Debugging, IMU-ERS (99fcbcc4) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/calibration/CalibrationIllustration.java

+2 −2

Original line number	Original line	Diff line number	Diff line
	@@ -763,7 +763,7 @@ public class CalibrationIllustration {
	try {		try {
	Files.createSymbolicLink(newLink, target);		Files.createSymbolicLink(newLink, target);
	} catch (IOException x) {		} catch (IOException x) {
	System.err.println(x);		System.out.println(x);
	} catch (UnsupportedOperationException x) {		} catch (UnsupportedOperationException x) {
	// Some file systems do not support symbolic links.		// Some file systems do not support symbolic links.
	System.err.println(x);		System.err.println(x);
	@@ -775,7 +775,7 @@ public class CalibrationIllustration {
	return true;		return true;
	}		}

	public int [] getStartEndTS(String p) {		public static int [] getStartEndTS(String p) {
	int istart = p.lastIndexOf(Prefs.getFileSeparator());		int istart = p.lastIndexOf(Prefs.getFileSeparator());
	if (istart < 0) {		if (istart < 0) {
	istart = 0;		istart = 0;

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

+5 −0

Original line number	Original line	Diff line number	Diff line
	@@ -267,6 +267,7 @@ public class EventLogger {
	byte [][] payload,		byte [][] payload,
	int debug_level) throws IOException // initialize to [2][] - will return a pair of byte arrays		int debug_level) throws IOException // initialize to [2][] - will return a pair of byte arrays
	{		{
			int min_debug = 1; //-1 to enable
	// 1 find file with the first subpacket		// 1 find file with the first subpacket
	int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
	int file_index_below = 0; // if ts_master is between the two files? use last of previous		int file_index_below = 0; // if ts_master is between the two files? use last of previous
	@@ -327,6 +328,10 @@ public class EventLogger {
	double ts_below = logger_files[file_index_below].getMasterTS(nrec_below);		double ts_below = logger_files[file_index_below].getMasterTS(nrec_below);
	double ts_above = logger_files[file_index_above].getMasterTS(nrec_above);		double ts_above = logger_files[file_index_above].getMasterTS(nrec_above);
	double frac = (ts_master - ts_below)/(ts_above - ts_below);		double frac = (ts_master - ts_below)/(ts_above - ts_below);
			if ((debug_level >= min_debug) && (did == Imx5.DID_INS_2)) {
			System.out.println (String.format("%6d - %6d frac=%6.4f, ts_master = %17.6f, ts_below = %17.6f, ts_above = %17.6f",
			nrec_below, nrec_above, frac, ts_master, ts_below, ts_above));
			}

	// now read both byte arrays and set byte [][] payload		// now read both byte arrays and set byte [][] payload
	EventLoggerFileInfo fileinfo_next_below =		EventLoggerFileInfo fileinfo_next_below =

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

+6 −1

Original line number	Original line	Diff line number	Diff line
	@@ -130,9 +130,14 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
	for (; (nrec > first_last_index[0]) && (nrec < first_last_index[1]); nrec += drec) {		for (; (nrec > first_last_index[0]) && (nrec < first_last_index[1]); nrec += drec) {
	double ts_master_indx = getMasterTS(bb, nrec);		double ts_master_indx = getMasterTS(bb, nrec);
	if (after?(ts_master_indx <= ts_master):(ts_master_indx > ts_master)) {		if (after?(ts_master_indx <= ts_master):(ts_master_indx > ts_master)) {
			// still need to check type, as master timestamp may be in wrong order
			// Timestamp is frame start for images
			int [] full_type = getFullType(bb, nrec);
			if ((full_type != null) && (full_type[0] == type) && (full_type[1] == did)) {
	break search_opposite; // return nrec;		break search_opposite; // return nrec;
	}		}
	}		}
			}
	System.out.println("getLastBeforeIndex(): could not find oppposite, ts_master="+ts_master+", after="+after);		System.out.println("getLastBeforeIndex(): could not find oppposite, ts_master="+ts_master+", after="+after);
	return first_last_index[after ? 1 : 0]; // could not find		return first_last_index[after ? 1 : 0]; // could not find
	}		}

