Working on orientation adjustment camera to IMS

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

@@ -7922,6 +7922,12 @@ public class Interscene {
 					rms[3] = initial_rms[1];
 					if (rms.length >= 5) {
 						rms[4] = lma_result;
+						if ((rms.length >= 6) && (last_rms.length > 2)){
+							rms[5] = last_rms[2];
+							if ((rms.length >= 7) && (last_rms.length > 3)){
+								rms[6] = last_rms[3];
+							}
+						}
 					}					
 				}
 			}
@@ -8212,6 +8218,12 @@ public class Interscene {
 				rms[3] = initial_rms[1];
 				if (rms.length >= 5) {
 					rms[4] = lma_result;
+					if ((rms.length >= 6) && (last_rms.length > 2)){
+						rms[5] = last_rms[2];
+						if ((rms.length >= 7) && (last_rms.length > 3)){
+							rms[6] = last_rms[3];
+						}
+					}
 				}					
 			}
 		}

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

@@ -1104,8 +1104,9 @@ min_str_neib_fpn	0.35
     public double   wser_inf_thresh =       0.5;   // Undefined yet parameter to select which segments to use in infinity disparity adjustment
 
     public boolean  wser_orient_en =        true;  // per-series orientation dcamera-to-imu adjust enable
-    public double   wser_orient_transl =    0.5;   // weight of translations for orientation.
+    public double   wser_orient_transl =    0.5;   // weight of translations for orientation, AGL-corrected.
     public boolean  wser_orient_save =      true;  // Save per-series infinity adjustments data as CSV file
+    public boolean  wser_orient_series =    true;  // Save per-series orientations and summary
     public boolean  wser_orient_apply =     false; // Apply per-series infinity correction
     public double   wser_orient_thresh =    0.5;   // Undefined yet parameter to select which segments to use in infinity disparity adjustment
 	
@@ -1138,7 +1139,8 @@ min_str_neib_fpn	0.35
     public  int     quat_num_iter =         20;
     public  double  quat_reg_w =             0.25;
 
-    public  double  quat_max_ratio =         5.0; // max derivatives difference 
+    public  double  quat_max_ratio =         3.0; // 5.0; // max derivatives ratio
+    public  double  quat_max_damping =       0.5; // maximal regularization weight
     public  double  quat_max_change =        0.1; // radians
     public  double  quat_min_transl =        5.0; // meters to adjust by translation
     public  double  quat_min_rot =           0.1; // radians to adjust by rotation
@@ -1881,7 +1883,7 @@ min_str_neib_fpn	0.35
 		gd.addCheckbox ("Apply IMS orientation correction ",         this.apply_quat_corr,
 				"Apply camera orientation correction from predicted by IMS when generating output files - used only for ground planes.");
 		gd.addCheckbox ("Use IMS orientation correction internally", this.use_quat_corr,
-				"Depreceted? Use camera orientation correction from predicted by IMS internally from the previous calculations.");
+				"Deprecated? Use camera orientation correction from predicted by IMS internally from the previous calculations.");
 		gd.addCheckbox ("Inertial only initial poses",               this.inertial_only,
 				"Use only IMU (DID_PIMU) data for initial egomotion, not the GNSS-aided IMS output.");
 		
@@ -3253,8 +3255,10 @@ min_str_neib_fpn	0.35
 				"Per-series orientation dcamera-to-imu adjust enable.");
 		gd.addNumericField("Translations weight",                     this.wser_orient_transl, 5,7,"",
 				"Weight of translations for orientation (remaining - orintation).");
-		gd.addCheckbox ("Save per-series orientation correction",     this.wser_orient_save,
-				"Save per-series orintation adjustments data as CSV file.");
+		gd.addCheckbox ("Save scene sequence orientation correction",     this.wser_orient_save,
+				"Save scene sequence orintation adjustments data as CSV file.");
+		gd.addCheckbox ("Save per-series orientation correction",     this.wser_orient_series,
+				"Save per-series orintation adjustments data as CSV files and their summary table in index scene folder.");
 		gd.addCheckbox ("Apply per-series orientation correction",    this.wser_orient_apply,
 				"Apply per-series orientation correction.");
 		gd.addNumericField("Orientation adjustment thershold",        this.wser_orient_thresh, 5,7,"",
@@ -3318,6 +3322,8 @@ min_str_neib_fpn	0.35
 		
