Working on Cuas RT

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

@@ -38,6 +38,8 @@ import java.util.HashMap;
 import java.util.HashSet;
 import java.util.List;
 import java.util.Properties;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 
 import javax.swing.JFileChooser;
 
@@ -2033,6 +2035,65 @@ public class EyesisCorrectionParameters {
 	    	return;
     	}
 
+    	public static String [] listModelNames(String [] source_tiff_paths) {
+    		HashSet<String> models_set = new HashSet<String>();
+    		for (String tiff_path: source_tiff_paths) {
+    			models_set.add(Path.of(tiff_path).getParent().getFileName().toString());
+    		}
+    		List<String> models_list = new ArrayList<>(models_set);
+    		Collections.sort(models_list);
+    		return models_list.toArray(new String[0]);
+    	}
+    	
+    	public static String [] listExistingModelPaths(
+    			String models_directory,
+    			String version, // if null, will return top directories
+    			String model_name_suffix, 
+    			String [] model_names) {
+    		ArrayList<String> existing_list = new ArrayList<String>();
+    		for (int i =0; i < model_names.length; i++) {
+    			String model_name = model_names[i] + ((model_name_suffix != null)?model_name_suffix:"");
+				String model_path = (version != null)?
+						Paths.get(models_directory, model_name, version).toString():
+							Paths.get(models_directory, model_name).toString();
+				if ((new File(model_path)).exists()){
+					existing_list.add(model_path);
+				}
+    		}
+    		return existing_list.toArray(new String[0]);
+    	}
+    	
+    	public static String[] getFilesByExtensionAsArray(String dirPath, String suffix) {
+    		Path path = Path.of(dirPath);
+    		/*
+    	        // Open a stream of the directory contents
+    	        try (Stream<Path> stream = Files.list(path)) {
+    	            return stream
+    	                // 1. Filter out subdirectories
+    	                .filter(Files::isRegularFile)
+    	                // 2. Match the end of the filename (case-insensitive example)
+    	                .filter(p -> p.getFileName().toString().toLowerCase().endsWith(suffix.toLowerCase()))
+    	                // 3. Collect matching paths to a list
+    	                .collect(Collectors.toList()); // Use .collect(Collectors.toList()) if on Java 15 or below
+    	        }
+    		 */
+
+    		try (Stream<Path> stream = Files.list(path)) {
+    			return stream
+    					.filter(Files::isRegularFile)
+    					// Convert Path object to String so the array holds Strings
+    					.map(p -> p.toString()) 
+    					.filter(s -> s.endsWith(suffix))
+    					// Convert directly to String array (Works perfectly in Java 8 to 21+)
+    					.toArray(String[]::new); 
+    		} catch (IOException | SecurityException e) {
+    			// TODO Auto-generated catch block
+    			return new String[0];
+    		}
+    	}
+//    					.filter(s -> s.toLowerCase().endsWith(suffix.toLowerCase()))
+
+
 // get list of source files in a directory
     	public String[]  selectSourceFileInSet(String setdir, int debugLevel) {
     		int num_chn_main = numSubCameras;
@@ -2670,6 +2731,12 @@ public class EyesisCorrectionParameters {
     		return dir;
     	}
 
+    	public String getX3dDirectory() {
+    		return x3dDirectory;
+    	}
+    	public String getX3dModelVersion() {
+    		return x3dModelVersion;
+    	}
     	public String selectX3dDirectory(boolean smart, boolean newAllowed) {
     		String dir= CalibrationFileManagement.selectDirectory(
     				smart,

src/main/java/com/elphel/imagej/common/ShowDoubleFloatArrays.java

@@ -22,6 +22,9 @@
  **
  */
 package com.elphel.imagej.common;
+import java.awt.Font;
+import javax.swing.UIManager;
+
 import java.awt.Rectangle;
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -150,6 +153,11 @@ import ij.process.ImageProcessor;
 	  }
   
   public static ImagePlus showArraysHyperstack(double[][] pixels, int width, int height,  int slices, String title, String [] titles, boolean show) {
+	// Explicitly push Java's fallback engine to use its universal "Dialog" family 
+	// This forces Kubuntu to dynamically pull the missing arrow glyphs from Noto Sans Symbols
+//	Font linuxFallbackFont = new Font("Dialog", Font.PLAIN, 12);
+//	UIManager.put("Label.font", linuxFallbackFont);
+//	UIManager.put("TableHeader.font", linuxFallbackFont); // Fixes stack window header text
 	  int i,j;
 	  if (pixels==null) {
 		  System.out.println("showDoubleFloatArrays.showArrays(): - pixel array is null");

