Debugging, IMU-ERS

src/main/java/com/elphel/imagej/calibration/CalibrationIllustration.java

@@ -763,7 +763,7 @@ public class CalibrationIllustration {
 					try {
 					    Files.createSymbolicLink(newLink, target);
 					} catch (IOException x) {
-					    System.err.println(x);
+					    System.out.println(x);
 					} catch (UnsupportedOperationException x) {
 					    // Some file systems do not support symbolic links.
 					    System.err.println(x);
@@ -775,7 +775,7 @@ public class CalibrationIllustration {
 		return true;
 	}
 	
-	public int [] getStartEndTS(String p) {
+	public static int [] getStartEndTS(String p) {
 		int istart = p.lastIndexOf(Prefs.getFileSeparator());
 		if (istart < 0) {
 			istart = 0;

src/main/java/com/elphel/imagej/ims/EventLogger.java

@@ -267,6 +267,7 @@ public class EventLogger {
 			byte [][] payload,
 			int       debug_level) throws IOException // initialize to [2][] - will return a pair of byte arrays
 	{
+		int min_debug = 1; //-1 to enable
 		// 1 find file with the first subpacket
 		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) | EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
 		int file_index_below = 0; // if ts_master is between the two files? use last of previous
@@ -327,6 +328,10 @@ public class EventLogger {
 		double ts_below = logger_files[file_index_below].getMasterTS(nrec_below); 
 		double ts_above = logger_files[file_index_above].getMasterTS(nrec_above);
 		double frac = (ts_master - ts_below)/(ts_above - ts_below);
+		if ((debug_level >= min_debug) && (did == Imx5.DID_INS_2)) {
+			System.out.println (String.format("%6d - %6d frac=%6.4f, ts_master = %17.6f, ts_below = %17.6f, ts_above = %17.6f",
+					nrec_below, nrec_above, frac, ts_master, ts_below, ts_above));
+		}
 		
 		// now read both byte arrays and set byte [][] payload
 		EventLoggerFileInfo fileinfo_next_below =

src/main/java/com/elphel/imagej/ims/EventLoggerFileInfo.java

@@ -130,7 +130,12 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
 			for (; (nrec > first_last_index[0]) && (nrec < first_last_index[1]); nrec += drec) {
 				double ts_master_indx = getMasterTS(bb, nrec); 
 				if (after?(ts_master_indx <= ts_master):(ts_master_indx > ts_master)) {
-					break search_opposite; // return nrec;
+					// still need to check type, as master timestamp may be in wrong order
+					// Timestamp is frame start for images
+					int [] full_type = getFullType(bb, nrec);
+					if ((full_type != null) && (full_type[0] == type) && (full_type[1] == did)) {
+						break search_opposite; // return nrec;
+					}
 				}
 			}
 			System.out.println("getLastBeforeIndex(): could not find oppposite, ts_master="+ts_master+", after="+after);

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

@@ -194,8 +194,8 @@ public class ErsCorrection extends GeometryCorrection {
 	public double [] ers_wxyz_center;     // world camera XYZ (meters) for the lens center (in camera coordinates, typically 0)
 	public double [] ers_wxyz_center_dt;  // world camera Vx, Vy, Vz (m/s)
 	public double [] ers_wxyz_center_d2t; // world camera Vx, Vy, Vz (m/s^2)
-	public double [] ers_watr_center_dt;  // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
-	public double [] ers_watr_center_d2t; // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
+	public double [] ers_watr_center_dt;  // camera rotations (az, tilt, roll in radians/s, corresponding to the frame center)
+	public double [] ers_watr_center_d2t; // camera rotations (az, tilt, roll in radians/s, corresponding to the frame center)
 	
 // absolute position and orientation of this camera in World coordinates	
 	public double []    camera_xyz = new double[3];  // camera center in world coordinates

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

@@ -91,12 +91,12 @@ public class IntersceneLma {
 	public double [] getReferenceERSXYZ(boolean initial) { // never used
 		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
 		return new double[] {
-				full_vector[ErsCorrection.DP_DSVX],full_vector[ErsCorrection.DP_DSVY],full_vector[ErsCorrection.DP_DSVZ]};
+				full_vector[ErsCorrection.DP_DVX],full_vector[ErsCorrection.DP_DVY],full_vector[ErsCorrection.DP_DVZ]};
 	}
 	public double [] getReferenceERSATR(boolean initial) { // never used
 		double [] full_vector = initial? backup_parameters_full: getFullVector(parameters_vector);
 		return new double[] {
-				full_vector[ErsCorrection.DP_DSVAZ],full_vector[ErsCorrection.DP_DSVTL],full_vector[ErsCorrection.DP_DSVRL]};
+				full_vector[ErsCorrection.DP_DVAZ],full_vector[ErsCorrection.DP_DVTL],full_vector[ErsCorrection.DP_DVRL]};
 	}
 
 	public String [] printOldNew(boolean allvectors) {

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

@@ -75,6 +75,7 @@ public class IntersceneMatchParameters {
 				ims_mount_atr[2] * Math.PI/180};
 	}
 	public  boolean center_reference =   false;
+	public  boolean reset_photometric =  true;  // reset photometric calibration - once for each new series
 	public  boolean force_ref_dsi =      false; // true;
 	public  boolean force_orientations = false;
 	public  boolean run_ly =             false; // will return just after LY adjustments, skipping all output generation
@@ -298,7 +299,9 @@ public class IntersceneMatchParameters {
 	public  double  half_avg_diff =                 0.2;   // when L2 of x,y difference from average of neibs - reduce twice
 	
