Before removing hardwired conditionInitialDS (df71e1d0) · Commits · Elphel / imagej-elphel

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

+18 −14

Original line number	Original line	Diff line number	Diff line
	@@ -1569,6 +1569,7 @@ public class EyesisCorrectionParameters {
	// first - scan all file and set sourceDirectory, x3dDirectory, linkedModels,videoDirectory,resultsDirectory		// first - scan all file and set sourceDirectory, x3dDirectory, linkedModels,videoDirectory,resultsDirectory
	HashMap<String,String> dir_map = new HashMap<String,String>();		HashMap<String,String> dir_map = new HashMap<String,String>();
	for (String line:lines){		for (String line:lines){
			if (line.split("#").length > 0) {
	String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");		String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");
	if ((tokens.length > 2) && (tokens[0].toUpperCase().equals("SET"))) {		if ((tokens.length > 2) && (tokens[0].toUpperCase().equals("SET"))) {
	parse_set:		parse_set:
	@@ -1582,6 +1583,7 @@ public class EyesisCorrectionParameters {
	}		}
	}		}
	}		}
			}
	if (dir_map.containsKey("rootDirectory")) {		if (dir_map.containsKey("rootDirectory")) {
	base_path=base_path.resolve(Paths.get(dir_map.get("rootDirectory")));		base_path=base_path.resolve(Paths.get(dir_map.get("rootDirectory")));
	File base_dir = new File(base_path.toString());		File base_dir = new File(base_path.toString());
	@@ -1635,6 +1637,7 @@ public class EyesisCorrectionParameters {
	// process source sequence directories		// process source sequence directories
	ArrayList<PathFirstLast> path_list= new ArrayList<PathFirstLast>();		ArrayList<PathFirstLast> path_list= new ArrayList<PathFirstLast>();
	for (String line:lines){		for (String line:lines){
			if (line.split("#").length > 0) {
	String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");		String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");
	if ((tokens.length > 0) &&		if ((tokens.length > 0) &&
	(tokens[0].length() > 0) &&		(tokens[0].length() > 0) &&
	@@ -1648,6 +1651,7 @@ public class EyesisCorrectionParameters {
	((tokens.length > 3)? Integer.parseInt(tokens[3]):-1)));		((tokens.length > 3)? Integer.parseInt(tokens[3]):-1)));
	}		}
	}		}
			}
	return path_list.toArray(new PathFirstLast[0]);		return path_list.toArray(new PathFirstLast[0]);
	}		}

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

+19 −2

Original line number	Original line	Diff line number	Diff line
	@@ -32,10 +32,27 @@ public class EventLogger {
	}		}
	}		}
	Arrays.sort(logger_files); // increasing start time stamps		Arrays.sort(logger_files); // increasing start time stamps

			String out_did_gps_path = "/home/elphel/lwir16-proc/office_04/did_gps";
			int gps_mask = 7; // +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
			for (int nf = 0; nf < logger_files.length; nf++) {
			System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path);
			try {
			logger_files[nf].listGPS(out_did_gps_path+"-"+String.format("%03d", nf)+".out", gps_mask, false);
			} catch (IOException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			}
			}




			String out_did1_path = "/home/elphel/lwir16-proc/office_04/did_ins1";
	for (int nf = 0; nf < logger_files.length; nf++) {		for (int nf = 0; nf < logger_files.length; nf++) {
	System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path);		System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path);
	try {		try {
	logger_files[nf].listDid1(false);		logger_files[nf].listDid1(out_did1_path+"-"+String.format("%03d", nf)+".out",false);
	} catch (IOException e) {		} catch (IOException e) {
	// TODO Auto-generated catch block		// TODO Auto-generated catch block
	e.printStackTrace();		e.printStackTrace();