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

@@ -909,6 +909,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 					addJButton("Aux Build Series", jpanelLWIRWorld, color_stop);
 					addJButton("CUAS Combine",     jpanelLWIRWorld, color_stop, "Combine previously processed CUAS series");
 					addJButton("CUAS Video",       jpanelLWIRWorld, color_stop, "Combine previously rendered  CUAS videos");
+					addJButton("CUAS RT",          jpanelLWIRWorld, color_stop, "CUAS Real-time Tests");
 					addJButton("Build World", jpanelLWIRWorld, color_process);
 					addJButton("Test IMX5", jpanelLWIRWorld, color_process);
 					addJButton("Show mice", jpanelLWIRWorld, color_process);
@@ -5551,6 +5552,14 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 					2); // int     cuas_proc_mode); // 0 - old, 1 combine scene series) {);
 			return;
 			/* ======================================================================== */
+		} else if (label.equals("CUAS RT")) {
+			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
+			CLT_PARAMETERS.batch_run = true;
+			buildSeries(
+					true,
+					3); // int     cuas_proc_mode); // 0 - old, 1 combine scene series) {);
+			return;
+			/* ======================================================================== */
 		} else if (label.equals("Aux Inter Test")) {
 			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
 			CLT_PARAMETERS.batch_run = true;
@@ -7650,7 +7659,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 	
 	public boolean buildSeries(
 			boolean use_aux,
-			int     cuas_proc_mode) { // 0 - old, 1 combine scene series) {
+			int     cuas_proc_mode) { // 0 - old, 1 combine scene series, 2 - combine video, 3 - RT tests) {
 		int lwir_level = CLT_PARAMETERS.lwir.getDebugLevel();
 		String slev = EyesisCorrections.stringLogLevel(lwir_level);
 		if (slev != null) {

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

@@ -88,7 +88,6 @@ public class CuasMultiSeries {
 			QuadCLT           quadCLT_main,
 			String            path,
 			String            version) {
-//		System.out.println ("CuasMultiSeries(): path="+path);
 		this.clt_parameters = clt_parameters;
 		double infinity = clt_parameters.imp.cuas_infinity;
 		File [] scene_dirs = (new File(path)).listFiles(); // may contain non-directories, will be filtered by filterScenes

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

@@ -1121,8 +1121,22 @@ 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
+	
+	// CUAS Realtime
+	public boolean  curt_en =              false; // enable cuas rt calculation
+	public int      curt_pyramid =         7;     // temporal pyramid levels
+	public double   curt_psf_radius =      1.6;   // sensor PSF radius for LoG pre-filter
+	public double   curt_n_sigma =         4.0;   // cutoff LoG kernel array, number of sigmas
+	public double   curt_rleak0 =          0.1;   // 1-ReLU leak (0 - linear, 1.0 - classic ReLU) for the LoG prefilter
+	
+	public double   curt_3d3_wnow =        0.5;   // Weight of the latest (now) temporal slice when creating coarse velocities
+	public double   curt_3d3_wprev =       0.5;   // Weight of the previous temporal slice when creating coarse velocities
+	public double   curt_rleak1 =          0.1;   // 1-ReLU leak (0 - linear, 1.0 - classic ReLU) for the coarse velocity 3d convolution
+
+	public int      curt_pix_decimate =    1;     // decimate pixel resolution
+	public int      curt_vel_decimate =    4;     // decimate velocities
+	public int      curt_vel_radius =      5;     // velocities radius in decimated samples
+	public double[] curt_temp_weights =    {1,1,1,1,1}; // historic weights for 5D convolution ([0] is the latest sample) 
 	