 	// Detect initial match
-	public boolean  use_combo_relaible =           true;  // use combo dsi if available for relaib;le tiles
+	public boolean  use_combo_relaible =           true;  // use combo dsi if available for relaible tiles
+	public boolean  ref_need_lma =                 true;  // need LMA output for reliable tiles (no combo available)
+	public boolean  ref_need_lma_combo =           true;  // need LMA output for reliable tiles (when combo is available)
 	public  double  min_ref_str =                   0.33;  // 0.22;  // For orientations: use only tiles of the reference scene DSI_MAIN is stronger  
 	public  double  min_ref_frac =                  0.2;   // 0.22;  if fraction number of reliable tiles is less than this, use best possible  
 	public  int     pix_step =                      4;     // Azimuth/tilt search step in pixels
@@ -513,6 +516,8 @@ public class IntersceneMatchParameters {
 		
 		gd.addCheckbox ("Use center scene as a reference",           this.center_reference,
 				"True for mapping with post-processing. If false, use the last scene as a reference (driving).");
+		gd.addCheckbox ("Reset photometric calibration",             this.reset_photometric,
+				"Reset photometric calibration, will use basic one before re-calibrating.");
 		gd.addCheckbox ("Force reference scene DSI calculation",     this.force_ref_dsi,
 				"Calculate reference scene DSI even if the file exists.");
 		gd.addCheckbox ("Force egomotion calculation",               this.force_orientations,
@@ -926,6 +931,10 @@ public class IntersceneMatchParameters {
 		
 		gd.addCheckbox ("Use combo DSI (if available) for reliable", this.use_combo_relaible,
 				"Use interscene DSI if available (instead of the single-scene) for selecting reliable tiles");
+		gd.addCheckbox ("Need LMA",                                  this.ref_need_lma,
+				"Require LMA result for reliable reference");
+		gd.addCheckbox ("Need LMA if combo",                         this.ref_need_lma_combo,
+				"Require LMA result for reliable reference");
 		
 		gd.addNumericField("DSI_MAIN minimal strength",              this.min_ref_str, 5,7,"",
 					"Match only tiles where DSI_MAIN is stronger than that (and has LMA).");
@@ -1202,6 +1211,7 @@ public class IntersceneMatchParameters {
 		this.sfm_extrapolate =                gd.getNextBoolean();
         
 		this.center_reference =               gd.getNextBoolean();
+		this.reset_photometric =              gd.getNextBoolean();
 		this.force_ref_dsi =                  gd.getNextBoolean();
 		this.force_orientations =             gd.getNextBoolean();
 		this.run_ly =                         gd.getNextBoolean();
@@ -1391,6 +1401,8 @@ public class IntersceneMatchParameters {
 		this.half_disparity =           gd.getNextNumber();
 		this.half_avg_diff =            gd.getNextNumber();
 		this.use_combo_relaible =       gd.getNextBoolean();
+		this.ref_need_lma =             gd.getNextBoolean();
+		this.ref_need_lma_combo =       gd.getNextBoolean();
 		this.min_ref_str =              gd.getNextNumber();
 		this.min_ref_frac =             gd.getNextNumber();
 		this.pix_step =           (int) gd.getNextNumber();
@@ -1579,6 +1591,7 @@ public class IntersceneMatchParameters {
 		properties.setProperty(prefix+"sfm_extrapolate",               this.sfm_extrapolate + "");             // boolean
 
 		properties.setProperty(prefix+"center_reference",              this.center_reference + "");            // boolean
+		properties.setProperty(prefix+"reset_photometric",             this.reset_photometric + "");           // boolean
 		properties.setProperty(prefix+"force_ref_dsi",                 this.force_ref_dsi + "");               // boolean
 		properties.setProperty(prefix+"force_orientations",            this.force_orientations + "");          // boolean
 		properties.setProperty(prefix+"run_ly",                        this.run_ly + "");                      // boolean
@@ -1777,7 +1790,9 @@ public class IntersceneMatchParameters {
 		properties.setProperty(prefix+"weight_zero_neibs",    this.weight_zero_neibs+"");   // double
 		properties.setProperty(prefix+"half_disparity",       this.half_disparity+"");      // double
 		properties.setProperty(prefix+"half_avg_diff",        this.half_avg_diff+"");       // double
-		properties.setProperty(prefix+"use_combo_relaible",   this.use_combo_relaible+"");   // boolean
+		properties.setProperty(prefix+"use_combo_relaible",   this.use_combo_relaible+"");  // boolean
+		properties.setProperty(prefix+"ref_need_lma",         this.ref_need_lma+"");        // boolean
+		properties.setProperty(prefix+"ref_need_lma_combo",   this.ref_need_lma_combo+"");  // boolean
 		properties.setProperty(prefix+"pix_step",             this.pix_step+"");            // int
 		properties.setProperty(prefix+"search_rad",           this.search_rad+"");          // int
 		properties.setProperty(prefix+"maybe_sum",            this.maybe_sum+"");           // double
@@ -1916,6 +1931,7 @@ public class IntersceneMatchParameters {
 		if (properties.getProperty(prefix+"sfm_extrapolate")!=null)    this.sfm_extrapolate=Boolean.parseBoolean(properties.getProperty(prefix+"sfm_extrapolate"));		
 		
