Refactoring, extracting methods from buildSeries

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

@@ -44,6 +44,7 @@ import com.elphel.imagej.tileprocessor.ImageDtt;
 import com.elphel.imagej.tileprocessor.ImageDttParameters;
 import com.elphel.imagej.tileprocessor.IntersceneLmaParameters;
 import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
+import com.elphel.imagej.tileprocessor.LWIRWorldParameters;
 import com.elphel.imagej.tileprocessor.MeasuredLayersFilterParameters;
 import com.elphel.imagej.tileprocessor.OpticalFlowParameters;
 import com.elphel.imagej.tileprocessor.PoleProcessorParameters;
@@ -373,6 +374,7 @@ public class CLTParameters {
 	                                                         // propagated when calibration is run manually with photo_en = true
 	public int        photo_num_full =                3;     // Number of full recalibrations with re-processing of the images  
 	public int        photo_num_refines =             3;     // Calibrate, remove outliers, recalibrate, ...
+	public int        photo_min_good =             1000;     // Minimal number of good pixels for photometric calibration
 	public double     photo_min_strength =            0.0;   // maybe add to filter out weak tiles
 	public double     photo_max_diff =                40.0;  // To filter mismatches. Normal (adjusted) have RMSE ~9
 	public int        photo_order =                   2;     // Approximation order: 0 - just offset, 1 - linear, 2 - quadratic
@@ -1016,6 +1018,7 @@ public class CLTParameters {
 	public IntersceneMatchParameters      imp =     new IntersceneMatchParameters();
 	public IntersceneLmaParameters        ilp =     new IntersceneLmaParameters();
 	public InterNoiseParameters           inp =     new InterNoiseParameters();
+	public LWIRWorldParameters            lwp =     new LWIRWorldParameters();
 			
 	public HashMap<String,Double> z_corr_map = new HashMap<String,Double>(); //old one
 	public HashMap<String,Double> infinity_distace_map = new HashMap<String,Double>(); //new one
@@ -1395,6 +1398,7 @@ public class CLTParameters {
 		properties.setProperty(prefix+"photo_to_main",              this.photo_to_main+"");       // boolean
 		properties.setProperty(prefix+"photo_num_full",             this.photo_num_full+"");      // int
 		properties.setProperty(prefix+"photo_num_refines",          this.photo_num_refines+"");   // int
+		properties.setProperty(prefix+"photo_min_good",             this.photo_min_good+"");   // int
 		properties.setProperty(prefix+"photo_min_strength",         this.photo_min_strength+"");  // double
 		properties.setProperty(prefix+"photo_max_diff",             this.photo_max_diff+"");      // double
 		properties.setProperty(prefix+"photo_order",                this.photo_order+"");         // int
@@ -1999,6 +2003,7 @@ public class CLTParameters {
 		imp.setProperties     (prefix+"_imp_",    properties);
 		ilp.setProperties     (prefix+"_ilp_",    properties);
 		inp.setProperties     (prefix+"_inp_",    properties);
+		lwp.setProperties     (prefix+"_lwp_",    properties);
 
