Unfinished mods (77381e24) · Commits · Elphel / imagej-elphel

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

+13 −0

Original line number	Diff line number	Diff line
		@@ -9,6 +9,7 @@ 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;
		import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;

		import com.elphel.imagej.tileprocessor.ErsCorrection;

		@@ -207,6 +208,18 @@ public class Imx5 {
		rslt_rot.getQ3()};
		}

		/**
		* Get up (for IMS) vector relative to the camera reference frame
		* @param ims_atr mount to camera correction
		* @return {x,y,z} of the IMS-up relative to the camera frame (reference scene)
		*/
		public static double [] getUpAxis(
		double [] ims_atr ) {// -> mount_to_cam
		Rotation mount_to_cam = new Rotation(RotationOrder.YXZ, ErsCorrection.ROT_CONV,
		ims_atr[0], ims_atr[1], ims_atr[2]);
		return mount_to_cam.applyInverseTo(new Vector3D(0, 0, 1)).toArray();
		}


		public static double [] quaternionImsToCam(
		double [] quat, // ims_to_ned

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

+145 −22

Original line number	Diff line number	Diff line
		@@ -263,7 +263,9 @@ public class Interscene {
		ref_index,// ref_indx,
		cent_index, // earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel);

		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		@@ -335,7 +337,8 @@ public class Interscene {
		cent_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel)
		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		@@ -370,7 +373,8 @@ public class Interscene {
		cent_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel)
		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		@@ -2043,7 +2047,8 @@ public class Interscene {
		earliest_scene, // int start_scene,
		last_scene, // int end1_scene,
		scenes_xyzatr, // double [][][] scenes_xyzatr,
		half_run_range); // double half_run_range
		half_run_range, // double half_run_range
		debugLevel); // int debugLevel);
		break;
		default: // do nothing - already read
		}
		@@ -2084,7 +2089,8 @@ public class Interscene {
		ref_index, // int ref_index,
		earliest_scene, // int early_index,
		last_scene); // int last_index)
		} else if (readjust_xy_ims && (reg_weight_xy > 0.0)) {
		// } else if (readjust_xy_ims && (reg_weight_xy > 0.0)) {
		} else if (readjust_xy_ims) {
		double [][][] pimu_xyzatr = QuadCLT.integratePIMU(
		clt_parameters, // final CLTParameters clt_parameters,
		quadCLTs, // final QuadCLT[] quadCLTs,
		@@ -2095,7 +2101,7 @@ public class Interscene {
		);
		double [] rms = new double[5];
		double [] quat = new double[4];
		int quat_lma_mode = 2; // 1; // 2;
		int quat_lma_mode = QuaternionLma.MODE_COMBO_LOCAL; // 2; // 1; // 2;
		int debug_lev = debugLevel; // 3;
		// double avg_z = quadCLTs[ref_index].getAverageZ(true); // in meters
		double translation_weight = 1.0 / (avg_z + 1.0);
		@@ -5155,7 +5161,8 @@ public class Interscene {
		int ref_index,
		int earliest_scene,
		String path,
		String comment) {
		String comment,
		int debugLevel) {
		double [] ims_ortho = clt_parameters.imp.ims_ortho;
		double [] ims_mount_atr = clt_parameters.imp.getImsMountATR(); // converts to radians
		QuadCLT ref_scene = quadCLTs[ref_index];
		@@ -5170,8 +5177,18 @@ public class Interscene {
		quadCLTs, // QuadCLT [] quadCLTs,
		ref_index, // int ref_index,
		earliest_scene, // int earliest_scene,
		rms); // double [] rms // null or double[2];

		rms, // double [] rms // null or double[2];
		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 ot the IMS to world orientation (rotating around IMS vertical):");
		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;
		System.out.println("quatCorr=["+quatCorr[0]+", "+quatCorr[1]+", "+quatCorr[2]+", "+quatCorr[3]+"]");
		System.out.println("ATR(rad)=["+corr_angles[0]+", "+corr_angles[1]+", "+corr_angles[2]+"]");
		System.out.println("ATR(deg)=["+corr_degrees[0]+", "+corr_degrees[1]+", "+corr_degrees[2]+"]");
		}

		for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
		QuadCLT scene = quadCLTs[nscene];
		@@ -5196,6 +5213,7 @@ public class Interscene {
		"\tINS->X\tINS->Y\tINS->Z"+
		"\tabs_A_ned\tabs_T_ned\tabs_R_ned\trel_A_ned\trel_T_ned\trel_R_ned"+
		"\tabs_A_enu\tabs_T_enu\tabs_R_enu\trel_A_enu\trel_T_enu\trel_R_enu"+
		"\traw_A_enu\traw_T_enu\traw_R_enu"+
		"\tu_dir\tv_dir\tw_dir\tu_inv\tv_inv\tw_inv";