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

+2 −2

Original line number	Original line	Diff line number	Diff line
	@@ -194,8 +194,8 @@ public class ErsCorrection extends GeometryCorrection {
	public double [] ers_wxyz_center; // world camera XYZ (meters) for the lens center (in camera coordinates, typically 0)		public double [] ers_wxyz_center; // world camera XYZ (meters) for the lens center (in camera coordinates, typically 0)
	public double [] ers_wxyz_center_dt; // world camera Vx, Vy, Vz (m/s)		public double [] ers_wxyz_center_dt; // world camera Vx, Vy, Vz (m/s)
	public double [] ers_wxyz_center_d2t; // world camera Vx, Vy, Vz (m/s^2)		public double [] ers_wxyz_center_d2t; // world camera Vx, Vy, Vz (m/s^2)
	public double [] ers_watr_center_dt; // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)		public double [] ers_watr_center_dt; // camera rotations (az, tilt, roll in radians/s, corresponding to the frame center)
	public double [] ers_watr_center_d2t; // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)		public double [] ers_watr_center_d2t; // camera rotations (az, tilt, roll in radians/s, corresponding to the frame center)

	// absolute position and orientation of this camera in World coordinates		// absolute position and orientation of this camera in World coordinates
	public double [] camera_xyz = new double[3]; // camera center in world coordinates		public double [] camera_xyz = new double[3]; // camera center in world coordinates

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

+123 −48

Original line number	Original line	Diff line number	Diff line
	@@ -200,7 +200,20 @@ public class Interscene {
	debugLevel); // final int debugLevel);		debugLevel); // final int debugLevel);
	// TODO: add {start,end} pointers to quadCLTs[cent_index]		// TODO: add {start,end} pointers to quadCLTs[cent_index]
	// TODO: add pointer to center to ref_index		// TODO: add pointer to center to ref_index
			// check quadCLTs[cent_index].dsi here
			quadCLTs[cent_index] = (QuadCLT) quadCLT_main.spawnQuadCLT( // restores dsi from "DSI-MAIN"
			set_channels[cent_index].set_name,
			clt_parameters,
			colorProcParameters, //
			threadsMax,
			debugLevel);
			quadCLTs[cent_index].setQuadClt(); // just in case ?
			// NOt needed?
			// quadCLTs[cent_index].setDSRBG(
			// clt_parameters, // CLTParameters clt_parameters,
			// threadsMax, // int threadsMax, // maximal number of threads to launch
			// updateStatus, // boolean updateStatus,
			// debugLevel); // int debugLevel)