 	}
 
@@ -2295,6 +2300,8 @@ public class CLTParameters {
 		if (properties.getProperty(prefix+"photo_to_main")!=null)        this.photo_to_main=Boolean.parseBoolean(properties.getProperty(prefix+"photo_to_main"));		
 		if (properties.getProperty(prefix+"photo_num_full")!=null)       this.photo_num_full=Integer.parseInt(properties.getProperty(prefix+"photo_num_full"));
 		if (properties.getProperty(prefix+"photo_num_refines")!=null)    this.photo_num_refines=Integer.parseInt(properties.getProperty(prefix+"photo_num_refines"));
+		if (properties.getProperty(prefix+"photo_min_good")!=null)       this.photo_min_good=Integer.parseInt(properties.getProperty(prefix+"photo_min_good"));
+				
 		if (properties.getProperty(prefix+"photo_min_strength")!=null)   this.photo_min_strength=Double.parseDouble(properties.getProperty(prefix+"photo_min_strength"));
 		if (properties.getProperty(prefix+"photo_max_diff")!=null)       this.photo_max_diff=Double.parseDouble(properties.getProperty(prefix+"photo_max_diff"));
 		if (properties.getProperty(prefix+"photo_order")!=null)          this.photo_order=Integer.parseInt(properties.getProperty(prefix+"photo_order"));		
@@ -2915,6 +2922,7 @@ public class CLTParameters {
 		imp.getProperties     (prefix+"_imp_",    properties);
 		ilp.getProperties     (prefix+"_ilp_",    properties);
 		inp.getProperties     (prefix+"_inp_",    properties);
+		lwp.getProperties     (prefix+"_lwp_",    properties);
 	}
 
 	public boolean showJDialog() {
@@ -3337,6 +3345,9 @@ public class CLTParameters {
 				"Full recalibratrions include re-importing raw images with updated offsets/gains");
 		gd.addNumericField("Refines",                                this.photo_num_refines, 0,3,"",
 				"Calculate calibration, remove outliers (e.g. FG/BG) and repeat");
+		gd.addNumericField("Minimal number of good pixels",          this.photo_min_good, 0,3,"",
+				"Minimal number of good pixels for photomeric calibration.");
+		
 		gd.addNumericField("Minimal DSI strength",                   this.photo_min_strength, 5,7,"",
 				"Do not use weak tiles.");
 		gd.addNumericField("Maximal channel mismatch",               this.photo_max_diff, 5,7,"",
@@ -4091,6 +4102,8 @@ public class CLTParameters {
 
 		this.imp.dialogQuestions(gd);
 
+		this.lwp.dialogQuestions(gd);
+		
 		gd.addTab         ("Inter-LMA", "parameters for the interscene LMA fitting");
 		this.ilp.dialogQuestions(gd);
 		
@@ -4423,6 +4436,7 @@ public class CLTParameters {
  		this.photo_to_main =            gd.getNextBoolean();
 		this.photo_num_full =     (int) gd.getNextNumber();
 		this.photo_num_refines =  (int) gd.getNextNumber();
+		this.photo_min_good =     (int) gd.getNextNumber();
 		this.photo_min_strength =       gd.getNextNumber();
 		this.photo_max_diff =           gd.getNextNumber();
 		this.photo_order =        (int) gd.getNextNumber();
@@ -4982,6 +4996,7 @@ public class CLTParameters {
 		this.lwir.dialogAnswers(gd);
 		this.ofp.dialogAnswers(gd);
 		this.imp.dialogAnswers(gd);
+		this.lwp.dialogAnswers(gd);
 		this.ilp.dialogAnswers(gd);
 		this.inp.dialogAnswers(gd);
 

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

@@ -104,6 +104,7 @@ import com.elphel.imagej.tileprocessor.MultisceneLY;
 import com.elphel.imagej.tileprocessor.QuadCLT;
 import com.elphel.imagej.tileprocessor.SymmVector;
 import com.elphel.imagej.tileprocessor.TwoQuadCLT;
+import com.elphel.imagej.tileprocessor.lwoc.LwirWorld;
 
 import ij.CompositeImage;
 import ij.IJ;
@@ -142,7 +143,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 //	private static final long serialVersionUID = -1507307664341265263L;
 	private Panel panel1, panel2, panel3, panel4, panel5, panel5a, panel6, panel7, panelPostProcessing1,
 			panelPostProcessing2, panelPostProcessing3, panelDct1, panelClt1, panelClt2, panelClt3, panelClt4,
-			panelClt5, panelClt5aux, panelClt_GPU, panelLWIR, panelLWIR16;
+			panelClt5, panelClt5aux, panelClt_GPU, panelLWIR, panelLWIR16, panelLWIRWorld;
 	JP46_Reader_camera JP4_INSTANCE = null;
 
