Implemented legend, clean up

src/main/java/com/elphel/imagej/cuas/CuasRanging.java

@@ -2762,18 +2762,21 @@ public class CuasRanging {
 		sb.append("\n"); // there will be 1 extra blank column
 		String [] slice_titles = 	cuasMotion.getSliceTitles(); // timestamps
 		UasLogReader  uasLogReader = cuasMotion.getUasLogReader();
+		ErsCorrection ersCorrection = center_CLT.getErsCorrection();
 		for (int nseq = 0; nseq < num_seq; nseq++) {
 			String timestamp = slice_titles[nseq];
 			sb.append(nseq+"\t"+timestamp+"\t");
 			// get azimuth, elevation, target disparity from the log plus infinity, log range
 			double [] uas_pXpYDRange = uasLogReader.getUasPxPyDRange(timestamp); // px, py, d-  cuas_infinity (true disparity), range
 			double [][] az_el_oaz_oel= 	CuasMotion.getPixToAzElev(
-					clt_parameters,     // CLTParameters  clt_parameters,
-					gc,                 // GeometryCorrection gc,
+					ersCorrection,   // ErsCorrection ersCorrection,
+					uasLogReader,    // UasLogReader  uasLogReader,			
+					Double.NaN,      // double        fps, // if NaN, will use default 60Hz. Used only for omegas
 					uas_pXpYDRange[0],  // double         target_x,
 					uas_pXpYDRange[1],  // double         target_y,
 					0,                  // double         target_vx,
 					0);                 // double         target_vy);
+			
 			sb.append(uas_pXpYDRange[0]+"\t"+uas_pXpYDRange[1]+"\t"+az_el_oaz_oel[0][0]+"\t"+az_el_oaz_oel[0][1]+"\t"+(uas_pXpYDRange[2]+cuas_infinity)+"\t"+uas_pXpYDRange[3]+"\t");
 
 			for (int ntarg = 0; ntarg < num_targets; ntarg++) { 
@@ -2794,15 +2797,16 @@ public class CuasRanging {
 					    double yc = tileSize * tileY + tileSize/2 + target[CuasMotionLMA.RSLT_Y];
 						double vx = target[CuasMotionLMA.RSLT_VX];
 						double vy = target[CuasMotionLMA.RSLT_VY];
-						
 						// calculate and output target azimuth, elevation, disparity (full) and range
 						az_el_oaz_oel= 	CuasMotion.getPixToAzElev(
-								clt_parameters, // CLTParameters  clt_parameters,
-								gc,             // GeometryCorrection gc,
-								xc,             // double         target_x, // null
-								yc,             // double         target_y,
-								vx,             // double         target_vx,
-								vy);            // double         target_vy);
+								ersCorrection, // ErsCorrection ersCorrection,
+								uasLogReader,  // UasLogReader  uasLogReader,			
+								Double.NaN,    // double        fps, // if NaN, will use default 60Hz. Used only for omegas
+								xc,             // double         px, // null
+								yc,             // double         py,
+								vx,             // double         vx,
+								vy);            // double         vy);
+						
 						sb.append(xc+"\t"+yc+"\t"+az_el_oaz_oel[0][0]+"\t"+az_el_oaz_oel[0][1]+"\t"+
 								target[CuasMotionLMA.RSLT_DISPARITY]+"\t"+target[CuasMotionLMA.RSLT_RANGE]+"\t");
 						if (target[CuasMotionLMA.RSLT_GLENGTH] > 0) {

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

@@ -6063,7 +6063,28 @@ public class QuadCLTCPU {
 		System.out.println("saveDoubleArrayInModelDirectory(): saved "+file_path);
 		return file_path;
 	}
+	
+	public static String saveImagePlusInDirectory(
+			ImagePlus imp,
+			String    dir) {
+		String file_name = imp.getTitle();
+		if (!file_name.endsWith(".tiff")) {
+			file_name +=".tiff";
+		}
+		if (!dir.endsWith(Prefs.getFileSeparator())) {
+			dir += Prefs.getFileSeparator();
+		}
+		String file_path = dir + file_name; // + ".tiff";
+		FileSaver fs=new FileSaver(imp);
+		fs.saveAsTiff(file_path); // image processor null?
+		System.out.println("saveImagePlusInDirectory(): saved "+file_path);
+		return file_path;
+	}
 
+	/*
+		File list_to_concat = new File (video_dir,concat_list_name);
+
+	 */
 	public String saveConfInModelDirectory()
 	{
 		String x3d_path = getX3dDirectory();