Preparing infrastructure for maps matching, fixed bug in initial GEO

generation (wrong Y sign)

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

@@ -287,7 +287,7 @@ public class Imx5 {
 	/*
 	 * Offset Latitude, Longitude, Altitude by North, East, Up (in meters) 
 	 */
-	public static double [] offsetLla(double [] lla, double [] ned) {
+	public static double [] offsetLlaNED(double [] lla, double [] ned) {
 		double [] offset_lla = new double [] {
 				lla[0] + (ned[0]/EARTH_RADIUS / Math.PI * 180 / Math.cos(lla[0])), // degrees
 				lla[1] + (ned[1]/EARTH_RADIUS / Math.PI * 180), // degrees

src/main/java/com/elphel/imagej/orthomosaic/ComboMatch.java

@@ -32,11 +32,11 @@ public class ComboMatch {
 	public static GpuQuad   GPU_QUAD_AFFINE = null;
 	public static ImagePlus imp_src1 = null;
 	public static ImagePlus imp_src2 = null;
-	public static ImagePlus [] imp_src = new ImagePlus[2];  
-	public static ImagePlus [] imp_alt = new ImagePlus[2];  
-	public static Properties [] imp_prop = new Properties[2];
-	public static int gpu_max_width=  3008;
-	public static int gpu_max_height= 3008;
+	public static ImagePlus [] imp_src; //  = new ImagePlus[2];  
+	public static ImagePlus [] imp_alt; //  = new ImagePlus[2];  
+	public static Properties [] imp_prop; //  = new Properties[2];
+	public static int gpu_max_width=  4096;
+	public static int gpu_max_height= 4096;
 	
 	public static boolean openTestPairGps(
 			 CLTParameters    clt_parameters,
@@ -66,18 +66,46 @@ public class ComboMatch {
 /media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-b/1697877415_521986/1697877415_521986-RECT-PIX0.01-FLAT_CLN-VERT-GEO-ALT.tiff
 
 		 */
+		/*
 		String [] image_paths_pre = {
 				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-b/1697877410_420287/1697877410_420287-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
 				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-b/1697877412_004148/1697877412_004148-RECT-PIX0.01-FLAT_CLN-VERT-GEO"
 		};
+		*/
+		String [] image_paths_pre_0 = {
+//				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-b/1697877410_420287/1697877410_420287-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+//				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-b/1697877412_004148/1697877412_004148-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+				
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877409_353265/1697877409_353265-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877410_403615/1697877410_403615-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877411_987476/1697877411_987476-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877413_137859/1697877413_137859-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877414_404948/1697877414_404948-RECT-PIX0.01-FLAT_CLN-VERT-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877415_521986/1697877415_521986-RECT-PIX0.01-FLAT_CLN-VERT-GEO"
+		};
+
+		String [] image_paths_pre = {
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877409_353265/1697877409_353265-RECT-PIX0.01-FLAT_CLN-VERT-GCORR-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877410_403615/1697877410_403615-RECT-PIX0.01-FLAT_CLN-VERT-GCORR-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877411_987476/1697877411_987476-RECT-PIX0.01-FLAT_CLN-VERT-GCORR-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877413_137859/1697877413_137859-RECT-PIX0.01-FLAT_CLN-VERT-GCORR-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877414_404948/1697877414_404948-RECT-PIX0.01-FLAT_CLN-VERT-GCORR-GEO",
+				"/media/elphel/SSD3-4GB/lwir16-proc/berdich3/linked/linked_1697875868-1697879449-c/1697877415_521986/1697877415_521986-RECT-PIX0.01-FLAT_CLN-VERT-GCORR-GEO"
+		};
+		
+		
 		double [][][] image_enuatr = {{{0,0,0},{0,0,0}},{{0,0,0},{0,0,0}}};
 		int gpu_width=  clt_parameters.imp.rln_gpu_width; // 3008;
 		int gpu_height= clt_parameters.imp.rln_gpu_height; // 3008;
 		int zoom_lev = -4; // 0; // +1 - zoom in twice, -1 - zoom out twice
+		boolean use_alt = false;
 		boolean show_centers = true;
-		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,650);
-		gd.addStringField ("First image path",  image_paths_pre[0], 180, "First image full path w/o ext");		
-		gd.addStringField ("Second image path", image_paths_pre[1], 180, "Second image full path w/o ext");		
+		GenericJTabbedDialog gd = new GenericJTabbedDialog("Set image pair",1200,800);
+		for (int n = 0; n < image_paths_pre.length; n++) {
+			gd.addStringField ("Image path "+n,  image_paths_pre[n], 180, "Image "+n+" full path w/o ext");		
+		}
+//		gd.addStringField ("First image path",  image_paths_pre[0], 180, "First image full path w/o ext");		
+//		gd.addStringField ("Second image path", image_paths_pre[1], 180, "Second image full path w/o ext");		
 		for (int n = 0; n < image_enuatr.length; n++) {
 			gd.addMessage("image["+n+"] pose");
 			gd.addNumericField("East",   image_enuatr[n][0][0],  3,7,"m",	"Move image "+n+" East.");
@@ -94,11 +122,15 @@ public class ComboMatch {
 		gd.addNumericField("GPU image height",             gpu_height,  0,4,"",
 				"GPU image height");
 		gd.addCheckbox    ("Show transformation centers", show_centers, "Mark verticals from the UAS on the ground.");
+		gd.addCheckbox    ("Process altitude images", use_alt, "Load and process altitude maps.");
 