 //   private deBayerScissors debayer_instance;
@@ -507,7 +508,7 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 		plugInFrame.addKeyListener(IJ.getInstance());
 //		int menuRows=4 + (ADVANCED_MODE?4:0) + (MODE_3D?3:0) + (DCT_MODE?6:0) + (GPU_MODE?1:0) +(LWIR_MODE?2:0);
 		int menuRows = 4 + (ADVANCED_MODE ? 4 : 0) + (MODE_3D ? 3 : 0) + (DCT_MODE ? 7 : 0) + (GPU_MODE ? 1 : 0)
-				+ (LWIR_MODE ? 2 : 0);
+				+ (LWIR_MODE ? 3 : 0);
 		plugInFrame.setLayout(new GridLayout(menuRows, 1));
 		panel6 = new Panel();
 		panel6.setLayout(new GridLayout(1, 0, 5, 5));
@@ -811,9 +812,14 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			addButton("Illustrations Configure", panelLWIR16, color_conf_process);
 			addButton("Footage Organize", panelLWIR16, color_conf_process);
 			addButton("Super batch",     panelLWIR16, color_process);
-
 			plugInFrame.add(panelLWIR16);
 
+			panelLWIRWorld = new Panel();
+			panelLWIRWorld.setLayout(new GridLayout(1, 0, 5, 5)); // rows, columns, vgap, hgap
+			addButton("Aux Build Series", panelLWIRWorld, color_stop);
+			addButton("Build World", panelLWIRWorld, color_process);
+			plugInFrame.add(panelLWIRWorld);
+			
 		}
 		plugInFrame.pack();
 //"LWIR batch"
@@ -5491,6 +5497,14 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 				}
 			}
 			(new JP46_Reader_camera(false)).encodeProperiesToInfo(imp_sel);
+			return;
+		} else if (label.equals("Build World")) {
+			DEBUG_LEVEL = MASTER_DEBUG_LEVEL;
+			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
+			CLT_PARAMETERS.batch_run = true;
+			buildLWIRWorld(true);
+			return;
+	
 //JTabbedTest
 // End of buttons code
 		}
@@ -6787,6 +6801,99 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 		return true;
 	}
 	
