Started Realtime tests implementation

src/main/java/com/elphel/imagej/cuas/CuasMotion.java

@@ -8857,7 +8857,7 @@ public class CuasMotion {
 							debugLevel); // -1); // debugLevel);         // int             debugLevel)
 					}
 				}
-				boolean debug_extra = debugLevel > -5;
+				boolean debug_extra = debugLevel> 5; //-5;
 				if (save_filtered_low  && debug_more && debug_extra) {
 					ImagePlus imp_ext = showTargetSequence(
 							targets_nonoverlap,          // double [][][] vector_fields_sequence,
@@ -10792,7 +10792,7 @@ public class CuasMotion {
 	public void processMovingTargetsMulti(
 			final boolean         batch_mode,
 			final float [][]      fpixels,
-			final float []        fpixels_avg,
+			final float []        fpixels_avg, // not used
 			final int             debugLevel) {
 		int      start_frame = 0;
 		boolean  half_step =      clt_parameters.imp.cuas_half_step; // true;

src/main/java/com/elphel/imagej/cuas/CuasRanging.java

@@ -54,7 +54,7 @@ public class CuasRanging {
 	public static final String   TARGET_GLOBALS_SUFFIX =           "-TARGET_GLOBALS";
 	public static final String   TARGET_STATS_SUFFIX =             "-TARGETS"; // *.csv
 
-	
+	final boolean           realtime_mode;
 	final QuadCLT           center_CLT;
 	final QuadCLT []        scenes;
 	final double [][][]     img_um;
@@ -66,21 +66,115 @@ public class CuasRanging {
 	
 	public CuasRanging 	(
 			CLTParameters     clt_parameters,
+			boolean           realtime_mode,
 			QuadCLT           center_CLT,
 			QuadCLT []        scenes,
 			int               debugLevel) {
+		this.realtime_mode = realtime_mode;
 		this.clt_parameters = clt_parameters;
 		this.center_CLT = center_CLT;
 		this.scenes = scenes;
 		this.img_um =         new double [scenes.length][][];
 	}
 	