		String header_pimu="\to0\to1\to2\ta0\ta1\ta2";
		@@ -5216,7 +5234,8 @@ public class Interscene {
		earliest_scene, // int start_scene,
		quadCLTs.length-1, // int end1_scene,
		scenes_xyzatr, // double [][][] scenes_xyzatr, // 5.0
		clt_parameters.ofp.lpf_series); // half_run_range); // double half_run_range
		clt_parameters.ofp.lpf_series, // half_run_range); // double half_run_range
		debugLevel); // int debugLevel);
		}


		@@ -5324,7 +5343,7 @@ public class Interscene {
		double [] ned = Imx5.nedFromLla (d2.lla, d2_ref.lla);
		double [] enu = Imx5.enuFromLla (d2.lla, d2_ref.lla);
		double [] ims_xyz = Imx5.applyQuaternionTo(double_qn2b, ned, false);

		//"\tned_N\tned_E\tned_D\timu_X\timu_Y\timu_Z"
		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

		@@ -5335,6 +5354,9 @@ public class Interscene {
		double [] cam_quat_enu =Imx5.quaternionImsToCam(d2.getQEnu(),
		ims_mount_atr, // new double[] {0, 0.13, 0},
		ims_ortho);
		double [] cam_quat_enu_raw =Imx5.quaternionImsToCam(d2.getQEnu(),
		new double[3], // new double[] {0, 0.13, 0},
		ims_ortho);

		double [] cam_xyz1 = Imx5.applyQuaternionTo(cam_quat1, ned, false);
		double [] cam_xyz2 = Imx5.applyQuaternionTo(cam_quat2, ned, false);
		@@ -5352,14 +5374,16 @@ public class Interscene {
		double [] quat_lma_enu_xyz = (quatCorr != null) ?
		Imx5.applyQuaternionTo(quatCorr,cam_xyz_enu,false):
		cam_xyz_enu;
		// NED without ims_mount_atr correction
		//"\tcam_X1\tcam_Y1\tcam_Z1\tcam_X2\tcam_Y2\tcam_Z2"
		// NED without ims_mount_atr correction \tcam_X1\tcam_Y1\tcam_Z1
		sb.append("\t"+cam_xyz1[0]+ "\t"+cam_xyz1[1]+ "\t"+cam_xyz1[2]); //
		// NED with ims_mount_atr correction
		// NED with ims_mount_atr correction \tcam_X2\tcam_Y2\tcam_Z2
		sb.append("\t"+cam_xyz2[0]+ "\t"+cam_xyz2[1]+ "\t"+cam_xyz2[2]); //

		sb.append("\t"+cam_xyz_ned[0]+ "\t"+cam_xyz_ned[1]+ "\t"+cam_xyz_ned[2]); //
		sb.append("\t"+cam_xyz_enu[0]+ "\t"+cam_xyz_enu[1]+ "\t"+cam_xyz_enu[2]); // WITH ims_mount_atr, NO quatCorr
		sb.append("\t"+quat_lma_enu_xyz[0]+ "\t"+quat_lma_enu_xyz[1]+ "\t"+quat_lma_enu_xyz[2]); // WITH ims_mount_atr, WITH quatCorr
		//"\tned->X\tned->Y\tned->Z\tenu->X\tenu->Y\tenu->Z"
		sb.append("\t"+cam_xyz_ned[0]+ "\t"+cam_xyz_ned[1]+ "\t"+cam_xyz_ned[2]); // \tned->X\tned->Y\tned->Z
		sb.append("\t"+cam_xyz_enu[0]+ "\t"+cam_xyz_enu[1]+ "\t"+cam_xyz_enu[2]); // WITH ims_mount_atr, NO quatCorr \tenu->X\tenu->Y\tenu->Z
		//"\tINS->X\tINS->Y\tINS->Z"
		sb.append("\t"+quat_lma_enu_xyz[0]+ "\t"+quat_lma_enu_xyz[1]+ "\t"+quat_lma_enu_xyz[2]); // WITH ims_mount_atr, WITH quatCorr "\tINS->X\tINS->Y\tINS->Z"

		double [] scene_abs_atr = Imx5.quatToCamAtr(cam_quat2);