 		if (properties.getProperty(prefix+"center_reference")!=null)              this.center_reference=Boolean.parseBoolean(properties.getProperty(prefix+"center_reference"));		
+		if (properties.getProperty(prefix+"reset_photometric")!=null)             this.reset_photometric=Boolean.parseBoolean(properties.getProperty(prefix+"reset_photometric"));		
 		if (properties.getProperty(prefix+"force_ref_dsi")!=null)                 this.force_ref_dsi=Boolean.parseBoolean(properties.getProperty(prefix+"force_ref_dsi"));		
 		if (properties.getProperty(prefix+"force_orientations")!=null)            this.force_orientations=Boolean.parseBoolean(properties.getProperty(prefix+"force_orientations"));		
 		if (properties.getProperty(prefix+"run_ly")!=null)                        this.run_ly=Boolean.parseBoolean(properties.getProperty(prefix+"run_ly"));		
@@ -2121,6 +2137,8 @@ public class IntersceneMatchParameters {
 		if (properties.getProperty(prefix+"half_disparity")!=null)       this.half_disparity=Double.parseDouble(properties.getProperty(prefix+"half_disparity"));
 		if (properties.getProperty(prefix+"half_avg_diff")!=null)        this.half_avg_diff=Double.parseDouble(properties.getProperty(prefix+"half_avg_diff"));
 		if (properties.getProperty(prefix+"use_combo_relaible")!=null)   this.use_combo_relaible=Boolean.parseBoolean(properties.getProperty(prefix+"use_combo_relaible"));		
+		if (properties.getProperty(prefix+"ref_need_lma")!=null)         this.ref_need_lma=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma"));		
+		if (properties.getProperty(prefix+"ref_need_lma_combo")!=null)   this.ref_need_lma_combo=Boolean.parseBoolean(properties.getProperty(prefix+"ref_need_lma_combo"));		
 		if (properties.getProperty(prefix+"pix_step")!=null)             this.pix_step=Integer.parseInt(properties.getProperty(prefix+"pix_step"));
 		if (properties.getProperty(prefix+"search_rad")!=null)           this.search_rad=Integer.parseInt(properties.getProperty(prefix+"search_rad"));
 		if (properties.getProperty(prefix+"maybe_sum")!=null)            this.maybe_sum=Double.parseDouble(properties.getProperty(prefix+"maybe_sum"));
@@ -2280,6 +2298,7 @@ public class IntersceneMatchParameters {
 		imp.sfm_extrapolate               = this.sfm_extrapolate;
 
 		imp.center_reference              = this.center_reference;
+		imp.reset_photometric             = this.reset_photometric;
 		imp.force_ref_dsi                 = this.force_ref_dsi;
 		imp.force_orientations            = this.force_orientations;
 		imp.run_ly                        = this.run_ly;
@@ -2477,6 +2496,8 @@ public class IntersceneMatchParameters {
 		imp.half_disparity        = this.half_disparity;
 		imp.half_avg_diff         = this.half_avg_diff;
 		imp.use_combo_relaible    = this.use_combo_relaible;
+		imp.ref_need_lma          = this.ref_need_lma;
+		imp.ref_need_lma_combo    = this.ref_need_lma_combo;
 		imp.pix_step =              this.pix_step;
 		imp.search_rad =            this.search_rad;
 		imp.maybe_sum =             this.maybe_sum;

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

@@ -3830,6 +3830,11 @@ public class OpticalFlow {
 		boolean photo_each_debug = !batch_mode && clt_parameters.photo_each_debug; // false; // true; // false;
 		boolean photo_each_debug2 = !batch_mode && clt_parameters.photo_each_debug; // false; // true; // false;
 		
+		double [] offsets_bkp=  quadCLT_ref.getLwirOffsets();
+		double [] scales_bkp=   quadCLT_ref.getLwirScales();
+		double [] scales2_bkp = quadCLT_ref.getLwirScales2();
+		String    photometric_scene_backup = quadCLT_ref.getPhotometricScene();
+		
 		for (int nrecalib = 0; nrecalib < photo_num_full; nrecalib++) { // maybe need to correct just offsets?
 			int poly_order = photo_order;
 			if ((poly_order > 1) && (nrecalib == 0)) {
@@ -3852,10 +3857,10 @@ public class OpticalFlow {
 					photo_each_debug);        //final boolean     debug)
 			if (!ok) {
 				System.out.println("************** Failed calibratePhotometric2, restoring original");
-				quadCLT_ref.setLwirOffsets(quadCLT_main.getLwirOffsets());
-				quadCLT_ref.setLwirScales (quadCLT_main.getLwirScales ());
-				quadCLT_ref.setLwirScales2(quadCLT_main.getLwirScales2());
-				quadCLT_ref.setPhotometricScene(quadCLT_main.getPhotometricScene());
+//				quadCLT_ref.setLwirOffsets(quadCLT_main.getLwirOffsets());
+//				quadCLT_ref.setLwirScales (quadCLT_main.getLwirScales ());
+//				quadCLT_ref.setLwirScales2(quadCLT_main.getLwirScales2());
+//				quadCLT_ref.setPhotometricScene(quadCLT_main.getPhotometricScene());
 				// Retry linear only
 				ok = QuadCLT.calibratePhotometric2(
 						clt_parameters,           // CLTParameters     clt_parameters,
@@ -3874,6 +3879,10 @@ public class OpticalFlow {
 						photo_each_debug);        //final boolean     debug)
 				if (!ok) {
 					System.out.println("Failed even linear photometric on pass "+nrecalib+", abandoning calibration");
+					quadCLT_ref.setLwirOffsets(offsets_bkp);
+					quadCLT_ref.setLwirScales (scales_bkp);
+					quadCLT_ref.setLwirScales2(scales2_bkp);
+					quadCLT_ref.setPhotometricScene(photometric_scene_backup);
 					break;
 				}
 				
