public  boolean ims_rebuild =        false;  // recalculate INS data (after lag change)
+	public  double  ims_offset =         0.0;    // IMS data lead relative to images (seconds) 
+	public  double  gmt_plus =           3.0;    // (hrs) filename timestamp is this lower than in IMU log 
+		
 	public  boolean force_ref_dsi =      false; // true;
 	public  boolean force_orientations = false;
 	public  boolean run_ly =             false; // will return just after LY adjustments, skipping all output generation
 	public  int min_num_orient =         2; // make from parameters, should be >= 1
 	public  int min_num_interscene =     2; // make from parameters, should be >= 1
 
+	public  boolean generate_egomotion = true; // generate egomotion table (image-based and ims)
 	public  boolean generate_mapped =    true; // generate any of the sequences - Tiff, video, mono or stereo
 	public  boolean reuse_video =        false; // dry-run video generation, just reassemble video fragments (active if !generate_mapped)
 	public  boolean save_mapped_color =  false; // may be not needed when using AVI
@@ -398,6 +404,15 @@ public class IntersceneMatchParameters {
 //		gd.addTab         ("Inter-Match", "Parameters for full-resolution (no decimation/macrotiles) scene matching");
 		gd.addTab         ("Scene Series", "Processing series of scenes and multi-series sets");
 		gd.addMessage  ("Build series options");
+		
+		gd.addCheckbox ("Use IMS data",                              this.ims_use,
+				"Use INS data for egomotion.");
+		gd.addCheckbox ("Recalculate IMS",                           this.ims_rebuild,
+				"Recalculate scene INS data.");
+		gd.addNumericField("IMS offset",                             this.ims_offset, 5,8,"s",
+				"Positive if the IMS data has lower lag than images.");
+		gd.addNumericField("GMT plus",                               this.gmt_plus, 5,8,"hrs",
+				"Timestamp filename is lower by this hours than in the IMU log.");
 		gd.addCheckbox ("Force reference scene DSI calculation",     this.force_ref_dsi,
 				"Calculate reference scene DSI even if the file exists.");
 		gd.addCheckbox ("Force egomotion calculation",               this.force_orientations,
@@ -410,6 +425,8 @@ public class IntersceneMatchParameters {
 				"Minimal required number of re-calculations of the interscene-accumulated DSI.");
 		
 		gd.addMessage  ("Generate/show scene sequences");
+		gd.addCheckbox ("Generate egomotion table",                  this.generate_egomotion,
+				"Generate table with image-based and IMS egomotion data.");
 		gd.addCheckbox ("Generate mapped scene sequence",            this.generate_mapped,
 				"Generate scene sequence mapped to the reference scene.");
 		gd.addCheckbox ("Reuse existing video fragments, disable other options",this.reuse_video,
@@ -1051,11 +1068,16 @@ public class IntersceneMatchParameters {
 	}
 
 	public void dialogAnswers(GenericJTabbedDialog gd) {
+		this.ims_use =                        gd.getNextBoolean();
+		this.ims_rebuild =                    gd.getNextBoolean();
+		this.ims_offset =                     gd.getNextNumber();
+		this.gmt_plus =                       gd.getNextNumber();
 		this.force_ref_dsi =                  gd.getNextBoolean();
 		this.force_orientations =             gd.getNextBoolean();
 		this.run_ly =                         gd.getNextBoolean();
 		this.min_num_orient =           (int) gd.getNextNumber(); if (min_num_orient < 1) min_num_orient = 1;
 		this.min_num_interscene =       (int) gd.getNextNumber(); if (min_num_interscene < 1) min_num_interscene = 1;
+		this.generate_egomotion =             gd.getNextBoolean();
 		this.generate_mapped =                gd.getNextBoolean();
 		this.reuse_video =                    gd.getNextBoolean();
 		this.save_mapped_color =              gd.getNextBoolean(); // as tiff
@@ -1394,6 +1416,11 @@ public class IntersceneMatchParameters {
 	}
 	
 	public void setProperties(String prefix,Properties properties){
+		properties.setProperty(prefix+"ims_use",                       this.ims_use + "");                     // boolean
+		properties.setProperty(prefix+"ims_rebuild",                   this.ims_rebuild + "");                 // boolean
+		properties.setProperty(prefix+"ims_offset",                    this.ims_offset+"");                    // double
+		properties.setProperty(prefix+"gmt_plus",                      this.gmt_plus+"");                      // double
+		
 		properties.setProperty(prefix+"force_ref_dsi",                 this.force_ref_dsi + "");               // boolean
 		properties.setProperty(prefix+"force_orientations",            this.force_orientations + "");          // boolean
 		properties.setProperty(prefix+"run_ly",                        this.run_ly + "");                      // boolean
@@ -1401,6 +1428,7 @@ public class IntersceneMatchParameters {
 //		properties.setProperty(prefix+"force_interscene",              this.force_interscene + "");            // boolean
 		properties.setProperty(prefix+"min_num_orient",                this.min_num_orient+"");                // int
 		properties.setProperty(prefix+"min_num_interscene",            this.min_num_interscene+"");            // int
+		properties.setProperty(prefix+"generate_egomotion",            this.generate_egomotion+"");               // boolean
 		properties.setProperty(prefix+"generate_mapped",               this.generate_mapped+"");               // boolean
 		properties.setProperty(prefix+"reuse_video",                   this.reuse_video+"");                   // boolean
 		properties.setProperty(prefix+"save_mapped_color",             this.save_mapped_color+"");             // boolean
@@ -1699,11 +1727,17 @@ public class IntersceneMatchParameters {
 	}
 	
 	public void getProperties(String prefix,Properties properties){
+		if (properties.getProperty(prefix+"ims_use")!=null)                       this.ims_use=Boolean.parseBoolean(properties.getProperty(prefix+"ims_use"));		
+		if (properties.getProperty(prefix+"ims_rebuild")!=null)                   this.ims_rebuild=Boolean.parseBoolean(properties.getProperty(prefix+"ims_rebuild"));		
+		if (properties.getProperty(prefix+"ims_offset")!=null)                    this.ims_offset=Double.parseDouble(properties.getProperty(prefix+"ims_offset"));
+		if (properties.getProperty(prefix+"gmt_plus")!=null)                      this.gmt_plus=Double.parseDouble(properties.getProperty(prefix+"gmt_plus"));
+				
 		if (properties.getProperty(prefix+"force_ref_dsi")!=null)                 this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));		
 		if (properties.getProperty(prefix+"force_orientations")!=null)            this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));		
 		if (properties.getProperty(prefix+"run_ly")!=null)                        this.run_ly=Boolean.parseBoolean(properties.getProperty(prefix+"run_ly"));		
 		if (properties.getProperty(prefix+"min_num_orient")!=null)                this.min_num_orient=Integer.parseInt(properties.getProperty(prefix+"min_num_orient"));
 		if (properties.getProperty(prefix+"min_num_interscene")!=null)            this.min_num_interscene=Integer.parseInt(properties.getProperty(prefix+"min_num_interscene"));
+		if (properties.getProperty(prefix+"generate_egomotion")!=null)            this.generate_egomotion=Boolean.parseBoolean(properties.getProperty(prefix+"generate_egomotion"));
 		if (properties.getProperty(prefix+"generate_mapped")!=null)               this.generate_mapped=Boolean.parseBoolean(properties.getProperty(prefix+"generate_mapped"));
 		if (properties.getProperty(prefix+"reuse_video")!=null)                   this.reuse_video=Boolean.parseBoolean(properties.getProperty(prefix+"reuse_video"));
 		