 		gd.showDialog();
 		if (gd.wasCanceled()) return false;
-		image_paths_pre[0] = gd.getNextString();
-		image_paths_pre[1] = gd.getNextString();
+		for (int n = 0; n < image_paths_pre.length; n++) {
+			image_paths_pre[n] = gd.getNextString();
+		}		
+//		image_paths_pre[0] = gd.getNextString();
+//		image_paths_pre[1] = gd.getNextString();
 		for (int n = 0; n < image_enuatr.length; n++) {
 			image_enuatr[n][0][0] = gd.getNextNumber();
 			image_enuatr[n][0][1] = gd.getNextNumber();
@@ -110,15 +142,91 @@ public class ComboMatch {
 		zoom_lev =            (int) gd.getNextNumber();
 		gpu_width =           (int) gd.getNextNumber();
 		gpu_height =          (int) gd.getNextNumber();
+
+		ComboMap.setGPUWIdthHeight(gpu_width,gpu_height);
 		
 		show_centers =              gd.getNextBoolean();
+		use_alt =              gd.getNextBoolean();
 		
-		ComboMap[] combo_maps = new ComboMap[imp_src.length];
+		ComboMap[] combo_maps = new ComboMap[image_paths_pre.length];
+		String [] map_names = new String[combo_maps.length];
 		for (int n = 0; n < combo_maps.length; n++) { 
 			combo_maps[n] = new ComboMap(image_paths_pre[n]+".tiff");
 			combo_maps[n].readImageData();
-			double [][] affine = new double[2][3]; // maybe later calculate from mage_enuatr
+			if (use_alt) {
+				combo_maps[n].readAltData();
+			}
+			double [][] affine = {{1,0,0},{0,1,0}}; // maybe later calculate from mage_enuatr
 			combo_maps[n].setAffine(affine);
+			map_names[n] = combo_maps[n].getName();
+		}
+		
+		int [] origin = new int[2];
+		ImagePlus imp_img = 	ComboMap.renderMulti (
+				"multi_"+zoom_lev, // String      title,
+				false,             // boolean     use_alt,
+				show_centers,      // boolean     show_centers,
+				combo_maps,        // ComboMap [] maps,
+				zoom_lev,          // int         zoom_level,
+				origin);           // int []      origin){
+		imp_img.show();
+
+		/*
+		int []     wh = new int[2];
+		double [][] centers = new double [combo_maps.length][];
+
+		float [][] multi = ComboMap.renderMulti (
+				false,      // boolean     use_alt,
+				combo_maps, // ComboMap [] maps,
+				zoom_lev,   // int         zoom_level,
+				wh,         // int []      wh,
+				origin,    // int []      origin){ // maps[0] as a reference
+				centers); // double [][] centers)
+		
+        ShowDoubleFloatArrays.showArrays( 
+        		multi,
+        		wh[0],
+        		wh[1],
+        		true,
+        		"multi_"+zoom_lev,
+        		map_names);
+        if (use_alt) {