	int [] start_ref_pointers2 = new int[2];		int [] start_ref_pointers2 = new int[2];
	@@ -220,7 +233,7 @@ public class Interscene {
	if (earliest_scene2 < 0) {		if (earliest_scene2 < 0) {
	System.out.println("setInitialOrientationsIms() second half failed. Consider more graceful bail out.");		System.out.println("setInitialOrientationsIms() second half failed. Consider more graceful bail out.");
	start_ref_pointers[0] = start_ref_pointers1[0];		start_ref_pointers[0] = start_ref_pointers1[0];
	return cent_index;		return earliest_scene2; // cent_index;
	}		}
	// invert first half, reference to the cent_index, add to cent_index map, generate ref_index ponter and cent_index,		// invert first half, reference to the cent_index, add to cent_index map, generate ref_index ponter and cent_index,
	// write config for both ref_index and cent_index scenes		// write config for both ref_index and cent_index scenes
	@@ -279,6 +292,8 @@ public class Interscene {
	final int debugLevel) {		final int debugLevel) {
	double maximal_series_rms = 0.0;		double maximal_series_rms = 0.0;
	double min_ref_str = clt_parameters.imp.min_ref_str;		double min_ref_str = clt_parameters.imp.min_ref_str;
			boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
			// boolean ref_need_lma_combo = clt_parameters.imp.ref_need_lma_combo;
	double min_ref_frac= clt_parameters.imp.min_ref_frac;		double min_ref_frac= clt_parameters.imp.min_ref_frac;
	// int min_num_scenes = clt_parameters.imp.min_num_scenes; // abandon series if there are less than this number of scenes in it		// int min_num_scenes = clt_parameters.imp.min_num_scenes; // abandon series if there are less than this number of scenes in it
	int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series		int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series
	@@ -331,7 +346,8 @@ public class Interscene {
	false, // boolean use_combo,		false, // boolean use_combo,
	min_ref_str, // double min_strength,		min_ref_str, // double min_strength,
	min_ref_frac, // double min_ref_frac,		min_ref_frac, // double min_ref_frac,
	true, // boolean needs_lma);		ref_need_lma, // boolean needs_lma);
			true, // ref_need_lma_combo, // boolean needs_lma_combo);
	reduced_strength); // if not null will return >0 if had to reduce strength (no change if did not reduce)		reduced_strength); // if not null will return >0 if had to reduce strength (no change if did not reduce)
	if (reduced_strength[0] > 0) {		if (reduced_strength[0] > 0) {
	use_lma_dsi = false; // too few points		use_lma_dsi = false; // too few points
	@@ -630,6 +646,7 @@ public class Interscene {
	int avg_len = clt_parameters.imp.avg_len;		int avg_len = clt_parameters.imp.avg_len;
	double maximal_series_rms = 0.0;		double maximal_series_rms = 0.0;
	double min_ref_str = clt_parameters.imp.min_ref_str;		double min_ref_str = clt_parameters.imp.min_ref_str;
			boolean ref_need_lma = clt_parameters.imp.ref_need_lma;
	double min_ref_frac= clt_parameters.imp.min_ref_frac;		double min_ref_frac= clt_parameters.imp.min_ref_frac;
	// int min_num_scenes = clt_parameters.imp.min_num_scenes; // abandon series if there are less than this number of scenes in it		// int min_num_scenes = clt_parameters.imp.min_num_scenes; // abandon series if there are less than this number of scenes in it
	int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series		int max_num_scenes = clt_parameters.imp.max_num_scenes; // cut longer series
	@@ -673,7 +690,8 @@ public class Interscene {
	false, // boolean use_combo,		false, // boolean use_combo,
	min_ref_str, // double min_strength,		min_ref_str, // double min_strength,
	min_ref_frac, // double min_ref_frac,		min_ref_frac, // double min_ref_frac,
	true, // boolean needs_lma);		ref_need_lma, // boolean needs_lma);
			true, // boolean needs_lma_combo);
	reduced_strength); // if not null will return >0 if had to reduce strength (no change if did not reduce)		reduced_strength); // if not null will return >0 if had to reduce strength (no change if did not reduce)
	if (reduced_strength[0] > 0) {		if (reduced_strength[0] > 0) {
	use_lma_dsi = false; // too few points		use_lma_dsi = false; // too few points
	@@ -976,6 +994,7 @@ public class Interscene {
	QuadCLT [] quadCLTs,		QuadCLT [] quadCLTs,
	int ref_index,		int ref_index,
	int [] range,		int [] range,
			int ers_mode, // 0 - keep, 1 - set from velocity, 2 - set from IMS
	boolean test_motion_blur,		boolean test_motion_blur,
	int debugLevel)		int debugLevel)
	{		{
	@@ -1120,14 +1139,26 @@ public class Interscene {
	scenes_xyzatr[nscene][1][0], scenes_xyzatr[nscene][1][1], scenes_xyzatr[nscene][1][2]));		scenes_xyzatr[nscene][1][0], scenes_xyzatr[nscene][1][1], scenes_xyzatr[nscene][1][2]));
	}		}
	}		}
	double [][][] dxyzatr_dt = OpticalFlow.getVelocitiesFromScenes(		double [][][] dxyzatr_dt;
			switch (ers_mode) {
			case 1 :
			dxyzatr_dt = OpticalFlow.getVelocitiesFromScenes(
	quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps		quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps
	ref_index,		ref_index,
	earliest_scene, // int start_scene,		earliest_scene, // int start_scene,
	last_scene, // int end1_scene,		last_scene, // int end1_scene,
	scenes_xyzatr, // double [][][] scenes_xyzatr,		scenes_xyzatr, // double [][][] scenes_xyzatr,
	half_run_range); // double half_run_range		half_run_range); // double half_run_range
			break;
			case 2: // read from ims
			default:
			dxyzatr_dt = new double [quadCLTs.length][][];
			for (int nscene = last_scene; nscene >= earliest_scene; nscene--) {
			// read from map (ts)
			// divide by dbg_scale_dt, so saved in map will match ERS, not *_dt (currently they are the same)
			}