@@ -2029,11 +2063,17 @@ public class IntersceneMatchParameters {
 	@Override
 	public IntersceneMatchParameters clone() throws CloneNotSupportedException {
 		IntersceneMatchParameters imp =     new IntersceneMatchParameters();
- 		imp.force_ref_dsi                 = this.force_ref_dsi;
+ 		imp.ims_use                       = this.ims_use;
+ 		imp.ims_rebuild                   = this.ims_rebuild;
+ 		imp.ims_offset                    = this.ims_offset;
+ 		imp.gmt_plus                      = this.gmt_plus;
+ 		
+		imp.force_ref_dsi                 = this.force_ref_dsi;
 		imp.force_orientations            = this.force_orientations;
 		imp.run_ly                        = this.run_ly;
 		imp.min_num_orient                = this.min_num_orient;
 		imp.min_num_interscene            = this.min_num_interscene;
+		imp.generate_egomotion            = this.generate_egomotion;
 		imp.generate_mapped               = this.generate_mapped;
 		imp.reuse_video                   = this.reuse_video;
 		imp.save_mapped_color             = this.save_mapped_color;
@@ -2465,6 +2505,50 @@ public class IntersceneMatchParameters {
 		return data;
 	}
 	
+	public static float [] StringToFloats(String s, int len) {
+		StringTokenizer st = new StringTokenizer(s, " \t\n\r\f,");
+		if (st.countTokens() == 0) {
+			return null;
+		}
+		if (len <= 0) {
+			len = st.countTokens();
+		}
+		float [] data = new float [len]; 
+		int i = 0;
+		while (st.hasMoreTokens() && (i < len)) {
+			double d = 0;
+			try {
+				d = Double.parseDouble(st.nextToken());
+			} catch(NumberFormatException e){
+				d = 0;
+			}
+
+			data[i++] = (float) d;
+		}
+		return data;
+	}
 		
+	public static String floatsToString(float [] data) {
+		return floatsToString(data, null);
+	}
+	
+	public static String floatsToString(float [] data, String fmt) {
+//		if ((fmt == null) || (fmt.trim().length()==0)) {
+//			fmt = "%.0f";
+//		}
+		String s = "";
+		for (int i = 0; i < data.length; i++) {
+			if (fmt==null) {
+				s += data[i]; // unformatted
+			} else { 
+				s+=String.format(fmt,data[i]);
+			}
+			if (i < (data.length - 1)) {
+				s+= ", ";
+			}
+		}
+		return s;
+	}
+	
 	
 }

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

@@ -48,14 +48,22 @@ import org.apache.commons.math3.complex.Quaternion;
 
 import java.util.concurrent.ThreadLocalRandom;
 
+import com.elphel.imagej.calibration.CalibrationFileManagement;
 import com.elphel.imagej.cameras.CLTParameters;
 import com.elphel.imagej.cameras.ColorProcParameters;
 import com.elphel.imagej.cameras.EyesisCorrectionParameters;
 import com.elphel.imagej.common.DoubleGaussianBlur;
 import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.correction.CorrectionColorProc;
+import com.elphel.imagej.correction.Eyesis_Correction;
 import com.elphel.imagej.gpu.GpuQuad;
 import com.elphel.imagej.gpu.TpTask;
+import com.elphel.imagej.ims.Did_gps_pos;
+import com.elphel.imagej.ims.Did_ins_1;
+import com.elphel.imagej.ims.Did_ins_2;
+import com.elphel.imagej.ims.Did_pimu;
+import com.elphel.imagej.ims.EventLogger;
+import com.elphel.imagej.ims.Imx5;
 import com.elphel.imagej.jp4.JP46_Reader_camera;
 
 import Jama.Matrix;
@@ -67,6 +75,7 @@ import ij.io.FileSaver;
 import ij.process.FloatProcessor;
 import ij.process.ImageConverter;
 import ij.process.ImageProcessor;
+import ij.text.TextWindow;
 import ij.plugin.filter.AVI_Writer;
 import ij.plugin.filter.GaussianBlur;
 
@@ -4905,6 +4914,14 @@ public class OpticalFlow {
 			final boolean    updateStatus,
 			final int        debugLevel)  throws Exception
     {
+    	/*
+    	if (clt_parameters.imp.ims_use && (Eyesis_Correction.EVENT_LOGGER == null)) {
+    		System.out.println("Preparing IMS data as it is needed but does not exist");
+			String imx_logs = Eyesis_Correction.CORRECTION_PARAMETERS.getImsSourceDirectory(); // sourceImsDirectory;
+			Eyesis_Correction.EVENT_LOGGER = new EventLogger (imx_logs);
+    	}
+    	EventLogger eventLogger = Eyesis_Correction.EVENT_LOGGER;
+    	*/
     	int earliest_scene = 0;      // increase on failure
     	
     	boolean build_ref_dsi =              clt_parameters.imp.force_ref_dsi;
@@ -4943,6 +4960,9 @@ public class OpticalFlow {
 				save_mapped_mono_color[0]  || gen_avi_mono_color[0] || show_mono_color[0],
 				save_mapped_mono_color[1]  || gen_avi_mono_color[1] || show_mono_color[1]} ;
 		// skip completely if no color or mono, tiff or video
+		
+		boolean generate_egomotion = clt_parameters.imp.generate_egomotion; // generate egomotion table (image-based and ims)
+
 		boolean generate_mapped =            clt_parameters.imp.generate_mapped &&
 				(gen_seq_mono_color[0] || gen_seq_mono_color[1]);   // generate sequences - Tiff and/or video
 		boolean export3d =           clt_parameters.imp.export3d; //  true;
@@ -5368,6 +5388,34 @@ public class OpticalFlow {
 			}
 		}
 		
+		if (generate_egomotion) {
+			boolean ego_show = !clt_parameters.batch_run; //true; 
+			String  ego_path = quadCLTs[ref_index].getX3dDirectory()+Prefs.getFileSeparator()+
+					quadCLTs[ref_index].getImageName()+
+					quadCLTs[ref_index].correctionsParameters.egomotionSuffix;
+			String  ego_comment = null;
+		    generateEgomotionTable(
+		    		clt_parameters, // CLTParameters  clt_parameters,
+					quadCLTs, // QuadCLT []     quadCLTs,
+					ref_index,//            ref_indx,
+					earliest_scene, // int            earliest_scene,
+					ego_path, // String         path,
+					ego_comment); // String         comment);
+			if (debugLevel> -3) {
+				System.out.println("Egomotion table saved to "+ego_path);
+			}
+
+		    if (ego_show) {
+		    	generateEgomotionTable(
+		    			clt_parameters, // CLTParameters  clt_parameters,
+		    			quadCLTs, // QuadCLT []     quadCLTs,
+		    			ref_index,//            ref_indx,
+						earliest_scene, // int            earliest_scene,
+		    			ego_path, // String         path,
+		    			ego_comment); // String         comment);
+		    }
+		}
+		
 		if (test_ers) { // only debug feature
 			test_ers0 = quadCLTs.length -1; // make it always == reference !
 			testERS(
@@ -6187,6 +6235,308 @@ public class OpticalFlow {
 		return quadCLTs[ref_index].getX3dTopDirectory();
     }
     