+	public boolean buildLWIRWorld(boolean use_aux) {
+		long startTime = System.nanoTime();
+		// load needed sensor and kernels files
+		if (!prepareRigImages())
+			return false;
+		String configPath = getSaveCongigPath();
+		if (configPath.equals("ABORT"))
+			return false;
+		setAllProperties(PROPERTIES); // batchRig may save properties with the model. Extrinsics will be updated,
+										// others should be set here
+		if (DEBUG_LEVEL > -2) {
+			System.out.println("++++++++++++++ Building series from scratch ++++++++++++++");
+		}
+		if (CLT_PARAMETERS.useGPU()) { // only init GPU instances if it is used
+			if (GPU_TILE_PROCESSOR == null) {
+				try {
+					GPU_TILE_PROCESSOR = new GPUTileProcessor(CORRECTION_PARAMETERS.tile_processor_gpu);
+				} catch (Exception e) {
+					System.out.println("Failed to initialize GPU class");
+					// TODO Auto-generated catch block
+					e.printStackTrace();
+					return false;
+				} // final int debugLevel);
+			}
+			if (use_aux) {
+				if (CLT_PARAMETERS.useGPU(true) && (QUAD_CLT_AUX != null) && (GPU_QUAD_AUX == null)) { // if GPU AUX is
+																										// needed
+					try {
+						GPU_QUAD_AUX = new GpuQuad(//
+								GPU_TILE_PROCESSOR, QUAD_CLT_AUX, CLT_PARAMETERS.gpu_debug_level);
+					} catch (Exception e) {
+						System.out.println("Failed to initialize GpuQuad class");
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+						return false;
+					} // final int debugLevel);
+					QUAD_CLT_AUX.setGPU(GPU_QUAD_AUX);
+				}
+			} else {
+				if (CLT_PARAMETERS.useGPU(false) && (QUAD_CLT != null) && (GPU_QUAD == null)) { // if GPU main is needed
+					try {
+						GPU_QUAD = new GpuQuad(GPU_TILE_PROCESSOR, QUAD_CLT, CLT_PARAMETERS.gpu_debug_level);
+					} catch (Exception e) {
+						System.out.println("Failed to initialize GpuQuad class");
+						// TODO Auto-generated catch block
+						e.printStackTrace();
+						return false;
+					} // final int debugLevel);
+					QUAD_CLT.setGPU(GPU_QUAD);
+				}
+			}
+
+		}
+		QuadCLT quadCLT = use_aux ? QUAD_CLT_AUX : QUAD_CLT;
+		ColorProcParameters colorProcParameters = use_aux ? COLOR_PROC_PARAMETERS_AUX : COLOR_PROC_PARAMETERS;
+		CLT_PARAMETERS.setColorProcParameters(COLOR_PROC_PARAMETERS,     false);
+		CLT_PARAMETERS.setColorProcParameters(COLOR_PROC_PARAMETERS_AUX, true);
+		CLT_PARAMETERS.setRGBParameters(RGB_PARAMETERS);
+		
+		try {
+			LwirWorld.buildWorld(
+					quadCLT, // QUAD_CLT, // QuadCLT quadCLT_main,
+					-1, // int  ref_index,
+					0,  // int  ref_step, 
+					// QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
+					CLT_PARAMETERS, // EyesisCorrectionParameters.DCTParameters dct_parameters,
+					DEBAYER_PARAMETERS, // EyesisCorrectionParameters.DebayerParameters debayerParameters,
+					colorProcParameters, // COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters
+											// colorProcParameters,
+					CHANNEL_GAINS_PARAMETERS, // CorrectionColorProc.ColorGainsParameters channelGainParameters,
+					RGB_PARAMETERS, // EyesisCorrectionParameters.RGBParameters rgbParameters,
+					EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters
+												// equirectangularParameters,
+					PROPERTIES, // Properties properties,
+					true, // false, // boolean reset_from_extrinsics,
+					THREADS_MAX, // final int threadsMax, // maximal number of threads to launch
+					UPDATE_STATUS, // final boolean updateStatus,
+					DEBUG_LEVEL);
+		} catch (Exception e) {
+			// TODO Auto-generated catch block
+			e.printStackTrace();
+		} // final int debugLevel);
+		saveTimestampedProperties( // save config again
+				configPath, // full path or null
+				null, // use as default directory if path==null
+				true, PROPERTIES);
+		System.out.println("buildLWIRWorld(): Processing finished at "
+				+ IJ.d2s(0.000000001 * (System.nanoTime() - startTime), 3) + " sec, --- Free memory="
+				+ Runtime.getRuntime().freeMemory() + " (of " + Runtime.getRuntime().totalMemory() + ")");
+		return true;
+	}
+
+	
 	
 	public boolean testInterLMA(boolean use_aux) {
 		long startTime = System.nanoTime();

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

@@ -356,7 +356,7 @@ public class ErsCorrection extends GeometryCorrection {
 
 	//propertyNames()
 	
-	public double [] parseDoublesCSV(String s) {
+	public static double [] parseDoublesCSV(String s) {
 		String[] snumbers = s.split(",");
 		double [] data = new double [snumbers.length];
 		for (int i = 0; i < data.length; i++) {
@@ -440,163 +440,6 @@ public class ErsCorrection extends GeometryCorrection {
 	
 	
 	