			}
	if (debug_ers) {		if (debug_ers) {
	System.out.println();		System.out.println();
	for (int nscene = last_scene; nscene >= earliest_scene; nscene--) {		for (int nscene = last_scene; nscene >= earliest_scene; nscene--) {
	@@ -1190,6 +1221,8 @@ public class Interscene {
	scaled_dxyzatr_dt[i][j] = dxyzatr_dt[nscene][i][j]* dbg_scale_dt[i][j];		scaled_dxyzatr_dt[i][j] = dxyzatr_dt[nscene][i][j]* dbg_scale_dt[i][j];
	}		}
	}		}

			// **** Here *_dt is set!
	quadCLTs[nscene].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)		quadCLTs[nscene].getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
	scaled_dxyzatr_dt[0], // (ers_use_xyz? dxyzatr_dt[nscene][0]: ZERO3), //, // dxyzatr_dt[nscene][0], // double [] ers_xyz_dt,		scaled_dxyzatr_dt[0], // (ers_use_xyz? dxyzatr_dt[nscene][0]: ZERO3), //, // dxyzatr_dt[nscene][0], // double [] ers_xyz_dt,
	scaled_dxyzatr_dt[1]); // dxyzatr_dt[nscene][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);		scaled_dxyzatr_dt[1]); // dxyzatr_dt[nscene][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
	@@ -1615,6 +1648,8 @@ public class Interscene {
	boolean show_corr_fpn = (!clt_parameters.multiseq_run) && (debug_level > -1); // -3; ********* Change to debug FPN correleation *		boolean show_corr_fpn = (!clt_parameters.multiseq_run) && (debug_level > -1); // -3; ********* Change to debug FPN correleation *

	int nlma = 0;		int nlma = 0;
			// TODO: save ers_scene.ers_watr_center_dt and ers_scene.ers_wxyz_center_dt before first run lma, restore on failure
			// it is saved to backup parameters when first lma run (nlma == 0), // boolean first_run,
	for (; nlma < clt_parameters.imp.max_cycles; nlma ++) {		for (; nlma < clt_parameters.imp.max_cycles; nlma ++) {
	boolean near_important = nlma > 0;		boolean near_important = nlma > 0;
	// FIXME: not re-calculating motion blur. Maybe do that after each parameter update?		// FIXME: not re-calculating motion blur. Maybe do that after each parameter update?
	@@ -1674,6 +1709,9 @@ public class Interscene {
	}		}
	}		}
	}		}

