working on cartesian-defined multi-cameras

c9ee2c7d · Andrey Filippov · 1e8f23fb · c9ee2c7d · c9ee2c7d · c9ee2c7d
Commit c9ee2c7d authored Feb 13, 2017 by Andrey Filippov
7 changed files
--- a/src/main/java/Aberration_Calibration.java
+++ b/src/main/java/Aberration_Calibration.java
@@ -411,7 +411,8 @@ public static MatchSimulatedPattern.DistortionParameters DISTORTION =new MatchSi
 //    public static double [] defaultGoniometerPosition={0.0, 0.0, 2360};
    public static EyesisCameraParameters EYESIS_CAMERA_PARAMETERS=new EyesisCameraParameters(
    		1,    //int numStations,
-    		true, //false, // boolean isTripod=false; // when true - make goniometerHorizontal rotation around "vertical" axis and "goniometerAxial" - around 
+    		true, //false, // boolean isTripod=false; // when true - make goniometerHorizontal rotation around "vertical" axis and "goniometerAxial" - around
+    		false, //	boolean cartesian,
 	    	0.0, // double goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
 	    	0.0, // double goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
 			1, // 26, // 1,   // int numSubCameras,
--- a/src/main/java/DistortionCalibrationData.java
+++ b/src/main/java/DistortionCalibrationData.java
@@ -55,7 +55,7 @@ import org.apache.commons.configuration.XMLConfiguration;
 // saves / restores them from a disk file
    public class DistortionCalibrationData{
    	public String pathName=null;
-    	public EyesisCameraParameters eyesisCameraParameters;
+    	public EyesisCameraParameters eyesisCameraParameters; // has "cartesian"
 //        public int       numStations=1;    // number of differnt camera tripod/goniometer stations (locations)
        public int       numSubCameras=1;
        public int       numPointers=4;    // maximal number of pointers to look for
@@ -446,6 +446,20 @@ import org.apache.commons.configuration.XMLConfiguration;
        	}
    	}
+    	public int index_right; // =     getParameterIndexByName("subcamRight");          // 0
+    	public int index_forward; // =   getParameterIndexByName("subcamForward");        // 1
+    	public int index_azimuth; // =   getParameterIndexByName("subcamAzimuth");        // 0
+    	public int index_heading; // =   getParameterIndexByName("subcamHeading");        // 3
+    	public int index_elevation; // = getParameterIndexByName("subcamElevation");      // 4
+    	public int index_gh; //=         getParameterIndexByName("goniometerHorizontal"); // 6
+    	public int index_ga; //=         getParameterIndexByName("goniometerAxial");      // 7
+        public String [][] parameterDescriptionsCartesian ={ // may be shorter, have null rows, shorter rows - will use parameterDescriptions for missing data
+        		{"subcamRight",          "Subcamera distance from the vertical rotation axis, positive - right looking to the target","mm","S","E"},                  // 0
+        		{"subcamForward",        "Subcamera distance from the vertical rotation axis, positive - towards the target","mm","S","E"},                               // 1
+        		null,                                                   // 2
+        		{"subcamHeading",        "Optical axis heading (0 - to the target, positive - CW looking from top)","degrees","S","E"}};               // 3
        public String [][] parameterDescriptions ={
        		{"subcamAzimuth",        "Subcamera azimuth, clockwise looking from top","degrees","S","E"},                                    // 0
        		{"subcamDistance",       "Subcamera distance from the axis","mm","S","E"},                                                      // 1
@@ -508,14 +522,47 @@ import org.apache.commons.configuration.XMLConfiguration;
        		{"subcamElong_A8_o",     "Orthogonal elongation for r^8","relative","S","I"},     // 51 51 (49)
        		{"subcamElong_A8_d",     "Diagonal   elongation for r^8","relative","S","I"}      // 52 52 (50)
        };
        public String [] channelSuffixes={ // natural order (same as array indices, may be modified to camera/subcamera
        		"00","01","02","03","04","05","06","07","08","09",
        		"10","11","12","13","14","15","16","17","18","19",
        		"20","21","22","23","24","25","26","27","28","29"};
+        public void setupIndices(){ // should be always called during initialization !
+        	this.index_right =     getParameterIndexByName("subcamRight");          // 0 may be -1 if !cartesian
+        	this.index_forward =   getParameterIndexByName("subcamForward");        // 1 may be -1 if !cartesian
+        	this.index_azimuth =   getParameterIndexByName("subcamAzimuth");        // 0
+        	this.index_heading =   getParameterIndexByName("subcamAzimuth");        // 3
+        	this.index_elevation = getParameterIndexByName("subcamElevation");      // 4
+        	this.index_gh=         getParameterIndexByName("goniometerHorizontal"); // 6
+        	this.index_ga=         getParameterIndexByName("goniometerAxial");      // 7
+        }        
+        public boolean isCartesian(){
+        	return (eyesisCameraParameters !=null) && eyesisCameraParameters.cartesian;
+        }
+        public String descrField(int i,int j){
+        	if (
+        			(eyesisCameraParameters !=null) &&
+        			eyesisCameraParameters.cartesian &&
+        			(i < this.parameterDescriptionsCartesian.length) &&
+        			(this.parameterDescriptionsCartesian[i]!=null) &&
+        			(j<this.parameterDescriptionsCartesian[i].length)){
+        		return this.parameterDescriptionsCartesian[i][j];
+        	}
+    		return this.parameterDescriptions[i][j];
+        }
        public boolean isNonRadial(int index){
        	return parameterDescriptions[index][0].startsWith("subcamEccen_") || parameterDescriptions[index][0].startsWith("subcamElong_");
        }
        public int getParameterIndexByName(String name){
+        	if (isCartesian()){
+            	for (int i=0;i<this.parameterDescriptionsCartesian.length;i++) if ((this.parameterDescriptionsCartesian[i]!=null) && this.parameterDescriptionsCartesian[i][0].equals(name)){
+            		return i;
+            	}
+        	}
        	for (int i=0;i<this.parameterDescriptions.length;i++) if (this.parameterDescriptions[i][0].equals(name)){
        		return i;
        	}
@@ -573,6 +620,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		PatternParameters patternParameters,
        		EyesisCameraParameters eyesisCameraParameters
        		) {
+        	setupIndices();
        	this.eyesisCameraParameters=eyesisCameraParameters;
        	int numSubCameras=(eyesisCameraParameters==null)?1:eyesisCameraParameters.eyesisSubCameras[0].length;
        	this.numSubCameras=numSubCameras;
@@ -581,9 +629,6 @@ import org.apache.commons.configuration.XMLConfiguration;
        	for (int i=0;i<stationFilenames.length;i++) numFiles+=stationFilenames[i].length;
        	this.gIP=new GridImageParameters[numFiles];
-//        	this.paths=new String [filenames.length];
-//        	this.timestamps=new double [filenames.length];
-//        	this.channels=     new int [filenames.length];
        	int numFile=0;
        	for (int numStation=0;numStation<stationFilenames.length;numStation++){
@@ -622,7 +667,6 @@ import org.apache.commons.configuration.XMLConfiguration;
        		}
        	}
 // Create parameters array
-//        	this.pars=new double[this.gIP.length][parameterDescriptions.length];
        	initPars (this.gIP.length,parameterDescriptions.length);
        	if (this.debugLevel>1) System.out.println("setupDistortionCalibrationData(): Resetting this.gIS");
        	this.gIS=null; // so it will be initialized in readAllGrids() 
@@ -630,12 +674,11 @@ import org.apache.commons.configuration.XMLConfiguration;
        	// no orientation
        }
-  //	   		return (Integer) this.images[sensorNum].getProperty("POINTERS");
        public DistortionCalibrationData (
        		EyesisCameraParameters eyesisCameraParameters
        		) {
+        	setupIndices();
        	int numSubCameras=(eyesisCameraParameters==null)?1:eyesisCameraParameters.eyesisSubCameras[0].length;
        	this.numSubCameras=numSubCameras;
@@ -648,6 +691,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		PatternParameters patternParameters,
        		EyesisCameraParameters eyesisCameraParameters
        		) {