		@@ -5370,6 +5394,7 @@ public class Interscene {

		double [] scene_abs_atr_enu = Imx5.quatToCamAtr(cam_quat_enu);
		double [][] ims_scene_xyzatr_enu = {ZERO3, scene_abs_atr_enu};
		double [] scene_raw_atr_enu = Imx5.quatToCamAtr(cam_quat_enu_raw); // not corrected by ims_mount_atr

		double [] scene_rel_atr_enu=ErsCorrection.combineXYZATR(
		ims_scene_xyzatr_enu,
		@@ -5380,6 +5405,8 @@ public class Interscene {
		// "\tabs_A_enu\tabs_T_enu\tabs_R_enu\trel_A_enu\trel_T_enu\trel_R_enu"
		sb.append("\t"+scene_abs_atr_enu[0]+ "\t"+scene_abs_atr_enu[1]+ "\t"+scene_abs_atr_enu[2]); //
		sb.append("\t"+scene_rel_atr_enu[0]+ "\t"+scene_rel_atr_enu[1]+ "\t"+scene_rel_atr_enu[2]); //
		// "\traw_A_enu\traw_T_enu\traw_R_enu"+
		sb.append("\t"+scene_raw_atr_enu[0]+ "\t"+scene_raw_atr_enu[1]+ "\t"+scene_raw_atr_enu[2]); //
		// "\tu_dir\tv_dir\tw_dir\tu_inv\tv_inv\tw_inv"
		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
		@@ -5412,9 +5439,20 @@ public class Interscene {
		sb.append("\n");
		}
		// test QuaternionLMA here



		// Add another data
		double [] new_atr = clt_parameters.imp.getImsMountATR(); // converts to radians
		double [] degrees = new double[3];
		for (int i = 0; i < 3; i++) degrees[i]=new_atr[i]*180/Math.PI;
		sb.append("New ATR mount (rad):[\t"+new_atr[0]+"\t"+new_atr[1]+"\t"+new_atr[2]+"]\n");
		sb.append("New ATR mount (deg):[\t"+degrees[0]+"\t"+degrees[1]+"\t"+degrees[2]+"]\n");
		// double [] quatCorr
		Rotation rot = new Rotation(quatCorr[0],quatCorr[1],quatCorr[2],quatCorr[3], false); // no normalization - see if can be scaled
		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("quatCorr=[\t"+quatCorr[0]+"\t"+quatCorr[1]+"\t"+quatCorr[2]+"\t"+quatCorr[3]+"]\n");
		sb.append("ATR(rad)=[\t"+corr_angles[0]+"\t"+corr_angles[1]+"\t"+corr_angles[2]+"]\n");
		sb.append("ATR(deg)=[\t"+corr_degrees[0]+"\t"+corr_degrees[1]+"\t"+corr_degrees[2]+"]\n");

		if (path!=null) {
		String footer=(comment != null) ? ("Comment: "+comment): "";
		@@ -5425,8 +5463,9 @@ public class Interscene {
		new TextWindow("Sharpness History", header, sb.toString(), 1000,900);
		}
		}

		public static double [] getQuaternionCorrection(
		@Deprecated
		// adjusts by all 3 axis rotation
		public static double [] getQuaternionCorrection_Old(
		CLTParameters clt_parameters,
		QuadCLT [] quadCLTs,
		int ref_index,
		@@ -5504,6 +5543,90 @@ public class Interscene {
		}
		}