 	// Airplane mode
 	public boolean  air_mode_en =          false; // enable airplane mode
@@ -3344,6 +3358,30 @@ min_str_neib_fpn	0.35
 		gd.addTab("CUAS RT", "CUAS Real Time");
 		gd.addCheckbox ("CUAS realtime enable",                      this.curt_en,
 				"Enable testing of the realtime CUAS detection.");
+		gd.addNumericField("Temporal pyramid levels",                this.curt_pyramid, 0,3,"",
+				"Number of binary temporal pyramid levels.");
+		gd.addNumericField("Optical PSF radius",                     this.curt_psf_radius, 6,8,"pix",
+				"Sensor optical  PSF radius for the LoG pre-filter.");
+		gd.addNumericField("N-sigmas for LoG cutoff",                this.curt_n_sigma, 6,8,"x",
+				"Cutoff LoG kernel array, number of sigmas.");
+		gd.addNumericField("Reversed LReLU LoG leak",                this.curt_rleak0, 6,8,"x",
+				"1-ReLU leak (0 - linear, 1.0 - classic ReLU) for the LoG prefilter.");
+		gd.addNumericField("Coarse velocities weight now",           this.curt_3d3_wnow, 6,8,"x",
+				"Weight of the latest (now) temporal slice when creating coarse velocities.");
+		gd.addNumericField("Coarse velocities weight previous",      this.curt_3d3_wprev, 6,8,"x",
+				"Weight of the previous temporal slice when creating coarse velocities.");
+		gd.addNumericField("Reversed LReLU 3d3 leak",                this.curt_rleak1, 6,8,"x",
+				" 1-ReLU leak (0 - linear, 1.0 - classic ReLU) for the coarse velocity 3d convolution.");
+		gd.addNumericField("Pixel decimate",                         this.curt_pix_decimate, 0,3,"",
+				"Decimate pixels (increase resolution).");
+		gd.addNumericField("Velocity decimate",                      this.curt_vel_decimate, 0,3,"",
+				"Decimate velocities (increase velocity resolution).");
+		gd.addNumericField("Velocities radius",                      this.curt_vel_radius, 0,3,"",
+				"Velocities radius in decimated samples.");
+		gd.addStringField ("Historic weight for 5D convolution",  IntersceneMatchParameters.doublesToString(curt_temp_weights), 80,
+				"Historic weights for 5D convolution ([0] is the latest sample). Will be normalized");
+		
+		
 		//
 		gd.addTab("Airplane","Airplane mode (fast forward movement, low vertical speed");
 		gd.addCheckbox ("Enable airplane mode",                      this.air_mode_en,
@@ -4816,6 +4854,18 @@ min_str_neib_fpn	0.35
 		this.cuas_rng_limit =           gd.getNextNumber();
 		
 		this.curt_en =                  gd.getNextBoolean();
+		this.curt_pyramid =       (int) gd.getNextNumber();
+		this.curt_psf_radius =          gd.getNextNumber();
+		this.curt_n_sigma =             gd.getNextNumber();
+		this.curt_rleak0 =              gd.getNextNumber();
+		this.curt_3d3_wnow =            gd.getNextNumber();
+		this.curt_3d3_wprev =           gd.getNextNumber();
+		this.curt_rleak1 =              gd.getNextNumber();
+		this.curt_pix_decimate =  (int) gd.getNextNumber();
+		this.curt_vel_decimate =  (int) gd.getNextNumber();
+		this.curt_vel_radius =    (int) gd.getNextNumber();
+	    this.curt_temp_weights = IntersceneMatchParameters. StringToDoubles(gd.getNextString(), 0);
+		
 		this.air_mode_en =              gd.getNextBoolean();
 		this.air_sync_ims =             gd.getNextBoolean();
 		this.air_disp_corr =            gd.getNextBoolean();
@@ -6117,6 +6167,18 @@ min_str_neib_fpn	0.35
 		properties.setProperty(prefix+"cuas_rng_limit",       this.cuas_rng_limit+"");      // double
 		