+        	setupIndices();
        	int numSubCameras=(eyesisCameraParameters==null)?1:eyesisCameraParameters.eyesisSubCameras[0].length;
        	this.numSubCameras=numSubCameras;
        	this.eyesisCameraParameters=eyesisCameraParameters;
@@ -745,7 +789,6 @@ import org.apache.commons.configuration.XMLConfiguration;
        	}
 // Create parameters array
-//        	this.pars=new double[images.length][parameterDescriptions.length];
        	initPars (this.gIP.length,parameterDescriptions.length);
        	this.gIS=null; // so it will be created in readAllGrids()
        	readAllGrids(patternParameters); // prepare grid parameters for LMA
@@ -1141,9 +1184,12 @@ import org.apache.commons.configuration.XMLConfiguration;
        			}
        		}
        		if (bestRating>0){
+        			EyesisSubCameraParameters esp = this.eyesisCameraParameters.eyesisSubCameras[stationNumber][bestChannel];
        			if (overwriteAll || Double.isNaN(this.gIS[i].goniometerAxial)){
 //       				System.out.println("setInitialOrientation("+overwriteAll+"),  Double.isNaN(this.gIS["+i+"].goniometerAxial)="+Double.isNaN(this.gIS[i].goniometerAxial));
-        				this.gIS[i].goniometerAxial=-this.eyesisCameraParameters.eyesisSubCameras[stationNumber][bestChannel].azimuth;
+        				double subcam_heading = (esp.heading + (esp.cartesian? 0: esp.azimuth));
+        				this.gIS[i].goniometerAxial=-subcam_heading;
        				for (int j=0;j<this.gIS[i].imageSet.length;j++) if (this.gIS[i].imageSet[j]!=null) setGA(this.gIS[i].imageSet[j].imgNumber,this.gIS[i].goniometerAxial);
            			this.gIS[i].orientationEstimated=true;
            			if (this.debugLevel>1) {
@@ -1152,7 +1198,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        			}
        			if (overwriteAll || Double.isNaN(this.gIS[i].goniometerTilt )){
 //        				System.out.println("setInitialOrientation("+overwriteAll+"),  Double.isNaN(this.gIS["+i+"].goniometerTilt)="+Double.isNaN(this.gIS[i].goniometerTilt));
-        				this.gIS[i].goniometerTilt= -this.eyesisCameraParameters.eyesisSubCameras[stationNumber][bestChannel].theta;
+        				this.gIS[i].goniometerTilt= -esp.theta;
        				for (int j=0;j<this.gIS[i].imageSet.length;j++) if (this.gIS[i].imageSet[j]!=null) setGH(this.gIS[i].imageSet[j].imgNumber,this.gIS[i].goniometerTilt);
            			this.gIS[i].orientationEstimated=true;
            			if (this.debugLevel>1) {
@@ -1671,6 +1717,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		EyesisCameraParameters eyesisCameraParameters,
    			EyesisAberrations.AberrationParameters aberrationParameters,
 				ImagePlus[] gridImages  ){ // null - use specified files
+        	setupIndices();
 			String [] extensions={".dcal-xml","-distcal.xml"};
 			CalibrationFileManagement.MultipleExtensionsFileFilter parFilter = new CalibrationFileManagement.MultipleExtensionsFileFilter("",extensions,"Distortion calibration *.dcal-xml files");
 			String pathname=CalibrationFileManagement.selectFile(
@@ -1732,7 +1779,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        	}
 */        
        public void setFromXML(String pathname,
-        		EyesisCameraParameters eyesisCameraParameters,
+        		EyesisCameraParameters eyesisCameraParameters, // should have cartesian set
    			EyesisAberrations.AberrationParameters aberrationParameters) {
        	this.eyesisCameraParameters=eyesisCameraParameters;
@@ -1763,9 +1810,13 @@ import org.apache.commons.configuration.XMLConfiguration;
            		this.gIS[index].stationNumber= Integer.parseInt(sub.getString("stationNumber"));
                	int minIndex=       this.gIS[index].getMinIndex();
                	int maxIndexPlusOne=this.gIS[index].getMaxIndexPlusOne();
-                	for (int j=minIndex;j<maxIndexPlusOne;j++) if (sub.getString(parameterDescriptions[j][0])!=null) {
+                	for (int j=minIndex;j<maxIndexPlusOne;j++){
-                		this.gIS[index].setParameterValue(j,Double.parseDouble(sub.getString(parameterDescriptions[j][0])), false);
+//                		if (sub.getString(parameterDescriptions[j][0])!=null) {
+                   		if (sub.getString(descrField(j,0)) != null) {
+                			this.gIS[index].setParameterValue(j,Double.parseDouble(sub.getString(descrField(j,0))), false);
+                		}
                	}
            		if (sub.getString("orientationEstimated")!=null) {
            			this.gIS[i].orientationEstimated=Boolean.parseBoolean(sub.getString("orientationEstimated"));
 /*                    	System.out.println(i+": restored orientationEstimated="+this.gIS[i].orientationEstimated+
@@ -1802,14 +1853,10 @@ import org.apache.commons.configuration.XMLConfiguration;
 //        		if (aberrationParameters.trustEnabled && this.gIP[i].enabled) this.gIP[i].hintedMatch=2; // trusted
        		if (aberrationParameters.trustEnabled) this.gIP[i].hintedMatch= this.gIP[i].enabled?2:-1; // trusted and only trusted to enabled
-//        		if (sub.getString("setNumber")!=null) {
-//        			this.gIP[i].setNumber=Integer.parseInt(sub.getString("setNumber"));
-//        		} else {
-//        			this.gIP[i].setNumber=-1;
-//        		}
        		for (int j=0;j<this.parameterDescriptions.length;j++){
-        			if (sub.getString(parameterDescriptions[j][0])!=null)
+//            		if (sub.getString(parameterDescriptions[j][0])!=null)
-        				this.pars[i][j] = Double.parseDouble(sub.getString(parameterDescriptions[j][0]));
+               		if (sub.getString(descrField(j,0))!=null)
+        				this.pars[i][j] = Double.parseDouble(sub.getString(descrField(j,0)));
        			else
        				if (isNonRadial(j)){
        					this.pars[i][j] = 0.0; // old calibration files without non-radial parameters
@@ -1861,7 +1908,8 @@ import org.apache.commons.configuration.XMLConfiguration;
            					this.gIS[is].setParameterValue(pi,parVal,false);
            				}
            				if (differs){
-            					System.out.println("ImageSet #"+is+": "+parameterDescriptions[j][0] +" has different values for individual images, skipping");
+//            					System.out.println("ImageSet #"+is+": "+parameterDescriptions[j][0] +" has different values for individual images, skipping");
+            					System.out.println("ImageSet #"+is+": "+descrField(j,0) +" has different values for individual images, skipping");
            				}
            			}
            		}
@@ -1922,7 +1970,7 @@ import org.apache.commons.configuration.XMLConfiguration;
            	hConfig.addProperty("file.gridShiftY",UVShiftRot[1]);
            	hConfig.addProperty("file.gridRotate",UVShiftRot[2]);
            	for (int j=0;j<this.parameterDescriptions.length;j++){
-                	hConfig.addProperty("file."+parameterDescriptions[j][0],this.pars[i][j]);
+                	hConfig.addProperty("file."+descrField(j,0),this.pars[i][j]);
            	}
        	}
 // save image sets
@@ -1934,7 +1982,7 @@ import org.apache.commons.configuration.XMLConfiguration;
            	hConfig.addProperty("set.orientationEstimated",this.gIS[i].orientationEstimated);
            	double [] vector = this.gIS[i].updateParameterVectorFromSet(null); // unused parameters will be NaN
            	for (int j=0;j<vector.length;j++) if (!Double.isNaN(vector[j])){
-            		hConfig.addProperty("set."+parameterDescriptions[j][0],vector[j]);
+            		hConfig.addProperty("set."+descrField(j,0),vector[j]);
            	}
        	}
@@ -2149,7 +2197,7 @@ import org.apache.commons.configuration.XMLConfiguration;
                		this.debugLevel+(thisDebug?3:0),
                		thisDebug?("fixBad-"+fileNumber):null
                		);
-                 if (this.debugLevel>1) {
+                 if (this.debugLevel>-1) {
                  if (numBadNodes>0)
                	  System.out.print("  -- replaced "+numBadNodes+" bad grid nodes");
                  int [] uvrot=this.gIP[fileNumber].getUVShiftRot();
@@ -2671,14 +2719,20 @@ import org.apache.commons.configuration.XMLConfiguration;
        	return this.gIP[numImg];
        }
-        public double [] getAzEl(int imgNum){ // get sensor azimuth and elevation DANGEROUS - absolute indices of parameters
+        // next is just for goniometer - use elevation and heading for cartesian mode? 