 		gd.addNumericField("Maximal derivatives by axes ratio",           this.quat_max_ratio, 3,5,"x",
 				"If difference is larger, add regularization to reduce it.");
+		gd.addNumericField("Maximal regularization fraction (<1)",        this.quat_max_damping, 3,5,"x",
+				"If difference is larger, add regularization to reduce it.");
 		gd.addNumericField("Maximal correction angles change",            this.quat_max_change, 3,5,"rad",
 				"Do not update corrections if any angle is above this limit. ");
 		gd.addNumericField("Minimal translation for mount calibration",   this.quat_min_transl, 3,5,"m",
@@ -4611,6 +4617,7 @@ min_str_neib_fpn	0.35
 		this.wser_orient_en =           gd.getNextBoolean();
 		this.wser_orient_transl =       gd.getNextNumber();
 		this.wser_orient_save =         gd.getNextBoolean();
+		this.wser_orient_series =       gd.getNextBoolean();
 		this.wser_orient_apply =        gd.getNextBoolean();
 		this.wser_orient_thresh =       gd.getNextNumber();
 		
@@ -4643,6 +4650,7 @@ min_str_neib_fpn	0.35
 		this.quat_reg_w =               gd.getNextNumber();
 		
 		this.quat_max_ratio =           gd.getNextNumber();
+		this.quat_max_damping =         gd.getNextNumber();
 		this.quat_max_change =          gd.getNextNumber();
 		this.quat_min_transl =          gd.getNextNumber();
 		this.quat_min_rot =             gd.getNextNumber();
@@ -5853,6 +5861,7 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"wser_orient_en",       this.wser_orient_en+"");      // boolean
 		properties.setProperty(prefix+"wser_orient_transl",   this.wser_orient_transl+"");  // double
 		properties.setProperty(prefix+"wser_orient_save",     this.wser_orient_save+"");    // boolean
+		properties.setProperty(prefix+"wser_orient_series",   this.wser_orient_series+"");  // boolean
 		properties.setProperty(prefix+"wser_orient_apply",    this.wser_orient_apply+"");   // boolean
 		properties.setProperty(prefix+"wser_orient_thresh",   this.wser_orient_thresh+"");  // double
 		
@@ -5884,6 +5893,7 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"quat_reg_w",           this.quat_reg_w+"");          // double
 		
 		properties.setProperty(prefix+"quat_max_ratio",       this.quat_max_ratio+"");      // double
+		properties.setProperty(prefix+"quat_max_damping",     this.quat_max_damping+"");    // double
 		properties.setProperty(prefix+"quat_max_change",      this.quat_max_change+"");     // double
 		properties.setProperty(prefix+"quat_min_transl",      this.quat_min_transl+"");     // double
 		properties.setProperty(prefix+"quat_min_rot",         this.quat_min_rot+"");        // double
@@ -7079,6 +7089,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"wser_orient_en")!=null)       this.wser_orient_en=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_en"));
 		if (properties.getProperty(prefix+"wser_orient_transl")!=null)   this.wser_orient_transl=Double.parseDouble  (properties.getProperty(prefix+"wser_orient_transl"));
 		if (properties.getProperty(prefix+"wser_orient_save")!=null)     this.wser_orient_save=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_save"));
+		if (properties.getProperty(prefix+"wser_orient_series")!=null)   this.wser_orient_series=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_series"));
 		if (properties.getProperty(prefix+"wser_orient_apply")!=null)    this.wser_orient_apply=Boolean.parseBoolean(properties.getProperty(prefix+"wser_orient_apply"));
 		if (properties.getProperty(prefix+"wser_orient_thresh")!=null)   this.wser_orient_thresh=Double.parseDouble  (properties.getProperty(prefix+"wser_orient_thresh"));
 		