 		properties.setProperty(prefix+"curt_en",              this.curt_en+"");             // boolean
+		properties.setProperty(prefix+"curt_pyramid",         this.curt_pyramid+"");        // int
+		properties.setProperty(prefix+"curt_psf_radius",      this.curt_psf_radius+"");     // double
+		properties.setProperty(prefix+"curt_n_sigma",         this.curt_n_sigma+"");        // double
+		properties.setProperty(prefix+"curt_rleak0",          this.curt_rleak0+"");         // double
+		properties.setProperty(prefix+"curt_3d3_wnow",        this.curt_3d3_wnow+"");       // double
+		properties.setProperty(prefix+"curt_3d3_wprev",       this.curt_3d3_wprev+"");      // double
+		properties.setProperty(prefix+"curt_rleak1",          this.curt_rleak1+"");         // double
+		properties.setProperty(prefix+"curt_pix_decimate",    this.curt_pix_decimate+"");   // int
+		properties.setProperty(prefix+"curt_vel_decimate",    this.curt_vel_decimate+"");   // int
+		properties.setProperty(prefix+"curt_vel_radius",      this.curt_vel_radius+"");     // int
+		properties.setProperty(prefix+"curt_temp_weights", IntersceneMatchParameters.doublesToString(this.curt_temp_weights));
+		
 		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
@@ -7401,6 +7463,21 @@ min_str_neib_fpn	0.35
 		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+"curt_pyramid")!=null)         this.curt_pyramid=Integer.parseInt(properties.getProperty(prefix+"curt_pyramid"));
+		if (properties.getProperty(prefix+"curt_psf_radius")!=null)      this.curt_psf_radius=Double.parseDouble(properties.getProperty(prefix+"curt_psf_radius"));
+		if (properties.getProperty(prefix+"curt_n_sigma")!=null)         this.curt_n_sigma=Double.parseDouble(properties.getProperty(prefix+"curt_n_sigma"));
+		if (properties.getProperty(prefix+"curt_rleak0")!=null)          this.curt_rleak0=Double.parseDouble(properties.getProperty(prefix+"curt_rleak0"));
+
+		if (properties.getProperty(prefix+"curt_3d3_wnow")!=null)        this.curt_3d3_wnow=Double.parseDouble(properties.getProperty(prefix+"curt_3d3_wnow"));
+		if (properties.getProperty(prefix+"curt_3d3_wprev")!=null)       this.curt_3d3_wprev=Double.parseDouble(properties.getProperty(prefix+"curt_3d3_wprev"));
+		if (properties.getProperty(prefix+"curt_rleak1")!=null)          this.curt_rleak1=Double.parseDouble(properties.getProperty(prefix+"curt_rleak1"));
+		
+		
+		if (properties.getProperty(prefix+"curt_pix_decimate")!=null)    this.curt_pix_decimate=Integer.parseInt(properties.getProperty(prefix+"curt_pix_decimate"));
+		if (properties.getProperty(prefix+"curt_vel_decimate")!=null)    this.curt_vel_decimate=Integer.parseInt(properties.getProperty(prefix+"curt_vel_decimate"));
+		if (properties.getProperty(prefix+"curt_vel_radius")!=null)      this.curt_vel_radius=Integer.parseInt(properties.getProperty(prefix+"curt_vel_radius"));
+		if (properties.getProperty(prefix+"curt_temp_weights")!=null) this.curt_temp_weights= IntersceneMatchParameters.StringToDoubles(properties.getProperty(prefix+"curt_temp_weights"),0); // use 0
+		
 		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"));
@@ -8666,6 +8743,18 @@ min_str_neib_fpn	0.35
 		imp.cuas_rng_limit =        this.cuas_rng_limit;
 		
 		imp.curt_en =               this.curt_en;
+		imp.curt_pyramid =          this.curt_pyramid;
+		imp.curt_psf_radius =       this.curt_psf_radius;
+		imp.curt_n_sigma =          this.curt_n_sigma;
+		imp.curt_rleak0 =           this.curt_rleak0;
+		imp.curt_3d3_wnow =         this.curt_3d3_wnow;
+		imp.curt_3d3_wprev =        this.curt_3d3_wprev;
+		imp.curt_rleak1 =           this.curt_rleak1;
+		imp.curt_pix_decimate =     this.curt_pix_decimate;
+		imp.curt_vel_decimate =     this.curt_vel_decimate;
+		imp.curt_vel_radius =       this.curt_vel_radius;
+		imp.curt_temp_weights =     this.curt_temp_weights.clone();
+		
 		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