+        public double [] getHeadEl(int imgNum){ // get sensor heading +(azimuth) and elevation
        	if ((imgNum<0) || (imgNum>=this.pars.length)) {
        		String msg="There are only "+this.pars.length+" images defined, requested #"+imgNum;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	double [] azel={this.pars[imgNum][0],this.pars[imgNum][4]};
+        	double [] headel={this.pars[imgNum][index_heading],this.pars[imgNum][index_elevation]};
-        	return azel;
+        	if (!isCartesian()) {
+        		headel[0] += this.pars[imgNum][index_azimuth];
+        	}
+        	System.out.println("getHeadEl("+imgNum+") "+isCartesian()+" -> "+headel[0]+"/"+ headel[1]+", "+this.pars[imgNum][index_azimuth]+","+
+        			this.pars[imgNum][index_heading]+", "+this.pars[imgNum][index_elevation]);
+        	return headel;
        }
        // set goniometer horizontal axis angle and goniometer axial angles in all images 
        public void setGHGA(double gh, double ga){
@@ -2689,21 +2743,21 @@ import org.apache.commons.configuration.XMLConfiguration;
        	setGA(imgNum, ga);
        }
        public void setGH(int numImg, double gh){
-        	this.pars[numImg][6]=gh;
+        	this.pars[numImg][index_gh]=gh;
        	if (this.gIP[numImg].gridImageSet!=null) this.gIP[numImg].gridImageSet.goniometerTilt= gh;
        }
        public void setGA(int numImg,  double ga){
-        	this.pars[numImg][7]=ga;
+        	this.pars[numImg][index_ga]=ga;
        	if (this.gIP[numImg].gridImageSet!=null) this.gIP[numImg].gridImageSet.goniometerAxial= ga;
        }
        public double getGH(int numImg){
        	if (this.gIP[numImg].gridImageSet!=null) return this.gIP[numImg].gridImageSet.goniometerTilt;
-        	return this.pars[numImg][6];
+        	return this.pars[numImg][index_gh];
        }
        public double getGA(int numImg){
        	if (this.gIP[numImg].gridImageSet!=null) return this.gIP[numImg].gridImageSet.goniometerAxial;
-        	return this.pars[numImg][7];
+        	return this.pars[numImg][index_ga];
        }
        public void setParameters(double [] parameters, int numImg, boolean[] mask){
@@ -2765,7 +2819,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return parameterDescriptions[num][0];
+        	return descrField(num,0);
        }
        public String getParameterDescription(int num){
@@ -2774,7 +2828,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return this.parameterDescriptions[num][1];
+        	return descrField(num,1);
        }
        public String getParameterUnits(int num){
@@ -2783,8 +2837,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return this.parameterDescriptions[num][2];
+        	return descrField(num,2);
        }
        public boolean isSubcameraParameter(int num){
        	if ((num<0) || (num>=this.parameterDescriptions.length)) {
@@ -2792,7 +2845,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return (this.parameterDescriptions[num][3].equals("S"));
+        	return (descrField(num,3).equals("S"));
        }
        public boolean isLocationParameter(int num){ //X,Y or Z location of the camera
@@ -2801,7 +2854,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return (this.parameterDescriptions[num][3].equals("T"));
+        	return (descrField(num,3).equals("T"));
        }
        public boolean isOrientationParameter(int num){ //one of the 2 goniometer orientation angles
@@ -2810,7 +2863,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return (this.parameterDescriptions[num][3].equals("R"));
+        	return (descrField(num,3).equals("R"));
        }
        public boolean isIntrinsicParameter(int num){ // updated from image calibration file
@@ -2819,7 +2872,7 @@ import org.apache.commons.configuration.XMLConfiguration;
        		IJ.showMessage("Error",msg);
        		throw new IllegalArgumentException (msg);
        	}
-        	return (this.parameterDescriptions[num][4].equals("I"));
+        	return (descrField(num,4).equals("I"));
        }
        public String getImagePath(int num) {

--- a/src/main/java/Distortions.java
+++ b/src/main/java/Distortions.java
@@ -2975,8 +2975,10 @@ For each point in the image
 //		double [] parVector=fittingStrategy.distortionCalibrationData.eyesisCameraParameters.getParametersVector(stationNumber,subCamera);
 //		System.out.println("setupLensDistortionParameters(): subCamera="+subCamera+", goniometerHorizontal="+goniometerHorizontal+", goniometerAxial="+goniometerAxial);
    	boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
+    	boolean cartesian=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian;
 		LensDistortionParameters lensDistortionParameters = new LensDistortionParameters (
 	    		isTripod,
+	    		cartesian,
 	            null, //double [][] interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 //	            this.fittingStrategy.distortionCalibrationData.pars[numImg], //parVector,
 	            this.fittingStrategy.distortionCalibrationData.getParameters(numImg), //parVector,
@@ -3001,8 +3003,10 @@ For each point in the image
 		if (!Double.isNaN(goniometerAxial))parVector[goniometerAxialIndex]=goniometerAxial;
 //		System.out.println("setupLensDistortionParameters(): subCamera="+subCamera+", goniometerHorizontal="+goniometerHorizontal+", goniometerAxial="+goniometerAxial);
    	boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
+    	boolean cartesian=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian;
 		LensDistortionParameters lensDistortionParameters = new LensDistortionParameters (
 	    		isTripod,
+	    		cartesian,
 	            null, //double [][] interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 	    		parVector,
 	    		null, //boolean [] mask, // calculate only selected derivatives (all parVect values are still
@@ -3152,6 +3156,7 @@ For each point in the image
 		this.lensDistortionParameters.lensCalcInterParamers(
 				this.lensDistortionParameters, // 22-long parameter vector for the image
 				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 				null, // this.interParameterDerivatives, // [22][]
 				parVector,
 				null); // if no derivatives, null is OK
@@ -3276,6 +3281,7 @@ For each point in the image
 		this.lensDistortionParameters.lensCalcInterParamers(
 				this.lensDistortionParameters,
 				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 				this.interParameterDerivatives, // [22][]
 				imgVector,
 				imgMask); // calculate only selected derivatives (all parVect values are still
@@ -3299,6 +3305,7 @@ For each point in the image
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					null, // this.interParameterDerivatives, // just values, no derivatives
 					vector_delta, 
 					imgMask);
@@ -3386,6 +3393,7 @@ For each point in the image
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					calcJacobian?this.interParameterDerivatives:null, // [22][]
 					imgVector,
 					imgMask); // imgMask may be null if no derivativescalculate only selected derivatives (all parVect values are still
@@ -3399,7 +3407,7 @@ For each point in the image
 				if (fullIndex>=this.targetXYZ.length){
 					System.out.println("BUG: calculateFxAndJacobian() imgNum="+imgNum+" pointNum="+pointNum+" fullIndex="+fullIndex+" this.targetXYZ.length="+this.targetXYZ.length);
 				}
-				double [][]derivatives15=  lensDistortionParameters.calcPartialDerivatives(
+				double [][]derivatives15=  lensDistortionParameters.calcPartialDerivatives( // [NaN, NaN]
 						this.targetXYZ[fullIndex][0], // target point horizontal, positive - right,  mm
 						this.targetXYZ[fullIndex][1], // target point vertical,   positive - down,  mm
 						this.targetXYZ[fullIndex][2], // target point horizontal, positive - away from camera,  mm
@@ -3503,6 +3511,7 @@ For each point in the image
 		lensDistortionParameters.lensCalcInterParamers(
 				lensDistortionParameters,
 				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+				this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 				calcJacobian?interParameterDerivatives:null, // [22][]
 						imgVector,
 						imgMask); // calculate only selected derivatives (all parVect values are still
@@ -3586,6 +3595,7 @@ For each point in the image
 				this.lensDistortionParameters.lensCalcInterParamers(
 						this.lensDistortionParameters,
 						this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+						this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 						null, //this.interParameterDerivatives, // [22][]
 						imgVector,
 						imgMask); // calculate only selected derivatives (all parVect values are still
@@ -3681,7 +3691,7 @@ List calibration
    		gd.addCheckbox("Show physical camera parameters",                      this.showEyesisParameters);
    		gd.addCheckbox("Show intrinsic lens/sensor parameters ",               this.showIntrinsicParameters);
-    		gd.addCheckbox("Show intrinsic lens/sensor parameters",                this.showExtrinsicParameters);
+    		gd.addCheckbox("Show extrinsic lens/sensor parameters",                this.showExtrinsicParameters);
    		gd.addNumericField("Extra decimal places (precision) in the list",     this.extraDecimals, 0);
    		gd.showDialog();
    		if (gd.wasCanceled()) return false;
@@ -4132,6 +4142,7 @@ List calibration
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					null, //this.interParameterDerivatives, // [22][]
 //					fittingStrategy.distortionCalibrationData.pars[imgNum], // 22-long parameter vector for the image
 					fittingStrategy.distortionCalibrationData.getParameters(imgNum), // 22-long parameter vector for the image
@@ -7628,6 +7639,7 @@ D2=
 			final boolean updateStatus
 			){
 		final boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
+		final boolean cartesian=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian;
 		final int [][] dirs=            {{0,0},{-1,0},{1,0},{0,-1},{0,1}}; // possible to make 8 directions
 		final double [][][] derivatives={ // for of /du, /dv 3 variants, depending on which neighbors are available
 				{
@@ -7680,6 +7692,7 @@ D2=
 						lensDistortionParameters.lensCalcInterParamers(
 								lensDistortionParameters,
 								isTripod,
+								cartesian,
 								null, //this.interParameterDerivatives, // [22][]
 //								fittingStrategy.distortionCalibrationData.pars[imgNum], // 22-long parameter vector for the image
 								fittingStrategy.distortionCalibrationData.getParameters(imgNum), // 22-long parameter vector for the image
@@ -7876,6 +7889,7 @@ D2=
 			this.lensDistortionParameters.lensCalcInterParamers(
 					this.lensDistortionParameters,
 					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod,
+					this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.cartesian,
 					null, //this.interParameterDerivatives, // [22][]
 //					fittingStrategy.distortionCalibrationData.pars[imgNum], // 22-long parameter vector for the image
 					fittingStrategy.distortionCalibrationData.getParameters(imgNum), // 22-long parameter vector for the image

--- a/src/main/java/EyesisCameraParameters.java
+++ b/src/main/java/EyesisCameraParameters.java
@@ -52,7 +52,8 @@ import org.apache.commons.configuration.XMLConfiguration;
    	// non-adjustable parameters, not parts of vector
    	public int     numStations;
    	public double [] stationWeight; // reprojection error weights (close station - relax errors)
-    	public boolean isTripod=false; // when true - make goniometerHorizontal rotation around "vertical" axis and "goniometerAxial" - around 
+    	public boolean isTripod= false; // when true - make goniometerHorizontal rotation around "vertical" axis and "goniometerAxial" - around 
+    	public boolean cartesian=false; //  
        // rotated horizontal.
    	public int sensorWidth=      2592;
    	public int sensorHeight=     1936;
@@ -293,6 +294,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    	public EyesisCameraParameters (
    			int numStations,
    			boolean isTripod,
+    			boolean cartesian,
    	    	double goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
    	    	double goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
    			int numSubCameras,
@@ -329,6 +331,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    		setSameEyesisCameraParameters (
    				numStations,
    				isTripod,
+    				cartesian,
    				goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
    				goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
    				numSubCameras,
@@ -363,6 +366,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    	public EyesisCameraParameters (
    			int numStations,
    			boolean isTripod,
+    			boolean cartesiam,
    	    	double goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
    	    	double goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
    			int numSubCameras,
@@ -396,6 +400,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    		setSameEyesisCameraParameters (
    				numStations,
    				isTripod,
+    				cartesian,
    				goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
    				goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
    				numSubCameras,
@@ -430,6 +435,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    	void setSameEyesisCameraParameters (
    			int numStations,
    			boolean isTripod,
+    			boolean cartesian,
    	    	double goniometerHorizontal, // goniometer rotation around "horizontal" axis (tilting from the target - positive)
    	    	double goniometerAxial, // goniometer rotation around Eyesis axis (clockwise in plan - positive 
    			int numSubCameras,
@@ -462,6 +468,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    			){
    		this.numStations=numStations;
    		this.isTripod=isTripod;
+    		this.cartesian = cartesian; // Need to set each subcamera?
