Implemented mode 4 for IMS-to-camera adjustment

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

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

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

@@ -266,7 +266,7 @@ public class QuadCLTCPU {
 		double      reg_w =        clt_parameters.imp.quat_reg_w; // 0.25;
 		double []   quat0 = new double [] {1.0, 0.0, 0.0, 0.0}; // identity
 		QuaternionLma quaternionLma = new QuaternionLma();
-		if (quat_lma_mode == 2) {
+		if ((quat_lma_mode == 2) || (quat_lma_mode == 4)) {
 			double [][][] vect_y = new double [quadCLTs.length][][]; // camera XYZATR
 			double [][][] vect_x = new double [quadCLTs.length][][]; // IMS XYZATR
 			for (int nscene = early_index; nscene <= last_index; nscene++) {