+	public ImagePlus prepareFpixels(){
+		boolean save_linear_cuas = true;
+		double [][]combo_dsi = center_CLT.comboFromMain();
+    	double [][] dls = { 
+    			combo_dsi[OpticalFlow.COMBO_DSN_INDX_DISP], // **** null on second scene sequence
+    			combo_dsi[OpticalFlow.COMBO_DSN_INDX_LMA],
+    			combo_dsi[OpticalFlow.COMBO_DSN_INDX_STRENGTH]
+    	};
+    	double [][] ds = OpticalFlow.conditionInitialDS(
+    			true,                // boolean        use_conf,       // use configuration parameters, false - use following  
+    			clt_parameters,      // CLTParameters  clt_parameters,
+    			dls,                 // double [][]    dls
+    			center_CLT,          // quadCLTs[ref_index], // QuadCLT        scene,
+    			debugLevel-1);			
+    	double [] disparity_fg = ds[0]; // combo_dsn_final[COMBO_DSN_INDX_DISP_FG];
+    	double [] strength_fg =  ds[1];
+		if (strength_fg != null) { // for FG/BG only, fixing for transformCameraVew()
+			for (int i = 0; i < disparity_fg.length; i++) {
+				if (!Double.isNaN(disparity_fg[i]) && (strength_fg[i] == 0)) strength_fg[i] = 0.01; // transformCameraVew ignores strength= 0
+			}
+		}
+    	
+    	double [] xyz_offset= {0,0,0};
+		double [][] ds_vantage = new double[][] {disparity_fg, strength_fg};
+
+		boolean debug_vantage = false;
+    	double [][] dbg_vantage = debug_vantage ? (new double[7][]): null;
+		if (dbg_vantage != null) {
+			for (int i = 0; i < 3; i++) {
+				dbg_vantage[i] = dls[i].clone();
+			}
+			for (int i = 0; i < 2; i++) {
+				dbg_vantage[i+3] = ds_vantage[i].clone();
+			}
+		}
+		ds_vantage = OpticalFlow.transformCameraVew(
+				null,              // (debug_ds_fg_virt?"transformCameraVew":null),     // final String    title,
+				ds_vantage,        // final double [][] dsrbg_camera_in,
+				xyz_offset,        // xyz_offset, // _inverse[0], // final double [] scene_xyz, // camera center in world coordinates
+				OpticalFlow.ZERO3, // _inverse[1], // final double [] scene_atr, // camera orientation relative to world frame
+				center_CLT,        // quadCLTs[ref_index],      // final QuadCLT   scene_QuadClt,
+				center_CLT,        // quadCLTs[ref_index],      // final QuadCLT   reference_QuadClt,
+				8); // iscale);                  // final int       iscale);
+		if (dbg_vantage != null) {
+			for (int i = 0; i < 2; i++) {
+				dbg_vantage[i+5] = ds_vantage[i].clone();
+			}
+    		ShowDoubleFloatArrays.showArrays(
+    				dbg_vantage,
+    				center_CLT.getTileProcessor().getTilesX(),
+    				center_CLT.getTileProcessor().getTilesY(),
+    				true,
+    				center_CLT.getImageName()+"-ds_vantage", // "-corr2d"+"-"+frame0+"-"+frame1+"-"+corr_pairs,
+    				new String[] {"disp0","lma0", "str0", "disp","str","virt_disp", "virt_str"});
+		}
+
+		float [] average_pixels =    (float []) center_CLT.getCenterAverage().getProcessor().getPixels();
+		float [][] average_channels = new float [][] {average_pixels}; // for future color images
+
+		double [] cuas_atr = OpticalFlow.ZERO3;
+
+		String scenes_suffix = center_CLT.getImageName()+"-CUAS"; // "1747829900_781803-SEQ-FG-MONO-FPN";
+		ImagePlus imp_targets= OpticalFlow.renderSceneSequence(
+				clt_parameters,     // CLTParameters clt_parameters,
+				true,  // center_CLT.hasCenterClt(), // boolean        mode_cuas,
+				false, // clt_parameters.imp.um_mono, // boolean        um_mono,
+				clt_parameters.imp.calculate_average,      // boolean        insert_average, // then add new parameter, keep add average
+	    		null,             // int []         average_range,
+				average_channels,     //  average_slice,
+				clt_parameters.imp.subtract_average, // boolean    subtract_average,
+				clt_parameters.imp.running_average,  // int            running_average,
+				null, // fov_tiles,   // Rectangle     fov_tiles,
+				1, // mode3d,         // int           mode3d,
+				false, // toRGB,      // boolean       toRGB,
+				xyz_offset,           // double []     stereo_offset, // offset reference camera {x,y,z}
+				cuas_atr,             // double []      stereo_atr, // offset reference orientation (cuas)
+				1, // sensor_mask,    // int           sensor_mask,
+				scenes_suffix,        // String        suffix,
+				ds_vantage[0],        // selected_disparity, // double []     ref_disparity,			
+				scenes,               // QuadCLT []    quadCLTs,
+				center_CLT,           // ref_index,          // int           ref_index,
+				ImageDtt.THREADS_MAX, // threadsMax,         // int           threadsMax,
+				debugLevel);          // int           debugLevel);
+        if (save_linear_cuas) {	   
+        	center_CLT.saveImagePlusInModelDirectory(
+                    null, // "GPU-SHIFTED-D"+clt_parameters.disparity, // String      suffix,
+                    imp_targets); // imp_scenes); // ImagePlus   imp)
+        }
+        return imp_targets;
+	}
+	
+	
 	public CuasMotion detectTargets(
 			UasLogReader    uasLogReader,
 			boolean         batch_mode){
 		boolean save_linear_cuas = true;
-		boolean save_um_cuas = true;
-		boolean save_noise_map = true;
+		boolean save_um_cuas =     true;
+		boolean save_noise_map =   true;
 		double  um_sigma =           clt_parameters.imp.um_sigma;
 		double  um_weight =          clt_parameters.imp.um_weight;
 		boolean mono_fixed =         clt_parameters.imp.mono_fixed;
@@ -131,7 +225,7 @@ public class CuasRanging {
 				if (!Double.isNaN(disparity_fg[i]) && (strength_fg[i] == 0)) strength_fg[i] = 0.01; // transformCameraVew ignores strength= 0
 			}
 		}
-    	
+    	/*
     	double [] xyz_offset= {0,0,0};
 		double [][] ds_vantage = new double[][] {disparity_fg, strength_fg};
 
