fixed incorrect combining of the affine transformation and the

LMA-calculated correction.

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

@@ -1053,7 +1053,7 @@ public class ComboMatch {
 		double maximal_rms =           0.25; //
 		int    min_overlap =          3000; // do not try to match if there is too small overlap (scaled pixels)
 		int    num_iter_lma =          5;
-		GenericJTabbedDialog gd = new GenericJTabbedDialog("Setup SpiralMatch",1200,900);
+		GenericJTabbedDialog gd = new GenericJTabbedDialog("Setup SpiralMatch",1200,300);
 		if (pairwiseOrthoMatch != null) {
 			gd.addCheckbox    ("Use existing image pair",  use_exixting_pair, "Use existing affine settings for this pair, do not use spiral search.");
 		}

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

@@ -3016,14 +3016,12 @@ public class OrthoMap implements Comparable <OrthoMap>, Serializable{
 		Matrix B1 =  m_ref.getMatrix(0,1,2,2);
 		Matrix B2 =m_other.getMatrix(0,1,2,2);
 		Matrix A = A2.times(A1);
-		Matrix B = A2.times(B1).plus(B2);
+		Matrix B = A2.times(B2).plus(B1);
 		double [][] affine = {
 				{A.get(0,0),A.get(0,1),B.get(0,0)}, 
 				{A.get(1,0),A.get(1,1),B.get(1,0)}};
 		return affine;
 	}
-
-	
 	
 	/**
 	 * Get planar approximation of the ground

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

@@ -1132,6 +1132,7 @@ public class OrthoMapsCollection  implements Serializable{
 			boolean          show_vf,
 			double [][]      ground_planes, // null or double[2] - will return ground planes:
 			int              debugLevel){
+		boolean show_lma_dbg = !batch_mode && (debugLevel > 1); 
 		if (woi == null) {
 			woi = new Rectangle();
 		}
@@ -1491,7 +1492,8 @@ public class OrthoMapsCollection  implements Serializable{
 			boolean last_run =       false;
 			int min_good_tiles =      min_tiles_overlap/2;
 			
-			
+			// show_lma_dbg
+			String dbg_lma_prefix = show_lma_dbg? ("LMA_"+gpu_pair[0]+"-"+gpu_pair[1]+"_ntry"+ntry+"_"):null;
 			
 			int num_good_tiles = orthoPairLMA.prepareLMA(
 					// will always calculate relative affine, starting with unity
@@ -1532,7 +1534,8 @@ public class OrthoMapsCollection  implements Serializable{
 					rms_diff,           // double rms_diff,         // 0.001
 					num_iter,           // int    num_iter,         // 20
 					last_run,           // boolean last_run,
-					debugLevel);       // int    debug_level)
+					dbg_lma_prefix,     // String dbg_prefix,
+					debugLevel);        // int    debug_level)
 			if (debugLevel > -3) {
 				System.out.println("LMA result = "+lma_rslt);
 			}
@@ -3714,7 +3717,7 @@ public class OrthoMapsCollection  implements Serializable{
 			lines[indx]=String.format(
 					"%3d %17s %26s %6.2f",indx, name, sdt, agl);
 		}
-		GenericJTabbedDialog gd = new GenericJTabbedDialog("Select the "+fs[num_scene]+" image from the list ",1200,1000);
+		GenericJTabbedDialog gd = new GenericJTabbedDialog("Select the "+fs[num_scene]+" image from the list ",1200,100);
 		gd.addChoice(fs[num_scene]+" image:",
 				lines,
 				lines[default_choice],

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

@@ -29,6 +29,7 @@ package com.elphel.imagej.orthomosaic;
 import java.awt.Rectangle;
 import java.util.concurrent.atomic.AtomicInteger;
 
+import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.gpu.GPUTileProcessor;
 import com.elphel.imagej.tileprocessor.ImageDtt;
 import com.elphel.imagej.tileprocessor.QuadCLT;
@@ -62,6 +63,38 @@ public class OrthoPairLMA {
 	public double getCenterRadius() {
 		return center_radius;
 	}
+	
+	public void debugStateImage(String title) {
+		String [] titles = {"Yhor", "Yvert", "fXhor", "fXvert", "Dhor", "Dvert","DWhor", "DWvert", "Whor", "Wvert"};
+		double [][] dbg_img = new double[titles.length][N];
+		double [] fx = getFxDerivs(
+				parameters_vector, // double []         vector,
+				null,           // final double [][] jt, // should be null or initialized with [vector.length][]
+				0); // debug_level);      // final int         debug_level)
+
+		for (int i = 0; i < N; i++) {
+			dbg_img[0][i] = y_vector[2*i + 0];
+			dbg_img[1][i] = y_vector[2*i + 1];
+			dbg_img[2][i] = fx[2*i + 0];
+			dbg_img[3][i] = fx[2*i + 1];
+			dbg_img[4][i] = y_vector[2*i + 0]-fx[2*i + 0];
+			dbg_img[5][i] = y_vector[2*i + 1]-fx[2*i + 1];
+			if (last_ymfx != null) {
+				dbg_img[6][i] = last_ymfx[2*i + 0];
+				dbg_img[7][i] = last_ymfx[2*i + 1];
+			}
+			dbg_img[8][i] = weights[2*i + 0];
+			dbg_img[9][i] = weights[2*i + 1];
+		}
+		ShowDoubleFloatArrays.showArrays( 
+				dbg_img,
+				woi.width,
+				woi.height,
+				true,
+				title,
+				titles);
+	}
+	
 	public int prepareLMA(
 			// will always calculate relative affine, starting with unity
 			int           width, // tilesX
@@ -397,16 +430,24 @@ public class OrthoPairLMA {
 			double rms_diff,         // 0.001
 			int    num_iter,         // 20
 			boolean last_run,
+			String dbg_prefix,
 			int    debug_level)
 	{
 		boolean [] rslt = {false,false};
 		this.last_rms = null; // remove?
 		int iter = 0;
+		if (dbg_prefix != null) {
+			 debugStateImage(dbg_prefix+"-initial");
+		}
 		for (iter = 0; iter < num_iter; iter++) {
 			rslt =  lmaStep(
 					lambda,
 					rms_diff,
 					debug_level);
+			if (dbg_prefix != null) {
+				 debugStateImage(dbg_prefix+"-step_"+iter);
+			}
+			
 			if (rslt == null) {
 				return -1; // false; // need to check
 			}
@@ -676,7 +717,7 @@ public class OrthoPairLMA {
 				public void run() {
 					for (int iTile = ai.getAndIncrement(); iTile < N; iTile = ai.getAndIncrement()) if (tile_centers[iTile] !=null) {
 						double x = tile_centers[iTile][0] - origin[0];
-						double y = tile_centers[iTile][1] - origin[0];
+						double y = tile_centers[iTile][1] - origin[1];
 						double vx = (vector[0] - 1.0) * x +  vector[1]        * y + vector[4];
 						double vy =  vector[2] *        x + (vector[3] - 1.0) * y + vector[5];
 						fx[2 * iTile + 0] = vx;