 	    	this.sensorWidth=sensorWidth;
 	    	this.sensorHeight=sensorHeight;
 	    	this.shrinkGridForMask=shrinkGridForMask; //shrink detected grids by one point for/vert this number of times before calculating masks
@@ -513,7 +520,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    	/**
-    	 * Capoy parameters from source EysesisCamerParameters to destination, trimming/expanding nu,ber of stations
+    	 * Copy parameters from source EysesisCamerParameters to destination, trimming/expanding number of stations
    	 * @param newNumStations new number of stations
    	 * @param source source EysesisCamerParameters
    	 * @param destination destination EysesisCamerParameters
@@ -573,10 +580,12 @@ import org.apache.commons.configuration.XMLConfiguration;
    				}
    			}
    		}
+    		destination.cartesian = source.cartesian; 
    	}
    	public void setProperties(String prefix,Properties properties){
    		properties.setProperty(prefix+"isTripod",this.isTripod+"");
+    		properties.setProperty(prefix+"cartesian",this.cartesian+"");
    		properties.setProperty(prefix+"sensorWidth",this.sensorWidth+"");
    		properties.setProperty(prefix+"sensorHeight",this.sensorHeight+"");
    		properties.setProperty(prefix+"shrinkGridForMask",this.shrinkGridForMask+"");
@@ -619,6 +628,8 @@ import org.apache.commons.configuration.XMLConfiguration;
    	public void getProperties(String prefix,Properties properties){
    		if (properties.getProperty(prefix+"isTripod")!=null)
    			this.isTripod=Boolean.parseBoolean(properties.getProperty(prefix+"isTripod"));
+    		if (properties.getProperty(prefix+"cartesian")!=null)
+    			this.cartesian=Boolean.parseBoolean(properties.getProperty(prefix+"cartesian"));
    		if (properties.getProperty(prefix+"sensorWidth")!=null)
    			this.sensorWidth=Integer.parseInt(properties.getProperty(prefix+"sensorWidth"));
    		if (properties.getProperty(prefix+"sensorHeight")!=null)
@@ -757,6 +768,7 @@ import org.apache.commons.configuration.XMLConfiguration;
 //        	public double goniometerHorizontal; // goniometer rotation around "horizontal" axis (tilting from the target - positive)
 //        	public double goniometerAxial; // goniometer rotation around Eyesis axis (clockwise in plan - positive 
 //this.isTripod
+    		gd.addCheckbox("Cartesian coordinates for subcamera (false - cylindrical)",                     this.cartesian);
    		String [] modelChoice=new String [distortionModelDescriptions.length+1];
    		modelChoice[0]="--- keep current ---";
    		for (int i=0;i<distortionModelDescriptions.length;i++) modelChoice[i+1]=distortionModelDescriptions[i];
@@ -820,6 +832,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    	    WindowTools.addScrollBars(gd);
    		gd.showDialog();
    		if (gd.wasCanceled()) return -1;
+    		boolean newCartesian = gd.getNextBoolean();
    		int modelIndex=gd.getNextChoiceIndex()-1;
    		if (modelIndex>=0){
    			for (EyesisSubCameraParameters [] esps:this.eyesisSubCameras){
@@ -874,6 +887,11 @@ import org.apache.commons.configuration.XMLConfiguration;
    	    	}
    		}
    		if (numSubCam<0)numSubCam=0;
+    		if (newCartesian != this.cartesian){
+    			this.cartesian = newCartesian;
+    			updateCartesian();
+    		}
    		return gd.wasOKed()?numSubCam:-1;
    	}
@@ -881,6 +899,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    			int numSubCam,
    			String title) {
    		GenericDialog gd = new GenericDialog(title);
+    		if (this.numStations > 1) gd.addCheckbox    ("Propagate first station parameters to other stations ",false);
    		for (int numStation=0;numStation<this.numStations;numStation++) {
    			EyesisSubCameraParameters subCam=this.eyesisSubCameras[numStation][numSubCam];
    			if (subCam!=null) {
@@ -891,10 +910,20 @@ import org.apache.commons.configuration.XMLConfiguration;
    				if (this.numStations>1) gd.addMessage("--- Station number "+numStation+" ---");
    				gd.addNumericField("Subcamera lens distortion model",               subCam.lensDistortionModel, 5,0,"");
    				gd.addCheckbox    ("Enable matching w/o laser pointers",            subCam.enableNoLaser);
-    				gd.addNumericField("Subcamera azimuth",                             subCam.azimuth, 5,9,"degrees");
+    				if (subCam.cartesian) {
-    				gd.addNumericField("Subcamera distance from the axis",              subCam.radius,  5,9,"mm");
+    					gd.addNumericField("Subcamera right from the axis",             subCam.right, 5,9,"mm");
+    					gd.addNumericField("Subcamera forward from the rotation axis",  subCam.forward,  5,9,"mm");
+    				} else {
+    					gd.addNumericField("Subcamera azimuth",                         subCam.azimuth, 5,9,"degrees");
+    					gd.addNumericField("Subcamera distance from the axis",          subCam.radius,  5,9,"mm");
+    				}
    				gd.addNumericField("Subcamera height from the 'equator'",           subCam.height,  5,9,"mm");
-    				gd.addNumericField("Optical axis heading (relative to azimuth)",    subCam.phi,     5,9,"degrees");
+    				if (subCam.cartesian) {
+    					gd.addNumericField("Optical axis heading (absulute, CW positive)", subCam.heading,     5,9,"degrees");
+    				} else {
+    					gd.addNumericField("Optical axis heading (relative to azimuth)",    subCam.phi,     5,9,"degrees");
+    				}
    				gd.addNumericField("Optical axis elevation (up from equator)",      subCam.theta,   5,9,"degrees");
    				gd.addNumericField("Camera roll, positive CW looking to the target",subCam.psi,     5,9,"degrees");
    				gd.addNumericField("Lens focal length",               subCam.focalLength, 5,8,"mm");
@@ -952,6 +981,7 @@ import org.apache.commons.configuration.XMLConfiguration;
    		gd.showDialog();
    		if (gd.wasCanceled()) return false;
    		double channelWeightDefault=1.0;
+    		boolean propagateFirstStation = (this.numStations > 1) ? gd.getNextBoolean() : false;
    		for (int numStation=0;numStation<this.numStations;numStation++) {
    			EyesisSubCameraParameters subCam=this.eyesisSubCameras[numStation][numSubCam];
    			if (subCam!=null) {
@@ -962,10 +992,19 @@ import org.apache.commons.configuration.XMLConfiguration;
    				subCam.channelWeightDefault= channelWeightDefault; // assign to all stations
    				subCam.lensDistortionModel= (int) gd.getNextNumber();
    				subCam.enableNoLaser =            gd.getNextBoolean();
-    				subCam.azimuth=         gd.getNextNumber();
+    				if (subCam.cartesian) {
-    				subCam.radius=          gd.getNextNumber();
+    					subCam.right=       gd.getNextNumber();
+    					subCam.forward=     gd.getNextNumber();
+    				} else {    				
+    					subCam.azimuth=     gd.getNextNumber();
+    					subCam.radius=      gd.getNextNumber();
+    				}
    				subCam.height=          gd.getNextNumber();
-    				subCam.phi=             gd.getNextNumber();
+    				if (subCam.cartesian) {
+    					subCam.heading=     gd.getNextNumber();
+    				}else {
+    					subCam.phi=         gd.getNextNumber();
+    				}
    				subCam.theta=           gd.getNextNumber();
    				subCam.psi=             gd.getNextNumber();
    				subCam.focalLength=     gd.getNextNumber();
@@ -1009,6 +1048,76 @@ import org.apache.commons.configuration.XMLConfiguration;
    				subCam.r_od[6][1]= 0.01*gd.getNextNumber();
    			}
    		}
+    		if (propagateFirstStation){
+    			EyesisSubCameraParameters first=this.eyesisSubCameras[0][numSubCam];
+    			if (first != null){
+    	    		for (int numStation=1;numStation<this.numStations;numStation++) {
+    	    			EyesisSubCameraParameters subCam=this.eyesisSubCameras[numStation][numSubCam];
+    	    			if (subCam!=null) {
+    	    				if (subCam.cartesian) {
+    	    					subCam.right=       first.right;
+    	    					subCam.forward=     first.forward;
+    	    				} else {    				
+    	    					subCam.azimuth=     first.azimuth;
+    	    					subCam.radius=      first.radius;
+    	    				}
+    	    				subCam.height=          first.height;
+    	    				if (subCam.cartesian) {
+    	    					subCam.heading=     first.heading;
+    	    				}else {
+    	    					subCam.phi=         first.phi;
+    	    				}
+    	    				subCam.theta=           first.theta;
+    	    				subCam.psi=             first.psi;
+    	    				subCam.focalLength=     first.focalLength;
+    	    				subCam.pixelSize=       first.pixelSize;
+    	    				subCam.distortionRadius=first.distortionRadius;
+    	    				subCam.distortionA8=    first.distortionA8;
+    	    				subCam.distortionA7=    first.distortionA7;
+    	    				subCam.distortionA6=    first.distortionA6;
+    	    				subCam.distortionA5=    first.distortionA5;
+    	    				subCam.distortionA=     first.distortionA;
+    	    				subCam.distortionB=     first.distortionB;
+    	    				subCam.distortionC=     first.distortionC;
+    	    				subCam.px0=             first.px0;
+    	    				subCam.py0=             first.py0;
+    	    				subCam.r_od[0][0]= subCam.r_od[0][0];
+    	    				subCam.r_od[0][1]= subCam.r_od[0][1];
+    	    				subCam.r_xy[0][0]= subCam.r_xy[0][0];
+    	    				subCam.r_xy[0][1]= subCam.r_xy[0][1];
+    	    				subCam.r_od[1][0]= subCam.r_od[1][0];
+    	    				subCam.r_od[1][1]= subCam.r_od[1][1];
+    	    				subCam.r_xy[1][0]= subCam.r_xy[1][0];
+    	    				subCam.r_xy[1][1]= subCam.r_xy[1][1];
+    	    				subCam.r_od[2][0]= subCam.r_od[2][0];
+    	    				subCam.r_od[2][1]= subCam.r_od[2][1];
+    	    				subCam.r_xy[2][0]= subCam.r_xy[2][0];
+    	    				subCam.r_xy[2][1]= subCam.r_xy[2][1];
+    	    				subCam.r_od[3][0]= subCam.r_od[3][0];
+    	    				subCam.r_od[3][1]= subCam.r_od[3][1];
+    	    				subCam.r_xy[3][0]= subCam.r_xy[3][0];
+    	    				subCam.r_xy[3][1]= subCam.r_xy[3][1];
+    	    				subCam.r_od[4][0]= subCam.r_od[4][0];
+    	    				subCam.r_od[4][1]= subCam.r_od[4][1];
+    	    				subCam.r_xy[4][0]= subCam.r_xy[4][0];
+    	    				subCam.r_xy[4][1]= subCam.r_xy[4][1];
+    	    				subCam.r_od[5][0]= subCam.r_od[5][0];
+    	    				subCam.r_od[5][1]= subCam.r_od[5][1];
+    	    				subCam.r_xy[5][0]= subCam.r_xy[5][0];
+    	    				subCam.r_xy[5][1]= subCam.r_xy[5][1];
+    	    				subCam.r_od[6][0]= subCam.r_od[6][0];
+    	    				subCam.r_od[6][1]= subCam.r_od[6][1];
+    	    			}
+    	    		}
+    			}
+    		}
+    		for (int numStation=0;numStation<this.numStations;numStation++) {
+    			EyesisSubCameraParameters subCam=this.eyesisSubCameras[numStation][numSubCam];
+    			if (subCam!=null) {
+    				subCam.updateCartesian();
+    			}
+    		}
    		return gd.wasOKed();
    	}
@@ -1071,12 +1180,12 @@ import org.apache.commons.configuration.XMLConfiguration;
        	EyesisSubCameraParameters subCam=this.eyesisSubCameras[stationNumber][subCamNumber];
 //        	System.out.println("getParametersVector("+stationNumber+","+subCamNumber+"), subCam is "+((subCam==null)?"null":"NOT null"));
        	double [] parVect={
-        			subCam.azimuth,            // 0 azimuth of the lens entrance pupil center, degrees, clockwise looking from top
+        			(subCam.cartesian?subCam.right:  subCam.azimuth),            // 0 azimuth of the lens entrance pupil center, degrees, clockwise looking from top
-        			subCam.radius,             // 1 mm, distance from the rotation axis
+        		    (subCam.cartesian?subCam.forward:subCam.radius),             // 1 mm, distance from the rotation axis