@@ -198,6 +292,10 @@ public class CuasRanging {
                     null, // "GPU-SHIFTED-D"+clt_parameters.disparity, // String      suffix,
                     imp_targets); // imp_scenes); // ImagePlus   imp)
         }
+        */
+		ImagePlus imp_targets = prepareFpixels();
+
+		
         	// always generating UM, even if not saving - needed for targets
         String cuas_title = imp_targets.getTitle();
         String um_suffix = "";

src/main/java/com/elphel/imagej/cuas/rt/TemporalConsolidator.java

+package com.elphel.imagej.cuas.rt;
+
+public class TemporalConsolidator {
+
+    /**
+     * 1D Cumulative Distribution Function for a Trapezoid centered at 0.
+     * Guarantees exact fractional area calculations.
+     */
+    private static double trapezoidCDF(double x, double w_top, double w_bot) {
+        double x0 = -w_bot / 2.0;
+        double x1 = -w_top / 2.0;
+        double x2 =  w_top / 2.0;
+        double x3 =  w_bot / 2.0;
+
+        if (x <= x0) return 0.0;
+
+        // Handle t=0 (Boxcar, no velocity blur)
+        if (Math.abs(w_bot - w_top) < 1e-9) {
+            if (x >= x3) return w_bot; 
+            return (x - x0);
+        }
+
+        double m = 1.0 / (x1 - x0); // Rising slope
+        double area_rising = 0.5 * m * (x1 - x0) * (x1 - x0);
+        double area_flat = 1.0 * (x2 - x1);
+
+        if (x <= x1) {
+            return 0.5 * m * (x - x0) * (x - x0);
+        } else if (x <= x2) {
+            return area_rising + 1.0 * (x - x1);
+        } else if (x <= x3) {
+            double dx = x - x2;
+            return area_rising + area_flat + (1.0 * dx - 0.5 * m * dx * dx);
+        }
+        
+        return area_rising + area_flat + 0.5 * m * (x3 - x2) * (x3 - x2);
+    }
+
+    /**
+     * Consolidates coarse temporal velocity outputs into a high-resolution grid.
+     */
+    public static double[][][] consolidateTemporalLayers(
+            double[][][] historic_pixel_vel, // [historic_t][pixel][9_velocities]
+            double[] weights,                // [historic_t] sums to 1.0
+            int width, int height,
+            int pixel_decimate, 
+            int velocity_decimate, 
+            int velocity_radius
+    ) {
+        int num_pixels = width * height;
+        int num_subpixels = pixel_decimate * pixel_decimate;
+        int v_dim = 2 * velocity_radius + 1;
+        int num_velocities = v_dim * v_dim;
+
+        // Output: [pixel][subpixel][high_res_velocity]
+        double[][][] output = new double[num_pixels][num_subpixels][num_velocities];
+        int num_history = weights.length;
+
+        for (int p = 0; p < num_pixels; p++) {
+            int px = p % width;
+            int py = p / width;
+
+            for (int t = 0; t < num_history; t++) {
+                double w_t = weights[t];
+                if (w_t == 0) continue;
+
+                // Trapezoid width scales with time and velocity decimation
+                double blur_width = (double) t / velocity_decimate;
+                double w_bot = 1.0 + blur_width;
+                double w_top = Math.abs(1.0 - blur_width);
+                double total_area = 0.5 * (w_bot + w_top); // Used to normalize area
+
+                for (int vx = -velocity_radius; vx <= velocity_radius; vx++) {
+                    for (int vy = -velocity_radius; vy <= velocity_radius; vy++) {
+                        
+                        // 1. Map High-Res Velocity to parent Coarse Velocity (-1, 0, 1)
+                        int coarse_vx = (int) Math.round((double) vx / velocity_decimate);
+                        int coarse_vy = (int) Math.round((double) vy / velocity_decimate);
+                        
+                        // If outside the 3x3 coarse grid, target exceeds tracking limit
+                        if (Math.abs(coarse_vx) > 1 || Math.abs(coarse_vy) > 1) continue;
+                        
+                        int coarse_v_idx = (coarse_vy + 1) * 3 + (coarse_vx + 1);
+                        int v_out_idx = (vy + velocity_radius) * v_dim + (vx + velocity_radius);
+
+                        // 2. Calculate the projected center of the past pixel
+                        double proj_x = ((double) vx / velocity_decimate) * t;
+                        double proj_y = ((double) vy / velocity_decimate) * t;
+
+                        // Identify the source macro-pixel (Simplified: no border checks)
+                        int src_px = px - (int) Math.round(proj_x);
+                        int src_py = py - (int) Math.round(proj_y);
+                        int src_p = src_py * width + src_px;
+
+                        // Calculate the sub-pixel shift within the target macro-pixel
+                        double shift_x = proj_x - Math.round(proj_x);
+                        double shift_y = proj_y - Math.round(proj_y);
+
+                        // 3. Integrate over Output Spatial Subpixels
+                        for (int sx = 0; sx < pixel_decimate; sx++) {
+                            // Subpixel boundaries relative to the projected beam center
+                            double left_x = ((double) sx / pixel_decimate) - 0.5 - shift_x;
+                            double right_x = ((double) (sx + 1) / pixel_decimate) - 0.5 - shift_x;
+                            
+                            double weight_x = (trapezoidCDF(right_x, w_top, w_bot) - trapezoidCDF(left_x, w_top, w_bot)) / total_area;
+
+                            if (weight_x <= 0) continue;
+
+                            for (int sy = 0; sy < pixel_decimate; sy++) {
+                                double top_y = ((double) sy / pixel_decimate) - 0.5 - shift_y;
+                                double bottom_y = ((double) (sy + 1) / pixel_decimate) - 0.5 - shift_y;
+                                
+                                double weight_y = (trapezoidCDF(bottom_y, w_top, w_bot) - trapezoidCDF(top_y, w_top, w_bot)) / total_area;
+
+                                double total_weight = weight_x * weight_y * w_t;
+
+                                if (total_weight > 0) {
+                                    int sub_idx = sy * pixel_decimate + sx;
+                                    output[p][sub_idx][v_out_idx] += total_weight * historic_pixel_vel[t][src_p][coarse_v_idx];
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        return output;
+    }
+}
+
+
+