@@ -4586,6 +4595,7 @@ public class OpticalFlow {
 	 */
     public String buildSeries(
     		boolean                                              batch_mode,
+    		boolean                                              first_in_series,
 			QuadCLT                                              quadCLT_main, // tiles should be set
 			int                                                  last_index, // -1 - last
 			CLTParameters                                        clt_parameters,
@@ -4607,6 +4617,7 @@ public class OpticalFlow {
     	int earliest_scene = 0;      // increase on failure
     	boolean center_reference =           clt_parameters.imp.center_reference;
     	int min_num_scenes =                 clt_parameters.imp.min_num_scenes; // abandon series if there are less than this number of scenes in it 
+    	boolean reset_photometric =          clt_parameters.imp.reset_photometric;
     	boolean build_ref_dsi =              clt_parameters.imp.force_ref_dsi;
     	boolean force_initial_orientations = clt_parameters.imp.force_orientations ;
     	boolean run_ly =                     clt_parameters.imp.run_ly; // run LY adjust and exit
@@ -4701,7 +4712,10 @@ public class OpticalFlow {
 		int     test_ers1 =          clt_parameters.imp.test_ers1; // try adjusting a pair of scenes with ERS. Other scene index
 		test_ers &= (test_ers0 >= 0) && (test_ers1 >= 0);
 		boolean use_combo_relaible = clt_parameters.imp.use_combo_relaible;
+		boolean ref_need_lma =       clt_parameters.imp.ref_need_lma;
+		boolean ref_need_lma_combo = clt_parameters.imp.ref_need_lma_combo;
 		double  min_ref_str =        clt_parameters.imp.min_ref_str;
+		
 		double min_ref_frac=         clt_parameters.imp.min_ref_frac;		
 		double [] ref_blue_sky = null; // turn off "lma" in the ML output  
 		if (reuse_video) { // disable all other options
@@ -4776,53 +4790,24 @@ public class OpticalFlow {
 //		while ((quadCLTs[ref_index] == null) || (quadCLTs[ref_index].getBlueSky() == null)) { // null
 //		String center_ts = null; // name of the center scene - not yet known
 		double [][] combo_dsn_final = null;
-		while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
-			//hasBlueSky()
-// creating early photometric			
-			
-	/*		
-			if (photo_en && !reuse_video) {
-				if (debugLevel > -3) {
-					System.out.println("**** Running photometric equalization *****");
-				}
-				if (combo_dsn_final == null) { // always re-read?
-	///				combo_dsn_final =quadCLTs[ref_index].readDoubleArrayFromModelDirectory( // always re-read?
-	///						"-INTER-INTRA-LMA", // String      suffix,
-	///						0, // int         num_slices, // (0 - all)
-	///						null); // int []      wh);
-					combo_dsn_final =quadCLTs[ref_index].restoreComboDSI(true); // also sets quadCLTs[ref_index].dsi and blue sky
-				}
-				
-				double [][] combo_dsn_final_filtered = 
-						conditionComboDsnFinal(
-								true,                // boolean        use_conf,       // use configuration parameters, false - use following  
-								clt_parameters,      // CLTParameters  clt_parameters,
-								combo_dsn_final,     // double [][]    combo_dsn_final, // dls,
-								quadCLTs[ref_index], // QuadCLT        scene,
-								debugLevel); // int            debugLevel);// > 0
-				// replace
-				runPhotometric(
-						clt_parameters,                   // CLTParameters       clt_parameters,
-						colorProcParameters,              // ColorProcParameters colorProcParameters,
-						set_channels[ref_index].set_name, // String set_name
-						quadCLTs,                         // QuadCLT[]           quadCLTs,
-						earliest_scene,                   // int                 earliest_scene,
-						last_index,                       // int                 last_scene,
-						ref_index,                        // int                 ref_index,
-						combo_dsn_final_filtered,         // double [][]         combo_dsn_final_filtered,
-						threadsMax,                       // int                 threadsMax,  // maximal number of threads to launch
-						updateStatus,                     //  boolean             updateStatus,
-						debugLevel);                      // int                 debugLevel);
-
-			} else {
-				if (debugLevel> -3) {
-					System.out.println("Using photometric calibration from scene "+quadCLTs[ref_index].getPhotometricScene());
-				}
+		
+		if (reset_photometric && first_in_series && build_ref_dsi) {
+			if (debugLevel > -3) {
+				System.out.println("buildSeries(): *** resetting photometric calibration for a new series ***");
 			}
-			
-	*/		
+			quadCLT_main.resetLwirCalibration();
+			// and immediately recalibrate offsets
+			quadCLTs[last_index] = (QuadCLT) quadCLT_main.spawnNoModelQuadCLT( // will conditionImageSet
+					set_channels[last_index].set_name,
+					clt_parameters,
+					colorProcParameters, //
+					threadsMax,
+					debugLevel-2);
 			