+    public static void generateEgomotionTable(
+			CLTParameters  clt_parameters,
+			QuadCLT []     quadCLTs,
+			int            ref_index,
+			int            earliest_scene,
+			String         path,
+			String         comment) {
+		boolean use_euler = true;
+		boolean use_qn2b = true;
+    	
+		String header_img="#\ttimestamp\tx(m)\ty(m)\tz(m)\ta(rad)\ttilt(rad)\troll(rad)"+
+			"\tVx(m/s)\tVy(m/s)\tVz(m/s)\tVa(rad/s)\tVt(rad/s)\tVr(rad/s)";
+		String header_ins1="\ttow\ttheta0\ttheta1\ttheta2\tu(m/s)\tv(m/s)\tw(m/s)"+
+			"\tlat\tlong\talt\tned0\tned1\tned2";
+		String header_ins2="\ttow\tqn2b0\tqn2b1\tqn2b2\tqn2b3\tu(m/s)\tv(m/s)\tw(m/s)\tlat\tlong\talt";
+		String header_ins2_extra="\tned_N\tned_E\tned_D\timu_X\timu_Y\timu_Z"+
+				"\tu_dir\tv_dir\tw_dir\tu_inv\tv_inv\tw_inv";
+		String header_pimu="\to0\to1\to2\ta0\ta1\ta2";
+		
+		String header_cam000= "\ttheta0-000\ttheta1-000\ttheta2-000";
+		String header_cam001= "\ttheta0-001\ttheta1-001\ttheta2-001";
+		String header_cam010= "\ttheta0-010\ttheta1-010\ttheta2-010";
+		String header_cam011= "\ttheta0-011\ttheta1-011\ttheta2-011";
+		String header_cam100= "\ttheta0-100\ttheta1-100\ttheta2-100";
+		String header_cam101= "\ttheta0-101\ttheta1-101\ttheta2-101";
+		String header_cam110= "\ttheta0-110\ttheta1-110\ttheta2-110";
+		String header_cam111= "\ttheta0-111\ttheta1-111\ttheta2-111";
+		
+		String header_cam200= "\ttheta0-200\ttheta1-200\ttheta2-200";
+		String header_cam201= "\ttheta0-201\ttheta1-201\ttheta2-201";
+		String header_cam210= "\ttheta0-210\ttheta1-210\ttheta2-210";
+		String header_cam211= "\ttheta0-211\ttheta1-211\ttheta2-211";
+		String header_cam300= "\ttheta0-300\ttheta1-300\ttheta2-300";
+		String header_cam301= "\ttheta0-301\ttheta1-301\ttheta2-301";
+		String header_cam310= "\ttheta0-310\ttheta1-310\ttheta2-310";
+		String header_cam311= "\ttheta0-311\ttheta1-311\ttheta2-311";
+		
+		String header_cam400= "\ttheta0-400\ttheta1-400\ttheta2-400";
+		String header_cam401= "\ttheta0-401\ttheta1-401\ttheta2-401";
+		String header_cam410= "\ttheta0-410\ttheta1-410\ttheta2-410";
+		String header_cam411= "\ttheta0-411\ttheta1-411\ttheta2-411";
+		String header_cam500= "\ttheta0-500\ttheta1-500\ttheta2-500";
+		String header_cam501= "\ttheta0-501\ttheta1-501\ttheta2-501";
+		String header_cam510= "\ttheta0-510\ttheta1-510\ttheta2-510";
+		String header_cam511= "\ttheta0-511\ttheta1-511\ttheta2-511";
+		
+		String header_qn2b000= "\tqn2b0-000\tqn2b1-000\tqn2b2-000";
+		String header_qn2b001= "\tqn2b0-001\tqn2b1-001\tqn2b2-001";
+		String header_qn2b010= "\tqn2b0-010\tqn2b1-010\tqn2b2-010";
+		String header_qn2b011= "\tqn2b0-011\tqn2b1-011\tqn2b2-011";
+		String header_qn2b100= "\tqn2b0-100\tqn2b1-100\tqn2b2-100";
+		String header_qn2b101= "\tqn2b0-101\tqn2b1-101\tqn2b2-101";
+		String header_qn2b110= "\tqn2b0-110\tqn2b1-110\tqn2b2-110";
+		String header_qn2b111= "\tqn2b0-111\tqn2b1-111\tqn2b2-111";
+
+		String header_qn2b200= "\tqn2b0-200\tqn2b1-200\tqn2b2-200";
+		String header_qn2b201= "\tqn2b0-201\tqn2b1-201\tqn2b2-201";
+		String header_qn2b210= "\tqn2b0-210\tqn2b1-210\tqn2b2-210";
+		String header_qn2b211= "\tqn2b0-211\tqn2b1-211\tqn2b2-211";
+		String header_qn2b300= "\tqn2b0-300\tqn2b1-300\tqn2b2-300";
+		String header_qn2b301= "\tqn2b0-301\tqn2b1-301\tqn2b2-301";
+		String header_qn2b310= "\tqn2b0-310\tqn2b1-310\tqn2b2-310";
+		String header_qn2b311= "\tqn2b0-311\tqn2b1-311\tqn2b2-311";
+
+		String header_qn2b400= "\tqn2b0-400\tqn2b1-400\tqn2b2-400";
+		String header_qn2b401= "\tqn2b0-401\tqn2b1-401\tqn2b2-401";
+		String header_qn2b410= "\tqn2b0-410\tqn2b1-410\tqn2b2-410";
+		String header_qn2b411= "\tqn2b0-411\tqn2b1-411\tqn2b2-411";
+		String header_qn2b500= "\tqn2b0-500\tqn2b1-500\tqn2b2-500";
+		String header_qn2b501= "\tqn2b0-501\tqn2b1-501\tqn2b2-501";
+		String header_qn2b510= "\tqn2b0-510\tqn2b1-510\tqn2b2-510";
+		String header_qn2b511= "\tqn2b0-511\tqn2b1-511\tqn2b2-511";
+		
+		String header = header_img+header_ins1+header_ins2+header_ins2_extra+header_pimu;
+		if (use_qn2b) {
+			header+=
+					header_qn2b000 + header_qn2b001 + header_qn2b010 + header_qn2b011 +
+					header_qn2b100 + header_qn2b101 + header_qn2b110 + header_qn2b111 +
+					header_qn2b200 + header_qn2b201 + header_qn2b210 + header_qn2b211 +
+					header_qn2b300 + header_qn2b301 + header_qn2b310 + header_qn2b311 +
+					header_qn2b400 + header_qn2b401 + header_qn2b410 + header_qn2b411 +
+					header_qn2b500 + header_qn2b501 + header_qn2b510 + header_qn2b511;
+		}
+		if (use_euler) {
+			header+=
+				header_cam000 + header_cam001 + header_cam010 + header_cam011 +
+				header_cam100 + header_cam101 + header_cam110 + header_cam111 +
+				header_cam200 + header_cam201 + header_cam210 + header_cam211 +
+				header_cam300 + header_cam301 + header_cam310 + header_cam311 +
+				header_cam400 + header_cam401 + header_cam410 + header_cam411 +
+				header_cam500 + header_cam501 + header_cam510 + header_cam511;
+		}
+		StringBuffer sb = new StringBuffer();
+		QuadCLT ref_scene = quadCLTs[ref_index];
+		ErsCorrection ers_reference = ref_scene.getErsCorrection();
+		double [][][] scenes_xyzatr = new double [quadCLTs.length][][];
+		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
+			QuadCLT scene = quadCLTs[nscene];
+			if (nscene == ref_index) {
+				scenes_xyzatr[nscene] = new double[2][3];
+			} else {
+				String ts = scene.getImageName();
+				scenes_xyzatr[nscene] = new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
+			}
+		}
+		double [][][] dxyzatr_dt = getVelocitiesFromScenes(
+        		quadCLTs,          // QuadCLT []     scenes, // ordered by increasing timestamps
+        		ref_index,
+        		earliest_scene,    // int            start_scene,
+        		quadCLTs.length-1, // int            end1_scene,
+        		scenes_xyzatr,     // double [][][]  scenes_xyzatr,
+        		clt_parameters.ofp.lpf_series); // half_run_range); // double         half_run_range
