Before correcting imu drift

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

@@ -141,8 +141,9 @@ public class CalibrationFileManagement {
 				  (dir!=null) &&
 				  (defaultPath.length()>1) && // skip "/"
 				  save &&
-				  !dir.exists()) dir.mkdirs();
-
+				  !dir.exists()) {
+			  dir.mkdirs();
+		  }
 
 		  // see if defaultPath matches
 		  if (smart &&
@@ -155,9 +156,11 @@ public class CalibrationFileManagement {
 		  }
 
 		  if ((dir==null) || (!dir.exists())) {
-			  if (DEFAULT_DIRECTORY!=null) {
+			  if (smart && (DEFAULT_DIRECTORY!=null)) { // 07.15.2025
 				  defaultPath = DEFAULT_DIRECTORY;
 				  dir = new File(defaultPath);
+			  } else {  // 07.15.2025
+				  return null;
 			  }
 		  }
 		  if ((dir==null) || (!dir.exists())) {

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

@@ -2576,6 +2576,9 @@ public class EyesisCorrectionParameters {
     						null, // filter
     						name); //this.x3dDirectory + Prefs.getFileSeparator()+name); //this.sourceDirectory);
     			}
+    			if (dir == null) {
+    				return null; // 07.15.2025
+    			}
         		while (dir.endsWith(Prefs.getFileSeparator())) {
         			dir = dir.substring(0, dir.length()-1);
         		}

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

@@ -1604,7 +1604,17 @@ public class Interscene {
 					quat_corr, // double []  quat_corr, // only applies to rotations - verify!
 					debugLevel) ; // int        debugLevel)
 		}
-		if (true) { //  lock_position) { // zero linear offsets
+		boolean debug_ims_xyzatr = true;
+		if (debug_ims_xyzatr) {
+			System.out.println("setInitialOrientationsCuas(): lock_position(set x,y,z = 0)="+lock_position);
+			System.out.println(String.format("%6s, %20s, %15s, %15s, %15s, %15s, %15s, %15s", "index","timestamp", "X", "Y", "Z", "Azimuth", "Tilt", "Roll"));
+			for (int i = 0; i < quadCLTs.length; i++) {
+				System.out.println(String.format("%6d, %20s, %15.12f, %15.12f, %15.12f, %15.12f, %15.12f, %15.12f", i,quadCLTs[i].getImageName(),
+						ims_xyzatr[i][0][0],ims_xyzatr[i][0][1],ims_xyzatr[i][0][2],ims_xyzatr[i][1][0],ims_xyzatr[i][1][1],ims_xyzatr[i][1][2]));
+			}
+		}
+		
+		if (lock_position) { //  lock_position) { // zero linear offsets
 			for (int i = 0; i < quadCLTs.length; i++) for (int j = 0; j < 3; j++){
 				ims_xyzatr[i][0][j]=0.0;
 			}

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

@@ -4451,8 +4451,8 @@ public class OpticalFlow {
 			dsi = quadCLT_ref.dsi;
 		}
 		double [][] combo_dsi = null;
-		if (dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) {
-			System.out.println("DSI_MAIN file has old format and does not have spread data, will recalculate.");
+		if ((dsi[TwoQuadCLT.DSI_SPREAD_AUX] == null) && (!quadCLT_ref.hasCenterClt())) {
+			System.out.println("DSI_MAIN file has old format and does not have spread data, no center/cuas, will recalculate.");
 		} else {
 			if ((dsi[TwoQuadCLT.DSI_BLUE_SKY_AUX] == null) || sky_recalc) { //
 				// Sets quadCLT_ref.dsi and blue sky (if exists)
@@ -5096,11 +5096,13 @@ public class OpticalFlow {
 //		String center_ts = null; // name of the center scene - not yet known
 		double [][] combo_dsn_final = null;
 		
-		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();
+//		if (reset_photometric && first_in_series && build_ref_dsi) {
+		if (reset_photometric && first_in_series) {
+			if (build_ref_dsi || ((center_CLT != null) && center_CLT.hasCenterClt())) {
+				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,
@@ -5108,6 +5110,7 @@ public class OpticalFlow {
 					colorProcParameters, //
 					threadsMax,
 					debugLevel-2);
+			}
 		}
 		