 			
+		}
+		
+		while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
 			if (build_ref_dsi) {
 				TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
 						// processing?
@@ -4954,6 +4939,8 @@ public class OpticalFlow {
 					int [] first_last_index = quadCLTs[ref_index].getFirstLastIndex(quadCLTs);
 					earliest_scene = first_last_index[0];
 					last_index =  first_last_index[1];
+				} else {
+					earliest_scene = start_ref_pointers[0];
 				}
 			} else if (ims_use) {	
 				earliest_scene =	Interscene.setInitialOrientationsIms(
@@ -5094,11 +5081,15 @@ public class OpticalFlow {
 									" is more than half-range. Reducing to "+num_avg_pairs);
 						}
 					}
+//					if (num_avg_pairs > (last_index - ref_index)) {
+//						num_avg_pairs = last_index - ref_index;
+//					}
 					QuadCLT[][][] scenes_seq_pairs = new QuadCLT[3][num_avg_pairs][2];
 					
 					// TODO: calculate horizontal offset and compare with sfm_min_base
 					for (int i = 0; i < num_avg_pairs; i++) {
-						scenes_seq_pairs[0][i][0] = quadCLTs[ref_index + num_avg_pairs - 1 - i];
+//						scenes_seq_pairs[0][i][0] = quadCLTs[ref_index + num_avg_pairs - 1 - i];
+						scenes_seq_pairs[0][i][0] = quadCLTs[last_index - i];
 						scenes_seq_pairs[0][i][1] = quadCLTs[earliest_scene + num_avg_pairs - 1 - i];
 						
 						scenes_seq_pairs[1][i][0] = quadCLTs[last_index - i];
@@ -5171,7 +5162,8 @@ public class OpticalFlow {
 							use_combo_relaible, // boolean use_combo,
 							min_ref_str,        // double min_strength,
 							min_ref_frac,       // double min_ref_frac,
-							true,               // boolean needs_lma);
+							ref_need_lma,       // boolean needs_lma);
+							ref_need_lma_combo, // boolean needs_lma);
 							reduced_strength);  // if not null will return >0 if had to reduce strength (no change if did not reduce)
 					
 					if (show_reliable_ref) {
@@ -5195,6 +5187,9 @@ public class OpticalFlow {
 					mb_max_gain = clt_parameters.imp.mb_max_gain_inter;
 				}
 				boolean        disable_ers = (quadCLTs[ref_index].getNumOrient() < 2); // first orient - no ERS!
+				boolean ers_from_ims = false; // change later
+				int            ers_mode = (quadCLTs[ref_index].getNumOrient() < 2) ? (ers_from_ims? 2 : 1):0;
+				ers_mode = 1; // TODO: remove later!
 				earliest_scene = Interscene.reAdjustPairsLMAInterscene( // after combo dsi is available and preliminary poses are known
 						clt_parameters, // CLTParameters  clt_parameters,
 						mb_max_gain,    // double         mb_max_gain,
@@ -5203,6 +5198,7 @@ public class OpticalFlow {
 						quadCLTs,       // QuadCLT []     quadCLTs,
 						ref_index,      // int            ref_index,
 						new int [] {earliest_scene, last_index},  //int     []     range,
+						ers_mode,       // int            ers_mode, // 0 - keep, 1 - set from velocity, 2 - set from IMS
 						!batch_mode,    // boolean        test_motion_blur,
 						debugLevel) ;   // int            debugLevel)
 				// should update earliest_scene