-        			subCam.height,             // 2 mm, up (was downwards?) - from the origin point
+        			subCam.height,                                               // 2 mm, up (was downwards?) - from the origin point
-        			subCam.phi,                // 3 degrees, optical axis from azimuth/r vector, clockwise
+        			(subCam.cartesian?subCam.heading:subCam.phi),                // 3 degrees, optical axis from azimuth/r vector, clockwise
-        			subCam.theta,              // 4 degrees, optical axis from the eyesis horizon, positive - up
+        			subCam.theta,                                                // 4 degrees, optical axis from the eyesis horizon, positive - up
-        			subCam.psi,                // 5 degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
+        			subCam.psi,                                                  // 5 degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
        			this.goniometerHorizontal[stationNumber], // 6 goniometer rotation around "horizontal" axis (tilting from the target - positive)
        			this.goniometerAxial[stationNumber],      // 7 goniometer rotation around Eyesis axis (clockwise in plan - positive 
        			this.interAxisDistance[stationNumber],    // 8 distance in mm between two goniometer axes
@@ -1181,10 +1290,19 @@ import org.apache.commons.configuration.XMLConfiguration;
        			(this.eyesisSubCameras[stationNumber].length<=subCamNumber)) throw new IllegalArgumentException
            ("Nonexistent subcamera "+subCamNumber+ " and/or station number="+stationNumber);
        	EyesisSubCameraParameters subCam=this.eyesisSubCameras[stationNumber][subCamNumber];
-        	if (update[0]) subCam.azimuth=parVect[0];            // 0 azimuth of the lens entrance pupil center, degrees, clockwise looking from top
+        	if (subCam.cartesian){
-        	if (update[1]) subCam.radius=parVect[1];             // 1 mm, distance from the rotation axis
+        		if (update[0]) subCam.right=parVect[0];              // 0 mm, right of the camera axis from goniometer vertical rotation center to the target
-        	if (update[2]) subCam.height=parVect[2];             // 2 mm, up (was downwards?) - from the origin point
+        		if (update[1]) subCam.forward=parVect[1];            // 1 mm, forward from the goniometer vertical rotation center
-        	if (update[2]) subCam.phi=parVect[3];                // 3 degrees, optical axis from azimuth/r vector, clockwise
+        	} else {
+        		if (update[0]) subCam.azimuth=parVect[0];            // 0 azimuth of the lens entrance pupil center, degrees, clockwise looking from top
+        		if (update[1]) subCam.radius=parVect[1];             // 1 mm, distance from the rotation axis
+        	}
+        	if (update[2]) subCam.height=parVect[2];                 // 2 mm, up (was downwards?) - from the origin point
+        	if (subCam.cartesian){
+        		if (update[2]) subCam.heading=parVect[3];            // 3 degrees, optical axis from Z (to target), clockwise
+        	} else {
+        		if (update[2]) subCam.phi=parVect[3];                // 3 degrees, optical axis from azimuth/r vector, clockwise
+        	}
        	if (update[4]) subCam.theta=parVect[4];              // 4 degrees, optical axis from the eyesis horizon, positive - up
        	if (update[5]) subCam.psi=parVect[5];                // 5 degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
        	if (update[6]) this.goniometerHorizontal[stationNumber]=parVect[6]; // 6 goniometer rotation around "horizontal" axis (tilting from the target - positive)
@@ -1236,6 +1354,14 @@ import org.apache.commons.configuration.XMLConfiguration;
        	if (update[52]) subCam.r_od[6][1]= parVect[52];
        }
+        public void updateCartesian(){
+        	for (int numStation = 0; numStation < this.eyesisSubCameras.length; numStation++){
+        		for (int numSub = 0; numSub < this.eyesisSubCameras[numStation].length; numSub++){
+        			this.eyesisSubCameras[numStation][numSub].setCartesian(this.cartesian);
+        		}
+        	}
+        }
    	public void initSubCameras(
    			int numStation,
    			int numSubCameras){
@@ -1243,9 +1369,12 @@ import org.apache.commons.configuration.XMLConfiguration;
    		this.eyesisSubCameras[numStation]=new EyesisSubCameraParameters[numSubCameras];
    		for (int i=0;i<numSubCameras;i++)  this.eyesisSubCameras[numStation][i]=null;
    		if (numSubCameras==3) {
+    			this.cartesian = false; // change?
    			this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					52.53, // double radius,  // mm, distance from the rotation axis
    					34.64, // double height,  // mm, up (was downwards) - from the origin point
@@ -1268,8 +1397,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][1]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					30.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					60.0, // double radius,  // mm, distance from the rotation axis
    					-17.32, // double height,  // mm, up (was downwards) - from the origin point
@@ -1292,8 +1423,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][2]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-30.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					60.0, // double radius,  // mm, distance from the rotation axis
    					-17.32, // double height,  // mm, up (was downwards) - from the origin point
@@ -1316,9 +1449,12 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    		} else if (numSubCameras==1) {
+    			this.cartesian = false;
    			this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					0.0, // double radius,  // mm, distance from the rotation axis
    					0.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1344,9 +1480,12 @@ import org.apache.commons.configuration.XMLConfiguration;
    			// ================
    			// PHG21 parameters
    			//
+    			this.cartesian = false; // change
    			this.eyesisSubCameras[numStation][0]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					46.57, // double radius,  // mm, distance from the rotation axis
    					0.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1369,8 +1508,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][1]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					50.36, // double radius,  // mm, distance from the rotation axis
    					-15.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1393,8 +1534,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][2]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					50.36, // double radius,  // mm, distance from the rotation axis
    					-15.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1417,8 +1560,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][3]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					46.57, // double radius,  // mm, distance from the rotation axis
    					70.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1441,8 +1586,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][4]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					50.36, // double radius,  // mm, distance from the rotation axis
    					55.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1465,8 +1612,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][5]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					50.36, // double radius,  // mm, distance from the rotation axis
    					55.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1489,8 +1638,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][6]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					76.45, // double radius,  // mm, distance from the rotation axis
    					35.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1513,8 +1664,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][7]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					91.65, // double radius,  // mm, distance from the rotation axis
    					20.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1537,8 +1690,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][8]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					63.43, // double radius,  // mm, distance from the rotation axis
    					20.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1561,8 +1716,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][9]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					76.45, // double radius,  // mm, distance from the rotation axis
    					-35.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1585,8 +1742,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][10]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					91.65, // double radius,  // mm, distance from the rotation axis
    					-50.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1609,8 +1768,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][11]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					63.43, // double radius,  // mm, distance from the rotation axis
    					-50.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1633,8 +1794,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][12]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					0.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					46.57, // double radius,  // mm, distance from the rotation axis
    					-70.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1657,8 +1820,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][13]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					50.36, // double radius,  // mm, distance from the rotation axis
    					-85.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1681,8 +1846,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][14]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-21.0, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					50.36, // double radius,  // mm, distance from the rotation axis
    					-85.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1705,8 +1872,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][15]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					76.45, // double radius,  // mm, distance from the rotation axis
    					-35.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1729,8 +1898,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][16]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					63.43, // double radius,  // mm, distance from the rotation axis
    					-50.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1753,8 +1924,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][17]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					91.65, // double radius,  // mm, distance from the rotation axis
    					-50.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1777,8 +1950,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][18]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-52.47, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					76.45, // double radius,  // mm, distance from the rotation axis
    					35.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1801,8 +1976,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][19]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-42.16, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					63.43, // double radius,  // mm, distance from the rotation axis
    					20.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1825,8 +2002,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			this.eyesisSubCameras[numStation][20]=new EyesisSubCameraParameters( //TODO:  modify for lens adjustment defaults?