-	/**
-	 * Position+orientation (world XYZ, Azimuth, Tilt, Roll) of other scenes relative to the position of this camera.
-	 * Positions/orientations are sampled during scanning of the center line 
-	 */
-	public class XyzAtr {
-		double [] xyz;
-		double [] atr;
-		
-		double [] ers_xyz_dt;  // world camera Vx, Vy, Vz (m/s)
-		double [] ers_atr_dt;  // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
-		double [] ers_atr_d2t; // camera rotaions (az, tilt, roll in radians/s, corresponding to the frame center)
-		double [] ers_xyz_d2t; // world camera Vx, Vy, Vz (m/s^2)
-		
-		public XyzAtr() {
-			xyz = new double[3];
-			atr = new double[3];
-		}
-		
-		public XyzAtr(double [] xyz, double [] atr) {
-			this.xyz = xyz;
-			this.atr = atr;
-			this.ers_xyz_dt =  new double[3];
-			this.ers_atr_dt =  new double[3];
-			this.ers_xyz_d2t = new double[3];
-			this.ers_atr_d2t = new double[3];
-		}
-
-		public XyzAtr(
-				double [] xyz,
-				double [] atr,
-				double [] ers_xyz_dt,
-				double [] ers_atr_dt) {
-			this.xyz = xyz;
-			this.atr = atr;
-			this.ers_xyz_dt = ers_xyz_dt;
-			this.ers_atr_dt = ers_atr_dt;
-			this.ers_xyz_d2t = new double[3];
-			this.ers_atr_d2t = new double[3];
-		}
-
-		public XyzAtr(
-				double [] xyz,
-				double [] atr,
-				double [] ers_xyz_dt,
-				double [] ers_atr_dt,
-				double [] ers_xyz_d2t,
-				double [] ers_atr_d2t
-				) {
-			this.xyz = xyz;
-			this.atr = atr;
-			this.ers_xyz_dt = ers_xyz_dt;
-			this.ers_atr_dt = ers_xyz_dt;
-			this.ers_xyz_d2t = ers_xyz_d2t;
-			this.ers_atr_d2t = ers_xyz_d2t;
-		}
-		
-		
-		
-		
-		public XyzAtr(String s) {
-			double [] d = parseDoublesCSV(s);
-			xyz = new double [] {d[0], d[1], d[2]};
-			atr = new double [] {d[3], d[4], d[5]};
-		}
-
-		public XyzAtr(String [] ss) {
-			if (ss[0] != null) {
-				double [] d = parseDoublesCSV(ss[0]);
-				xyz = new double [] {d[0], d[1], d[2]};
-				atr = new double [] {d[3], d[4], d[5]};
-				this.ers_xyz_dt =  new double[3];
-				this.ers_atr_dt =  new double[3];
-				this.ers_xyz_d2t = new double[3];
-				this.ers_atr_d2t = new double[3];
-				if (ss.length > 1) {
-					if (ss[1] != null) {
-						d = parseDoublesCSV(ss[1]);
-						ers_xyz_dt = new double [] {d[0], d[1], d[2]};
-						ers_atr_dt = new double [] {d[3], d[4], d[5]};
-					}
-					if (ss.length > 2) {
-						if (ss[2] != null) {
-							d = parseDoublesCSV(ss[2]);
-							ers_xyz_d2t = new double [] {d[0], d[1], d[2]};
-							ers_atr_d2t = new double [] {d[3], d[4], d[5]};
-						}
-					}
-				} 
-			}
-		}
-		
-		public String toString() {
-			return String.format("%f,  %f, %f, %f, %f, %f",xyz[0],xyz[1],xyz[2],atr[0],atr[1],atr[2]);
-		}
-		
-		public String [] toStrings() {
-			return new String[] {
-					String.format("%f,  %f, %f, %f, %f, %f",xyz[0],         xyz[1],         xyz[2],         atr[0],         atr[1],         atr[2]),
-					String.format("%f,  %f, %f, %f, %f, %f",ers_xyz_dt[0],  ers_xyz_dt[1],  ers_xyz_dt[2],  ers_atr_dt[0],  ers_atr_dt[1],  ers_atr_dt[2]),
-					String.format("%f,  %f, %f, %f, %f, %f",ers_xyz_d2t[0], ers_xyz_d2t[1], ers_xyz_d2t[2], ers_atr_d2t[0], ers_atr_d2t[1], ers_atr_d2t[2])};
-		}
-		
-		
-		public double [] getXYZ() {
-			return xyz;
-		}
-		public double [] getATR() {
-			return atr;
-		}
-		public void setXYZ(double [] d) {
-			xyz[0] = d[0];
-			xyz[1] = d[1];
-			xyz[2] = d[2];
-		}
-		public void setATR(double [] d) {
-			atr[0] = d[0];
-			atr[1] = d[1];
-			atr[2] = d[2];
-		}
-		
-		public double [] getErsXYZ_dt() {
-			return ers_xyz_dt;
-		}
-		public double [] getErsATR_dt() {
-			return ers_atr_dt;
-		}
-		public double [] getErsXYZ_d2t() {
-			return ers_xyz_d2t;
-		}
-		public double [] getErsATR_d2t() {
-			return ers_atr_d2t;
-		}
-		public void setErsXYZ_dt(double [] d) {
-			ers_xyz_dt[0] = d[0];
-			ers_xyz_dt[1] = d[1];
-			ers_xyz_dt[2] = d[2];
-		}
-		public void setErsATR_dt(double [] d) {
-			ers_atr_dt[0] = d[0];
-			ers_atr_dt[1] = d[1];
-			ers_atr_dt[2] = d[2];
-		}
-		public void setErsXYZ_d2t(double [] d) {
-			ers_xyz_d2t[0] = d[0];
-			ers_xyz_d2t[1] = d[1];
-			ers_xyz_d2t[2] = d[2];
-		}
-		public void setErsATR_d2t(double [] d) {
-			ers_atr_d2t[0] = d[0];
-			ers_atr_d2t[1] = d[1];
-			ers_atr_d2t[2] = d[2];
-		}
-		
-		
-		
-	}
-	
 	/**
 	 * Calculate rotational matrix and its derivatives by az, tl and rl
 	 * @param atr