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

+131 −12

Original line number	Original line	Diff line number	Diff line
	package com.elphel.imagej.ims;		package com.elphel.imagej.ims;

	import java.awt.Point;		import java.awt.Point;
			import java.io.FileWriter;
	import java.io.IOException;		import java.io.IOException;
	import java.nio.ByteBuffer;		import java.nio.ByteBuffer;
	import java.nio.ByteOrder;		import java.nio.ByteOrder;
	@@ -381,12 +382,15 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
	}		}
	}		}

	public void listDid1( boolean keep) throws IOException {		public void listDid1(String path, boolean keep) throws IOException {
	double max_offset = 1000; // m		double max_offset = 1000; // m
	open();		open();
	float [] start_ned = null;		float [] start_ned = null;
	System.out.println (		FileWriter writer = null;
	"record "+		if (path != null) {
			writer = new FileWriter (path);
			}
			String header = "record "+
	" master TS "+		" master TS "+
	" local TS "+		" local TS "+
	"timeOfWeek " +		"timeOfWeek " +
	@@ -395,8 +399,12 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
	" theta "+		" theta "+
	" uvw "+		" uvw "+
	" lla "+		" lla "+
	" ned "		" ned \n";
	);		if (writer != null) {
			writer.write(header);
			} else {
			System.out.print(header);
			}

	int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
	for (int nrec = 0; nrec < num_recs; nrec++) {		for (int nrec = 0; nrec < num_recs; nrec++) {
	@@ -413,7 +421,7 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
	bb_payload.order(ByteOrder.LITTLE_ENDIAN);		bb_payload.order(ByteOrder.LITTLE_ENDIAN);
	Did_ins_1 did_ins_1 = new Did_ins_1(bb_payload);		Did_ins_1 did_ins_1 = new Did_ins_1(bb_payload);
	if ((did_ins_1.uvw[0] == 0) && (did_ins_1.uvw[1] == 0) && (did_ins_1.uvw[2] == 0)) {		if ((did_ins_1.uvw[0] == 0) && (did_ins_1.uvw[1] == 0) && (did_ins_1.uvw[2] == 0)) {
	// continue;		continue;
	}		}
	if ((start_ned != null) &&		if ((start_ned != null) &&
	( (Math.abs(start_ned[0] - did_ins_1.ned[0]) > max_offset) \|\|		( (Math.abs(start_ned[0] - did_ins_1.ned[0]) > max_offset) \|\|
	@@ -426,9 +434,9 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
	start_ned = did_ins_1.ned.clone();		start_ned = did_ins_1.ned.clone();
	}		}
	start_ned = new float[] {0,0,0};		start_ned = new float[] {0,0,0};
	System.out.println (String.format(		String line =String.format(
	"%6d %17.6f %17.6f %10.3f %08x %08x [%8.4f, %8.4f, %8.4f] "+		"%6d %17.6f %17.6f %10.3f %08x %08x [%8.4f, %8.4f, %8.4f] "+
	"[%8.3f, %8.3f, %8.3f] [%12.7f, %12.7f, %12.7f] [%8.3f, %8.3f, %8.3f]",		"[%8.3f, %8.3f, %8.3f] [%12.7f, %12.7f, %12.7f] [%8.3f, %8.3f, %8.3f]\n",
	nrec,		nrec,
	getMasterTS(nrec),		getMasterTS(nrec),
	getLocalTS(nrec),		getLocalTS(nrec),
	@@ -439,18 +447,129 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
	did_ins_1.uvw[0], did_ins_1.uvw[1], did_ins_1.uvw[2], // Velocity U, V, W in meters per second. Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".		did_ins_1.uvw[0], did_ins_1.uvw[1], did_ins_1.uvw[2], // Velocity U, V, W in meters per second. Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
	did_ins_1.lla[0], did_ins_1.lla[1], did_ins_1.lla[2], // WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)		did_ins_1.lla[0], did_ins_1.lla[1], did_ins_1.lla[2], // WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
	did_ins_1.ned[0] - start_ned[0], did_ins_1.ned[1] - start_ned[1], did_ins_1.ned[2] - start_ned[2] // North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude		did_ins_1.ned[0] - start_ned[0], did_ins_1.ned[1] - start_ned[1], did_ins_1.ned[2] - start_ned[2] // North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude
	));		);
			if (writer != null) {
			writer.write(line);
			} else {
			System.out.print(line);
			}
			}
			}
			if (writer != null) {
			writer.close();
			}
			if (!keep) {
			close();
			}
			}