+        	float [][] multi_alt = ComboMap.renderMulti (
+        			true,      // boolean     use_alt,
+        			combo_maps, // ComboMap [] maps,
+        			zoom_lev,   // int         zoom_level,
+        			wh,         // int []      wh,
+    				origin,    // int []      origin){ // maps[0] as a reference
+    				centers); // double [][] centers)
+        	ShowDoubleFloatArrays.showArrays( 
+        			multi_alt,
+        			wh[0],
+        			wh[1],
+        			true,
+        			"multi_alt_"+zoom_lev,
+        			map_names);
+        }
+        */
+        // which piar to compare
+		int [] gpu_pair = {1,2};
+        
+		float [][] gpu_pair_img = new  float [2][];
+		for (int n = 0; n < gpu_pair.length; n++) {
+			gpu_pair_img[n] = combo_maps[gpu_pair[n]].getPaddedGPU (
+							zoom_lev, // int zoom_level,
+							gpu_width, // int gpu_width,
+							gpu_height); // int gpu_height)
+		}
+        
+        ShowDoubleFloatArrays.showArrays( 
+        		gpu_pair_img,
+        		gpu_width,
+        		gpu_height,
+        		true,
+        		"gpu_pair-zoom"+zoom_lev+"-"+combo_maps[gpu_pair[0]].getName()+"-"+combo_maps[gpu_pair[1]].getName(),
+        		map_names);
+		if (image_paths_pre.length > 2) {
+			return true;
 		}
 		/* */
 		int [] widths = new int[imp_src.length];

src/main/java/com/elphel/imagej/readers/ElphelTiffReader.java

@@ -742,6 +742,14 @@ public class ElphelTiffReader extends TiffReader{ // BaseTiffReader {
 		xy_pixel_in_meters[1] = unit_size/Double.parseDouble(properties.getProperty("YResolution"));
 		return xy_pixel_in_meters; 
 	}
+	
+	public static int getWidth(Properties properties) {
+		return Integer.parseInt(properties.getProperty("ImageWidth"));
+	}
+	
+	public static int getHeight(Properties properties) {
+		return Integer.parseInt(properties.getProperty("ImageLength"));
+	}
 
 	public static double [] getXYOffsetMeters(Properties properties) {
 		int res_unit = Integer.parseInt(properties.getProperty("ResolutionUnit"));

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

@@ -928,13 +928,14 @@ public class Interscene {
 				quadCLTs); //,       // QuadCLT[]     quadCLTs,
 //				quadCLTs[ref_index].getPimuOffsets()); // boolean       scale)
 		
-		double []  quat_corr = compensate_ims_rotation? quadCLTs[ref_index].getQuatCorr() : null; //
+		double [] quat_corr = compensate_ims_rotation? quadCLTs[ref_index].getQuatCorr() : null; //
+		double [] enu_corr_metric = quadCLTs[ref_index].getENUCorrMetric();
 		// quat_corr may still be null if does not exist
 		