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					-59.13, // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					91.65, // double radius,  // mm, distance from the rotation axis
    					20.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1854,8 +2033,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    			} else {
    			// default setup for the 26 sub-cameras	    		
    			for (int i=0;i<8;i++) if (i<numSubCameras) 	this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // top 8 cameras
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					45.0*i,      // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					41.540,      // double radius,  // mm, distance from the rotation axis
    					42.883,      // double height,  // mm, up (was downwards?) - from the origin point
@@ -1878,8 +2059,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			for (int i=8;i<16;i++) if (i<numSubCameras) 	this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // middle 8 cameras
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					45.0*(i-8),  // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					54.525,      // double radius,  // mm, distance from the rotation axis
    					0.0, // double height,  // mm, up (was downwards) - from the origin point
@@ -1902,8 +2085,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			for (int i=16;i<24;i++) if (i<numSubCameras) 	this.eyesisSubCameras[numStation][i]=new EyesisSubCameraParameters( // bottom eight cameras
+    					this.cartesian,
    					defaultLensDistortionModel,
    					true,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					45.0*(i-16), // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					41.540,      // double radius,  // mm, distance from the rotation axis
    					-42.883,     // double height,  // mm, up (was downwards?) - from the origin point
@@ -1926,8 +2111,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					1.0); //channelWeightDefault
    			if (24<numSubCameras) 	this.eyesisSubCameras[numStation][24]=new EyesisSubCameraParameters(
+    					this.cartesian,
    					defaultLensDistortionModel,
    					false,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					90,      // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					12.025,  // double radius,  // mm, distance from the rotation axis
    					-807.0,  // double height,  // mm, up - from the origin point
@@ -1950,8 +2137,10 @@ import org.apache.commons.configuration.XMLConfiguration;
    					null,  // elongation for c,b,a,a5,a6,a7,a8
    					8.0); //channelWeightDefault (was 4)
    			if (25<numSubCameras) 	this.eyesisSubCameras[numStation][25]=new EyesisSubCameraParameters(
+    					this.cartesian,
    					defaultLensDistortionModel,
    					false,
+    					0.0, 0.0, 0.0, // cartesian righ/forward/heading 
    					270,     // double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    					12.025,  // double radius,  // mm, distance from the rotation axis
    					-841.0,  // double height,  // mm, up - from the origin point

--- a/src/main/java/EyesisSubCameraParameters.java
+++ b/src/main/java/EyesisSubCameraParameters.java
@@ -25,12 +25,17 @@ import java.util.Properties;
    public class EyesisSubCameraParameters{
    	// origin is on the rotation axis of the tube body closest to the goniometer horizontal axis
+    	public boolean cartesian = false; // cartesian coordinates mode (false - cylindrical)
    	public int    lensDistortionModel=0;
    	public boolean enableNoLaser=true; // enable images for this channel w/o matched laser pointer
+    	public double right;   // distance to the right (radius*sin(azimuth))
+    	public double forward; // distance forward (radius*cos(azimuth))
+    	public double heading;   // absolute heading in degrees (used in cartesian mode)
    	public double azimuth; // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    	public double radius;  // mm, distance from the rotation axis
    	public double height;       // mm, up - from the origin point
-    	public double phi;     // degrees, optical axis from azimuth/r vector, clockwise
+    	public double phi;     // degrees, optical axis from azimuth/r vector, clockwise (absolute if cylindrical = false)
    	public double theta;   // degrees, optical axis from the eyesis horizon, positive - up
    	public double psi;     // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
 		public double focalLength=4.5;
@@ -68,8 +73,12 @@ import java.util.Properties;
 		*/		
    	public EyesisSubCameraParameters(
+    			boolean cartesian,
    			int lensDistortionModel,
    			boolean enableNoLaser,
+    	    	double right,   // distance to the right (radius*sin(azimuth))
+    	    	double forward, // distance forward (radius*cos(azimuth))
+    	    	double heading, // used in cartesian mode
    			double azimuth, // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
    			double radius,  // mm, distance from the rotation axis
    			double height,  // mm, up from the origin point
@@ -92,8 +101,13 @@ import java.util.Properties;
 				double [][] r_od,     // elongation for c,b,a,a5,a6,a7,a8
    			double channelWeightDefault
    	){
+    		this.cartesian = cartesian;
    		this.lensDistortionModel=lensDistortionModel;
    		this.enableNoLaser=enableNoLaser;
+    		this.right =   right;
+    		this.forward = forward;
+    		this.heading = heading;
    		this.azimuth=azimuth;
    		this.radius=radius;
    		this.height=height;
@@ -123,12 +137,17 @@ import java.util.Properties;
    		this.defectsXY=null; // pixel defects coordinates list (starting with worst)
    		this.defectsDiff=null; // pixel defects value (diff from average of neighbors), matching defectsXY
+    		updateCartesian(); // set alternative
    	}
    	// defects are not cloned!
    	public EyesisSubCameraParameters clone() {
    		return new EyesisSubCameraParameters(
+    	    		this.cartesian,
    				this.lensDistortionModel,
    				this.enableNoLaser,
+    	    		this.right,
+    	    		this.forward,
+    	    		this.heading,
    				this.azimuth,
    				this.radius,
    				this.height,
@@ -160,8 +179,12 @@ import java.util.Properties;
    	}
 // TODO: add/restore new properties
    	public void setProperties(String prefix,Properties properties){
+    		properties.setProperty(prefix+"cartesian",this.cartesian+"");
    		properties.setProperty(prefix+"lensDistortionModel",this.lensDistortionModel+"");
    		properties.setProperty(prefix+"enableNoLaser",this.enableNoLaser+"");
+    		properties.setProperty(prefix+"right",this.right+"");
+    		properties.setProperty(prefix+"heading",this.heading+"");
+    		properties.setProperty(prefix+"forward",this.forward+"");
    		properties.setProperty(prefix+"azimuth",this.azimuth+"");
    		properties.setProperty(prefix+"radius",this.radius+"");
    		properties.setProperty(prefix+"height",this.height+"");
@@ -194,8 +217,17 @@ import java.util.Properties;
    		getProperties(prefix,properties, -1);
    	}
    	public void getProperties(String prefix,Properties properties, int channel){
+    		if (properties.getProperty(prefix+"cartesian")!=null)
+    			this.cartesian=Boolean.parseBoolean(properties.getProperty(prefix+"cartesian"));
    		if (properties.getProperty(prefix+"lensDistortionModel")!=null)
    			this.lensDistortionModel=Integer.parseInt(properties.getProperty(prefix+"lensDistortionModel"));
+    		if (properties.getProperty(prefix+"right")!=null)
+    			this.right=Double.parseDouble(properties.getProperty(prefix+"right"));
+    		if (properties.getProperty(prefix+"forward")!=null)
+    			this.forward=Double.parseDouble(properties.getProperty(prefix+"forward"));
+    		if (properties.getProperty(prefix+"heading")!=null)
+    			this.heading=Double.parseDouble(properties.getProperty(prefix+"heading"));
    		if (properties.getProperty(prefix+"azimuth")!=null)
    			this.azimuth=Double.parseDouble(properties.getProperty(prefix+"azimuth"));
    		if (properties.getProperty(prefix+"radius")!=null)
@@ -264,4 +296,21 @@ import java.util.Properties;
    	public double getChannelWeightDefault(){
    		return this.channelWeightDefault;
    	}