			// update setting ers_scene

	if (disable_ers) {		if (disable_ers) {
	param_select_mod = param_select.clone();		param_select_mod = param_select.clone();
	for (int i:ErsCorrection.DP_ERS_INDICES) {		for (int i:ErsCorrection.DP_ERS_INDICES) {
	@@ -1682,9 +1720,11 @@ public class Interscene {
	// now just copy ers from the reference		// now just copy ers from the reference
	ErsCorrection ers_ref = reference_QuadClt.getErsCorrection();		ErsCorrection ers_ref = reference_QuadClt.getErsCorrection();
	ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();		ErsCorrection ers_scene = scene_QuadClt.getErsCorrection();
			// when disabled - scene ers from the same as reference one
	ers_scene.ers_watr_center_dt = ers_ref.ers_watr_center_dt.clone();		ers_scene.ers_watr_center_dt = ers_ref.ers_watr_center_dt.clone();
	ers_scene.ers_wxyz_center_dt = ers_ref.ers_wxyz_center_dt.clone();		ers_scene.ers_wxyz_center_dt = ers_ref.ers_wxyz_center_dt.clone();
	}		}
			// TODO: save ers_scene.ers_watr_center_dt and ers_scene.ers_wxyz_center_dt
	intersceneLma.prepareLMA(		intersceneLma.prepareLMA(
	camera_xyz0, // final double [] scene_xyz0, // camera center in world coordinates (or null to use instance)		camera_xyz0, // final double [] scene_xyz0, // camera center in world coordinates (or null to use instance)
	camera_atr0, // final double [] scene_atr0, // camera orientation relative to world frame (or null to use instance)		camera_atr0, // final double [] scene_atr0, // camera orientation relative to world frame (or null to use instance)
	@@ -1713,6 +1753,10 @@ public class Interscene {
	if (fail_reason != null) {		if (fail_reason != null) {
	fail_reason[0]=FAIL_REASON_LMA;		fail_reason[0]=FAIL_REASON_LMA;
	}		}
			// TODO: Restore *_dt from backup_parameters_full
			scene_QuadClt.getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
			intersceneLma.getSceneERSXYZ(true), // true for initial values
			intersceneLma.getSceneERSATR(true)); // true for initial values
	return null;		return null;
	}		}
	camera_xyz0 = intersceneLma.getSceneXYZ(false); // true for initial values		camera_xyz0 = intersceneLma.getSceneXYZ(false); // true for initial values
	@@ -1723,6 +1767,14 @@ public class Interscene {
	(diffs_xyz[0] < clt_parameters.imp.exit_change_xyz)) {		(diffs_xyz[0] < clt_parameters.imp.exit_change_xyz)) {
	break;		break;
	}		}
			// TODO: Is ers_scene.ers_wxyz_center_dt updated after running LMA?
			// No, update it here !
			scene_QuadClt.getErsCorrection().setErsDt( // set for ref also (should be set before non-ref!)
			intersceneLma.getSceneERSXYZ(false), // true for initial values
			intersceneLma.getSceneERSATR(false)); // true for initial values

			// scaled_dxyzatr_dt[0], // (ers_use_xyz? dxyzatr_dt[nscene][0]: ZERO3), //, // dxyzatr_dt[nscene][0], // double [] ers_xyz_dt,
			// scaled_dxyzatr_dt[1]); // dxyzatr_dt[nscene][1]); // double [] ers_atr_dt)(ers_scene_original_xyz_dt);
	}		}
	if (show_corr_fpn && (debug_level > -1)) { // now not needed, restore if needed		if (show_corr_fpn && (debug_level > -1)) { // now not needed, restore if needed
	// int num_components = intersceneLma.getNumComponents();		// int num_components = intersceneLma.getNumComponents();
	@@ -3676,7 +3728,7 @@ public class Interscene {
	ref_scene.saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry		ref_scene.saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
	return tp_tasks_ref;		return tp_tasks_ref;
	}		}
			@Deprecated
	public static void generateEgomotionTable0(		public static void generateEgomotionTable0(
	CLTParameters clt_parameters,		CLTParameters clt_parameters,
	QuadCLT [] quadCLTs,		QuadCLT [] quadCLTs,
	@@ -4019,9 +4071,33 @@ public class Interscene {
	String comment) {		String comment) {
	double [] ims_ortho = clt_parameters.imp.ims_ortho;		double [] ims_ortho = clt_parameters.imp.ims_ortho;
	double [] ims_mount_atr = clt_parameters.imp.getImsMountATR(); // converts to radians		double [] ims_mount_atr = clt_parameters.imp.getImsMountATR(); // converts to radians
			QuadCLT ref_scene = quadCLTs[ref_index];
			ErsCorrection ers_reference = ref_scene.getErsCorrection();
			int num_processed = 0;
			double [][][] scenes_xyzatr = new double [quadCLTs.length][][];
			double [][][] scenes_xyzatr_dt = new double [quadCLTs.length][][];

			for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
			QuadCLT scene = quadCLTs[nscene];
			if (nscene == ref_index) {
			scenes_xyzatr[nscene] = new double[2][3];
			scenes_xyzatr_dt[nscene] = new double[2][3];
			} else {
			String ts = scene.getImageName();
			scenes_xyzatr[nscene] = new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
			scenes_xyzatr_dt[nscene] = ers_reference.getSceneErsXYZATR_dt(ts);
			if (scenes_xyzatr[nscene] != null) {
			num_processed++;
			}
			}
			}
			boolean use_processed = num_processed > 1;