src/main/java/com/elphel/imagej/cuas/rt/TemporalKernelGenerator.java

+package com.elphel.imagej.cuas.rt;
+
+public class TemporalKernelGenerator {
+
+    public static class ConsolidationKernel {
+        public final int spatialRadius;
+        public final int spatialDim; // 2 * spatialRadius + 1
+       
+        // Maps high-res velocity index -> coarse 9-velocity index (0-8).
+        // Contains -1 if the high-res velocity falls outside the target tracking limit.
+        public final int[] coarseVIdx;
+       
+        // The Convolution Tensor
+        // Dimensions: [historic_t][v_out_idx][sub_idx][dy][dx]
+        // dy and dx are indices 0 to spatialDim-1, representing offsets from -spatialRadius to +spatialRadius
+        public final double[][][][][] weights;
+
+        public ConsolidationKernel(int numHistory, int numVOut, int numSub, int sRad) {
+            this.spatialRadius = sRad;
+            this.spatialDim = 2 * sRad + 1;
+            this.coarseVIdx = new int[numVOut];
+            this.weights = new double[numHistory][numVOut][numSub][spatialDim][spatialDim];
+        }
+        public int getSpatialRadius() {
+        	return spatialRadius;
+        }
+        public int getSpatialDim() {
+        	return spatialDim;
+        }
+        public double [][][][][] getKernel(){
+        	return weights;
+        }
+        public int [] getCoarseVIdx() {
+        	return coarseVIdx;
+        }
+    }
+
+    /**
+     * 1D Cumulative Distribution Function for a Trapezoid centered at 0.
+     */
+    private static double trapezoidCDF(double x, double w_top, double w_bot) {
+        double x0 = -w_bot / 2.0;
+        double x1 = -w_top / 2.0;
+        double x2 =  w_top / 2.0;
+        double x3 =  w_bot / 2.0;
+
+        if (x <= x0) return 0.0;
+
+        if (Math.abs(w_bot - w_top) < 1e-9) { // t=0 Boxcar
+            if (x >= x3) return w_bot;
+            return (x - x0);
+        }
+
+        double m = 1.0 / (x1 - x0);
+        double area_rising = 0.5 * m * (x1 - x0) * (x1 - x0);
+        double area_flat = 1.0 * (x2 - x1);
+
+        if (x <= x1) return 0.5 * m * (x - x0) * (x - x0);
+        if (x <= x2) return area_rising + 1.0 * (x - x1);
+        if (x <= x3) {
+            double dx = x - x2;
+            return area_rising + area_flat + (1.0 * dx - 0.5 * m * dx * dx);
+        }
+        return area_rising + area_flat + 0.5 * m * (x3 - x2) * (x3 - x2);
+    }
+
+    /**
+     * Generates the multi-dimensional consolidation tensor.
+     */
+    public static ConsolidationKernel generateKernel(
+            double[] temporal_weights,
+            int pixel_decimate,
+            int velocity_decimate,
+            int velocity_radius
+    ) {
+        int num_history = temporal_weights.length;
+        int num_subpixels = pixel_decimate * pixel_decimate;
+        int v_dim = 2 * velocity_radius + 1;
+        int num_velocities = v_dim * v_dim;
+
+        // Calculate the maximum required spatial neighborhood to catch all trapezoid spillover
+        double max_time = num_history > 0 ? num_history - 1 : 0;
+        double max_vel = (double) velocity_radius / velocity_decimate;
+        double max_shift = max_vel * max_time;
+        double max_width = 1.0 + max_time / velocity_decimate;
+        int spatial_radius = (int) Math.ceil(max_shift + max_width / 2.0);
+
+        ConsolidationKernel kernel = new ConsolidationKernel(num_history, num_velocities, num_subpixels, spatial_radius);
+