+    	public void updateCartesian(){ // set alternative parameters
+    		if (cartesian) {
+    			this.azimuth = Math.atan2(this.right, this.forward)*180.0/Math.PI;
+    			this.radius = Math.sqrt(this.forward*this.forward + this.right*this.right);
+    			this.phi = this.heading - this.azimuth; 
+    		} else {
+    			this.forward = this.radius * Math.cos(Math.PI*this.azimuth/180.0); 
+    			this.right =   this.radius * Math.sin(Math.PI*this.azimuth/180.0); 
+    			this.heading = this.phi +  this.azimuth;
+    		}
+    	}
+    	public void setCartesian(boolean cartesian){
+    		if (this.cartesian == cartesian) return; // already in this mode
+    		updateCartesian();
+    		this.cartesian = cartesian;
+    	}
    }
--- a/src/main/java/Goniometer.java
+++ b/src/main/java/Goniometer.java
@@ -900,10 +900,11 @@ horizontal axis:
 		distortionCalibrationData.initImageSet(eyesisCameraParameters);
 		// Set initial azimuth and elevation
-		double [] initialAzEl=distortionCalibrationData.getAzEl(imgWithMaxPointers);
+		// Set initial heading and elevation
+		double [] initialHeadEl=distortionCalibrationData.getHeadEl(imgWithMaxPointers);
        // set goniometer horizontal axis angle and goniometer axial angles in all images 
-		distortionCalibrationData.setGHGA(-initialAzEl[1], -initialAzEl[0]);
+		distortionCalibrationData.setGHGA(-initialHeadEl[1], -initialHeadEl[0]);
-		if (debug_level > 1) System.out.println("Initial Azimuth and Elevation are set to az="+IJ.d2s(-initialAzEl[0],2)+", elvation="+IJ.d2s(-initialAzEl[1],2)); 
+		if (debug_level > 1) System.out.println("Initial Heading and Elevation are set to heading="+IJ.d2s(-initialHeadEl[0],2)+", elvation="+IJ.d2s(-initialHeadEl[1],2)); 
 		lensDistortions.copySensorConstants(eyesisCameraParameters); // copy from the first channel
 		// lensDistortions.fittingStrategy will be defined later, no need to

--- a/src/main/java/LensDistortionParameters.java
+++ b/src/main/java/LensDistortionParameters.java
@@ -95,6 +95,7 @@ import Jama.Matrix;
 	    public LensDistortionParameters(
 //	    		LensDistortionParameters lensDistortionParameters,
 	    		boolean isTripod,
+	    		boolean cartesian,
 	            double [][] interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 	    		double [] parVect,
 	    		boolean [] mask, // calculate only selected derivatives (all parVect values are still
@@ -105,6 +106,7 @@ import Jama.Matrix;
 	    	lensCalcInterParamers( // changed name to move calcInterParamers method from enclosing class
 	    			this,
 		    		isTripod,
+		    		cartesian,
 		            interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 		    		parVect,
 		    		mask // calculate only selected derivatives (all parVect values are still
@@ -1854,19 +1856,22 @@ dPXmmc/dphi=
 	    public void lensCalcInterParamers(
 	    		LensDistortionParameters lensDistortionParameters,
 	    		boolean isTripod,
+	    		boolean cartesian,
 	            double [][] interParameterDerivatives, //partial derivative matrix from subcamera-camera-goniometer to single camera (12x21) if null - just values, no derivatives
 	    		double [] parVect,
 	    		boolean [] mask // calculate only selected derivatives (all parVect values are still
-//	    		boolean calculateDerivatives // calculate this.interParameterDerivatives -derivatives array (false - just this.values)
 	    		){
-//	    	LensDistortionParameters lensDistortionParameters=this;
 	    	boolean calculateDerivatives=(interParameterDerivatives!=null);  // calculate this.interParameterDerivatives -derivatives array (false - just this.values) 
-	    	 // change meaning of goniometerHorizontal (tripod vertical) and goniometerAxial (tripod horizontal) 
+	    	 // change meaning of goniometerHorizontal (tripod vertical) and goniometerAxial (tripod horizontal)
-//	    	boolean isTripod=this.fittingStrategy.distortionCalibrationData.eyesisCameraParameters.isTripod;
-	    	double azimuth=parVect[0];
+	    	// Alternative variables for cartesian/cylindrical modes
-	    	double radius= parVect[1];
+	    	double azimuth_cyl=  cartesian? Double.NaN:  parVect[0];
-	    	double height= parVect[2];
+	    	double right_cart=   cartesian? parVect[0] : Double.NaN;
-	    	double phi=    parVect[3];
+	    	double radius_cyl=   cartesian? Double.NaN:  parVect[1];
+	    	double forward_cart= cartesian? parVect[1]:  Double.NaN;
+	    	double height=       parVect[2];
+	    	double phi_cyl=      cartesian? Double.NaN:  parVect[3];
+	    	double heading_cart= cartesian? parVect[3]:  Double.NaN;
 	    	double theta=  parVect[4];
 	    	double psi=    parVect[5];
 	    	double goniometerHorizontal=parVect[6];
@@ -1885,10 +1890,14 @@ dPXmmc/dphi=
 	    	double sPS=   Math.sin(psi*Math.PI/180); // subCam.psi
 	    	double cTH=   Math.cos(theta*Math.PI/180); // subCam.theta
 	    	double sTH=   Math.sin(theta*Math.PI/180); // subCam.theta
-	    	double cAZP=  Math.cos((azimuth+phi)*Math.PI/180); //subCam.azimuth+subCam.phi
-	    	double sAZP=  Math.sin((azimuth+phi)*Math.PI/180); //subCam.azimuth+subCam.phi
+	    	double cAZP=  Math.cos((cartesian?heading_cart:(azimuth_cyl+phi_cyl))*Math.PI/180); //subCam.azimuth+subCam.phi
-	    	double cAZ=   Math.cos(azimuth*Math.PI/180); //subCam.azimuth
+	    	double sAZP=  Math.sin((cartesian?heading_cart:(azimuth_cyl+phi_cyl))*Math.PI/180); //subCam.azimuth+subCam.phi
-	    	double sAZ=   Math.sin(azimuth*Math.PI/180); //subCam.azimuth
+	    	// renaming the following 2 to be replaced for cartesian coordinates
+	    	double cAZ_cyl=   Math.cos(azimuth_cyl*Math.PI/180); //subCam.azimuth
+	    	double sAZ_cyl=   Math.sin(azimuth_cyl*Math.PI/180); //subCam.azimuth
 	    	double cGA=   Math.cos(goniometerAxial*Math.PI/180); //eyesisCameraParameters.goniometerAxial
 	    	double sGA=   Math.sin(goniometerAxial*Math.PI/180); //eyesisCameraParameters.goniometerAxial
 	    	double cGH=   Math.cos(goniometerHorizontal*Math.PI/180); //eyesisCameraParameters.goniometerHorizontal
@@ -1940,7 +1949,10 @@ dPXmmc/dphi=
 	| Yey | = | height+centerAboveHorizontal | + |Yc3|
 	| Zey |   |      r * cos (azimuth)       |   |Zc3|
 	*/
-	    	double [][] aT1={{radius*sAZ},{(height+centerAboveHorizontal)},{radius*cAZ}}; // {{subCam.radius*sAZ},{subCam.height},{subCam.radius*cAZ}};
+	    	double [][] aT1_cyl= {{radius_cyl*sAZ_cyl},{(height+centerAboveHorizontal)},{radius_cyl*cAZ_cyl}}; // {{subCam.radius*sAZ},{subCam.height},{subCam.radius*cAZ}};
+	    	double [][] aT1_cart={{right_cart},        {(height+centerAboveHorizontal)},{forward_cart}}; // {{subCam.radius*sAZ},{subCam.height},{subCam.radius*cAZ}};
+	    	double [][] aT1= cartesian ? aT1_cart : aT1_cyl; 
 	    	Matrix T1=new Matrix(aT1);
 	/**
@@ -2047,13 +2059,6 @@ dPXmmc/dphi=
 	        lensDistortionParameters.pitch=extrinsicParams[4];
 	        lensDistortionParameters.yaw=  extrinsicParams[3];
 	        lensDistortionParameters.roll= extrinsicParams[5];
-//			lensDistortionParameters.focalLength=parVect[15]; //subCam.focalLength;
-//			lensDistortionParameters.px0=parVect[16]; //subCam.px0;
-//			lensDistortionParameters.py0=parVect[17]; //subCam.py0;
-//			lensDistortionParameters.distortionA5=parVect[18]; //subCam.distortion5;
-//			lensDistortionParameters.distortionA=parVect[19]; //subCam.distortionA;
-//			lensDistortionParameters.distortionB=parVect[20]; //subCam.distortionB;
-//			lensDistortionParameters.distortionC=parVect[21]; //subCam.distortionC;
 			lensDistortionParameters.focalLength=parVect[17]; //subCam.focalLength;
 			lensDistortionParameters.px0=parVect[18]; //subCam.px0;
@@ -2068,8 +2073,6 @@ dPXmmc/dphi=
 			lensDistortionParameters.r_xy=new double [6][2];
 			lensDistortionParameters.r_od=new double [7][2];
-// parVect here is o[0],d[0],{x[0],y[0],o[1],d[1]}, {} = same term 			
 			int index=27;
 			for (int i=0;i<lensDistortionParameters.r_od.length;i++){
@@ -2268,10 +2271,13 @@ dPXmmc/dphi=
 	Which parameters affect which matrices
 	                                               R1 | R2 | R3 | R4 | R5 | R6 | R7 | R8 || T0 | T1 | T2 | T3 |
-	0    	public double azimuth;              //    |    | +  |    |    |    |    |    ||    | +  |    |    |
