fixing, but so far scale > 1 for stretch, while affines are image coord

from map coord

src/main/java/com/elphel/imagej/orthomosaic/OrthoAltitudeMatch.java

@@ -314,6 +314,11 @@ public class OrthoAltitudeMatch {
 		    			true,             //   boolean   stretch,
 		    			make__pure_tilt, // boolean   make__pure_tilt)
 		    			y_down_ccw); // boolean y_down_ccw);
+		        double [][] aff1_shrink = QuatUtils.quatToAffine(
+		        		quats01[0],       // double [] quat,
+		    			false,            //   boolean   stretch,
+		    			make__pure_tilt, // boolean   make__pure_tilt)
+		    			y_down_ccw); // boolean y_down_ccw);
 		        double [][] aff2_shrink = QuatUtils.quatToAffine(
 		        		quats01[2],       // double [] quat,
 		    			false,             //   boolean   stretch,
@@ -325,27 +330,37 @@ public class OrthoAltitudeMatch {
 		    			make__pure_tilt, // boolean   make__pure_tilt)
 		    			y_down_ccw); // boolean y_down_ccw);
 		        
-		        double [][] qaffd_pm =    QuatUtils.affineToQuatScaled(affine_pair, y_down_ccw);
+		        double [][] qaffd_pm =    QuatUtils.affineToQuatScaled(affine_pair,true,  y_down_ccw);
 		        double []   sqaffd_pm =   {QuatUtils.normalizeInPlace(qaffd_pm[0]),QuatUtils.normalizeInPlace(qaffd_pm[1])}; // normalizes
 		        System.out.println("qaffd_pm[0]=   ["+qaffd_pm[0][0]+ ","+qaffd_pm[0][1]+ ","+qaffd_pm[0][2]+ ","+qaffd_pm[0][3]+ "] scale="+sqaffd_pm[0]);
 		        System.out.println("qaffd_pm[1]=   ["+qaffd_pm[1][0]+ ","+qaffd_pm[1][1]+ ","+qaffd_pm[1][2]+ ","+qaffd_pm[1][3]+ "] scale="+sqaffd_pm[1]);
-		        double [][] qaff1_pm =    QuatUtils.affineToQuatScaled(aff1_stretch, y_down_ccw);
-		        double []   sqaff1_pm =   {QuatUtils.normalizeInPlace(qaffd_pm[0]),QuatUtils.normalizeInPlace(qaff1_pm[1])}; // normalizes
+		        
+		        double [][] qaff1a_pm =    QuatUtils.affineToQuatScaled(aff1_shrink, false,y_down_ccw);
+		        double []   sqaff1a_pm =   {QuatUtils.normalizeInPlace(qaff1a_pm[0]),QuatUtils.normalizeInPlace(qaff1a_pm[1])}; // normalizes
+		        System.out.println("qaff1a_pm[0]=  ["+qaff1a_pm[0][0]+ ","+qaff1a_pm[0][1]+ ","+qaff1a_pm[0][2]+ ","+qaff1a_pm[0][3]+ "] scale="+sqaff1a_pm[0]);
+		        System.out.println("qaff1a_pm[1]=  ["+qaff1a_pm[1][0]+ ","+qaff1a_pm[1][1]+ ","+qaff1a_pm[1][2]+ ","+qaff1a_pm[1][3]+ "] scale="+sqaff1a_pm[1]);
+		        
+		        double [][] qaff1_pm =    QuatUtils.affineToQuatScaled(aff1_stretch, true, y_down_ccw);
+		        double []   sqaff1_pm =   {QuatUtils.normalizeInPlace(qaff1_pm[0]),QuatUtils.normalizeInPlace(qaff1_pm[1])}; // normalizes
 		        System.out.println("qaff1_pm[0]=   ["+qaff1_pm[0][0]+ ","+qaff1_pm[0][1]+ ","+qaff1_pm[0][2]+ ","+qaff1_pm[0][3]+ "] scale="+sqaff1_pm[0]);
 		        System.out.println("qaff1_pm[1]=   ["+qaff1_pm[1][0]+ ","+qaff1_pm[1][1]+ ","+qaff1_pm[1][2]+ ","+qaff1_pm[1][3]+ "] scale="+sqaff1_pm[1]);
-		        double [][] qaff2a_pm =   QuatUtils.affineToQuatScaled(aff2_shrink,  y_down_ccw);
+		        
+		        double [][] qaff2a_pm =   QuatUtils.affineToQuatScaled(aff2_shrink, false, y_down_ccw);
 		        double []   sqaff2a_pm =  {QuatUtils.normalizeInPlace(qaff2a_pm[0]),QuatUtils.normalizeInPlace(qaff2a_pm[1])}; // normalizes
 		        System.out.println("qaff2a_pm[0]=  ["+qaff2a_pm[0][0]+","+qaff2a_pm[0][1]+","+qaff2a_pm[0][2]+","+qaff2a_pm[0][3]+"] scale="+sqaff2a_pm[0]);
 		        System.out.println("qaff2a_pm[1]=  ["+qaff2a_pm[1][0]+","+qaff2a_pm[1][1]+","+qaff2a_pm[1][2]+","+qaff2a_pm[1][3]+"] scale="+sqaff2a_pm[1]);
-		        double [][] qaff2_pm =    QuatUtils.affineToQuatScaled(aff2_stretch, y_down_ccw);
+		        
+		        double [][] qaff2_pm =    QuatUtils.affineToQuatScaled(aff2_stretch, true, y_down_ccw);
 		        double []   sqaff2_pm =   {QuatUtils.normalizeInPlace(qaff2_pm[0]),QuatUtils.normalizeInPlace(qaff2_pm[1])}; // normalizes
 		        System.out.println("qaff2_pm[0]=   ["+qaff2_pm[0][0]+ ","+qaff2_pm[0][1]+ ","+qaff2_pm[0][2]+ ","+qaff2_pm[0][3]+ "] scale="+sqaff2_pm[0]);
 		        System.out.println("qaff2_pm[1]=   ["+qaff2_pm[1][0]+ ","+qaff2_pm[1][1]+ ","+qaff2_pm[1][2]+ ","+qaff2_pm[1][3]+ "] scale="+sqaff2_pm[1]);
-		        double [][] qaffine0_pm = QuatUtils.affineToQuatScaled(affines[0], y_down_ccw);
+		        
+		        double [][] qaffine0_pm = QuatUtils.affineToQuatScaled(affines[0], false, y_down_ccw);
 		        double []   sqaffine0_pm ={QuatUtils.normalizeInPlace(qaffine0_pm[0]),QuatUtils.normalizeInPlace(qaffine0_pm[1])}; // normalizes
 		        System.out.println("qaffine0_pm[0]=["+qaffine0_pm[0][0]+ ","+qaffine0_pm[0][1]+ ","+qaffine0_pm[0][2]+ ","+qaffine0_pm[0][3]+ "] scale="+sqaffine0_pm[0]);
 		        System.out.println("qaffine0_pm[1]=["+qaffine0_pm[1][0]+ ","+qaffine0_pm[1][1]+ ","+qaffine0_pm[1][2]+ ","+qaffine0_pm[1][3]+ "] scale="+sqaffine0_pm[1]);
-		        double [][] qaffine1_pm = QuatUtils.affineToQuatScaled(affines[1],  y_down_ccw);
+		        
+		        double [][] qaffine1_pm = QuatUtils.affineToQuatScaled(affines[1], false, y_down_ccw);
 		        double []   sqaffine1_pm ={QuatUtils.normalizeInPlace(qaffine1_pm[0]),QuatUtils.normalizeInPlace(qaffine1_pm[1])}; // normalizes
 		        System.out.println("qaffine1_pm[0]=["+qaffine1_pm[0][0]+ ","+qaffine1_pm[0][1]+ ","+qaffine1_pm[0][2]+ ","+qaffine1_pm[0][3]+ "] scale="+sqaffine1_pm[0]);
 		        System.out.println("qaffine1_pm[1]=["+qaffine1_pm[1][0]+ ","+qaffine1_pm[1][1]+ ","+qaffine1_pm[1][2]+ ","+qaffine1_pm[1][3]+ "] scale="+sqaffine1_pm[1]);

