Minor bug fixing and testing

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

@@ -4296,17 +4296,17 @@ public class Interscene {
 		
 		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
 			QuadCLT scene = quadCLTs[nscene];
-			if (nscene == ref_index) {
-				scenes_xyzatr[nscene] =    new double[2][3];
-				scenes_xyzatr_dt[nscene] = new double[2][3];
-			} else {
+///			if (nscene == ref_index) {
+///				scenes_xyzatr[nscene] =    new double[2][3];
+///				scenes_xyzatr_dt[nscene] = new double[2][3];
+///			} else {
 				String ts = scene.getImageName();
 				scenes_xyzatr[nscene] =    new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
 				scenes_xyzatr_dt[nscene] = ers_reference.getSceneErsXYZATR_dt(ts);
 				if (scenes_xyzatr[nscene] != null) {
 					num_processed++;
 				}
-			}
+///			}
 		}
 		boolean use_processed = num_processed > 1;
 
@@ -4341,19 +4341,19 @@ public class Interscene {
 					ref_index,
 					earliest_scene,    // int            start_scene,
 					quadCLTs.length-1, // int            end1_scene,
-					scenes_xyzatr,     // double [][][]  scenes_xyzatr,
+					scenes_xyzatr,     // double [][][]  scenes_xyzatr, // 5.0
 					clt_parameters.ofp.lpf_series); // half_run_range); // double         half_run_range
 		}
 		
-		double [] quat_ims_cam = Imx5.quaternionImsToCam(
-				ims_mount_atr, // new double[] {0, 0.13, 0},
-				ims_ortho);
+///		double [] quat_ims_cam = Imx5.quaternionImsToCam(
+///				ims_mount_atr, // new double[] {0, 0.13, 0},
+///				ims_ortho);
 				
 		Did_ins_2   d2_ref = quadCLTs[ref_index].did_ins_2;
 		double [] cam_quat_ref =Imx5.quaternionImsToCam(d2_ref.getQn2b() ,
 				ims_mount_atr, // new double[] {0, 0.13, 0},
 				ims_ortho);
-		double [] ref_abs_atr = Imx5.quatToCamAtr(cam_quat_ref);
+		double [] ref_abs_atr = Imx5.quatToCamAtr(cam_quat_ref); //
 		double [][] ims_ref_xyzatr = {ZERO3, ref_abs_atr};
 		
 		
@@ -4362,7 +4362,7 @@ public class Interscene {
 				ims_ortho);
 		double [] ref_abs_atr_enu = Imx5.quatToCamAtr(cam_quat_ref_enu);
 		double [][] ims_ref_xyzatr_enu = {ZERO3, ref_abs_atr_enu};
-		double [][][] scenes_dxyzatr = QuadCLTCPU.getDxyzatrIms(
+		double [][][] scenes_dxyzatr = QuadCLTCPU.getDxyzatrIms( // velocities and omegas from IMU 
 				clt_parameters, // CLTParameters clt_parameters,
 				quadCLTs,       // QuadCLT[]     quadCLTs,
 				false); // boolean       scale)
@@ -4385,12 +4385,15 @@ public class Interscene {
 			sb.append(nscene+"\t"+timestamp);
 			if (use_processed) {
 				if (scenes_xyzatr[nscene] != null) {
+					// x,y,z - scene position in reference scene frame (reference scene is all 0-s)
 					sb.append("\t"+scenes_xyzatr[nscene][0][0]+"\t"+scenes_xyzatr[nscene][0][1]+"\t"+scenes_xyzatr[nscene][0][2]);
+					// a,tilt,roll - scene orientation in reference scene frame (reference scene is all 0-s)
 					sb.append("\t"+scenes_xyzatr[nscene][1][0]+"\t"+scenes_xyzatr[nscene][1][1]+"\t"+scenes_xyzatr[nscene][1][2]);
-					// TODO: try saved, not calculated velocities!
+					// Vx, Vy, Vz - linear velocities calculated from coordinates by running average (now +/- 5 scenes
 					sb.append("\t"+dxyzatr_dt[nscene][0][0]+"\t"+dxyzatr_dt[nscene][0][1]+"\t"+dxyzatr_dt[nscene][0][2]);
+					// Va, Vt, Vr - angular velocities calculated from coordinates by running average (now +/- 5 scenes
 					sb.append("\t"+dxyzatr_dt[nscene][1][0]+"\t"+dxyzatr_dt[nscene][1][1]+"\t"+dxyzatr_dt[nscene][1][2]);
-					// TODO: try saved, not calculated velocities - here they are:
+					
 					sb.append("\t"+scenes_xyzatr_dt[nscene][0][0]+"\t"+scenes_xyzatr_dt[nscene][0][1]+"\t"+scenes_xyzatr_dt[nscene][0][2]);
 					sb.append("\t"+scenes_xyzatr_dt[nscene][1][0]+"\t"+scenes_xyzatr_dt[nscene][1][1]+"\t"+scenes_xyzatr_dt[nscene][1][2]);
 				} else {

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

@@ -503,7 +503,7 @@ public class QuadCLTCPU {
     	}
     	double [] ref_abs_atr_enu = Imx5.quatToCamAtr(cam_quat_ref_enu);
     	double [][] ims_ref_xyzatr_enu = {ZERO3, ref_abs_atr_enu};
-    	double [][] last_corr_xyzatr = {ZERO3,ZERO3};
+//    	double [][] last_corr_xyzatr = {ZERO3,ZERO3};
     	for (int nscene = 0; nscene < quadCLTs.length; nscene++) if (quadCLTs[nscene] != null) {
     		QuadCLT scene = quadCLTs[nscene];
     		Did_ins_2 d2 = scene.did_ins_2;