fixing for scene==ref_scene

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

@@ -4895,10 +4895,12 @@ public class OpticalFlow {
 							batch_mode,               // final boolean                batch_mode,
 							debugLevel);              // final int                    debugLevel)
 					*/
-					int      num_avg_pairs = 16; // number of scene pairs to average
+//					int      num_avg_pairs = 16; // number of scene pairs to average
+					int      num_avg_pairs = 1;  // number of scene pairs to average
 					QuadCLT[][] scenes_pairs = new QuadCLT[num_avg_pairs][2];
 					for (int i = 0; i < num_avg_pairs; i++) {
-						scenes_pairs[i][0] = quadCLTs[ref_index - 1 - i];
+//						scenes_pairs[i][0] = quadCLTs[ref_index - 1 - i];
+						scenes_pairs[i][0] = quadCLTs[ref_index - i];
 						scenes_pairs[i][1] = quadCLTs[earliest_scene + num_avg_pairs - 1 - i];
 					}
 					double [][] sfm_dsn = StructureFromMotion.sfmPair(

src/main/java/com/elphel/imagej/tileprocessor/sfm/StructureFromMotion.java

@@ -576,22 +576,27 @@ public class StructureFromMotion {
     		QuadCLT [] scenes = scene_pairs[npair];
     		for (int nscene = 0; nscene < scenes.length; nscene++) {
     			String ts = scenes[nscene].getImageName();
-    			if ((ers_reference.getSceneXYZ(ts)== null) || (ers_reference.getSceneATR(ts)== null)) {
-    				System.out.println("sfmPair(): no pose for timestamp "+ts);
-    				return null;
-    			}
-    			scenes_xyzatr[npair][nscene] = new double[][] {
-    				ers_reference.getSceneXYZ(ts),
-    				ers_reference.getSceneATR(ts)};
-    				scenes_xyzatr_dt[npair][nscene]= new double[][] {
-    					ers_reference.getSceneErsXYZ_dt(ts),
-    					ers_reference.getSceneErsATR_dt(ts)};
-    					for (int i = 0; i < scenes_xyzatr_dt[nscene].length; i++) {
-    						if (scenes_xyzatr_dt[npair][nscene][i] == null) {
-    							System.out.println("sfmPair(): scene_xyzatr_dt["+i+"] == null");
-    							scenes_xyzatr_dt[npair][nscene][i] = ZERO3.clone();
+    			if (ts.equals(ref_scene.getImageName())) {
+    				scenes_xyzatr[npair][nscene] = ref_xyzatr;
+    				scenes_xyzatr_dt[npair][nscene]= ref_xyzatr_dt;
+    			} else {
+    				if ((ers_reference.getSceneXYZ(ts)== null) || (ers_reference.getSceneATR(ts)== null)) {
+    					System.out.println("sfmPair(): no pose for timestamp "+ts);
+    					return null;
+    				}
+    				scenes_xyzatr[npair][nscene] = new double[][] {
+    					ers_reference.getSceneXYZ(ts),
+    					ers_reference.getSceneATR(ts)};
+    					scenes_xyzatr_dt[npair][nscene]= new double[][] {
+    						ers_reference.getSceneErsXYZ_dt(ts),
+    						ers_reference.getSceneErsATR_dt(ts)};
+    						for (int i = 0; i < scenes_xyzatr_dt[npair][nscene].length; i++) {
+    							if (scenes_xyzatr_dt[npair][nscene][i] == null) {
+    								System.out.println("sfmPair(): scene_xyzatr_dt["+i+"] == null");
+    								scenes_xyzatr_dt[npair][nscene][i] = ZERO3.clone();
+    							}
     						}
-    					}
+    			}
     		}
     	}