			public void listGPS (String path, int gps_mask, boolean keep) throws IOException {
			// +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
			// double max_offset = 1000; // m
			open();
			// float [] start_ned = null;
			FileWriter writer = null;
			if (path != null) {
			writer = new FileWriter (path);
			}
			String header = "record "+
			" master TS "+
			" local TS "+
			"timeOfWeek " +
			"did "+
			" status "+
			" ecef "+
			" lla "+
			" hMSL "+ // 7.2f
			" hAcc "+ // 7.3f
			" vAcc "+ // 7.3f
			" pDop "+ // 7.3f
			"cnoMean "+ // 7.3f
			" towOffset "+ // 11.4f
			" lS " + // 3d
			"sat " + // 3d
			"sgm " + // 3d
			"rsv\n";// 3d
			if (writer != null) {
			writer.write(header);
			} else {
			System.out.print(header);
			}

			int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
			for (int nrec = 0; nrec < num_recs; nrec++) {
			int [] full_type = getFullType(bb, nrec);
			if ((full_type != null) && (full_type[0] == type) &&
			(
			(((gps_mask & 1) != 0) && (full_type[1] == Imx5.DID_GPS1_POS)) \|\|
			(((gps_mask & 2) != 0) && (full_type[1] == Imx5.DID_GPS2_POS)) \|\|
			(((gps_mask & 4) != 0) && (full_type[1] == Imx5.DID_GPS1_UBX_POS))
			)
			) {
			byte [] payload = getDidPayload(
			null, // next_fileinfo, // may be null if payload does not extend beyond single record
			nrec);
			if (payload == null) {
			System.out.println("EventLoggerFileInfo(): payload == null, nrec="+nrec);
			break;
	}		}
			ByteBuffer bb_payload = ByteBuffer.wrap(payload);
			bb_payload.order(ByteOrder.LITTLE_ENDIAN);

			Did_gps_pos did_gps_pos = new Did_gps_pos(bb_payload);
			if ((did_gps_pos.lla[0] == 0) && (did_gps_pos.lla[1] == 0) && (did_gps_pos.lla[2] == 0)) {
			continue;
	}		}

			// replace with GPS fix type?
			/*
			if ((did_ins_1.uvw[0] == 0) && (did_ins_1.uvw[1] == 0) && (did_ins_1.uvw[2] == 0)) {
			continue;
			}
			if ((start_ned != null) &&
			( (Math.abs(start_ned[0] - did_ins_1.ned[0]) > max_offset) \|\|
			(Math.abs(start_ned[1] - did_ins_1.ned[1]) > max_offset) \|\|
			(Math.abs(start_ned[2] - did_ins_1.ned[2]) > max_offset)
			)){
			start_ned = null;
			}
			if (start_ned == null) {
			start_ned = did_ins_1.ned.clone();
			}
			start_ned = new float[] {0,0,0};
			*/
			String line =String.format(
			"%6d %17.6f %17.6f %10.3f %3d %08x [%13.4f, %13.4f, %13.4f] "+
			"[%12.7f, %12.7f, %12.7f] %7.2f %7.3f %7.3f %7.3f %7.3f %11.4f "+
			"%3d %3d %3d %3d\n",
			nrec,
			getMasterTS(nrec),
			getLocalTS(nrec),
			0.001 * did_gps_pos.timeOfWeekMs,
			full_type[1], // DID
			did_gps_pos.status,
			did_gps_pos.ecef[0], did_gps_pos.ecef[1], did_gps_pos.ecef[2], // Position in ECEF {x,y,z} (m)
			did_gps_pos.lla[0], did_gps_pos.lla[1], did_gps_pos.lla[2], // WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
			did_gps_pos.hMSL, did_gps_pos.hAcc, did_gps_pos.vAcc, did_gps_pos.pDop, did_gps_pos.cnoMean,
			did_gps_pos.towOffset,
			did_gps_pos.leapS, did_gps_pos.satsUsed, did_gps_pos.cnoMeanSigma, did_gps_pos.reserved
			);
			if (writer != null) {
			writer.write(line);
			} else {
			System.out.print(line);
			}
			}
			}
			if (writer != null) {
			writer.close();
			}
	if (!keep) {		if (!keep) {
	close();		close();
	}		}
	}		}



	byte [] getDidPayload(		byte [] getDidPayload(
	EventLoggerFileInfo next_fileinfo, // may be null if payload does not extend beyond single record		EventLoggerFileInfo next_fileinfo, // may be null if payload does not extend beyond single record
	int nrec) throws IOException {		int nrec) throws IOException {

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

+204 −11

File changed.

Preview size limit exceeded, changes collapsed.

