moving objects detection during pose matching

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

@@ -519,7 +519,7 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 	
 	public double [] getIMU() {
 //		double [] imu = {vector[IMU_INDEX + 0], vector[IMU_INDEX + 1], vector[IMU_INDEX + 2],vector[IMU_INDEX + 3], vector[IMU_INDEX + 4], vector[IMU_INDEX + 5]};
-		int indx = getZoomIndex();
+		int indx = getIMUIndex(); // Was bug: getZoomIndex();
 		double [] imu = new double[6];
 		for (int i = 0; i < imu.length; i++) {
 			imu[i] = vector[indx + i];
@@ -528,10 +528,15 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 	}
 
 	public void setIMU(double [] imu) {
-		int indx = getZoomIndex();
+		int indx = getIMUIndex(); // Was bug: getZoomIndex();
 		for (int i = 0; i < imu.length; i++) {
 			vector [indx + i] = imu[i];
 		}
+		System.out.print("setIMU(");
+		for (int i = 0; i < imu.length; i++) {
+			System.out.print(imu[i]+",");
+		}
+		System.out.println(")");
 	}
 
 	public double setZoomsFromF(double [] f) { // USED in lwir

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

@@ -67,22 +67,22 @@ public class IntersceneLma {
 				full_vector[ErsCorrection.DP_DAZ],full_vector[ErsCorrection.DP_DTL],full_vector[ErsCorrection.DP_DRL]};
 	}
 
-	public double [] getSceneERSXYZ(boolean initial) {
+	public double [] getSceneERSXYZ(boolean initial) { // never used
 		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
 		return new double[] {
 				full_vector[ErsCorrection.DP_DSVX],full_vector[ErsCorrection.DP_DSVY],full_vector[ErsCorrection.DP_DSVZ]};
 	}
-	public double [] getSceneERSATR(boolean initial) {
+	public double [] getSceneERSATR(boolean initial) { // never used
 		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
 		return new double[] {
 				full_vector[ErsCorrection.DP_DSVAZ],full_vector[ErsCorrection.DP_DSVTL],full_vector[ErsCorrection.DP_DSVRL]};
 	}
-	public double [] getReferenceERSXYZ(boolean initial) {
+	public double [] getReferenceERSXYZ(boolean initial) { // never used
 		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
 		return new double[] {
 				full_vector[ErsCorrection.DP_DSVX],full_vector[ErsCorrection.DP_DSVY],full_vector[ErsCorrection.DP_DSVZ]};
 	}
-	public double [] getReferenceERSATR(boolean initial) {
+	public double [] getReferenceERSATR(boolean initial) { // never used
 		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
 		return new double[] {
 				full_vector[ErsCorrection.DP_DSVAZ],full_vector[ErsCorrection.DP_DSVTL],full_vector[ErsCorrection.DP_DSVRL]};
@@ -389,7 +389,7 @@ public class IntersceneLma {
 		Matrix wjtjlambda = new Matrix(getWJtJlambda(
 				lambda, // *10, // temporary
 				this.last_jt)); // double [][] jt)
-		if (debug_level > 2) {
+		if (debug_level > 3) {
 			try {
 				System.out.println("getFxDerivs(): getChecksum(this.y_vector)="+      getChecksum(this.y_vector));
 				System.out.println("getFxDerivs(): getChecksum(this.weights)="+       getChecksum(this.weights));
@@ -793,7 +793,7 @@ public class IntersceneLma {
 			fx [i + 2 * macrotile_centers.length] = vector[i]; // - parameters_initial[i]; // scale will be combined with weights
 			jt[i][i + 2 * macrotile_centers.length] = 1.0; // scale will be combined with weights
 		}
-		if (debug_level > 2) {
+		if (debug_level > 3) {
 			try {
 				System.out.println    ("getFxDerivs(): getChecksum(fx)="+getChecksum(fx));
 				if (jt != null) {

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

@@ -2045,6 +2045,7 @@ public class QuadCLT extends QuadCLTCPU {
 			final double []   scene_xyz, // camera center in world coordinates
 			final double []   scene_atr, // camera orientation relative to world frame
 			final QuadCLT     scene,
+			final QuadCLT     ref_scene, // now - may be null - for testing if scene is rotated ref
 			final boolean     toRGB,
 			String            suffix,
 			int               threadsMax,
@@ -2056,7 +2057,7 @@ public class QuadCLT extends QuadCLTCPU {
 				scene_xyz,     // final double []   scene_xyz, // camera center in world coordinates
 				scene_atr,     // final double []   scene_atr, // camera orientation relative to world frame
 				scene,         // final QuadCLT     scene_QuadClt,
-				null, // scene,         // final QuadCLT     reference_QuadClt, // now - may be null - for testing if scene is rotated ref
+				ref_scene,     // final QuadCLT     reference_QuadClt, // now - may be null - for testing if scene is rotated ref
 				threadsMax);   // int               threadsMax)
 		int rendered_width = scene.getErsCorrection().getSensorWH()[0];
 		if (full_woi_in != null) {
@@ -2238,8 +2239,7 @@ public class QuadCLT extends QuadCLTCPU {
 			
 			return null;
 		}
-		
-
+		saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
 // GPU-specific
 		boolean showCoord = debugLevel > 1;
 		boolean is_mono = isMonochrome();