 		if (debugLevel > -3) {
 			System.out.println("setInitialOrientationsIms(): compensate_ims_rotation="+compensate_ims_rotation);
 			System.out.println("setInitialOrientationsIms(): will "+((quat_corr==null)? "NOT ":"")+" correct orientation offset");
-			QuadCLTCPU.showQuatCorr(quat_corr);
+			QuadCLTCPU.showQuatCorr(quat_corr, enu_corr_metric);
 		}
 		boolean test_quat_corr = debugLevel > 1000;
 		if (test_quat_corr) {
@@ -5285,13 +5286,15 @@ public class Interscene {
 		double [][][] scenes_xyzatr_dt = new double [quadCLTs.length][][];
 		// for testing QuaternionLma
 		double [] rms = new double [2];
+		double []      enu_corr = new double[3];
 		double [] quatCorr = getQuaternionCorrection(
 				clt_parameters, // CLTParameters  clt_parameters,
 				quadCLTs,       // QuadCLT []     quadCLTs,
 				ref_index,      // int            ref_index,
 				earliest_scene, // int            earliest_scene,
-				rms,           // double []      rms // null or double[2];
-				debugLevel); // int            debugLevel
+				rms,            // double []      rms // null or double[2];
+				enu_corr,       //double []      enu_corr,
+				debugLevel);    // int            debugLevel
 		if (debugLevel > -3) {
         	Rotation rot = new Rotation(quatCorr[0],quatCorr[1],quatCorr[2],quatCorr[3], false); // no normalization - see if can be scaled
 			System.out.println("Applying correction to the IMS to world orientation (rotating around IMS vertical):");
@@ -5301,6 +5304,8 @@ public class Interscene {
 			System.out.println("generateEgomotionTable(): quatCorr=["+quatCorr[0]+", "+quatCorr[1]+", "+quatCorr[2]+", "+quatCorr[3]+"]");
 			System.out.println("generateEgomotionTable(): ATR(rad)=["+corr_angles[0]+", "+corr_angles[1]+", "+corr_angles[2]+"]");
 			System.out.println("generateEgomotionTable(): ATR(deg)=["+corr_degrees[0]+", "+corr_degrees[1]+", "+corr_degrees[2]+"]");
+			System.out.println("generateEgomotionTable(): ENU corr=["+enu_corr[0]+", "+enu_corr[1]+", "+enu_corr[2]+"]");
+			
 		}
 		
 		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
@@ -5663,6 +5668,7 @@ public class Interscene {
 			int            ref_index,
 			int            earliest_scene,
 			double []      rms, // null or double[2];
+			double []      enu_corr,
 			int            debugLevel
     		) {
 		double []     ims_ortho =     clt_parameters.imp.ims_ortho;
@@ -5736,6 +5742,55 @@ public class Interscene {
 				System.out.println("getQuaternionCorrection(): Rotated around IMS-vertical by "+quaternionLma.getQuaternion()[0]+" rad");
 				System.out.println("getQuaternionCorrection(): Rotated around IMS-vertical by "+quaternionLma.getQuaternion()[0]*180/Math.PI+" degrees");
 			}
+			double [][] camera_enu = quaternionLma.cameraToENU(quaternionLma.getQuaternion());
+			double sw = 0;
+			double [] swd = new double[3];
+			for (int nscene = 0; nscene < camera_enu.length; nscene++) if (camera_enu[nscene] != null) {
+				double w = 1.0;
+				sw += w;
+				for (int i = 0; i < swd.length; i++) {
+					swd[i]+=w*(camera_enu[nscene][i]-quat_lma_enu_xyz[nscene][i]);
+				}
+			}
+			for (int i = 0; i < swd.length; i++) {
+				swd[i] /= sw;
+			}
+			
+			if (enu_corr== null) {
+				enu_corr=new double[3]; // will generate, just not return
+			}
+			double [] enu= Imx5.applyQuaternionTo(// metric E,N,U 
+					Imx5.quaternionImsToCam(d2_ref.getQEnu(), // double[]  quat_enu,
+							ims_mount_atr,
+							ims_ortho),
+					swd,
+					true); // inverse
+			for (int i = 0; i < 3; i++) {
+				enu_corr[i] = enu[i];
+			}
+			if (debug_level > -3) {
+				System.out.println("GNSS correction in camera X,Y,Z = ["+swd[0]+"]["+swd[1]+"]["+swd[2]+"]");
+				System.out.println("GNSS correction in camera E,N,U = ["+enu_corr[0]+"]["+enu_corr[1]+"]["+enu_corr[2]+"]");
+			}
+			if (debug_level > 0) {
+				System.out.println(String.format("%3s"+
+						"\t%9s\t%9s\t%9s"+
+						"\t%9s\t%9s\t%9s",
+						"N","GNSS-X","GNSS-Y","GNSS-Z",
+						"CAM-X","CAM-Y","CAM-Z"));
+				
+				for (int nscene = 0; nscene < camera_enu.length; nscene++) if (camera_enu[nscene] != null) {
+					System.out.println(String.format("%3d"+
+							"\t%9.5f\t%9.5f\t%9.5f"+
+							"\t%9.5f\t%9.5f\t%9.5f",
+							nscene,
+							quat_lma_enu_xyz[nscene][0],quat_lma_enu_xyz[nscene][1],quat_lma_enu_xyz[nscene][2],
+							camera_enu[nscene][0],camera_enu[nscene][1],camera_enu[nscene][2]));
+				}
+			}
+			
+			
+			
 			return quaternionLma.getAxisQuat();
 		}
     }