	// double [] quat_ortho = {0.5, 0.5, -0.5, 0.5}; // approximate IMU orientation		// double [] quat_ortho = {0.5, 0.5, -0.5, 0.5}; // approximate IMU orientation
	String header_img="#\ttimestamp\tx(m)\ty(m)\tz(m)\ta(rad)\ttilt(rad)\troll(rad)"+		String header_ts="#\ttimestamp";
	"\tVx(m/s)\tVy(m/s)\tVz(m/s)\tVa(rad/s)\tVt(rad/s)\tVr(rad/s)";		String header_img="\tx(m)\ty(m)\tz(m)\ta(rad)\ttilt(rad)\troll(rad)"+
			"\tVx(m/s)\tVy(m/s)\tVz(m/s)\tVa(rad/s)\tVt(rad/s)\tVr(rad/s)"+
			"\tEVx(m/s)\tEVy(m/s)\tEVz(m/s)\tEVa(rad/s)\tEVt(rad/s)\tEVr(rad/s)";
	String header_ins1="\ttow\ttheta0\ttheta1\ttheta2\tu(m/s)\tv(m/s)\tw(m/s)"+		String header_ins1="\ttow\ttheta0\ttheta1\ttheta2\tu(m/s)\tv(m/s)\tw(m/s)"+
	"\tlat\tlong\talt\tned0\tned1\tned2";		"\tlat\tlong\talt\tned0\tned1\tned2";
	String header_ins2="\ttow\tqn2b0\tqn2b1\tqn2b2\tqn2b3\tu(m/s)\tv(m/s)\tw(m/s)\tlat\tlong\talt";		String header_ins2="\ttow\tqn2b0\tqn2b1\tqn2b2\tqn2b3\tu(m/s)\tv(m/s)\tw(m/s)\tlat\tlong\talt";
	@@ -4035,27 +4111,19 @@ public class Interscene {
	String header_pimu="\to0\to1\to2\ta0\ta1\ta2";		String header_pimu="\to0\to1\to2\ta0\ta1\ta2";


	String header = header_img+header_ins1+header_ins2+header_ins2_extra+header_pimu;		String header = header_ts+(use_processed?header_img:"")+header_ins1+header_ins2+header_ins2_extra+header_pimu;

	StringBuffer sb = new StringBuffer();		StringBuffer sb = new StringBuffer();
	QuadCLT ref_scene = quadCLTs[ref_index];		double [][][] dxyzatr_dt = null;
	ErsCorrection ers_reference = ref_scene.getErsCorrection();		if (use_processed) {
	double [][][] scenes_xyzatr = new double [quadCLTs.length][][];		dxyzatr_dt = OpticalFlow.getVelocitiesFromScenes(
	for (int nscene = earliest_scene; nscene < quadCLTs.length; nscene++) {
	QuadCLT scene = quadCLTs[nscene];
	if (nscene == ref_index) {
	scenes_xyzatr[nscene] = new double[2][3];
	} else {
	String ts = scene.getImageName();
	scenes_xyzatr[nscene] = new double [][] {ers_reference.getSceneXYZ(ts),ers_reference.getSceneATR(ts)};
	}
	}
	double [][][] dxyzatr_dt = OpticalFlow.getVelocitiesFromScenes(
	quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps		quadCLTs, // QuadCLT [] scenes, // ordered by increasing timestamps
	ref_index,		ref_index,
	earliest_scene, // int start_scene,		earliest_scene, // int start_scene,
	quadCLTs.length-1, // int end1_scene,		quadCLTs.length-1, // int end1_scene,
	scenes_xyzatr, // double [][][] scenes_xyzatr,		scenes_xyzatr, // double [][][] scenes_xyzatr,
	clt_parameters.ofp.lpf_series); // half_run_range); // double half_run_range		clt_parameters.ofp.lpf_series); // half_run_range); // double half_run_range
			}
	Did_ins_2 d2_ref = quadCLTs[ref_index].did_ins_2;		Did_ins_2 d2_ref = quadCLTs[ref_index].did_ins_2;
	double [] cam_quat_ref =Imx5.quaternionImsToCam(d2_ref.getQn2b() ,		double [] cam_quat_ref =Imx5.quaternionImsToCam(d2_ref.getQn2b() ,
	ims_mount_atr, // new double[] {0, 0.13, 0},		ims_mount_atr, // new double[] {0, 0.13, 0},
	@@ -4086,15 +4154,22 @@ public class Interscene {
	Did_pimu d3 = scene.did_pimu;		Did_pimu d3 = scene.did_pimu;