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

+143 −17

Original line number	Original line	Diff line number	Diff line
	@@ -3922,8 +3922,36 @@ public class OpticalFlow {
	double clouds_fom = clt_parameters.imp.clouds_fom; // 30.0; // maximal FOM for clouds (must be <=)		double clouds_fom = clt_parameters.imp.clouds_fom; // 30.0; // maximal FOM for clouds (must be <=)
	double clouds_spread = clt_parameters.imp.clouds_spread; // 60.0; // maximal spread for clouds (must be <=)		double clouds_spread = clt_parameters.imp.clouds_spread; // 60.0; // maximal spread for clouds (must be <=)
	double clouds_disparity = clt_parameters.imp.clouds_disparity; // 0.1; // maximal disparity for strong clouds		double clouds_disparity = clt_parameters.imp.clouds_disparity; // 0.1; // maximal disparity for strong clouds
	double clouds_strength = clt_parameters.imp.clouds_strength; // 0.3; // maximal strength for near clouds		double clouds_weak = clt_parameters.imp.clouds_weak; // 0.18;// maximal strength for near definite clouds
			double clouds_strength = clt_parameters.imp.clouds_strength; // 0.25;// minimal strength for far strong clouds (definitely cloud)
			double clouds_not_strength= clt_parameters.imp.clouds_not_strength;//0.4; // maximal strength for near maybe clouds (if it has strong cloud neighbor)
			boolean clouds_strong = clt_parameters.imp.clouds_strong; // true; // allow weak cloud if it has strong (1.5x) cloud neib

			// process smooth walls mistaken for sky (disable for natural environments)
			boolean wall_en = clt_parameters.imp.wall_en; // true; // enable smooth walls detection/processing
			boolean wall_dflt = clt_parameters.imp.wall_dflt; // true; // default (undetected) is wall (false - sky)
			double wall_str = clt_parameters.imp.wall_str; // 0.1; // minimal strength of the far object (small - just non-NaN disparity)
			double wall_far = clt_parameters.imp.wall_far; // 0.2; // maximal disparity to consider cluster to be sky
			double wall_near = clt_parameters.imp.wall_near; // 1.0; // minimal disparity to consider cluster to be wall

			// processing far treeline that may be confused with clouds. Only behind far objects such as far horizontal surface.
			boolean treeline_en = clt_parameters.imp.treeline_en; // true; // look not only under, but diagonal too.
			boolean treeline_wide = clt_parameters.imp.treeline_wide; // true; // enable treeline processing
			int treeline_height = clt_parameters.imp.treeline_height; // 5; // maximal height of the treeline (tiles)
			int treeline_width = clt_parameters.imp.treeline_width; // 3; // minimal horizontal width of the treeline (tiles)
			boolean treeline_lim_high = clt_parameters.imp.treeline_lim_high;// false; // limit too high treeline (false - delete completely)
			double treeline_str = clt_parameters.imp.treeline_str; // 0.8; // treeline minimal strength
			double treeline_far = clt_parameters.imp.treeline_far; // 0.04; // treeline min disparity (pix)
			double treeline_near = clt_parameters.imp.treeline_near; // 0.4; // treeline max disparity (pix)
			double treeline_fg_str = clt_parameters.imp.treeline_fg_str; // 0.8; // pre-treeline FG objects (such as flat ground) minimal strength
			double treeline_fg_far = clt_parameters.imp.treeline_fg_far; // 0.2; // pre-treeline FG objects min disparity (pix)
			double treeline_fg_near = clt_parameters.imp.treeline_fg_near; // 0.5; // pre-treeline FG objects max disparity (pix)

			// suspecting indoors (disabling sky)
			boolean indoors_en = clt_parameters.imp.indoors_en; // true; // allow weak cloud if it has strong (1.5x) cloud neib
			double indoors_str = clt_parameters.imp.indoors_str; // 0.5; // minimal strength of the far object
			double indoors_disp = clt_parameters.imp.indoors_disp; // 0.8; // maximal minimal outdoor strong disparity
			int indoors_min_out = clt_parameters.imp.indoors_min_out; // 10; // minimal strong far tiles to deny indoors

	QuadCLT dbg_scene = clt_parameters.imp.save_debug_images? quadCLT_ref: null; // use to save debug images if not null		QuadCLT dbg_scene = clt_parameters.imp.save_debug_images? quadCLT_ref: null; // use to save debug images if not null