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

-package com.elphel.imagej.tileprocessor;
 /**
  **
  ** IntersceneMatchParameters - Class for handling multiple configuration parameters
  ** related to the interscene match 
  **
- ** Copyright (C) 202 Elphel, Inc.
+ ** Copyright (C) 2022 Elphel, Inc.
  **
  ** -----------------------------------------------------------------------------**
  **
@@ -23,7 +22,7 @@ package com.elphel.imagej.tileprocessor;
  ** -----------------------------------------------------------------------------**
  **
  */
-
+package com.elphel.imagej.tileprocessor;
 import java.awt.Color;
 import java.io.IOException;
 import java.util.Properties;
@@ -320,7 +319,7 @@ public class IntersceneMatchParameters {
 	public void dialogQuestions(GenericJTabbedDialog gd) {
 		//		gd.addMessage  ("Scene parameters selection");
 //		gd.addTab         ("Inter-Match", "Parameters for full-resolution (no decimation/macrotiles) scene matching");
-		gd.addTab         ("Scene Series", "Processing os series of scene and multi-series sets");
+		gd.addTab         ("Scene Series", "Processing series of scenes and multi-series sets");
 		gd.addMessage  ("Build series options");
 		gd.addCheckbox ("Force reference scene DSI calculation",     this.force_ref_dsi,
 				"Calculate reference scene DSI even if the file exists.");
@@ -847,11 +846,6 @@ public class IntersceneMatchParameters {
 		this.generate_fg =                    gd.getNextBoolean();
 		this.generate_bg =                    gd.getNextBoolean();
 		this.generate_stereo =                gd.getNextBoolean();
-		/*
-		for (int i = 0; i < stereo_bases.length; i++) {
-			this.generate_stereo_var[i] =     gd.getNextBoolean();
-		}
-		*/
 		for (int i = 0; i < stereo_views.length; i++) {
 			this.generate_stereo_var[i] =     gd.getNextBoolean();
 		}