+		Did_ins_2   d2_ref = quadCLTs[ref_index].did_ins_2;
+		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
+			QuadCLT scene = quadCLTs[nscene];
+			if (scene == null) {
+				for (int i = 0; i < 26; i++) {
+					sb.append("\t---");
+				}
+				sb.append("\n");
+				continue;
+			}
+			double timestamp = scene.getTimeStamp();
+			Did_ins_1   d1 = scene.did_ins_1;
+			Did_ins_2   d2 = scene.did_ins_2;
+			Did_pimu    d3 = scene.did_pimu;
+			
+			sb.append(nscene+"\t"+timestamp);
+			// TODO: try saved, not calculated velocities!
+			sb.append("\t"+scenes_xyzatr[nscene][0][0]+"\t"+scenes_xyzatr[nscene][0][1]+"\t"+scenes_xyzatr[nscene][0][2]);
+			sb.append("\t"+scenes_xyzatr[nscene][1][0]+"\t"+scenes_xyzatr[nscene][1][1]+"\t"+scenes_xyzatr[nscene][1][2]);
+			
+			sb.append("\t"+dxyzatr_dt[nscene][0][0]+"\t"+dxyzatr_dt[nscene][0][1]+"\t"+dxyzatr_dt[nscene][0][2]);
+			sb.append("\t"+dxyzatr_dt[nscene][1][0]+"\t"+dxyzatr_dt[nscene][1][1]+"\t"+dxyzatr_dt[nscene][1][2]);
+			
+//			String header_ins1="\ttow\ttheta0\ttheta1\ttheta2\tu(m/s)\tv(m/s)\tw(m/s)"+
+//					"\tlong\tlat\talt\tned0\tned1\tned2";
+			sb.append("\t"+d1.timeOfWeek);
+			sb.append("\t"+d1.theta[0]+"\t"+d1.theta[1]+"\t"+d1.theta[2]);
+			sb.append("\t"+d1.uvw[0]+  "\t"+d1.uvw[1]+  "\t"+d1.uvw[2]);
+			sb.append("\t"+d1.lla[0]+  "\t"+d1.lla[1]+  "\t"+d1.lla[2]);
+			sb.append("\t"+d1.ned[0]+  "\t"+d1.ned[1]+  "\t"+d1.ned[2]);
+//		String header_ins2="\ttow\tqn2b0\tqn2b1\tqn2b2\tqn2b3\tu(m/s)\tv(m/s)\tw(m/s)\tlong\tlat\talt";
+			sb.append("\t"+d2.timeOfWeek);
+			sb.append("\t"+d2.qn2b[0]+"\t"+d2.qn2b[1]+"\t"+d2.qn2b[2]+"\t"+d2.qn2b[3]);
+			sb.append("\t"+d2.uvw[0]+  "\t"+d2.uvw[1]+  "\t"+d2.uvw[2]);
+			sb.append("\t"+d2.lla[0]+  "\t"+d2.lla[1]+  "\t"+d2.lla[2]);
+			double [] double_theta = new double [] {d1.theta[0], d1.theta[1], d1.theta[2]};
+//imsToCamRotations(double [] ims_theta, boolean rev_order, boolean rev_matrix )
+			double [] double_qn2b = new double [] {d2.qn2b[0],d2.qn2b[1],d2.qn2b[2],d2.qn2b[3]};
+			double [] double_uvw = new double[] {d2.uvw[0],d2.uvw[1],d2.uvw[2]};
+			double [] uvw_dir = Imx5.applyQuternionTo(double_qn2b, double_uvw, false);
+			double [] uvw_inv = Imx5.applyQuternionTo(double_qn2b, double_uvw, true);
+//Converting from local uvw to NED: (qn2b).applyInverseTo(uvw,ned) results in [vNorth, vEast, vUp] 			
+			
+			double [] ned = Imx5.nedFromLla (d2.lla, d2_ref.lla);			
+			double [] ims_xyz = Imx5.applyQuternionTo(double_qn2b, ned, false);
+			
+			sb.append("\t"+ned[0]+  "\t"+ned[1]+  "\t"+ned[2]);             // global axes
+			sb.append("\t"+ims_xyz[0]+  "\t"+ims_xyz[1]+  "\t"+ims_xyz[2]); // imu axes
+			
+			sb.append("\t"+uvw_dir[0]+  "\t"+uvw_dir[1]+  "\t"+uvw_dir[2]); // wrong
+			sb.append("\t"+uvw_inv[0]+  "\t"+uvw_inv[1]+  "\t"+uvw_inv[2]); // correct
+			
+			
+//				String header_pimu="\to0\to1\to2\ta0\ta1\ta2";
+			sb.append("\t"+(d3.theta[0]/d3.dt)+"\t"+(d3.theta[1]/d3.dt)+"\t"+(d3.theta[2]/d3.dt));
+			sb.append("\t"+(d3.vel[0]/d3.dt)+"\t"+(d3.vel[1]/d3.dt)+"\t"+(d3.vel[2]/d3.dt));
+// 		String header_cam= "\ttheta0\ttheta1\ttheta2\troll\tpitch\tyaw";
+			if (use_qn2b) {
+				double [] cam_qn2b_000 = Imx5.imsQToCamRotations(double_qn2b, 0, false, false);		
+				double [] cam_qn2b_001 = Imx5.imsQToCamRotations(double_qn2b, 0, false, true);		
+				double [] cam_qn2b_010 = Imx5.imsQToCamRotations(double_qn2b, 0, true,  false);		
+				double [] cam_qn2b_011 = Imx5.imsQToCamRotations(double_qn2b, 0, true,  true);		
+				double [] cam_qn2b_100 = Imx5.imsQToCamRotations(double_qn2b, 1, false, false);		
+				double [] cam_qn2b_101 = Imx5.imsQToCamRotations(double_qn2b, 1, false, true);		
+				double [] cam_qn2b_110 = Imx5.imsQToCamRotations(double_qn2b, 1, true,  false);		
+				double [] cam_qn2b_111 = Imx5.imsQToCamRotations(double_qn2b, 1, true,  true);
+
+				double [] cam_qn2b_200 = Imx5.imsQToCamRotations(double_qn2b, 2, false, false);		
+				double [] cam_qn2b_201 = Imx5.imsQToCamRotations(double_qn2b, 2, false, true);		
+				double [] cam_qn2b_210 = Imx5.imsQToCamRotations(double_qn2b, 2, true,  false);		
+				double [] cam_qn2b_211 = Imx5.imsQToCamRotations(double_qn2b, 2, true,  true);		
+				double [] cam_qn2b_300 = Imx5.imsQToCamRotations(double_qn2b, 3, false, false);		
+				double [] cam_qn2b_301 = Imx5.imsQToCamRotations(double_qn2b, 3, false, true);		
+				double [] cam_qn2b_310 = Imx5.imsQToCamRotations(double_qn2b, 3, true,  false);		
+				double [] cam_qn2b_311 = Imx5.imsQToCamRotations(double_qn2b, 3, true,  true);
+
+				double [] cam_qn2b_400 = Imx5.imsQToCamRotations(double_qn2b, 4, false, false);		
+				double [] cam_qn2b_401 = Imx5.imsQToCamRotations(double_qn2b, 4, false, true);		
+				double [] cam_qn2b_410 = Imx5.imsQToCamRotations(double_qn2b, 4, true,  false);		
+				double [] cam_qn2b_411 = Imx5.imsQToCamRotations(double_qn2b, 4, true,  true);		
+				double [] cam_qn2b_500 = Imx5.imsQToCamRotations(double_qn2b, 5, false, false);		
+				double [] cam_qn2b_501 = Imx5.imsQToCamRotations(double_qn2b, 5, false, true);		
+				double [] cam_qn2b_510 = Imx5.imsQToCamRotations(double_qn2b, 5, true,  false);		
+				double [] cam_qn2b_511 = Imx5.imsQToCamRotations(double_qn2b, 5, true,  true);
+
+				sb.append("\t"+cam_qn2b_000[0]+"\t"+cam_qn2b_000[1]+"\t"+cam_qn2b_000[2]);
+				sb.append("\t"+cam_qn2b_001[0]+"\t"+cam_qn2b_001[1]+"\t"+cam_qn2b_001[2]);
+				sb.append("\t"+cam_qn2b_010[0]+"\t"+cam_qn2b_010[1]+"\t"+cam_qn2b_010[2]);
+				sb.append("\t"+cam_qn2b_011[0]+"\t"+cam_qn2b_011[1]+"\t"+cam_qn2b_011[2]);
+				sb.append("\t"+cam_qn2b_100[0]+"\t"+cam_qn2b_100[1]+"\t"+cam_qn2b_100[2]);
+				sb.append("\t"+cam_qn2b_101[0]+"\t"+cam_qn2b_101[1]+"\t"+cam_qn2b_101[2]);
+				sb.append("\t"+cam_qn2b_110[0]+"\t"+cam_qn2b_110[1]+"\t"+cam_qn2b_110[2]);
+				sb.append("\t"+cam_qn2b_111[0]+"\t"+cam_qn2b_111[1]+"\t"+cam_qn2b_111[2]);
+
+				sb.append("\t"+cam_qn2b_200[0]+"\t"+cam_qn2b_200[1]+"\t"+cam_qn2b_200[2]);
+				sb.append("\t"+cam_qn2b_201[0]+"\t"+cam_qn2b_201[1]+"\t"+cam_qn2b_201[2]);