	@@ -4020,7 +4048,33 @@ public class OpticalFlow {
	clouds_fom, // maximal FOM for clouds (must be <=)		clouds_fom, // maximal FOM for clouds (must be <=)
	clouds_spread, // maximal spread for clouds (must be <=)		clouds_spread, // maximal spread for clouds (must be <=)
	clouds_disparity, // maximal disparity for strong clouds		clouds_disparity, // maximal disparity for strong clouds
	clouds_strength, // maximal strength for near clouds		clouds_weak, // maximal strength for near definite clouds
			clouds_strength, // minimal strength for far strong clouds (definitely cloud)
			clouds_not_strength, // maximal strength for near maybe clouds (if it has strong cloud neighbor)
			clouds_strong, // true; // allow weak cloud if it has strong (1.5x) cloud neib

			wall_en, // enable smooth walls detection/processing
			wall_dflt, // default (undetected) is wall (false - sky)
			wall_str, // minimal strength of the far object (small - just non-NaN disparity)
			wall_far, // maximal disparity to consider cluster to be sky
			wall_near, // minimal disparity to consider cluster to be wall

			treeline_en, // enable treeline processing
			treeline_wide, // look not only under, but diagonal too.
			treeline_height, // maximal height of the treeline (tiles)
			treeline_width, // minimal horizontal width of the treeline (tiles)
			treeline_lim_high, // limit too high treeline (false - delete completely)
			treeline_str, // treeline minimal strength
			treeline_far, // treeline min disparity (pix)
			treeline_near, // treeline max disparity (pix)
			treeline_fg_str, // pre-treeline FG objects (such as flat ground) minimal strength
			treeline_fg_far, // pre-treeline FG objects min disparity (pix)
			treeline_fg_near, // pre-treeline FG objects max disparity (pix)

			indoors_en, // true; // allow weak cloud if it has strong (1.5x) cloud neib
			indoors_str, // 0.5; // minimal strength of the far object
			indoors_disp, // 0.8; // maximal minimal outdoor strong disparity
			indoors_min_out, // 10; // minimal strong far tiles to deny indoors
	disp_boost_min, // double disp_boost_min, // = 0.5;		disp_boost_min, // double disp_boost_min, // = 0.5;
	disp_boost_diff, //double disp_boost_diff, // = 0.35;		disp_boost_diff, //double disp_boost_diff, // = 0.35;
	disp_boost_neibs, //int disp_boost_neibs, // = 2;		disp_boost_neibs, //int disp_boost_neibs, // = 2;
	@@ -4125,7 +4179,36 @@ public class OpticalFlow {
	double clouds_fom = clt_parameters.imp.clouds_fom; // 30.0; // maximal FOM for clouds (must be <=)		double clouds_fom = clt_parameters.imp.clouds_fom; // 30.0; // maximal FOM for clouds (must be <=)
	double clouds_spread = clt_parameters.imp.clouds_spread; // 60.0; // maximal spread for clouds (must be <=)		double clouds_spread = clt_parameters.imp.clouds_spread; // 60.0; // maximal spread for clouds (must be <=)
	double clouds_disparity = clt_parameters.imp.clouds_disparity; // 0.1; // maximal disparity for strong clouds		double clouds_disparity = clt_parameters.imp.clouds_disparity; // 0.1; // maximal disparity for strong clouds
	double clouds_strength = clt_parameters.imp.clouds_strength; // 0.3; // maximal strength for near clouds		double clouds_weak = clt_parameters.imp.clouds_weak; // 0.18;// maximal strength for near definite clouds
			double clouds_strength = clt_parameters.imp.clouds_strength; // 0.25;// minimal strength for far strong clouds (definitely cloud)
			double clouds_not_strength= clt_parameters.imp.clouds_not_strength;//0.4; // maximal strength for near maybe clouds (if it has strong cloud neighbor)
			boolean clouds_strong = clt_parameters.imp.clouds_strong; // true; // allow weak cloud if it has strong (1.5x) cloud neib

			// process smooth walls mistaken for sky (disable for natural environments)
			boolean wall_en = clt_parameters.imp.wall_en; // true; // enable smooth walls detection/processing
			boolean wall_dflt = clt_parameters.imp.wall_dflt; // true; // default (undetected) is wall (false - sky)
			double wall_str = clt_parameters.imp.wall_str; // 0.1; // minimal strength of the far object (small - just non-NaN disparity)
			double wall_far = clt_parameters.imp.wall_far; // 0.2; // maximal disparity to consider cluster to be sky
			double wall_near = clt_parameters.imp.wall_near; // 1.0; // minimal disparity to consider cluster to be wall