+	0    	public double azimuth_cyl;          //    |    | +  |    |    |    |    |    ||    | +  |    |    |
-	1    	public double radius;               //    |    |    |    |    |    |    |    ||    | +  |    |    |
+	1    	public double radius_cyl;           //    |    |    |    |    |    |    |    ||    | +  |    |    |
+	0    	public double right_cart;           //    |    |    |    |    |    |    |    ||    | +  |    |    |
+	1    	public double forward_cart;         //    |    |    |    |    |    |    |    ||    | +  |    |    |
 	2   	public double height;               //    |    |    |    |    |    |    |    ||    | +  |    |    |
-	3   	public double phi;                  //    |    | +  |    |    |    |    |    ||    |    |    |    |
+	3   	public double phi_cyl;              //    |    | +  |    |    |    |    |    ||    |    |    |    |
+	3   	public double head_cart;            //    |    | +  |    |    |    |    |    ||    |    |    |    |
 	4   	public double theta;                //    | +  |    |    |    |    |    |    ||    |    |    |    |
 	5   	public double psi;                  // +  |    |    |    |    |    |    |    ||    |    |    |    |
 	6   	public double goniometerHorizontal; //    |    |    |    |    | +  |    |    ||    |    |    |    |
@@ -2293,41 +2299,70 @@ dPXmmc/dphi=
 	   				System.out.println("calcInterParamers(): parVect["+i+"]="+parVect[i]);
 	   			}
 	   		}
-	//0    	public double azimuth; // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
+	//0    	public double right_cart; // right displacement of the lens entrance pupil center, mm
 	        if (mask[0]) {
-	        	double [][] adR3_azimuth={{-sAZP,0.0,cAZP},{0.0,0.0,0.0},{-cAZP,0.0,-sAZP}};
+	        	if (cartesian) {
-	        	Matrix dR3_azimuth=new Matrix(adR3_azimuth);
+	        		double [][] adT1_right_cart={{1.0},{0.0},{0.0}};
-//	        	double [][] adT1_azimuth={{radius*cAZ},{height},{-radius*sAZ}}; //{{subCam.radius*cAZ},{subCam.height},{-subCam.radius*sAZ}}
+	        		Matrix dT1_right_cart=new Matrix(adT1_right_cart);
-	        	double [][] adT1_azimuth={{radius*cAZ},{0.0},{-radius*sAZ}}; //{{subCam.radius*cAZ},{subCam.height},{-subCam.radius*sAZ}}
+		        	Matrix dMA_right_cart=new Matrix(3,3,0.0); // zero
-	        	Matrix dT1_azimuth=new Matrix(adT1_azimuth);
+	        		Matrix dMB_right_cart=R8.times(R7.times(R6.times(R5.times(R4.times(dT1_right_cart)))));
+		        	interParameterDerivatives[0]=d_parametersFromMAMB(dMA_right_cart,dMB_right_cart,MA,MB,false);
-	        	Matrix dMA_azimuth=R8.times(R7.times(R6.times(R5.times(R4.times(dR3_azimuth.times(R2.times(R1)))))));
+		    		if (this.debugLevel>2) {
-	        	Matrix dMB0_azimuth=R8.times(R7.times(R6.times(R5.times(R4.times(dT1_azimuth)))));
+		    			System.out.println("dMA_right_cart:");
-	        	Matrix dMB_azimuth=dMB0_azimuth.plus(dMA_azimuth.times(T0)); // new term
+		    			dMA_right_cart.print(10, 5);
-	        	interParameterDerivatives[0]=d_parametersFromMAMB(dMA_azimuth,dMB_azimuth,MA,MB,true); // all after 6 are 0;
+		    			System.out.println("dMB_right_cart:");
-	    		if (this.debugLevel>2) {
+		    			dMB_right_cart.print(10, 5);
-	    			System.out.println("dMA_azimuth:");
+		    			System.out.println("interParameterDerivatives[0]="+sprintfArray(interParameterDerivatives[0]));
-	    			dMA_azimuth.print(10, 5);
+		    		}
-	    			System.out.println("dMB_azimuth:");
+	        	} else {
-	    			dMB_azimuth.print(10, 5);
+    //0    	public double azimuth; // azimuth of the lens entrance pupil center, degrees, clockwise looking from top
-	    			System.out.println("interParameterDerivatives[0]="+sprintfArray(interParameterDerivatives[0]));
+	        		double [][] adR3_azimuth_cyl={{-sAZP,0.0,cAZP},{0.0,0.0,0.0},{-cAZP,0.0,-sAZP}};
-	    		}
+	        		Matrix dR3_azimuth_cyl=new Matrix(adR3_azimuth_cyl);
+	        		double [][] adT1_azimuth_cyl={{radius_cyl*cAZ_cyl},{0.0},{-radius_cyl*sAZ_cyl}}; //{{subCam.radius*cAZ},{subCam.height},{-subCam.radius*sAZ}}
+	        		Matrix dT1_azimuth_cyl=new Matrix(adT1_azimuth_cyl);
+	        		Matrix dMA_azimuth_cyl=R8.times(R7.times(R6.times(R5.times(R4.times(dR3_azimuth_cyl.times(R2.times(R1)))))));
+	        		Matrix dMB0_azimuth_cyl=R8.times(R7.times(R6.times(R5.times(R4.times(dT1_azimuth_cyl)))));
+	        		Matrix dMB_azimuth_cyl=dMB0_azimuth_cyl.plus(dMA_azimuth_cyl.times(T0)); // new term
+	        		interParameterDerivatives[0]=d_parametersFromMAMB(dMA_azimuth_cyl,dMB_azimuth_cyl,MA,MB,true); // all after 6 are 0;
+	        		if (this.debugLevel>2) {
+	        			System.out.println("dMA_azimuth_cyl:");
+	        			dMA_azimuth_cyl.print(10, 5);
+	        			System.out.println("dMB_azimuth_cyl:");
+	        			dMB_azimuth_cyl.print(10, 5);
+	        			System.out.println("interParameterDerivatives[0]="+sprintfArray(interParameterDerivatives[0]));
+	        		}
+	        	}
 	        } else interParameterDerivatives[0]=null;
 	//1    	public double radius;  // mm, distance from the rotation axis
 	        if (mask[1]) {
-	        	double [][] adT1_radius={{sAZ},{0.0},{cAZ}}; //{{subCam.radius*sAZ},{0.0},{subCam.radius*cAZ}}
+	        	if (cartesian) {
-	        	Matrix dT1_radius=new Matrix(adT1_radius);
+	        		double [][] adT1_forward_cart={{0.0},{0.0},{1.0}}; //{{subCam.radius*sAZ},{0.0},{subCam.radius*cAZ}}
-	        	Matrix dMA_radius=new Matrix(3,3,0.0);
+	        		Matrix dT1_forward_cart=new Matrix(adT1_forward_cart);
-	        	Matrix dMB_radius=R8.times(R7.times(R6.times(R5.times(R4.times(dT1_radius)))));
+	        		Matrix dMA_forward_cart=new Matrix(3,3,0.0);
-	        	interParameterDerivatives[1]=d_parametersFromMAMB(dMA_radius,dMB_radius,MA,MB,false); // all after 6 are 0;
+	        		Matrix dMB_forward_cart=R8.times(R7.times(R6.times(R5.times(R4.times(dT1_forward_cart)))));
-	    		if (this.debugLevel>2) {
+	        		interParameterDerivatives[1]=d_parametersFromMAMB(dMA_forward_cart,dMB_forward_cart,MA,MB,false); // all after 6 are 0;
-	    			System.out.println("dMA_radius:");
+	        		if (this.debugLevel>2) {
-	    			dMA_radius.print(10, 5);
+	        			System.out.println("dMA_forward_cart:");
-	    			System.out.println("dMB_radius:");
+	        			dMA_forward_cart.print(10, 5);
-	    			dMB_radius.print(10, 5);
+	        			System.out.println("dMB_forward_cart:");
-	    			System.out.println("interParameterDerivatives[1]="+sprintfArray(interParameterDerivatives[1]));
+	        			dMB_forward_cart.print(10, 5);
-	    		}
+	        			System.out.println("interParameterDerivatives[1]="+sprintfArray(interParameterDerivatives[1]));
+	        		}
+	        	} else {
+	        		double [][] adT1_radius_cyl={{sAZ_cyl},{0.0},{cAZ_cyl}}; //{{subCam.radius*sAZ},{0.0},{subCam.radius*cAZ}}
+	        		Matrix dT1_radius_cyl=new Matrix(adT1_radius_cyl);
+	        		Matrix dMA_radius_cyl=new Matrix(3,3,0.0);
+	        		Matrix dMB_radius_cyl=R8.times(R7.times(R6.times(R5.times(R4.times(dT1_radius_cyl)))));
+	        		interParameterDerivatives[1]=d_parametersFromMAMB(dMA_radius_cyl,dMB_radius_cyl,MA,MB,false); // all after 6 are 0;
+	        		if (this.debugLevel>2) {
+	        			System.out.println("dMA_radius_cyl:");
+	        			dMA_radius_cyl.print(10, 5);
+	        			System.out.println("dMB_radius_cyl:");
+	        			dMB_radius_cyl.print(10, 5);
+	        			System.out.println("interParameterDerivatives[1]="+sprintfArray(interParameterDerivatives[1]));
+	        		}
+	        	}
 	        } else interParameterDerivatives[1]=null; 
 	//2   	public double height;       // mm, downwards - from the origin point
 	        if (mask[2]) {
@@ -2345,7 +2380,7 @@ dPXmmc/dphi=
 	    		}
 	        } else interParameterDerivatives[2]=null; 
 	//3   	public double phi;     // degrees, optical axis from azimuth/r vector, clockwise
-	        if (mask[3]) {
+	        if (mask[3]) { // here the same for cartesian
 	        	double [][] adR3_phi={{-sAZP,0.0,cAZP},{0.0,0.0,0.0},{-cAZP,0.0,-sAZP}}; // same as adR3_azimuth
 	        	Matrix dR3_phi=new Matrix(adR3_phi); // same as dR3_azimuth
 	        	Matrix dMA_phi=R8.times(R7.times(R6.times(R5.times(R4.times(dR3_phi.times(R2.times(R1))))))); //same as dMA_azimuth