+				sb.append("\t"+cam_qn2b_210[0]+"\t"+cam_qn2b_210[1]+"\t"+cam_qn2b_210[2]);
+				sb.append("\t"+cam_qn2b_211[0]+"\t"+cam_qn2b_211[1]+"\t"+cam_qn2b_211[2]);
+				sb.append("\t"+cam_qn2b_300[0]+"\t"+cam_qn2b_300[1]+"\t"+cam_qn2b_300[2]);
+				sb.append("\t"+cam_qn2b_301[0]+"\t"+cam_qn2b_301[1]+"\t"+cam_qn2b_301[2]);
+				sb.append("\t"+cam_qn2b_310[0]+"\t"+cam_qn2b_310[1]+"\t"+cam_qn2b_310[2]);
+				sb.append("\t"+cam_qn2b_311[0]+"\t"+cam_qn2b_311[1]+"\t"+cam_qn2b_311[2]);
+
+				sb.append("\t"+cam_qn2b_400[0]+"\t"+cam_qn2b_400[1]+"\t"+cam_qn2b_400[2]);
+				sb.append("\t"+cam_qn2b_401[0]+"\t"+cam_qn2b_401[1]+"\t"+cam_qn2b_401[2]);
+				sb.append("\t"+cam_qn2b_410[0]+"\t"+cam_qn2b_410[1]+"\t"+cam_qn2b_410[2]);
+				sb.append("\t"+cam_qn2b_411[0]+"\t"+cam_qn2b_411[1]+"\t"+cam_qn2b_411[2]);
+				sb.append("\t"+cam_qn2b_500[0]+"\t"+cam_qn2b_500[1]+"\t"+cam_qn2b_500[2]);
+				sb.append("\t"+cam_qn2b_501[0]+"\t"+cam_qn2b_501[1]+"\t"+cam_qn2b_501[2]);
+				sb.append("\t"+cam_qn2b_510[0]+"\t"+cam_qn2b_510[1]+"\t"+cam_qn2b_510[2]);
+				sb.append("\t"+cam_qn2b_511[0]+"\t"+cam_qn2b_511[1]+"\t"+cam_qn2b_511[2]);
+			}
+
+			if (use_euler) {
+				double [] cam_theta_000 = Imx5.imsToCamRotations(double_theta, 0, false, false);		
+				double [] cam_theta_001 = Imx5.imsToCamRotations(double_theta, 0, false, true);		
+				double [] cam_theta_010 = Imx5.imsToCamRotations(double_theta, 0, true,  false);		
+				double [] cam_theta_011 = Imx5.imsToCamRotations(double_theta, 0, true,  true);		
+				double [] cam_theta_100 = Imx5.imsToCamRotations(double_theta, 1, false, false);		
+				double [] cam_theta_101 = Imx5.imsToCamRotations(double_theta, 1, false, true);		
+				double [] cam_theta_110 = Imx5.imsToCamRotations(double_theta, 1, true,  false);		
+				double [] cam_theta_111 = Imx5.imsToCamRotations(double_theta, 1, true,  true);
+
+				double [] cam_theta_200 = Imx5.imsToCamRotations(double_theta, 2, false, false);		
+				double [] cam_theta_201 = Imx5.imsToCamRotations(double_theta, 2, false, true);		
+				double [] cam_theta_210 = Imx5.imsToCamRotations(double_theta, 2, true,  false);		
+				double [] cam_theta_211 = Imx5.imsToCamRotations(double_theta, 2, true,  true);		
+				double [] cam_theta_300 = Imx5.imsToCamRotations(double_theta, 3, false, false);		
+				double [] cam_theta_301 = Imx5.imsToCamRotations(double_theta, 3, false, true);		
+				double [] cam_theta_310 = Imx5.imsToCamRotations(double_theta, 3, true,  false);		
+				double [] cam_theta_311 = Imx5.imsToCamRotations(double_theta, 3, true,  true);
+
+				double [] cam_theta_400 = Imx5.imsToCamRotations(double_theta, 4, false, false);		
+				double [] cam_theta_401 = Imx5.imsToCamRotations(double_theta, 4, false, true);		
+				double [] cam_theta_410 = Imx5.imsToCamRotations(double_theta, 4, true,  false);		
+				double [] cam_theta_411 = Imx5.imsToCamRotations(double_theta, 4, true,  true);		
+				double [] cam_theta_500 = Imx5.imsToCamRotations(double_theta, 5, false, false);		
+				double [] cam_theta_501 = Imx5.imsToCamRotations(double_theta, 5, false, true);		
+				double [] cam_theta_510 = Imx5.imsToCamRotations(double_theta, 5, true,  false);		
+				double [] cam_theta_511 = Imx5.imsToCamRotations(double_theta, 5, true,  true);
+
+				sb.append("\t"+cam_theta_000[0]+"\t"+cam_theta_000[1]+"\t"+cam_theta_000[2]);
+				sb.append("\t"+cam_theta_001[0]+"\t"+cam_theta_001[1]+"\t"+cam_theta_001[2]);
+				sb.append("\t"+cam_theta_010[0]+"\t"+cam_theta_010[1]+"\t"+cam_theta_010[2]);
+				sb.append("\t"+cam_theta_011[0]+"\t"+cam_theta_011[1]+"\t"+cam_theta_011[2]);
+				sb.append("\t"+cam_theta_100[0]+"\t"+cam_theta_100[1]+"\t"+cam_theta_100[2]);
+				sb.append("\t"+cam_theta_101[0]+"\t"+cam_theta_101[1]+"\t"+cam_theta_101[2]);
+				sb.append("\t"+cam_theta_110[0]+"\t"+cam_theta_110[1]+"\t"+cam_theta_110[2]);
+				sb.append("\t"+cam_theta_111[0]+"\t"+cam_theta_111[1]+"\t"+cam_theta_111[2]);
+
+				sb.append("\t"+cam_theta_200[0]+"\t"+cam_theta_200[1]+"\t"+cam_theta_200[2]);
+				sb.append("\t"+cam_theta_201[0]+"\t"+cam_theta_201[1]+"\t"+cam_theta_201[2]);
+				sb.append("\t"+cam_theta_210[0]+"\t"+cam_theta_210[1]+"\t"+cam_theta_210[2]);
+				sb.append("\t"+cam_theta_211[0]+"\t"+cam_theta_211[1]+"\t"+cam_theta_211[2]);
+				sb.append("\t"+cam_theta_300[0]+"\t"+cam_theta_300[1]+"\t"+cam_theta_300[2]);
+				sb.append("\t"+cam_theta_301[0]+"\t"+cam_theta_301[1]+"\t"+cam_theta_301[2]);
+				sb.append("\t"+cam_theta_310[0]+"\t"+cam_theta_310[1]+"\t"+cam_theta_310[2]);
+				sb.append("\t"+cam_theta_311[0]+"\t"+cam_theta_311[1]+"\t"+cam_theta_311[2]);
+
+				sb.append("\t"+cam_theta_400[0]+"\t"+cam_theta_400[1]+"\t"+cam_theta_400[2]);
+				sb.append("\t"+cam_theta_401[0]+"\t"+cam_theta_401[1]+"\t"+cam_theta_401[2]);
+				sb.append("\t"+cam_theta_410[0]+"\t"+cam_theta_410[1]+"\t"+cam_theta_410[2]);
+				sb.append("\t"+cam_theta_411[0]+"\t"+cam_theta_411[1]+"\t"+cam_theta_411[2]);
+				sb.append("\t"+cam_theta_500[0]+"\t"+cam_theta_500[1]+"\t"+cam_theta_500[2]);
+				sb.append("\t"+cam_theta_501[0]+"\t"+cam_theta_501[1]+"\t"+cam_theta_501[2]);
+				sb.append("\t"+cam_theta_510[0]+"\t"+cam_theta_510[1]+"\t"+cam_theta_510[2]);
+				sb.append("\t"+cam_theta_511[0]+"\t"+cam_theta_511[1]+"\t"+cam_theta_511[2]);
+			}
+			/*
+			sb.append("\t"+
+					cam_theta[0]*180/Math.PI+"\t"+
+					cam_theta[1]*180/Math.PI+"\t"+
+					cam_theta[2]*180/Math.PI);
+			*/
+			sb.append("\n");
+		}
+		
+		if (path!=null) {
+			String footer=(comment != null) ? ("Comment: "+comment): "";
+			CalibrationFileManagement.saveStringToFile (
+					path,
+					header+"\n"+sb.toString()+"\n"+footer);
+		}else{
+			new TextWindow("Sharpness History", header, sb.toString(), 1000,900);
+		}
+		
+    	
+    }
+    
+    
 	public void adjustLYSeries(
 			QuadCLT                                              quadCLT_main, // update extrinsics here too
 			QuadCLT []                                           quadCLTs,