			// processing far treeline that may be confused with clouds. Only behind far objects such as far horizontal surface.
			boolean treeline_en = clt_parameters.imp.treeline_en; // true; // enable treeline processing
			boolean treeline_wide = clt_parameters.imp.treeline_wide; // true; // enable treeline processing
			int treeline_height = clt_parameters.imp.treeline_height; // 5; // maximal height of the treeline (tiles)
			int treeline_width = clt_parameters.imp.treeline_width; // 3; // minimal horizontal width of the treeline (tiles)
			boolean treeline_lim_high = clt_parameters.imp.treeline_lim_high;// false; // limit too high treeline (false - delete completely)
			double treeline_str = clt_parameters.imp.treeline_str; // 0.8; // treeline minimal strength
			double treeline_far = clt_parameters.imp.treeline_far; // 0.04; // treeline min disparity (pix)
			double treeline_near = clt_parameters.imp.treeline_near; // 0.4; // treeline max disparity (pix)
			double treeline_fg_str = clt_parameters.imp.treeline_fg_str; // 0.8; // pre-treeline FG objects (such as flat ground) minimal strength
			double treeline_fg_far = clt_parameters.imp.treeline_fg_far; // 0.2; // pre-treeline FG objects min disparity (pix)
			double treeline_fg_near = clt_parameters.imp.treeline_fg_near; // 0.5; // pre-treeline FG objects max disparity (pix)

			// suspecting indoors (disabling sky)
			boolean indoors_en = clt_parameters.imp.indoors_en; // true; // allow weak cloud if it has strong (1.5x) cloud neib
			double indoors_str = clt_parameters.imp.indoors_str; // 0.5; // minimal strength of the far object
			double indoors_disp = clt_parameters.imp.indoors_disp; // 0.8; // maximal minimal outdoor strong disparity
			int indoors_min_out = clt_parameters.imp.indoors_min_out; // 10; // minimal strong far tiles to deny indoors

	QuadCLT dbg_scene = clt_parameters.imp.save_debug_images? quadCLT_ref: null; // use to save debug images if not null		QuadCLT dbg_scene = clt_parameters.imp.save_debug_images? quadCLT_ref: null; // use to save debug images if not null
	// if (build_ref_dsi) {		// if (build_ref_dsi) {
	@@ -4212,7 +4295,33 @@ public class OpticalFlow {
	clouds_fom, // maximal FOM for clouds (must be <=)		clouds_fom, // maximal FOM for clouds (must be <=)
	clouds_spread, // maximal spread for clouds (must be <=)		clouds_spread, // maximal spread for clouds (must be <=)
	clouds_disparity, // maximal disparity for strong clouds		clouds_disparity, // maximal disparity for strong clouds
	clouds_strength, // maximal strength for near clouds		clouds_weak, // maximal strength for near definite clouds
			clouds_strength, // minimal strength for far strong clouds (definitely cloud)
			clouds_not_strength, // maximal strength for near maybe clouds (if it has strong cloud neighbor)
			clouds_strong, // true; // allow weak cloud if it has strong (1.5x) cloud neib

			wall_en, // enable smooth walls detection/processing
			wall_dflt, // default (undetected) is wall (false - sky)
			wall_str, // minimal strength of the far object (small - just non-NaN disparity)
			wall_far, // maximal disparity to consider cluster to be sky
			wall_near, // minimal disparity to consider cluster to be wall

			treeline_en, // enable treeline processing
			treeline_wide, // look not only under, but diagonal too.
			treeline_height, // maximal height of the treeline (tiles)
			treeline_width, // minimal horizontal width of the treeline (tiles)
			treeline_lim_high, // limit too high treeline (false - delete completely)
			treeline_str, // treeline minimal strength
			treeline_far, // treeline min disparity (pix)
			treeline_near, // treeline max disparity (pix)
			treeline_fg_str, // pre-treeline FG objects (such as flat ground) minimal strength
			treeline_fg_far, // pre-treeline FG objects min disparity (pix)
			treeline_fg_near, // pre-treeline FG objects max disparity (pix)