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

@@ -850,7 +850,11 @@ public class QuadCLT extends QuadCLTCPU {
 			int               threadsMax,
 			final boolean     debug)
 	{
-		
+	// does not update ref_scene if fails
+//		double [] offsets_bkp=  ref_scene.getLwirOffsets();
+//		double [] scales_bkp=   ref_scene.getLwirScales();
+//		double [] scales2_bkp = ref_scene.getLwirScales2();
+//		String    photometric_scene_backup = ref_scene.getPhotometricScene();
 		// filter disparity by LMA only, same bg and fg
 			double []         disparity_ref= combo_dsn_final[OpticalFlow.COMBO_DSN_INDX_DISP].clone();
 			for (int i = 0; i < disparity_ref.length; i++) {
@@ -928,7 +932,7 @@ public class QuadCLT extends QuadCLTCPU {
 			if (num_good < min_good) {
 				System.out.println("calibratePhotometric2(): Too few good pixels for calibration: "+
 			num_good+" < "+min_good+", abandoning photometric calibration.");
-				return false;
+				return false; // nothing changed?
 			}
 			avg_img /= num_good;
 			double wavg_offs = photo_offs;
@@ -965,7 +969,7 @@ public class QuadCLT extends QuadCLTCPU {
 						double d2 = b*b - 4 * a * c;
 						if (d2 < 0) {
 							System.out.println("calibratePhotometric2() 0: Failed quadratic: a = "+a+", b = "+b+", c="+c);
-							return false;
+							return false;  // nothing changed?
 						}
 						p= (-b + Math.sqrt(d2))/(2 * a);
 					}
@@ -1034,7 +1038,7 @@ public class QuadCLT extends QuadCLTCPU {
 						c = -s/num_good*b;
 						if (Double.isNaN(c)) {
 							System.out.println("calibratePhotometric2().1 c=NaN");
-							return false;
+							return false;  // nothing changed?
 						}
 					} else {
 					// need to balance quadratic so their average is 0	
@@ -1045,26 +1049,26 @@ public class QuadCLT extends QuadCLTCPU {
 						a = (pa_coeff[nsens].length > 2) ? pa_coeff[nsens][2] : 0.0;
 						if (Double.isNaN(c)) {
 							System.out.println("calibratePhotometric2().2 c=NaN");
-							return false;
+							return false;  // nothing changed?
 						}
 					}
 					double A = a;
 					double C = -c/b;
 					if (Double.isNaN(C)) {
 						System.out.println("calibratePhotometric2().3 C=NaN");
-						return false;
+						return false; // nothing changed?
 					}
 
 					if (Math.abs(a) >= min_abs_a) {
 						double d2 = b*b - 4*a*c;
 						if (d2 < 0) {
 							System.out.println("calibratePhotometric2() 1: Failed quadratic: a = "+a+", b = "+b+", c="+c);
-							return false;
+							return false; // nothing changed?
 						}
 						C = (-b + Math.sqrt(d2))/(2 * a);
 						if (Double.isNaN(C)) {
 							System.out.println("calibratePhotometric2().4 C=NaN");
-							return false;
+							return false; // nothing changed?
 						}
 					}
 					double B = 2 * C * a + b;
@@ -1124,7 +1128,7 @@ public class QuadCLT extends QuadCLTCPU {
 						offs_new[nsens] =   -c/b;
 						if (Double.isNaN(offs_new[nsens])) {
 							System.out.println("calibratePhotometric2().5 offs_new[nsens]=NaN");
-							return false;
+							return false;  // nothing changed?
 						}
 
 					}

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

@@ -212,9 +212,9 @@ public class QuadCLTCPU {
     				}
     			}
     		}
-    		return -2;
+    		return -2; // timestamp_reference defined
     	}
-    	return -1;
+    	return -1; // timestamp_reference is not defined
     }
     
     /**
@@ -260,7 +260,7 @@ public class QuadCLTCPU {
      * Set reference scene pointer by a reference scene instance.
      * @param scene reference scene instance
      */
-    public void setRefPointer(QuadCLTCPU scene) {
+    public void setRefPointer(QuadCLTCPU scene) { // not used!
     	setRefPointer(scene.getImageName());
     }
     
