Implementing multi-frame ERS matching

pom.xml

@@ -119,6 +119,21 @@
 			    <version>1.7.5</version>
 			</dependency>
 			
+			<!-- https://mvnrepository.com/artifact/org.apache.commons/commons-numbers-quaternion -->
+			<!-- 
+			<dependency>
+				<groupId>org.apache.commons</groupId>
+				<artifactId>commons-numbers-quaternion</artifactId>
+				<version>1.0-beta1</version>
+			</dependency>
+			-->
+			<!-- https://mvnrepository.com/artifact/org.apache.commons/commons-math3 -->
+			<dependency>
+			    <groupId>org.apache.commons</groupId>
+			    <artifactId>commons-math3</artifactId>
+			    <version>3.6.1</version>
+			</dependency>
+			
 		</dependencies>
 
 	<build>

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -88,6 +88,7 @@ import com.elphel.imagej.lwir.LwirReader;
 import com.elphel.imagej.readers.EyesisTiff;
 import com.elphel.imagej.tensorflow.TensorflowInferModel;
 import com.elphel.imagej.tileprocessor.DttRad2;
+import com.elphel.imagej.tileprocessor.ErsCorrection;
 import com.elphel.imagej.tileprocessor.ImageDtt;
 import com.elphel.imagej.tileprocessor.MLStats;
 import com.elphel.imagej.tileprocessor.QuadCLT;
@@ -718,6 +719,8 @@ private Panel panel1,
 			addButton("IMU aux",                    panelClt_GPU, color_conf_process_aux);
 			addButton("ERS aux",                    panelClt_GPU, color_process_aux);
 
+			addButton("Rotations_test",             panelClt_GPU, color_stop);
+			
 			plugInFrame.add(panelClt_GPU);
 		}
 		if (LWIR_MODE) {
@@ -5193,7 +5196,9 @@ private Panel panel1,
 ///				imp.show();
 ///			}
 		}
-
+		/* ======================================================================== */
+    } else if (label.equals("Rotations_test")) {
+    	ErsCorrection.test_rotations();
 //JTabbedTest
 // End of buttons code
     }

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

@@ -80,30 +80,30 @@ public class GeometryCorrection {
 	public double    heading  =  0.0;  // degrees, CW (from top) - positive
 
 	public int       numSensors = 4;
-	private double [] forward =   null;
-	private double [] right =     null;
-	private double [] height =    null;
-	private double [] roll  =     null;  // degrees, CW (to target) - positive
+	protected double [] forward =   null;
+	protected double [] right =     null;
+	protected double [] height =    null;
+	protected double [] roll  =     null;  // degrees, CW (to target) - positive
 	public  double [][] pXY0 =    null;  // sensor center XY in pixels
 
-	private double common_right;    // mm right, camera center
-	private double common_forward;  // mm forward (to target), camera center
-	private double common_height;   // mm up, camera center
-	private double common_roll;     // degrees CW (to target) camera as a whole
-	private double [][] XYZ_he;     // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
-	private double [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading,  common_roll)
-	private double [][] rXY =     null; // XY pairs of the in a normal plane, relative to disparityRadius
-	private double [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};
+	protected double common_right;    // mm right, camera center
+	protected double common_forward;  // mm forward (to target), camera center
+	protected double common_height;   // mm up, camera center
+	protected double common_roll;     // degrees CW (to target) camera as a whole
+	protected double [][] XYZ_he;     // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
+	protected double [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading,  common_roll)
+	protected double [][] rXY =     null; // XY pairs of the in a normal plane, relative to disparityRadius
+	protected double [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};
 
 	public double cameraRadius=0; // average distance from the "mass center" of the sensors to the sensors
 	public double disparityRadius=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad camera (~=150mm)?
 
-	private double [] rByRDist=null;
-	private double    stepR=0.0004; // 0004 - double, 0.0002 - float to fit into GPU shared memory (was 0.001);
-	private double    maxR=2.0; // calculate up to this*distortionRadius
+	protected double [] rByRDist=null;
+	protected double    stepR=0.0004; // 0004 - double, 0.0002 - float to fit into GPU shared memory (was 0.001);
+	protected double    maxR=2.0; // calculate up to this*distortionRadius
 
-	private Matrix m_balance_xy = null; // [2*numSensors][2*numSensors] 8x8 matrix to make XY ports correction to have average == 0
-	private Matrix m_balance_dd = null; // [2*numSensors+1)][2*numSensors] 9x8 matrix to extract disparity from dd
+	protected Matrix m_balance_xy = null; // [2*numSensors][2*numSensors] 8x8 matrix to make XY ports correction to have average == 0
+	protected Matrix m_balance_dd = null; // [2*numSensors+1)][2*numSensors] 9x8 matrix to extract disparity from dd
 
 
 
@@ -3631,9 +3631,6 @@ matrix([[-0.125, -0.125,  0.125,  0.125, -0.125,  0.125, -0.   , -0.   ,   -0.
 		return pXY;
 	}
 
-//	private Matrix m_balance_xy = null; // [2*numSensors][2*numSensors] 8x8 matrix to make XY ports correction to have average == 0
-//	private Matrix m_balance_dd = null; // [2*numSensors+1)][2*numSensors] 9x8 matrix to extract disparity from dd
-
 	// calculate non-distorted x/y pairs (relative to optical centers) for each port and derivatives
 
 	public double [] getPortsDDNDAndDerivativesNew( // USED in lwir