			indoors_en, // true; // allow weak cloud if it has strong (1.5x) cloud neib
			indoors_str, // 0.5; // minimal strength of the far object
			indoors_disp, // 0.8; // maximal minimal outdoor strong disparity
			indoors_min_out, // 10; // minimal strong far tiles to deny indoors

	disp_boost_min, // double disp_boost_min, // = 0.5;		disp_boost_min, // double disp_boost_min, // = 0.5;
	disp_boost_diff, //double disp_boost_diff, // = 0.35;		disp_boost_diff, //double disp_boost_diff, // = 0.35;
	@@ -4570,6 +4679,7 @@ public class OpticalFlow {

	boolean export_images = clt_parameters.imp.export_images;		boolean export_images = clt_parameters.imp.export_images;
	boolean export_dsi_image = clt_parameters.imp.export_ranges;		boolean export_dsi_image = clt_parameters.imp.export_ranges;
			boolean debug_ranges = clt_parameters.imp.debug_ranges && !batch_mode;
	boolean export_ml_files = clt_parameters.imp.export_ml_files;		boolean export_ml_files = clt_parameters.imp.export_ml_files;

	boolean photo_en = clt_parameters.photo_en; // false; // perform photogrammetric calibration to equalize pixel values		boolean photo_en = clt_parameters.photo_en; // false; // perform photogrammetric calibration to equalize pixel values
	@@ -4654,6 +4764,7 @@ public class OpticalFlow {
	if (reuse_video) { // disable all other options		if (reuse_video) { // disable all other options
	generate_mapped = false;		generate_mapped = false;
	export_images = false;		export_images = false;
			debug_ranges = false;
	export_dsi_image = false;		export_dsi_image = false;
	show_dsi_image = false;		show_dsi_image = false;
	export_ml_files = false;		export_ml_files = false;
	@@ -4858,6 +4969,20 @@ public class OpticalFlow {
	quadCLTs, // QuadCLT [] scenes,		quadCLTs, // QuadCLT [] scenes,
	colorProcParameters, // ColorProcParameters colorProcParameters,		colorProcParameters, // ColorProcParameters colorProcParameters,
	debugLevel); // int debug_level		debugLevel); // int debug_level
			if (clt_parameters.imp.sky_recalc) { // force blue sky recalculation even if it exists
			reuseRefDSI(
			clt_parameters, // CLTParameters clt_parameters,
			colorProcParameters, // ColorProcParameters colorProcParameters,
			quadCLT_main, // QuadCLT quadCLT_main, // tiles should be set
			quadCLTs[ref_index], // QuadCLT quadCLT_ref, // tiles should be set
			batch_mode, // final boolean batch_mode,
			threadsMax, // final int threadsMax,
			updateStatus, // final boolean updateStatus,
			debugLevel); // int debugLevel)
			}




	quadCLTs[ref_index].inc_accum();		quadCLTs[ref_index].inc_accum();
	// save with updated num_accum		// save with updated num_accum
	@@ -5696,12 +5821,13 @@ public class OpticalFlow {
	combo_dsn_final[COMBO_DSN_INDX_LMA],		combo_dsn_final[COMBO_DSN_INDX_LMA],
	combo_dsn_final[COMBO_DSN_INDX_STRENGTH]		combo_dsn_final[COMBO_DSN_INDX_STRENGTH]
	};		};
	double [][] ds = conditionInitialDS(		int dbg_condition = debug_ranges ? Math.max(1, debugLevel) : debugLevel;
			double [][] ds = conditionInitialDS( // Add debug szxy by providing debugLevel=1
	true, // boolean use_conf, // use configuration parameters, false - use following		true, // boolean use_conf, // use configuration parameters, false - use following
	clt_parameters, // CLTParameters clt_parameters,		clt_parameters, // CLTParameters clt_parameters,
	dls, // double [][] dls		dls, // double [][] dls
	quadCLTs[ref_index], // QuadCLT scene,		quadCLTs[ref_index], // QuadCLT scene,
	debugLevel); // int debug_level)		dbg_condition); // int debug_level)
	double [] disparity = ds[0];		double [] disparity = ds[0];
	double [] strength = ds[1];		double [] strength = ds[1];
	double [][]szxy = getSceneSZXY(		double [][]szxy = getSceneSZXY(

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