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

@@ -5555,22 +5555,26 @@ public class OpticalFlow {
 		
 		if (calc_quat_corr) {
 			double [] quat_rms = new double [5];
+			double []      enu_corr = new double[3];
 			double [] quatCorr = Interscene.getQuaternionCorrection(
 					clt_parameters, // CLTParameters  clt_parameters,
 					quadCLTs,       // QuadCLT []     quadCLTs,
 					ref_index,      // int            ref_index,
 					earliest_scene, // int            earliest_scene,
 					quat_rms,           // double []      rms // null or double[2];
+					enu_corr,       //double []      enu_corr,
 					debugLevel); // int            debugLevel
 			if (quatCorr != null) {
 				int num_iter = (int) quat_rms[4];
 				if (debugLevel> -3) {
 					System.out.println("LMA done on iteration "+num_iter+
 							" full RMS="+quat_rms[0]+" ("+quat_rms[2]+"), pure RMS="+quat_rms[1]+" ("+quat_rms[3]+")");
-					QuadCLTCPU.showQuatCorr(quatCorr);
+					QuadCLTCPU.showQuatCorr(quatCorr,enu_corr);
 				}
 				quadCLTs[ref_index].setQuatCorr(quatCorr);
 				quadCLT_main.setQuatCorr(quatCorr);
+				quadCLTs[ref_index].setENUCorrMetric(enu_corr);
+				quadCLT_main.setENUCorrMetric(enu_corr);
 				quadCLTs[ref_index].saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)
 						null, // String path,             // full name with extension or w/o path to use x3d directory
 						debugLevel+1);
@@ -5581,9 +5585,10 @@ public class OpticalFlow {
 				double []  corr_angles = rot.getAngles(RotationOrder.YXZ, ErsCorrection.ROT_CONV);
 				double []  corr_degrees = new double[3];
 				for (int i = 0; i < 3; i++) corr_degrees[i]=corr_angles[i]*180/Math.PI;
-				sb.append("compass: quatCorr=["+quatCorr[0]+", "+quatCorr[1]+", "+quatCorr[2]+", "+quatCorr[3]+"]\n");
-				sb.append("compass: ATR(rad)=["+corr_angles[0]+", "+corr_angles[1]+", "+corr_angles[2]+"]\n");
-				sb.append("compass: ATR(deg)=["+corr_degrees[0]+", "+corr_degrees[1]+", "+corr_degrees[2]+"]\n");
+				sb.append("compass:     quatCorr=["+quatCorr[0]+", "+quatCorr[1]+", "+quatCorr[2]+", "+quatCorr[3]+"]\n");
+				sb.append("compass:     ATR(rad)=["+corr_angles[0]+", "+corr_angles[1]+", "+corr_angles[2]+"]\n");
+				sb.append("compass:     ATR(deg)=["+corr_degrees[0]+", "+corr_degrees[1]+", "+corr_degrees[2]+"]\n");
+				sb.append("compass: ENU corr (m)=["+enu_corr[0]+", "+enu_corr[1]+", "+enu_corr[2]+"]\n");
 	        	sb.append("------------------------\n\n");
 	    		quadCLTs[ref_index].saveStringInModelDirectory(sb.toString(),QuadCLT.IMU_CALIB_LOGS_SUFFIX); // String  suffix)
 				if (debugLevel > -3) {