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

@@ -37,7 +37,7 @@ import java.nio.channels.Channels;
 import java.nio.channels.WritableByteChannel;
 import java.util.Arrays;
 import java.util.Properties;
-import java.util.Random;
+//import java.util.Random;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.atomic.DoubleAccumulator;
 
@@ -52,13 +52,13 @@ import com.elphel.imagej.correction.EyesisCorrections;
 import com.elphel.imagej.gpu.GPUTileProcessor;
 import com.elphel.imagej.gpu.GpuQuad;
 import com.elphel.imagej.gpu.TpTask;
-import com.elphel.imagej.tileprocessor.QuadCLTCPU.SetChannels;
+//import com.elphel.imagej.tileprocessor.QuadCLTCPU.SetChannels;
 
 import ij.IJ;
 import ij.ImagePlus;
 import ij.ImageStack;
-import ij.Prefs;
-import ij.io.FileSaver;
+//import ij.Prefs;
+//import ij.io.FileSaver;
 public class QuadCLT extends QuadCLTCPU {
 	int dbg_lev = 1;
 	private GpuQuad gpuQuad =              null; 	// use updateQuadCLT() to update after switching to a different

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

@@ -63,8 +63,15 @@ import com.elphel.imagej.common.PolynomialApproximation;
 import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.correction.CorrectionColorProc;
 import com.elphel.imagej.correction.EyesisCorrections;
+import com.elphel.imagej.correction.Eyesis_Correction;
 import com.elphel.imagej.gpu.GpuQuad;
 import com.elphel.imagej.gpu.TpTask;
+import com.elphel.imagej.ims.Did_gps_pos;
+import com.elphel.imagej.ims.Did_ins_1;
+import com.elphel.imagej.ims.Did_ins_2;
+import com.elphel.imagej.ims.Did_pimu;
+import com.elphel.imagej.ims.EventLogger;
+import com.elphel.imagej.ims.Imx5;
 import com.elphel.imagej.readers.ImagejJp4Tiff;
 import com.elphel.imagej.x3d.export.TriMesh;
 import com.elphel.imagej.x3d.export.WavefrontExport;
@@ -168,6 +175,18 @@ public class QuadCLTCPU {
     public int                                             num_orient = 0; 
     //number of times scenes are accumulated: 0 - none, 1 - after first orientation, 2 - after second orientation
     public int                                             num_accum =  0;
+    // IMS data
+    public double      ims_offs =         Double.NaN; // IMS offset for which data was saved (positive - IMS lag is lower than images)
+    public double      gmt_plus =         Double.NaN;
+    public Did_ins_1   did_ins_1 =        null;
+    public Did_ins_2   did_ins_2 =        null;
+    public Did_pimu    did_pimu =         null;
+    public Did_gps_pos did_gps1_pos =     null;
+    public Did_gps_pos did_gps2_pos =     null;
+    public Did_gps_pos did_gps1_ubx_pos = null;
+    public String      ims_last_path =    null;
+    
+    
     // TODO: Use dsi[] instead
 //    @Deprecated
 //    public boolean[] blue_sky =                            null;
@@ -602,18 +621,25 @@ public class QuadCLTCPU {
 		return quadCLT;
 	}
 	
-	
-	public double getTimeStamp() {
-		String sts = image_name.replace("_", ".");
-		Matcher m = Pattern.compile("\\d").matcher(sts);
+	public static double getTimeStamp(String ts) {
+		String sts = ts.replace("_", ".");
+//		Matcher m = Pattern.compile("\\d").matcher(sts);
+		Matcher m = Pattern.compile("\\d{5,10}\\.\\d{6}").matcher(sts);
+		//
 		if(m.find()) {
-			sts = sts.substring(m.start());
+			sts = sts.substring(m.start(), m.end());
 		}
 		return Double.parseDouble(sts);
 	}
+	public double getTimeStamp() {
+		return getTimeStamp(image_name);
+	}
 	public String getImageName() {
 		return image_name;
 	}
+	public void setImageName(String name) {
+		image_name = name;
+	}
 
 	public String getX3dTopDirectory() { // replace direct calculations  
 		String x3d_path = correctionsParameters.selectX3dDirectory( // for x3d and obj
@@ -1821,7 +1847,9 @@ public class QuadCLTCPU {
 		}
 		properties = loadProperties(
 				path, // String path,
-				properties); // Properties properties)
+				properties, // Properties properties)
+				false); // boolean silent)
+
 //		if (properties == null) {
 //			properties = new Properties();
 //		}
@@ -2112,6 +2140,15 @@ public class QuadCLTCPU {
 					threadsMax,
 					1); // debugLevel); // final int       debug_level)
 		}
+		// optionally restore/generate IMS data
+		if (clt_parameters.imp.ims_use) {
+			restoreIms(
+					clt_parameters.imp.ims_offset, //  double ims_offset,
+					clt_parameters.imp.gmt_plus,   //  double gmt_plus,
+					null, // String ims_path,
+					true, // boolean create,
+					debugLevelInner); // int debugLevel);
+		}
 		return this; //  can only be QuadCLT instance
 	}
 	
@@ -2172,15 +2209,264 @@ public class QuadCLTCPU {
 					threadsMax,
 					1); // debugLevel); // final int       debug_level)
 		}
+		// optionally restore/generate IMS data
+		if (clt_parameters.imp.ims_use) {
+			restoreIms(
+					clt_parameters.imp.ims_offset, //  double ims_offset,
+					clt_parameters.imp.gmt_plus,   //  double gmt_plus,
+					null, // String ims_path,
+					true, // boolean create,
+					debugLevelInner); // int debugLevel);
+		}
  		return this; //  can only be QuadCLT instance
 	}
 	