	sb.append(nscene+"\t"+timestamp);		sb.append(nscene+"\t"+timestamp);
	// TODO: try saved, not calculated velocities!		if (use_processed) {
			if (scenes_xyzatr[nscene] != null) {
	sb.append("\t"+scenes_xyzatr[nscene][0][0]+"\t"+scenes_xyzatr[nscene][0][1]+"\t"+scenes_xyzatr[nscene][0][2]);		sb.append("\t"+scenes_xyzatr[nscene][0][0]+"\t"+scenes_xyzatr[nscene][0][1]+"\t"+scenes_xyzatr[nscene][0][2]);
	sb.append("\t"+scenes_xyzatr[nscene][1][0]+"\t"+scenes_xyzatr[nscene][1][1]+"\t"+scenes_xyzatr[nscene][1][2]);		sb.append("\t"+scenes_xyzatr[nscene][1][0]+"\t"+scenes_xyzatr[nscene][1][1]+"\t"+scenes_xyzatr[nscene][1][2]);
			// TODO: try saved, not calculated velocities!
	sb.append("\t"+dxyzatr_dt[nscene][0][0]+"\t"+dxyzatr_dt[nscene][0][1]+"\t"+dxyzatr_dt[nscene][0][2]);		sb.append("\t"+dxyzatr_dt[nscene][0][0]+"\t"+dxyzatr_dt[nscene][0][1]+"\t"+dxyzatr_dt[nscene][0][2]);
	sb.append("\t"+dxyzatr_dt[nscene][1][0]+"\t"+dxyzatr_dt[nscene][1][1]+"\t"+dxyzatr_dt[nscene][1][2]);		sb.append("\t"+dxyzatr_dt[nscene][1][0]+"\t"+dxyzatr_dt[nscene][1][1]+"\t"+dxyzatr_dt[nscene][1][2]);
			// TODO: try saved, not calculated velocities - here they are:
	// String header_ins1="\ttow\ttheta0\ttheta1\ttheta2\tu(m/s)\tv(m/s)\tw(m/s)"+		sb.append("\t"+scenes_xyzatr_dt[nscene][0][0]+"\t"+scenes_xyzatr_dt[nscene][0][1]+"\t"+scenes_xyzatr_dt[nscene][0][2]);
	// "\tlong\tlat\talt\tned0\tned1\tned2";		sb.append("\t"+scenes_xyzatr_dt[nscene][1][0]+"\t"+scenes_xyzatr_dt[nscene][1][1]+"\t"+scenes_xyzatr_dt[nscene][1][2]);
			} else {
			for (int i = 0; i < 12; i++) {
			sb.append("\t---");
			}
			}
			}
	sb.append("\t"+d1.timeOfWeek);		sb.append("\t"+d1.timeOfWeek);
	sb.append("\t"+d1.theta[0]+"\t"+d1.theta[1]+"\t"+d1.theta[2]);		sb.append("\t"+d1.theta[0]+"\t"+d1.theta[1]+"\t"+d1.theta[2]);
	sb.append("\t"+d1.uvw[0]+ "\t"+d1.uvw[1]+ "\t"+d1.uvw[2]);		sb.append("\t"+d1.uvw[0]+ "\t"+d1.uvw[1]+ "\t"+d1.uvw[2]);

Admin message