 		//************* move loading center DSI here before building reference DSI. Or after "blue sky 
@@ -5115,7 +5118,9 @@ public class OpticalFlow {
 		QuadCLT source_CLT = (center_CLT != null) ? center_CLT :quadCLTs[last_index];
 ///		while ((quadCLTs[last_index] == null) || !quadCLTs[last_index].hasBlueSky()) { // null
 //		while ((quadCLTs[last_index] == null) || (!source_CLT.hasBlueSky() && !use_cuas)) { // null FIXME 07.08.2025. added && !use_cuas to prevent forever loop
-		while ((quadCLTs[last_index] == null) || !source_CLT.hasBlueSky()) { // null FIXME 07.08.2025. added && !use_cuas to prevent forever loop. Restores - needs once at least, will break
+//		while ((quadCLTs[last_index] == null) || !source_CLT.hasBlueSky()) { // null FIXME 07.08.2025. added && !use_cuas to prevent forever loop. Restores - needs once at least, will break
+//		while ((quadCLTs[last_index] == null) || !source_CLT.hasBlueSky()) { // null FIXME 07.08.2025. added && !use_cuas to prevent forever loop. Restores - needs once at least, will break
+		while (true) { // null FIXME 07.08.2025. added && !use_cuas to prevent forever loop. Restores - needs once at least, will break
 			if (build_ref_dsi) {
 				TwoQuadCLT.copyJP4src( // actually there is no sense to process multiple image sets. Combine with other
 						// processing?
@@ -5195,6 +5200,9 @@ public class OpticalFlow {
 //					center_ts = getReferenceTimestamp(); //??
 				}
 			}
+			if ((quadCLTs[last_index] != null) && source_CLT.hasBlueSky()) { // null FIXME 07.08.2025. added && !use_cuas to prevent forever loop. Restores - needs once at least, will break
+				break; // was while header
+			}
 			if (use_cuas) {
 				System.out.println("Breaking in cuas mode without hasBlueSky() - fix later?");
 				break;

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

@@ -414,8 +414,8 @@ public class QuadCLTCPU {
 		String center_name =  QuadCLT.getCenterDirName(ref_clt.getImageName());
 		// allow creation, otherwise returns config
 		String center_dir_path = ref_clt.setX3dDirectory(center_name); // setX3dDirectory(center_name); // gets /home/elphel/lwir16-proc/eagle_mountain/configs!
-		File cdir = new File(center_dir_path);
 		QuadCLT center_CLT = null;
+		File cdir = (center_dir_path!=null) ? new File(center_dir_path) : null;
 		if (!ignore_this) {
 			// Try to read this (created/tuned) center_CLT
 			try_read_center: {
@@ -423,6 +423,7 @@ public class QuadCLTCPU {
 					System.out.println("restoreCenterClt(): directory does not exist: "+center_dir_path);
 					break try_read_center;
 				}
+//				cdir = new File(center_dir_path);
 				if (!cdir.exists() || !cdir.isDirectory()) {
 					System.out.println("restoreCenterClt(): directory does not exist or is not a directory: "+center_dir_path);
 					break try_read_center;
@@ -489,8 +490,16 @@ public class QuadCLTCPU {
 		if ((center_CLT == null) && (full_path == null)) {
 				System.out.println("restoreCenterClt(): parent directory is not provided, and this model data does not exist - bailing out.");
 				return null;
-		}		
+		}
+
+		
+		
 		if (use_parent_dsi || (center_CLT == null)) { // so parent parentCuasData and parent_dsi both exist
+			if (cdir == null) {
+				System.out.println("restoreCenterClt(): cdir == null - bailing out.");
+				return null;
+			}
+
 			// Create new center_CLT
 			if (center_CLT == null) {
 				center_CLT = new QuadCLT(ref_clt, center_name);
@@ -3165,6 +3174,9 @@ public class QuadCLTCPU {
     	this.lwir_cold_hot =          ErsCorrection.clone1d(qParent.lwir_cold_hot);
     	this.ds_from_main =           ErsCorrection.clone2d(qParent.ds_from_main);
     	this.tp =                     qParent.tp;
+// 07.15.2025
+    	this.quat_corr =       (qParent.quat_corr != null) ? qParent.quat_corr.clone():null;
+    	this.enu_corr_metric = (qParent.enu_corr_metric != null) ? qParent.enu_corr_metric.clone():null;
     }
 
     public boolean hasGPU() {
@@ -3327,7 +3339,7 @@ public class QuadCLTCPU {
     	String x3d_path = correctionsParameters.selectX3dDirectory( // for x3d and obj
     			name,       // quad timestamp. Will be ignored if correctionsParameters.use_x3d_subdirs is false
     			correctionsParameters.x3dModelVersion,
-    			false,  // smart,
+    			true,  // smart,
     			true);  //newAllowed, // save
     	return x3d_path;
     }
@@ -4798,7 +4810,7 @@ public class QuadCLTCPU {
     	ers.getPropertiesERS(prefix,    properties);
     	ers.getPropertiesScenes(prefix, properties);
     	ers.getPropertiesLineTime(prefix, properties); // will set old value if not in the file
-    	System.out.println("Restored interframe properties from :"+path);
+    	System.out.println("Restored interframe properties from :"+path); // here often gets configs folder:/media/elphel/NVME/lwir16-proc/eagle_mountain/configs
     	return properties;
     }
     
@@ -9437,7 +9449,7 @@ public class QuadCLTCPU {
 		  };
 		  
 		  // temporary applying scaleExposures[srcChannel] here, setting it to all 1.0
-		  if (debugLevel > -3) {
+		  if (debugLevel > -2) {
 			  System.out.println("Temporarily applying scaleExposures[] here - 1" );
 		  }
 		  

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

@@ -13408,7 +13408,7 @@ if (debugLevel > -100) return true; // temporarily !
 			e.printStackTrace();
 		}
 		if (debugLevel> -3) {
-			System.out.println("Configuration parameters are saved to "+path);
+			System.out.println("TwoQuadCLT: Configuration parameters are saved to "+path);
 		}
 	}
 }