		public static double [] getQuaternionCorrection(
		CLTParameters clt_parameters,
		QuadCLT [] quadCLTs,
		int ref_index,
		int earliest_scene,
		double [] rms, // null or double[2];
		int debugLevel
		) {
		double [] ims_ortho = clt_parameters.imp.ims_ortho;
		double [] ims_mount_atr = clt_parameters.imp.getImsMountATR(); // converts to radians
		QuadCLT ref_scene = quadCLTs[ref_index];
		ErsCorrection ers_reference = ref_scene.getErsCorrection();
		double [][] quat_lma_xyz = new double [quadCLTs.length][];
		double [][] quat_lma_enu_xyz = new double [quadCLTs.length][];
		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 (nscene == ref_index) {
		quat_lma_xyz[nscene] = new double[3];
		} else {
		String ts = scene.getImageName();
		quat_lma_xyz[nscene] = ers_reference.getSceneXYZ(ts);
		}
		Did_ins_2 d2 = scene.did_ins_2;
		double [] enu = Imx5.enuFromLla (d2.lla, d2_ref.lla);
		quat_lma_enu_xyz[nscene] = Imx5.applyQuaternionTo(
		Imx5.quaternionImsToCam(d2_ref.getQEnu(), // double[] quat_enu,
		ims_mount_atr,
		ims_ortho),
		enu,
		false);
		}
		double [] up_axis = Imx5.getUpAxis(
		ims_mount_atr); // double [] ims_atr )

		double lambda = clt_parameters.imp.quat_lambda; // 0.1;
		double lambda_scale_good = clt_parameters.imp.quat_lambda_scale_good; // 0.5;
		double lambda_scale_bad = clt_parameters.imp.quat_lambda_scale_bad; // 8.0;
		double lambda_max = clt_parameters.imp.quat_lambda_max; // 100;
		double rms_diff = clt_parameters.imp.quat_rms_diff; // 0.001;
		int num_iter = clt_parameters.imp.quat_num_iter; // 20;
		boolean last_run = false;
		int debug_level = debugLevel;
		QuaternionLma quaternionLma = new QuaternionLma();
		quaternionLma.prepareCompassLMA(
		quat_lma_enu_xyz, // quat_lma_xyz, // double [][] vect_x,
		quat_lma_xyz, // double [][] vect_y,
		null, // double [][] vect_w, all same weight
		up_axis, // double [] vector_up, // Up in the IMS axes nearest to the camera Z (rotated by - ims_mount_atr)
		debug_level); // int debug_level)
		int lma_result = quaternionLma.runLma( // <0 - failed, >=0 iteration number (1 - immediately)
		lambda, // double lambda, // 0.1
		lambda_scale_good,// double lambda_scale_good,// 0.5
		lambda_scale_bad, // double lambda_scale_bad, // 8.0
		lambda_max, // double lambda_max, // 100
		rms_diff, // double rms_diff, // 0.001
		num_iter, // int num_iter, // 20
		last_run, // boolean last_run,
		debug_level); // int debug_level)
		if (lma_result < 0) {
		return null;
		} else {
		if (rms != null) { // null or double[2];
		double [] last_rms = quaternionLma.getLastRms();
		rms[0] = last_rms[0];
		rms[1] = last_rms[1];
		if (rms.length >= 4) {
		double [] initial_rms = quaternionLma.getInitialRms();
		rms[2] = initial_rms[0];
		rms[3] = initial_rms[1];
		if (rms.length >= 5) {
		rms[4] = lma_result;
		}
		}
		}
		if (debugLevel > -3) {
		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");
		}
		return quaternionLma.getAxisQuat();
		}
		}

		static double [] test_xyz_ned(
		double [] ned,
		double[] quat_ned,

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

+31 −9

Original line number	Diff line number	Diff line
		@@ -5032,7 +5032,9 @@ public class OpticalFlow {
		ref_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel);