@@ -7110,6 +7121,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"quat_reg_w")!=null)           this.quat_reg_w=Double.parseDouble(properties.getProperty(prefix+"quat_reg_w"));
 		
 		if (properties.getProperty(prefix+"quat_max_ratio")!=null)       this.quat_max_ratio=Double.parseDouble(properties.getProperty(prefix+"quat_max_ratio"));
+		if (properties.getProperty(prefix+"quat_max_damping")!=null)     this.quat_max_damping=Double.parseDouble(properties.getProperty(prefix+"quat_max_damping"));
 		if (properties.getProperty(prefix+"quat_max_change")!=null)      this.quat_max_change=Double.parseDouble(properties.getProperty(prefix+"quat_max_change"));
 		if (properties.getProperty(prefix+"quat_min_transl")!=null)      this.quat_min_transl=Double.parseDouble(properties.getProperty(prefix+"quat_min_transl"));
 		if (properties.getProperty(prefix+"quat_min_rot")!=null)         this.quat_min_rot=Double.parseDouble(properties.getProperty(prefix+"quat_min_rot"));
@@ -8284,6 +8296,7 @@ min_str_neib_fpn	0.35
 		imp.wser_orient_en =        this.wser_orient_en;
 		imp.wser_orient_transl =    this.wser_orient_transl;
 		imp.wser_orient_save =      this.wser_orient_save;
+		imp.wser_orient_series =    this.wser_orient_series;
 		imp.wser_orient_apply =     this.wser_orient_apply;
 		imp.wser_orient_thresh =    this.wser_orient_thresh;
 
@@ -8316,6 +8329,7 @@ min_str_neib_fpn	0.35
 		imp.quat_reg_w            = this.quat_reg_w;
 		
 		imp.quat_max_ratio        = this.quat_max_ratio;
+		imp.quat_max_damping      = this.quat_max_damping;
 		imp.quat_max_change       = this.quat_max_change;
 		imp.quat_min_transl       = this.quat_min_transl;
 		imp.quat_min_rot          = this.quat_min_rot;

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

@@ -8673,6 +8673,7 @@ if (debugLevel > -100) return true; // temporarily !
 				boolean air_mode_en =          clt_parameters.imp.air_mode_en; // fast airplane mode
 				boolean save_series_infinity = clt_parameters.imp.wser_inf_save; // true;  // Save per-series infinity adjustments data as CSV file
 				boolean save_series_orient =   clt_parameters.imp.wser_orient_save; 
+				boolean process_segments =     clt_parameters.imp.wser_orient_series; 
 				if (run_pre_series) {
 					if (debugLevel > -4) {
 						System.out.println("===== Conditions met for all segment of the scene series, will run per-series calibrations =====");
@@ -8697,13 +8698,14 @@ if (debugLevel > -100) return true; // temporarily !
 						// TODO: implement
 						// for testing running adjustImuOrient for the last segment in this series
 						double [][] orient_rslt = save_series_orient ? (new double [ref_scenes.length][]) : null;
-						double [] infinity_multi = SeriesInfinityCorrection.adjustImuOrientMulti(
+						double [] quatcorr_multi = SeriesInfinityCorrection.adjustImuOrientMulti(
 								clt_parameters,     // CLTParameters    clt_parameters,
 								ref_scenes,         // QuadCLT []       quadCLTs,
 								index_scenes[0],    // QuadCLT          index_CLT, // normally - just the last in quadCLTs
-								save_series_orient, // boolean          save_series_orient, 
+								save_series_orient, // boolean          save_sequence_orient, 
+								process_segments,   // boolean          process_segments,
 								orient_rslt,        // double [][]      orient_rslt,
-								debugLevel);        // int              debugLevel)
+								debugLevel+1);        // int              debugLevel)
 						if (orient_rslt != null) {
 						}						
 					}