@@ -62,6 +62,7 @@ import com.elphel.imagej.cuas.Cuas;
 import com.elphel.imagej.cuas.CuasCenterLma;
 import com.elphel.imagej.cuas.CuasMotion;
 import com.elphel.imagej.cuas.CuasRanging;
+import com.elphel.imagej.cuas.rt.CuasDetectRT;
 import com.elphel.imagej.gpu.GPUTileProcessor;
 import com.elphel.imagej.gpu.GpuQuad;
 import com.elphel.imagej.gpu.TpTask;
@@ -7238,36 +7239,12 @@ 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,
-					false,          // boolean           realtime_mode,
 					master_CLT,     // QuadCLT           center_CLT,
 					quadCLTs,       // QuadCLT []        scenes,
 					debugLevel);    // int               debugLevel) {

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

@@ -53,13 +53,16 @@ import java.util.concurrent.atomic.AtomicInteger;
 import com.elphel.imagej.cameras.CLTParameters;
 import com.elphel.imagej.cameras.ColorProcParameters;
 import com.elphel.imagej.cameras.EyesisCorrectionParameters;
+import com.elphel.imagej.cameras.EyesisCorrectionParameters.CorrectionParameters;
 import com.elphel.imagej.common.GenericJTabbedDialog;
 import com.elphel.imagej.common.LogTee;
 import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.correction.CorrectionColorProc;
 import com.elphel.imagej.correction.EyesisCorrections;
 import com.elphel.imagej.correction.SyncCommand;
+import com.elphel.imagej.cuas.CuasMotion;
 import com.elphel.imagej.cuas.CuasMultiSeries;
+import com.elphel.imagej.cuas.rt.CuasDetectRT;
 import com.elphel.imagej.gpu.ExportForGPUDevelopment;
 import com.elphel.imagej.gpu.GPUTileProcessor;
 import com.elphel.imagej.gpu.GpuQuad;
@@ -8541,9 +8544,9 @@ if (debugLevel > -100) return true; // temporarily !
 			// has no IMS data loaded.  setCameraLLA() is called in CuasRanging.addUasData()
 			// once center_CLT.did_ins_2 is available (from createCenterClt() or restoreCenterClt()).
 		}
+		String uas_sky_mask_path = quadCLT_main.correctionsParameters.getUasSkyMask();
 		switch (cuas_proc_mode) {
 		case 0 :
-			String uas_sky_mask_path = quadCLT_main.correctionsParameters.getUasSkyMask();
 			QuadCLT[] index_scenes = {null,null}; // [0] - first for this series, [1] - overall first
 			for (int nseq = 0; nseq < num_seq; nseq++) {
 				long start_time_seq = System.nanoTime();
@@ -8595,19 +8598,6 @@ if (debugLevel > -100) return true; // temporarily !
 					Arrays.sort(scene_names);
 				}
 				