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

@@ -193,6 +193,7 @@ public class QuadCLTCPU {
     public Did_gps_pos did_gps1_ubx_pos = null;
     public String      ims_last_path =    null;
     public double []   quat_corr =        null; // correction for IMS camera frame to actual camera frame (for reference frames)
+    public double []   enu_corr_metric =  null; // GNSS correction - add metrix offset to GNSS of the reference scene
 @Deprecated
     public double [][] pimu_offsets =     new double[2][3]; // linear and angular velocities offsets to DID_PIMU outputs (subtract from IMU data)
 //    public boolean     quat_corr_active = false; // correction for IMS camera frame to actual camera frame (for reference frames)
@@ -213,6 +214,16 @@ public class QuadCLTCPU {
     public void setQuatCorr(double[] quat) {
     	quat_corr = quat;
     }
+    
+    public double [] getENUCorrMetric() {
+    	return enu_corr_metric;
+    }
+    public void setENUCorrMetric(double[] corr) {
+    	enu_corr_metric = corr;
+    }
+    
+    
+    
     @Deprecated
     public double [][] getPimuOffsets() {
     	return pimu_offsets;
@@ -5149,7 +5160,7 @@ public class QuadCLTCPU {
     	}
     	return lwir_offsets;
     }
-    public double [] getLwirScales() {
+	public double [] getLwirScales() {
     	if (lwir_scales == null) {
     		lwir_scales = new double [getNumSensors()];
     		Arrays.fill(lwir_scales, 1.0);
@@ -5403,6 +5414,10 @@ public class QuadCLTCPU {
 			properties.setProperty(prefix+"quat_corr",  IntersceneMatchParameters.doublesToString(this.quat_corr));		
 		}
 
+		if (this.enu_corr_metric != null) {
+			properties.setProperty(prefix+"enu_corr_metric",  IntersceneMatchParameters.doublesToString(this.enu_corr_metric));		
+		}
+		
 		if (this.pimu_offsets != null) {
 			properties.setProperty(prefix+"pimu_offsets_lin",  IntersceneMatchParameters.doublesToString(this.pimu_offsets[0]));
 			properties.setProperty(prefix+"pimu_offsets_ang",  IntersceneMatchParameters.doublesToString(this.pimu_offsets[1]));
@@ -5575,6 +5590,9 @@ public class QuadCLTCPU {
 		if (properties.getProperty(prefix+"quat_corr")!=null) {
 	        this.quat_corr= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"quat_corr"),4);
 		}
+		if (properties.getProperty(prefix+"enu_corr_metric")!=null) {
+	        this.enu_corr_metric= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"enu_corr_metric"),3);
+		}
 		if (properties.getProperty(prefix+"pimu_offsets_lin")!=null) {
 	        this.pimu_offsets[0]= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"pimu_offsets_lin"),3);
 		}
@@ -11155,9 +11173,9 @@ public class QuadCLTCPU {
 	  