src/main/java/com/elphel/imagej/orthomosaic/QuatUtils.java

@@ -211,23 +211,26 @@ public final class QuatUtils { // static class
 	 */
 	public static double [][] affineToQuatScaled (
 			double [][] affine,
+			boolean     stretch,
 			boolean     y_down_ccw) {
 		SingularValueDecomposition svd= SingularValueDecomposition.singularValueDecomposeScaleTiltBeta(
 				affine,
 				y_down_ccw);
-		double scale = svd.getMinScale();
+//		double scale = stretch? svd.getMinScale(): (1/svd.getMinScale());
+		double scale = stretch? svd.getMinScale(): svd.getMaxScale();
 		double rot = svd.getRotAngle(); // TODO: check sign !
 		// Now beta,rot correspond to Y - up
 		double chalfrot = Math.cos(rot/2); 
 		double shalfrot = Math.sin(rot/2); 
 		double [] qrot = {chalfrot,0,0,shalfrot}; // rotation around vertical axis
-		double cbeta = Math.cos(svd.beta);
-		double sbeta = Math.sin(svd.beta); // TODO: check sign !
+		// rotation after rot is -beta (rot(beta)*W*rot(-beta)*rot(rot)
+		double cmbeta = stretch ? Math.cos(-svd.beta) : (Math.sin(-svd.beta));
+		double smbeta = stretch ? Math.sin(-svd.beta) : (-Math.cos(-svd.beta)); // TODO: check sign !
 		double tiltAngle = svd.getTiltAngle(); // >0
 		double ctilt = Math.cos(tiltAngle/2);
 		double stilt = Math.sin(tiltAngle/2);
-		double [] q_plus =  {ctilt,  stilt*cbeta,  stilt*sbeta, 0};
-		double [] q_minus = {ctilt, -stilt*cbeta, -stilt*sbeta, 0};
+		double [] q_plus =  {ctilt,  stilt*cmbeta,  stilt*smbeta, 0};
+		double [] q_minus = {ctilt, -stilt*cmbeta, -stilt*smbeta, 0};
 		double [][] quats_pm = {scale(multiply(q_plus, qrot), scale),scale(multiply(q_minus, qrot), scale)};
 		return quats_pm;
 	}

src/main/java/com/elphel/imagej/orthomosaic/SingularValueDecomposition.java

@@ -186,7 +186,7 @@ public class SingularValueDecomposition {
 		while (gamma >= Math.PI/2) {
 			gamma -= Math.PI;
 		}
-		while (gamma < Math.PI/2) {
+		while (gamma < -Math.PI/2) {
 			gamma += Math.PI;
 		}