@@ -324,14 +324,20 @@ public class QuadCLTCPU {
     
     public double getAverageZ(boolean use_lma) {
     	double [][] dls = getDLS();
+    	int min_defined = 100;
     	if (dls==null) {
     		return Double.NaN;
     	}
     	double [][] ds = new double [][] {dls[use_lma?1:0], dls[2]};
     	double sw=0, swd=0;
-    	for (int i = 0; i < ds[0].length; i++) if (!Double.isNaN(ds[0][i])){
+    	int num_defined = 0;
+    	for (int i = 0; i < ds[0].length; i++) if (!Double.isNaN(ds[0][i])){ // java.lang.NullPointerException
     		sw +=   ds[1][i];
     		swd +=  ds[0][i] * ds[1][i];
+    		num_defined++;
+    	}
+    	if ((num_defined < min_defined) && use_lma) {
+    		return getAverageZ(false);
     	}
     	double disp_avg = swd/sw;
     	double z_avg = getGeometryCorrection().getZFromDisparity(disp_avg);
@@ -2041,6 +2047,7 @@ public class QuadCLTCPU {
 			double min_strength,
 			double min_ref_frac,
 			boolean needs_lma,
+			boolean needs_lma_combo,
 			double [] reduced_strength // if not null will return >0 if had to reduce strength (no change if did not reduce)
 			) {
 		int NUM_BINS = 1024;
@@ -2051,6 +2058,7 @@ public class QuadCLTCPU {
 		if (use_combo) {
 			readComboDSI (silent);
 			main_dsi = this.dsi;
+			needs_lma = needs_lma_combo;
 		} else {
 			main_dsi =  readDsiMain();
 		}
@@ -3418,6 +3426,11 @@ public class QuadCLTCPU {
     public boolean isLwirCalibrated() {
     	return lwir_offsets != null;
     }
+    public void resetLwirCalibration() {
+    	lwir_offsets = null;
+    	lwir_scales =  null;
+    	lwir_scales2 = null;
+    }
     public double [] getLwirOffsets() {
     	if (lwir_offsets == null) {
     		lwir_offsets = new double [getNumSensors()];
@@ -6642,7 +6655,7 @@ public class QuadCLTCPU {
 		  if (is_lwir && (lwir_subtract_dc || lwir_eq_chn)) {
 			  if (recalc_lwir_offsets || !isLwirCalibrated()) {
 //				  this.lwir_offsets = 
-				  setLwirOffsets(
+				  setLwirOffsets( // may have 4096 offset
 						  channelLwirEqualize( // now only calculates offsets, does not apply
 								  channelFiles,
 								  imp_srcs,
@@ -6680,12 +6693,12 @@ public class QuadCLTCPU {
 						  set_name, // just for debug messages == setNames.get(nSet)
 						  threadsMax,
 						  debugLevel);
-				  double avg_offs = 0.0;
+				  double avg_foffs = 0.0;
 				  for (int i = 0; i < fix_offsets.length; i++) if (i != needs_fix) {
-					  avg_offs += fix_offsets[i];
+					  avg_foffs += fix_offsets[i];
 				  }
-				  avg_offs /= (fix_offsets.length - 1);
-				  int icorr =  (int) Math.round((avg_offs - fix_offsets[needs_fix])/4096);
+				  avg_foffs /= (fix_offsets.length - 1);
+				  int icorr =  (int) Math.round((avg_foffs - fix_offsets[needs_fix])/4096);
 				  if (icorr != 0) {
 					  float fcorr = icorr*4096;
 					  System.out.println("Correcting "+imp_srcs[needs_fix].getTitle()+" by "+fcorr);
@@ -6694,6 +6707,20 @@ public class QuadCLTCPU {
 						  pixels[i] += fcorr;
 					  }
 				  }
+				  // There was a bug (11/25/2003) that offsets[6] was 4096 lower
+				  double avg_offs = 0.0;
+				  for (int i = 0; i < fix_offsets.length; i++) if (i != needs_fix) {
+					  avg_offs += fix_offsets[i];
+				  }
+				  avg_offs /= (fix_offsets.length - 1);
+				  int icorr_bug = (int) Math.round((avg_offs - offsets[needs_fix])/4096);
+				  if (icorr_bug != 0) {
+					  System.out.println("conditionImageSet()): Fixing correction bug for "+imp_srcs[needs_fix].getTitle());
+					  offsets[needs_fix]+=icorr_bug*4096;
+					  setLwirOffsets(offsets);
+				  }
+				  
+				  
 			  } else {
 				  for (int i = 0; i < imp_srcs.length; i++) {
 					  if (ImagejJp4Tiff.needsFix000E6410C435(imp_srcs[i])) {
@@ -16063,7 +16090,7 @@ public class QuadCLTCPU {
 					  ts, // double timestamp,
 					  gps_lla); // double [] lla)
 		  } else {
-			  if (debugLevel > -2) {
+			  if (debugLevel > -1) {
 				  System.out.println("GPS data not available, skipping KML file generation (TODO: maybe make some default LLA?)");
 			  }
 		  }

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

@@ -2998,7 +2998,7 @@ if (debugLevel > -100) return true; // temporarily !
 			boolean                                  search_KML,
 			final int                                debugLevel) // throws Exception
 	{
-
+		int min_dbg = 0;
 		String [] sourceFiles_main=quadCLT_main.correctionsParameters.getSourcePaths();
 		//
 		//		  String [] sourceFiles_aux=quadCLT_main.correctionsParameters.getSourcePaths();
@@ -3044,7 +3044,7 @@ if (debugLevel > -100) return true; // temporarily !
 		boolean already_copied = false;
 		if (!dir.exists()){
 			dir.mkdirs();
-			System.out.println("Created "+dir);
+			if (debugLevel >= min_dbg) System.out.println("Created "+dir);
 		} else if (skip_existing) {
 			if (dir.list().length > 0) {
 				already_copied = true;
@@ -3071,7 +3071,7 @@ if (debugLevel > -100) return true; // temporarily !
 					debugLevel ); // also generated with x3d model
 		}
 		if (already_copied) {
-			System.out.println("Skipping existing directory "+dir);
+			if (debugLevel >= min_dbg) System.out.println("Skipping existing directory "+dir);
 			return;
 		}
 		for (String fname:path_list) {
@@ -3082,14 +3082,14 @@ if (debugLevel > -100) return true; // temporarily !
 							(file).toPath(),
 							(new File(jp4_copy_path + Prefs.getFileSeparator()+file.getName())).toPath(),
 							StandardCopyOption.REPLACE_EXISTING);
-					System.out.println("Copied "+fname+" -> "+dir);
+					if (debugLevel >= min_dbg) System.out.println("Copied "+fname+" -> "+dir);
 				} catch (IOException e) {
 					// TODO Auto-generated catch block
 					System.out.println("Failed to copy "+fname+" -> "+dir);
 				}
 			}
 		}
-		System.out.println("jp4_copy_path = "+jp4_copy_path);
+		if (debugLevel >= min_dbg) System.out.println("jp4_copy_path = "+jp4_copy_path);
 		//		  System.out.println("Do something useful here");
 	}
 
@@ -8582,7 +8582,7 @@ if (debugLevel > -100) return true; // temporarily !
 		