+	/**
+	 * Generate if needed and save several interpolated IMS DID-s
+	 * @param ims_offset difference between the IMS snapshot time and images.
+	 *                    Positive if IMS has lower latency
+	 * @param gmt_plus    hours from GMT to add to filename timestamp to get IMU log timestamp                    
+	 * @param ims_path    full file path or null (will be generated)
+	 * @param debugLevel  debug level
+	 * @return true on success, false on failure
+	 */
+	public boolean saveIms(
+			double ims_offset,
+			double gmt_plus,
+			String ims_path,
+			int debugLevel) {
+		double this_ts; 
+		if (ims_path == null) {
+			String model_dir = correctionsParameters.selectX3dDirectory(
+					image_name, // quad timestamp. Will be ignored if correctionsParameters.use_x3d_subdirs is false
+					null,
+					true,  // smart,
+					true);  //newAllowed, // save
+			if (model_dir == null) {
+				return false;
+			}
+			ims_path = model_dir + Prefs.getFileSeparator()+image_name+correctionsParameters.imsSuffix; // String path,
+			this_ts= getTimeStamp();
+		} else { 
+			this_ts=getTimeStamp(ims_path.substring(ims_path.lastIndexOf(Prefs.getFileSeparator())+1));
+		}
+		if ((getImageName()==null) || (getTimeStamp() != this_ts) || (ims_offset != this.ims_offs) || (gmt_plus != this.gmt_plus)){
+			// invalidate
+			this.ims_offs =    ims_offset;
+			this.gmt_plus =    gmt_plus;
+			did_ins_1 =        null;
+			did_ins_2 =        null;
+			did_pimu =         null;
+			did_gps1_pos =     null;
+			did_gps2_pos =     null;
+			did_gps1_ubx_pos = null;
+		}
+		if (Eyesis_Correction.EVENT_LOGGER == null) {
+			System.out.println("Preparing IMS data as it is needed but does not exist");
+			String imx_logs = correctionsParameters.getImsSourceDirectory(); // sourceImsDirectory;
+			Eyesis_Correction.EVENT_LOGGER = new EventLogger (imx_logs);
+		}
+		EventLogger eventLogger = Eyesis_Correction.EVENT_LOGGER; 
+		double ims_timestamp = this_ts + this.ims_offs + 3600 * gmt_plus;
+		if (did_ins_1 == null) {
+			try {did_ins_1=eventLogger.interpolateDidIns1(ims_timestamp, 0);}
+			catch (IOException e) {e.printStackTrace();}
+		}
+		if (did_ins_2 == null) {
+			try {did_ins_2=eventLogger.interpolateDidIns2(ims_timestamp, 0);}
+			catch (IOException e) {e.printStackTrace();}
+		}
+		if (did_pimu == null) {
+			try {did_pimu=eventLogger.interpolateDidPimu(ims_timestamp, 0);}
+			catch (IOException e) {e.printStackTrace();}
+		}
+		if (did_gps1_pos == null) {
+			try {did_gps1_pos=eventLogger.interpolateDidGpsPos(ims_timestamp, Imx5.DID_GPS1_POS, 0);}
+			catch (IOException e) {e.printStackTrace();}
+		}
+		if (did_gps2_pos == null) {
+			try {did_gps2_pos=eventLogger.interpolateDidGpsPos(ims_timestamp, Imx5.DID_GPS2_POS, 0);}
+			catch (IOException e) {e.printStackTrace();}
+		}
+		if (did_gps1_ubx_pos == null) {
+			try {did_gps1_ubx_pos=eventLogger.interpolateDidGpsPos(ims_timestamp, Imx5.DID_GPS1_UBX_POS, 0);}
+			catch (IOException e) {e.printStackTrace();}
+		}
+		Properties ims_properties = new Properties();
+		ims_properties.setProperty("ims_offs",         this.ims_offs+"");
+		ims_properties.setProperty("gmt_plus",         this.gmt_plus+"");
+		if (did_ins_1 != null)         did_ins_1.setProperties("did_ins_1-", ims_properties);
+		if (did_ins_2 != null)         did_ins_2.setProperties("did_ins_2-", ims_properties);
+		if (did_pimu != null)          did_pimu.setProperties("did_pimu-", ims_properties);
+		if (did_gps1_pos != null)      did_gps1_pos.setProperties("did_gps1_pos-", ims_properties);
+		if (did_gps2_pos != null)      did_gps2_pos.setProperties("did_gps2_pos-", ims_properties);
+		if (did_gps1_ubx_pos != null)  did_gps1_ubx_pos.setProperties("did_gps1_ubx_pos-", ims_properties);
+
+//Properties setProperties(String prefix, Properties properties)		
+		// ims_path
+		OutputStream os;
+		try {
+			os = new FileOutputStream(ims_path);
+		} catch (FileNotFoundException e1) {
+			// missing config directory
+			File dir = (new File(ims_path)).getParentFile();
+			if (!dir.exists()){
+				dir.mkdirs();
+				try {
+					os = new FileOutputStream(ims_path);
+				} catch (FileNotFoundException e2) {
+					IJ.showMessage("Error","Failed to create directory "+dir.getName()+" to save configuration file: "+ims_path);
+					return false;
+				}
+			} else {
+				IJ.showMessage("Error","Failed to open configuration file: "+ims_path);
+				return false;
+			}
+		}
+		try {
+			ims_properties.storeToXML(os,
+					"last updated " + new java.util.Date(), "UTF8");
+		} catch (IOException e) {
+			IJ.showMessage("Error","Failed to write XML configuration file: "+ims_path);
+			return false;
+		}
+		try {
+			os.close();
+		} catch (IOException e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		}
+		ims_last_path = ims_path;
+		if (debugLevel> -3) {
+			System.out.println("IMS parameters are saved to "+ims_path);
+		}
+		
+		return true;
+	}
+	
+	/**
+	 * Restore IMS data, regenerate and save if it does not exist or was generated for
+	 * different  ims_offset
+	 * @param ims_offset difference between the IMS snapshot time and images.
+	 *                    Positive if IMS has lower latency
+	 * @param gmt_plus    hours from GMT to add to filename timestamp to get IMU log timestamp                    
+	 * @param ims_path    full file path or null (will be generated)
+	 * @param create      generate if does not exist
+	 * @param debugLevel  debug level
+	 * @return true on success, false on failure
+	 */
+	public boolean restoreIms(
+			double ims_offset,
+			double gmt_plus,
+			String ims_path,
+			boolean create,
+			int debugLevel) {
+		if (ims_path == null) {
+			String model_dir = correctionsParameters.selectX3dDirectory(
+					image_name, // quad timestamp. Will be ignored if correctionsParameters.use_x3d_subdirs is false
+					null,
+					true,  // smart,
+					false);  //newAllowed, // save
+			if (model_dir == null) {
+				return false;
+			}
+			ims_path = model_dir + Prefs.getFileSeparator()+image_name+correctionsParameters.imsSuffix; // String path,
+		}
+		if (ims_path.equals(this.ims_last_path) && (ims_offset == this.ims_offs) && (gmt_plus == this.gmt_plus)) {
+			return true;
+		}
+		Properties ims_properties = loadProperties(
+				ims_path, // String path,
+				null, // Properties properties)
+				true); // boolean silent)
+		// temporary to recalculate if no did_ins_2:
+		{
+			Did_ins_2 did_ins_2 = new Did_ins_2("did_ins_2-", ims_properties);
+			if ((did_ins_2.lla == null) || ((did_ins_2.lla[0]==0) && (did_ins_2.lla[1]==0))) {
+				ims_properties = null;
+				System.out.println("restoreIms(): no did_ins_2 - invalidating and recalculating config");
+			}
+		}
+		if (ims_properties == null) {
+			if (create) {
+				saveIms(ims_offset, gmt_plus, ims_path, debugLevel);
+				ims_properties = loadProperties(
+						ims_path, // String path,
+						null, // Properties properties)
+						true); // boolean silent)				
+			}
+			if (ims_properties == null) {
+
+				if (debugLevel> -3) {
+					System.out.println("Failed to read IMS properties file: "+ims_path);
+				}
+				return false;
+			}
+		}
+		this.ims_offs = Double.NaN;
+		this.gmt_plus = Double.NaN;
+		if (ims_properties.getProperty("ims_offs")!=null) this.ims_offs=Double.parseDouble(ims_properties.getProperty("ims_offs"));
+		if (ims_properties.getProperty("gmt_plus")!=null) this.gmt_plus=Double.parseDouble(ims_properties.getProperty("gmt_plus"));
+		if ((this.ims_offs != ims_offset) || (this.gmt_plus != gmt_plus)) {
+			if (debugLevel> -3) {
+				System.out.println("IMS offset differs, recalculating "+ims_path);
+			}
+			saveIms(ims_offset, gmt_plus, ims_path, debugLevel);			
+		}
+		did_ins_1 =        new Did_ins_1("did_ins_1-", ims_properties);
+		did_ins_2 =        new Did_ins_2("did_ins_2-", ims_properties);
+		did_pimu =         new Did_pimu("did_pimu-", ims_properties);
+		did_gps1_pos =     new Did_gps_pos("did_gps1_pos-", ims_properties);
+		did_gps2_pos =     new Did_gps_pos("did_gps2_pos-", ims_properties);
+		did_gps1_ubx_pos = new Did_gps_pos("did_gps1_ubx_pos-", ims_properties);
+		ims_last_path =    ims_path;
+		if (debugLevel> -3) {
+			System.out.println("IMS parameters are restored from "+ims_path);
+		}
+		return true;
+	}
 	