 	  
 	  public void showQuatCorr() {
-		  showQuatCorr(getQuatCorr());
+		  showQuatCorr(getQuatCorr(),getENUCorrMetric());
 	  }
-	  public static void showQuatCorr(double [] quat_corr) {
+	  public static void showQuatCorr(double [] quat_corr, double [] enu_corr_metric) {
 		  if (quat_corr != null) {
 				System.out.println("Correction quaternion = ["+quat_corr[0]+", "+
 						quat_corr[1]+", "+quat_corr[2]+", "+quat_corr[3]+"]");
@@ -11169,7 +11187,14 @@ public class QuadCLTCPU {
 		  } else {
 			  System.out.println("No IMS orientation correction is defined");
 		  }
+		  if (enu_corr_metric != null) {
+				System.out.println("Correction to ENU (meters) = ["+enu_corr_metric[0]+", "+
+						enu_corr_metric[1]+", "+enu_corr_metric[2]+"]");
+		  } else {
+			  System.out.println("No ENU correction is defined");
+		  }
 	  }
+	  
 	  public static void showPimuOffsets(CLTParameters clt_parameters) {
 		  showPimuOffsets( clt_parameters.imp.get_pimu_offs());
 	  }

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

@@ -140,7 +140,7 @@ public class QuaternionLma {
 		if (debug_level > 0) {
 			 debugYfX ( "",   // String pfx,
 						y_vector); // double [] data)
-			 debugYfX ( "PIMU-",   // String pfx,
+			 debugYfX ( "GNSS-",   // String pfx,
 						x_vector); // double [] data)
 		}
 		
@@ -783,6 +783,35 @@ public class QuaternionLma {
 		}
 		return fx;
 	}
+	
+	/**
+	 * Rotate camera X,Y,Z to ENU to reduce GNSS noise for georeferencing of the sequence
+	 * Camera X,Y,Z are in y_vector 
+	 * @param vector single-element angle from fitting GNSS to camera (will rotate in opposite direction)
+	 * @return [nsample]{e,n,u}
+	 */
+	public double [][] cameraToENU(
+			double []         vector) {
+		double c = Math.cos(-vector[0]/2), s = Math.sin(-vector[0]/2); // inverse
+		//axis
+		double [][] camera_enu = new double [N][];
+		final double [] q = new double [] { c, s*axis[0], s*axis[1], s*axis[2]};
+//		double [] dq_dv  =  new double [] {-s/2, c*axis[0]/2, c*axis[1]/2, c*axis[2]/2};
+		for (int i = 0; i < N; i++) {
+			int i3 = 3 * i;
+			has_data:{
+				for (int j = 0; j < samples; j++) {
+					if (weights[i3+j] > 0) {
+						break has_data;
+					}
+				}
+				continue; // nothing to process for this scene 
+			}
+			double [] xyz = new double [] {y_vector[i3 + 0],y_vector[i3 + 1],y_vector[i3 + 2]};
+			camera_enu[i] = applyTo(q, xyz);
+		}
+		return camera_enu;
+	}
 
 	private double [] getFxDerivs6Dof(
 			double []         vector,

src/main/java/com/elphel/imagej/x3d/export/Render3D.java

@@ -66,7 +66,7 @@ public class Render3D {
 		this.out_width =  out_width; 
 		this.out_height = out_height; 
 		this.toground =   toground;
-		this.x0_y0 =      x0_y0; // used in parallel projection
+		this.x0_y0 =      x0_y0; // used in parallel projection BOTTOM-left
 		this.tocam = ErsCorrection.invertXYZATR(this.toground);  // null
 		// ground plane x0, y0 in camera coordinates
 		ground_origin = new Vector3D(ErsCorrection.applyXYZATR(tocam, new double [] {x0_y0[0],      x0_y0[1],     0.0}));
@@ -248,7 +248,7 @@ public class Render3D {
 				bounds[j][1] = Math.max(bounds[j][1], mm_xyz[j][1]);
 			}			
 		}
-		return bounds;
+		return bounds; // y is up
 	}