 		for (int nseq = 0; nseq < num_seq; nseq++) {
 	    	long start_time_seq = System.nanoTime();
-	    	System.out.println("\nSTARTED PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+")");
+	    	System.out.println("\nSTARTED PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+")\n");
 			if (pathFirstLast != null) {
 				File [] scene_dirs = (new File(pathFirstLast[nseq].path)).listFiles(); // may contain non-directories, will be filtered by filterScenes
 				quadCLT_main.correctionsParameters.filterScenes(
@@ -8609,9 +8609,11 @@ if (debugLevel > -100) return true; // temporarily !
 			int [][] widths_list = new int [1][];
 			int ref_index = -1; // -1 - last
 			int [] start_ref_pointers = new int[2];
+			boolean     first_in_series = true;
 			while ((ref_index < 0) || ((ref_index + 1) >= min_num_scenes)) {
 				String model_directory = opticalFlow.buildSeries(
 						(pathFirstLast != null),   //boolean                                              batch_mode,
+						first_in_series, // boolean                     first_in_series,
 						quadCLT_main,              // QuadCLT                                              quadCLT_main, // tiles should be set
 						ref_index,                 // int                                                  ref_index, // -1 - last
 						clt_parameters,            // CLTParameters             clt_parameters,
@@ -8629,8 +8631,19 @@ if (debugLevel > -100) return true; // temporarily !
 						updateStatus, // final boolean    updateStatus,
 						debugLevel+2); // final int        debugLevel)
 				if (model_directory == null) {
+					// TODO: Save continueation after failure not to retry each run
 					System.out.println("Failed to build sequence for series "+ref_index);
-					break; // and go to the to next scene sequence from the list
+					if (start_ref_pointers[0] < (min_num_scenes-1)) {
+						break;
+					}
+					ref_index = start_ref_pointers[0]; // continue from the same attached to the previous reference
+					System.out.println("Continue from index "+ref_index);
+					continue; // and go to the to next scene sequence from the list
+				}
+				first_in_series = false; // at least once success in this series
+				System.out.println("adding to video_sets_list start="+start_ref_pointers[0]+", end="+start_ref_pointers[1]);
+				for (int i= 0; i < video_list[0].length; i++) {
+					System.out.println(i+": "+video_list[0][i]+", "+widths_list[0][i]);
 				}
 				video_sets_list.add(new VideoSet(
 						video_list[0], // String [] paths,
@@ -8639,9 +8652,9 @@ if (debugLevel > -100) return true; // temporarily !
 						start_ref_pointers[1])); // int reference_scene);
 				
 				String series_action = (start_ref_pointers[0] < (min_num_scenes-1))?"is FINISHED ":("will continue down from scene "+(start_ref_pointers[0]));
-				System.out.println("PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+") "+series_action+" in "+
+				System.out.println("\n ----- PROCESSING SCENE SEQUENCE "+nseq+" (last is "+(num_seq-1)+") "+series_action+" in "+
 						IJ.d2s(0.000000001*(System.nanoTime()-start_time_seq),3)+" sec ("+
-						IJ.d2s(0.000000001*(System.nanoTime()-start_time_all),3)+" sec from the overall start");
+						IJ.d2s(0.000000001*(System.nanoTime()-start_time_all),3)+" sec from the overall start\n");
 				// will open dialog if does not exist
 				String linkedModelsDirectory = quadCLT_main.correctionsParameters.selectLinkedModelsDirectory(true,true);
 				if ((linkedModelsDirectory != null) && (linkedModelsDirectory.length() > 0)) {
@@ -8694,6 +8707,8 @@ if (debugLevel > -100) return true; // temporarily !
 					//				String spath0 = video_lists[0][nvideo];
 					String name0 = Paths.get(video_sets_list.get(0).getVideoPaths()[nvideo]).getFileName().toString();
 					String name1 = Paths.get(video_sets_list.get(video_sets_list.size()-1).getVideoPaths()[nvideo]).getFileName().toString();
+					System.out.println("name0=     "+name0);
+					System.out.println("     name1="+name1);
 					String ts_sec0=name0.substring(0,name0.indexOf("_")); // seconds of the first timestamp
 					String ts_sec1=name1.substring(0,name1.indexOf("_")); // seconds of the last timestamp
 					String suffix0 = name0.substring(name0.indexOf("-")); // Skip timestamp
@@ -8709,7 +8724,7 @@ if (debugLevel > -100) return true; // temporarily !
 		    		int this_stereo_width = 0;
 		    		int num_segments=0;
 		    		for (int i = 0; i <video_sets_list.size(); i++) {
-		    			if (video_sets_list.size() > nvideo) {
+		    			if (video_sets_list.size() >= nvideo) {
 		    				if ((new File(video_sets_list.get(i).getVideoPaths()[nvideo])).exists()) {
 		    					writer.println("file '"+video_sets_list.get(i).getVideoPaths()[nvideo]+"'");
 		    					if (stereo_pad) {
@@ -8780,7 +8795,7 @@ if (debugLevel > -100) return true; // temporarily !
 				}
 			}
 		} else {
-			System.out.println("No combined videos are generated");
+			System.out.println("No combined videos are generated (<2 videos).");
 		}