+	/**
+	 * Read ims_offset from the saved IMS data. Return Double.NaN if file does not exist
+	 * @param ims_path    full file path or null (will be generated)
+	 * @param debugLevel  debug level
+	 * @return difference between the IMS snapshot time and images or NaN if file does not exist.
+	 *         Positive if IMS has lower latency
+	 */
+	public double [] readImsOffset(
+			String ims_path,
+			int debugLevel) {
+		if (ims_path == null) {
+			String model_dir = correctionsParameters.selectX3dDirectory(
+					image_name, // quad timestamp. Will be ignored if correctionsParameters.use_x3d_subdirs is false
+					null,
+					true,  // smart,
+					false);  //newAllowed, // save
+			if (model_dir == null) {
+				return null;
+			}
+			ims_path = model_dir + Prefs.getFileSeparator()+image_name+correctionsParameters.imsSuffix; // String path,
+		}
+		Properties ims_properties = loadProperties(
+				ims_path, // String path,
+				null, // Properties properties)
+				true); // boolean silent)
+				
+		if (ims_properties == null) {
+			System.out.println("Failed to read IMS properties file: "+ims_path);
+//			IJ.showMessage("Error","Failed to read IMS properties file: "+ims_path);
+			return null;
+		}
+		double [] rslt = {Double.NaN,Double.NaN};
+		if (ims_properties.getProperty("ims_offs")!=null) rslt[0] = Double.parseDouble(ims_properties.getProperty("ims_offs"));
+		if (ims_properties.getProperty("gmt_plus")!=null) rslt[1] = Double.parseDouble(ims_properties.getProperty("gmt_plus"));
+		return rslt;
+	}
 	
 	
 	
 	// generate and save noise file (each Bayer component amplitude same as the corresponding image average,
-	// apply gaussian blur with sigma (before Bayer scaling)
+	// apply Gaussian blur with sigma (before Bayer scaling)
 	// If file with the same sigma already exists in the model directory - just use it, multiply by noise_sigma_level[0] and add to the non-zero Bayer
 	
 	
@@ -2862,7 +3148,8 @@ public class QuadCLTCPU {
 
 	public static Properties loadProperties(
 			String path,
-			Properties properties){
+			Properties properties,
+			boolean silent){
 		if (properties == null) {
 			properties = new Properties();
 		}
@@ -2870,14 +3157,18 @@ public class QuadCLTCPU {
 		try {
 			is = new FileInputStream(path);
 		} catch (FileNotFoundException e) {
-			IJ.showMessage("Error","Failed to open configuration file: "+path);
+			if (!silent) {
+				IJ.showMessage("Error","Failed to open configuration file: "+path);
+			}
 			return null;
 		}
 		try {
 			properties.loadFromXML(is);
 
 		} catch (IOException e) {
-			IJ.showMessage("Error","Failed to read XML configuration file: "+path);
+			if (!silent) {
+				IJ.showMessage("Error","Failed to read XML configuration file: "+path);
+			}
 			return null;
 		}
 		try {

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

@@ -2982,7 +2982,7 @@ if (debugLevel > -100) return true; // temporarily !
 	 * @param quadCLT_aux    secondary RGB or LWIR QuadCLT instance
 	 * @param clt_parameters CLT parameters
 	 * @param skip_existing  do not copy if destination files exist
-	 * @param search_KML     search fpr geo data and extract it to KML file if found
+	 * @param search_KML     search for geo data and extract it to KML file if found
 	 * @param debugLevel     debug level
 	 */
 	public static void copyJP4src(
@@ -3012,6 +3012,7 @@ if (debugLevel > -100) return true; // temporarily !
 			set_name = set_channels[00].set_name;
 		}
 
+		
 		QuadCLT.SetChannels [] set_channels_main = quadCLT_main.setChannels(set_name,debugLevel); // only for specified image timestamp
 		QuadCLT.SetChannels [] set_channels_aux =  (quadCLT_aux !=null) ? quadCLT_aux.setChannels(set_name,debugLevel) : null;
 
@@ -3036,20 +3037,39 @@ if (debugLevel > -100) return true; // temporarily !
 				true,  // smart,
 				true);  //newAllowed, // save
 		File dir = (new File(jp4_copy_path)); // .getParentFile();
+		boolean already_copied = false;
 		if (!dir.exists()){
 			dir.mkdirs();
 			System.out.println("Created "+dir);
 		} else if (skip_existing) {
 			if (dir.list().length > 0) {
-				System.out.println("Skipping existing directory "+dir);
-				return;
+				already_copied = true;
 			}
 		}
+		
+		if (clt_parameters.imp.ims_use) {
+			String ims_path = dir.getParent() + Prefs.getFileSeparator()+set_name+quadCLT_main.correctionsParameters.imsSuffix;
+			double [] saved_offset =  quadCLT_main.readImsOffset(
+					ims_path, // String ims_path,
+					debugLevel); // int debugLevel)
+			if ((saved_offset == null) || (saved_offset[0] != clt_parameters.imp.ims_offset) || (saved_offset[1] != clt_parameters.imp.gmt_plus)) {
+				quadCLT_main.saveIms(
+						clt_parameters.imp.ims_offset,
+						clt_parameters.imp.gmt_plus,   //  double gmt_plus,
+						ims_path,
+						debugLevel);
+			}
+		}
+		
 		if (search_KML && (set_channels_main !=null)) { // TODO: make it look in both MAIN and AUX. Look in only the same scene?
 			quadCLT_main.writeKml(
 					set_name,
 					debugLevel ); // also generated with x3d model
 		}
+		if (already_copied) {
+			System.out.println("Skipping existing directory "+dir);
+			return;
+		}
 		for (String fname:path_list) {
 			if (fname.contains(set_name)) { // only files containing set name // TODO:improve
 				File file = new File(fname);