		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		@@ -5386,7 +5388,8 @@ public class OpticalFlow {
		ref_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel)
		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		@@ -5438,7 +5441,7 @@ public class OpticalFlow {
		}
		double [] rms = new double[5];
		double [] quat = new double[4];
		int quat_lma_mode = 4; // 3; // 2; // 1;
		int quat_lma_mode = 03; // 4; // 3; // 2; // 1;
		int debug_lev = debugLevel; // 3;
		double avg_z = quadCLTs[ref_index].getAverageZ(true); // in meters
		double translation_weight = 1.0 / (avg_z + 1.0);
		@@ -5583,7 +5586,8 @@ public class OpticalFlow {
		quadCLTs, // QuadCLT [] quadCLTs,
		ref_index, // int ref_index,
		earliest_scene, // int earliest_scene,
		quat_rms); // double [] rms // null or double[2];
		quat_rms, // double [] rms // null or double[2];
		debugLevel); // int debugLevel
		if (quatCorr != null) {
		int num_iter = (int) quat_rms[4];
		if (debugLevel> -3) {
		@@ -5596,6 +5600,16 @@ public class OpticalFlow {
		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);
		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 ot the IMS to world orientation (rotating around IMS vertical):");
		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;
		System.out.println("quatCorr=["+quatCorr[0]+", "+quatCorr[1]+", "+quatCorr[2]+", "+quatCorr[3]+"]");
		System.out.println("ATR(rad)=["+corr_angles[0]+", "+corr_angles[1]+", "+corr_angles[2]+"]");
		System.out.println("ATR(deg)=["+corr_degrees[0]+", "+corr_degrees[1]+", "+corr_degrees[2]+"]");
		}
		} else {
		if (debugLevel> -3) {
		System.out.println("Failed to perform attitude correction with QuaternionLma.");
		@@ -5616,7 +5630,9 @@ public class OpticalFlow {
		ref_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel)

		if (debugLevel> -3) {
		System.out.println("Egomotion table saved to "+ego_path);
		}
		@@ -5628,7 +5644,8 @@ public class OpticalFlow {
		ref_index,// ref_indx,
		earliest_scene, // int earliest_scene,
		ego_path, // String path,
		ego_comment); // String comment);
		ego_comment, // String comment);
		debugLevel); // int debugLevel)
		}
		}
		boolean test_ground = false; // true;
		@@ -8256,7 +8273,8 @@ public class OpticalFlow {
		int start_scene,
		int end_scene,
		double [][][] scenes_xyzatr, // <=0 use +/-1 or +0 if other are not available
		double half_run_range
		double half_run_range,
		int debugLevel
		){
		double [][][] ers_xyzatr = new double [scenes_xyzatr.length][][];
		if (half_run_range <=0 ) {
		@@ -8314,9 +8332,13 @@ public class OpticalFlow {
		for (int m = 0; m < sy.length; m++) {
		for (int d = 0; d < sy[m].length; d++) {
		if (scenes_xyzatr[ns]== null ) {
		if (debugLevel > -1) {
		System.out.println("getVelocitiesFromScenes():scenes_xyzatr["+ns+"]== null");
		}
		}else if (scenes_xyzatr[ns][m]== null ) {
		if (debugLevel > -1) {
		System.out.println("getVelocitiesFromScenes():scenes_xyzatr["+ns+"]["+m+"] == null");
		}
		} else {
		double y = scenes_xyzatr[ns][m][d];
		sy [m][d] += w * y;

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

+2 −1

Original line number	Diff line number	Diff line
		@@ -256,6 +256,7 @@ public class QuadCLTCPU {
		double [] rms, // null or double[5];
		int debugLevel
		) {
		final boolean use3 = (quat_lma_mode == 3); // true;
		double lambda = clt_parameters.imp.quat_lambda; // 0.1;
		double lambda_scale_good = clt_parameters.imp.quat_lambda_scale_good; // 0.5;
		double lambda_scale_bad = clt_parameters.imp.quat_lambda_scale_bad; // 8.0;
		@@ -264,7 +265,7 @@ public class QuadCLTCPU {
		int num_iter = clt_parameters.imp.quat_num_iter; // 20;
		boolean last_run = false;
		double reg_w = clt_parameters.imp.quat_reg_w; // 0.25;
		double [] quat0 = new double [] {1.0, 0.0, 0.0, 0.0}; // identity
		double [] quat0 = use3? new double[3] : new double [] {1.0, 0.0, 0.0, 0.0}; // identity
		QuaternionLma quaternionLma = new QuaternionLma();
		if ((quat_lma_mode == 2) \|\| (quat_lma_mode == 4)) {
		double [][][] vect_y = new double [quadCLTs.length][][]; // camera XYZATR

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

+311 −26

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