-				
-				
-				/*
-				// Process UAS logs 
-				UasLogReader uasLogReader = null;
-				String uas_log_path = quadCLT_main.correctionsParameters.getUasLogsPath();
-				System.out.println("Using UAS log file: "+uas_log_path);
-				if ((uas_log_path != null) && (uas_log_path.length() > 0)) {
-					uasLogReader = new UasLogReader(uas_log_path, quadCLT_main.correctionsParameters.cuasUasTimeStamp, null, quadCLT_main);
-					uasLogReader.setCameraATR(quadCLT_main.correctionsParameters.cuasCameraATR);
-					uasLogReader.setUASHomeNed(quadCLT_main.correctionsParameters.cuasSetHome? quadCLT_main.correctionsParameters.cuasUASHome : null);
-				}
-				*/
 				if (debugLevel > -4)  {
 					System.out.println("cuas_centers="+((cuas_centers != null)?("[\""+cuas_centers[0]+"\",\""+cuas_centers[1]+"\"]"):"null"));
 				}
@@ -9185,6 +9175,83 @@ if (debugLevel > -100) return true; // temporarily !
 			cuasMultiSeries.combineVideos();
 			}
 			break;
+		case 3:
+		{
+			System.out.println("Processing realtime tests");
+			SetChannels [] set_channels_main = quadCLT_main.setChannels(debugLevel);
+			String [] scene_names = null;
+			if (set_channels_main != null) {
+				scene_names = new String[ set_channels_main.length];
+				for (int i = 0; i < scene_names.length; i++) {
+					scene_names[i] = set_channels_main[i].name();
+				}
+				Arrays.sort(scene_names);
+			}
+			
+			String model_suffix = "-CENTER";
+			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)+")\n");
+				if (pathFirstLast != null) {
+					File [] scene_dirs = (new File(pathFirstLast[nseq].path)).listFiles(); // may contain non-directories, will be filtered by filterScenes
+					System.out.println("scene_dirs.length="+scene_dirs.length);
+					System.out.println("pathFirstLast[nseq].path="+pathFirstLast[nseq].path);
+					
+					quadCLT_main.correctionsParameters.filterScenes(
+							scene_dirs, // File [] scene_dirs,
+							pathFirstLast[nseq].first, // int scene_first, // first scene to process
+							pathFirstLast[nseq].last); // int scene_last);  // last scene to process (negative - add length
+					/*
+					if (pathFirstLast[nseq].movement_size < 0) {
+						clt_parameters.imp.mov_en = false;
+						if (debugLevel > -4) {
+							System.out.println("Disabling movement detection for this scene.");
+						}
+					} else {
+						clt_parameters.imp.mov_en = true;
+						clt_parameters.imp.mov_max_len = pathFirstLast[nseq].movement_size;
+						if (debugLevel > -4) {
+							System.out.println("Enabling movement detection for this scene with maximum cluster linear size of "+
+									clt_parameters.imp.mov_max_len+" tiles.");
+						}
+					}
+					clt_parameters.imp.cuas_sky_path = uas_sky_mask_path;
+					if (clt_parameters.imp.cuas_sky_path != null) {
+						clt_parameters.imp.cuas_sky_offset = new double[] {pathFirstLast[nseq].mask_x,pathFirstLast[nseq].mask_y};
+					}
+					*/
+					String [] model_names = CorrectionParameters.listModelNames( quadCLT_main.correctionsParameters.getSourcePaths());
+					// below is valid for CUAS
+					String models_directory = quadCLT_main.correctionsParameters.getX3dDirectory();
+					String model_version =    quadCLT_main.correctionsParameters.getX3dModelVersion();
+					String [] model_paths = CorrectionParameters.listExistingModelPaths(
+							models_directory,
+							model_version,
+							model_suffix,
+							model_names);
+					if (model_paths.length > 0) {
+						for (int i = 0; i < model_paths.length; i++) {
+							System.out.println("Processing model directory: "+model_paths[i]);
+							// check if *-CUAS
+							CuasDetectRT cuasDetectRT = new CuasDetectRT(
+									 clt_parameters,  // CLTParameters     clt_parameters,
+									 uasLogReader,    // UasLogReader      uasLogReader,
+									 model_paths[i],  // 	String            model_directory) {
+									 debugLevel);     // int               debugLevel)
+							CuasMotion cuasMotion= cuasDetectRT.detectTargets(
+									clt_parameters,          // CLTParameters     clt_parameters,
+									(pathFirstLast != null), // boolean           batch_mode,
+									debugLevel);             // int               debugLevel) {
+							
+						}
+					} else {
+						System.out.println("No model paths match criteria");
+					}
+				}
+				System.out.println("nseq="+nseq);
+			}
+		}
+		break;
 		} // switch (cuas_proc_mode) {
 		
     	System.out.println("\n\n\nPROCESSING OF "+num_seq+" SCENE SEQUENCES is FINISHED in "+