+        for (int vx = -velocity_radius; vx <= velocity_radius; vx++) {
+            for (int vy = -velocity_radius; vy <= velocity_radius; vy++) {
+               
+                int v_out_idx = (vy + velocity_radius) * v_dim + (vx + velocity_radius);
+               
+                // Map to coarse 3x3 velocity grid (-1, 0, 1)
+                int coarse_vx = (int) Math.round((double) vx / velocity_decimate);
+                int coarse_vy = (int) Math.round((double) vy / velocity_decimate);
+               
+                if (Math.abs(coarse_vx) > 1 || Math.abs(coarse_vy) > 1) {
+                    kernel.coarseVIdx[v_out_idx] = -1; // Outside tracking limit
+                    continue;
+                }
+               
+                kernel.coarseVIdx[v_out_idx] = (coarse_vy + 1) * 3 + (coarse_vx + 1);
+
+                for (int t = 0; t < num_history; t++) {
+                    double time_weight = temporal_weights[t];
+                    if (time_weight == 0) continue;
+
+                    double blur_width = (double) t / velocity_decimate;
+                    double w_bot = 1.0 + blur_width;
+                    double w_top = Math.abs(1.0 - blur_width);
+                    double total_area = 0.5 * (w_bot + w_top);
+
+                    // Loop over the spatial neighborhood (source macro-pixels)
+                    for (int dy = -spatial_radius; dy <= spatial_radius; dy++) {
+                        for (int dx = -spatial_radius; dx <= spatial_radius; dx++) {
+                           
+                            // Center of projected trapezoid from source pixel (dx, dy)
+                            double proj_x = dx + 0.5 + ((double) vx / velocity_decimate) * t;
+                            double proj_y = dy + 0.5 + ((double) vy / velocity_decimate) * t;
+
+                            for (int sy = 0; sy < pixel_decimate; sy++) {
+                                for (int sx = 0; sx < pixel_decimate; sx++) {
+                                   
+                                    int sub_idx = sy * pixel_decimate + sx;
+                                   
+                                    // Target subpixel bounds (relative to target macro-pixel 0,0)
+                                    double left_x = (double) sx / pixel_decimate;
+                                    double right_x = (double) (sx + 1) / pixel_decimate;
+                                    double top_y = (double) sy / pixel_decimate;
+                                    double bot_y = (double) (sy + 1) / pixel_decimate;
+
+                                    // Shift so trapezoid is centered at 0 for CDF
+                                    double weight_x = (trapezoidCDF(right_x - proj_x, w_top, w_bot) -
+                                                       trapezoidCDF(left_x - proj_x, w_top, w_bot)) / total_area;
+                                   
+                                    double weight_y = (trapezoidCDF(bot_y - proj_y, w_top, w_bot) -
+                                                       trapezoidCDF(top_y - proj_y, w_top, w_bot)) / total_area;
+
+                                    double final_weight = weight_x * weight_y * time_weight;
+
+                                    if (final_weight > 0) {
+                                        kernel.weights[t][v_out_idx][sub_idx][dy + spatial_radius][dx + spatial_radius] = final_weight;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        return kernel;
+    }
+}

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

@@ -1121,6 +1121,9 @@ min_str_neib_fpn	0.35
 	public double   cuas_max_disp_diff =   0.05;  // Maximal disparity difference during last change to consider disparity valid
 	public double   cuas_min_disp_str =    0.4;   // Minimal disparity strength to consider disparity valid
 	public double   cuas_rng_limit =       5000;  // maximal displayed distance to target
+	// CUAS Reltime
+	public boolean  curt_en =              false; // enable airplane mode
+	
 	// Airplane mode
 	public boolean  air_mode_en =          false; // enable airplane mode
 	public boolean  air_sync_ims =         true;  // IMS is synchronized
@@ -3338,6 +3341,10 @@ min_str_neib_fpn	0.35
 		gd.addNumericField("Maximal displayed distance",             this.cuas_rng_limit, 6,8,"m",
 				"Maximal displayed distance to target.");
 
+		gd.addTab("CUAS RT", "CUAS Real Time");
+		gd.addCheckbox ("CUAS realtime enable",                      this.curt_en,
+				"Enable testing of the realtime CUAS detection.");
+		//
 		gd.addTab("Airplane","Airplane mode (fast forward movement, low vertical speed");
 		gd.addCheckbox ("Enable airplane mode",                      this.air_mode_en,
 				"Apply algorithms specific to the airplane mode.");
@@ -4808,6 +4815,7 @@ min_str_neib_fpn	0.35
 		this.cuas_min_disp_str =        gd.getNextNumber();
 		this.cuas_rng_limit =           gd.getNextNumber();
 		
+		this.curt_en =                  gd.getNextBoolean();
 		this.air_mode_en =              gd.getNextBoolean();
 		this.air_sync_ims =             gd.getNextBoolean();
 		this.air_disp_corr =            gd.getNextBoolean();
@@ -6108,6 +6116,7 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_min_disp_str",    this.cuas_min_disp_str+"");   // double
 		properties.setProperty(prefix+"cuas_rng_limit",       this.cuas_rng_limit+"");      // double
 		
+		properties.setProperty(prefix+"curt_en",              this.curt_en+"");             // boolean
 		properties.setProperty(prefix+"air_mode_en",          this.air_mode_en+"");         // boolean
 		properties.setProperty(prefix+"air_sync_ims",         this.air_sync_ims+"");        // boolean
 		properties.setProperty(prefix+"air_disp_corr",        this.air_disp_corr+"");       // boolean
@@ -7391,6 +7400,7 @@ min_str_neib_fpn	0.35
 		if (properties.getProperty(prefix+"cuas_min_disp_str")!=null)    this.cuas_min_disp_str=Double.parseDouble(properties.getProperty(prefix+"cuas_min_disp_str"));
 		if (properties.getProperty(prefix+"cuas_rng_limit")!=null)       this.cuas_rng_limit=Double.parseDouble(properties.getProperty(prefix+"cuas_rng_limit"));
 
+		if (properties.getProperty(prefix+"curt_en")!=null)              this.curt_en=Boolean.parseBoolean(properties.getProperty(prefix+"curt_en"));
 		if (properties.getProperty(prefix+"air_mode_en")!=null)          this.air_mode_en=Boolean.parseBoolean(properties.getProperty(prefix+"air_mode_en"));
 		if (properties.getProperty(prefix+"air_sync_ims")!=null)         this.air_sync_ims=Boolean.parseBoolean(properties.getProperty(prefix+"air_sync_ims"));
 		if (properties.getProperty(prefix+"air_disp_corr")!=null)        this.air_disp_corr=Boolean.parseBoolean(properties.getProperty(prefix+"air_disp_corr"));
@@ -8655,6 +8665,7 @@ min_str_neib_fpn	0.35
 		imp.cuas_min_disp_str =     this.cuas_min_disp_str;
 		imp.cuas_rng_limit =        this.cuas_rng_limit;
 		
+		imp.curt_en =               this.curt_en;
 		imp.air_mode_en =           this.air_mode_en;
 		imp.air_sync_ims =          this.air_sync_ims;
 		imp.air_disp_corr =         this.air_disp_corr;

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

@@ -7238,18 +7238,42 @@ java.lang.NullPointerException
 		// Moved to the very end, after 3D
 //		boolean test_vegetation = true;
 		
+		if (master_CLT.hasCenterClt() && clt_parameters.imp.curt_en) { // cuas mode
+			if (debugLevel >-3) {
+				System.out.println("===== Running CUAS realtime testing. =====");
+			}
+			CuasRanging cuasRanging = new CuasRanging 	(
+					clt_parameters, // CLTParameters     clt_parameters,
+					false,          // boolean           realtime_mode,
+					master_CLT,     // QuadCLT           center_CLT,
+					quadCLTs,       // QuadCLT []        scenes,
+					debugLevel);    // int               debugLevel) {
+			CuasMotion cuasMotion = cuasRanging.detectTargets(
+					uasLogReader,   // UasLogReader    uasLogReader,
+					batch_mode);    // boolean         batch_mode)
+			if (cuasMotion == null) {
+				System.out.println("Failed target detection. Probably, radar mode was selected but target file does not exist (created with \"CUAS Combine\" command)");
+			} else {
+				if (debugLevel > -4) {
+					System.out.println("Target detection DONE");
+				}
+			}
+		}		
+
+		
 		if (master_CLT.hasCenterClt() && clt_parameters.imp.cuas_targets_en) { // cuas mode
 			if (debugLevel >-3) {
 				System.out.println("===== Running CUAS ranging. =====");
 			}
 			CuasRanging cuasRanging = new CuasRanging 	(
 					clt_parameters, // CLTParameters     clt_parameters,
-					master_CLT, // QuadCLT           center_CLT,
-					quadCLTs, // QuadCLT []        scenes,
-					debugLevel); // int               debugLevel) {
+					false,          // boolean           realtime_mode,
+					master_CLT,     // QuadCLT           center_CLT,
+					quadCLTs,       // QuadCLT []        scenes,
+					debugLevel);    // int               debugLevel) {
 			CuasMotion cuasMotion = cuasRanging.detectTargets(
-					uasLogReader, // UasLogReader    uasLogReader,
-					batch_mode);  // boolean         batch_mode)
+					uasLogReader,   // UasLogReader    uasLogReader,
+					batch_mode);    // boolean         batch_mode)
 			if (cuasMotion == null) {
 				System.out.println("Failed target detection. Probably, radar mode was selected but target file does not exist (created with \"CUAS Combine\" command)");
 			} else {