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

+/**
+ **
+ ** LWIRWorldParameters - Class for handling multiple configuration parameters
+ ** related to the octree-based world(s) parameters  
+ **
+ ** Copyright (C) 2022 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  LWIRWorldParameters.java is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ ** -----------------------------------------------------------------------------**
+ **
+ */
+
+package com.elphel.imagej.tileprocessor;
+
+import java.util.Properties;
+
+import com.elphel.imagej.common.GenericJTabbedDialog;
+
+public class LWIRWorldParameters {
+	public double    world_hsize =    1000.0; // m			
+	public double    min_hsize =         0.3; // m
+	public double    max_hsize =     10000.0; // m			
+	public int       max_mesh_centers = 10; //
+	public int       max_cameras      = 10; //
+	
+	public LWIRWorldParameters() {
+		
+	}
+
+	public void dialogQuestions(GenericJTabbedDialog gd) {
+		gd.addTab      ("LWIR World", "Building 3D World from multiple scenes/ scenes series");
+		gd.addMessage  ("Octree world parameters");
+		gd.addNumericField("World half-size",                          this.world_hsize, 1,7,"m",
+				"Initial half-size of the world (it may grow if needed).");
+		gd.addNumericField("Minimal node half-size",                   this.min_hsize, 1,7,"m",
+				"Do not subdivide nodes if its half-size is smaller than this.");
+		gd.addNumericField("Maximal node half-size",                   this.max_hsize, 1,7,"m",
+				"Do not grow the root node (whole world) if its half-size is >= this.");
+		gd.addNumericField("Maximal number of mesh centers",           this.max_mesh_centers, 0,3,"",
+				"Subdivide octree node that has more than this number of mesh centers.");
+		gd.addNumericField("Maximal number of scenes/cameras",         this.max_cameras, 0,3,"",
+				"Subdivide octree node that has more than this number of scenes/cameras.");
+	}	
+	
+	public void dialogAnswers(GenericJTabbedDialog gd) {
+		this.world_hsize =                  gd.getNextNumber();
+		this.min_hsize =                    gd.getNextNumber();
+		this.max_hsize =                    gd.getNextNumber();
+		this.max_mesh_centers =       (int) gd.getNextNumber();
+		this.max_cameras =            (int) gd.getNextNumber();
+	}
+	
+	public void setProperties(String prefix,Properties properties){
+		properties.setProperty(prefix+"world_hsize",                     this.world_hsize+"");                   // double
+		properties.setProperty(prefix+"min_hsize",                       this.min_hsize+"");                     // double
+		properties.setProperty(prefix+"max_hsize",                       this.max_hsize+"");                     // double
+		properties.setProperty(prefix+"max_mesh_centers",                this.max_mesh_centers+"");              // int
+		properties.setProperty(prefix+"max_cameras",                     this.max_cameras+"");                   // int
+	}
+	
+	public void getProperties(String prefix,Properties properties){
+		if (properties.getProperty(prefix+"world_hsize")!=null)          this.world_hsize=Double.parseDouble(properties.getProperty(prefix+"world_hsize"));
+		if (properties.getProperty(prefix+"min_hsize")!=null)            this.min_hsize=Double.parseDouble(properties.getProperty(prefix+"min_hsize"));
+		if (properties.getProperty(prefix+"max_hsize")!=null)            this.max_hsize=Double.parseDouble(properties.getProperty(prefix+"max_hsize"));
+		if (properties.getProperty(prefix+"max_mesh_centers")!=null)     this.max_mesh_centers=Integer.parseInt(properties.getProperty(prefix+"max_mesh_centers"));
+		if (properties.getProperty(prefix+"max_cameras")!=null)          this.max_cameras=Integer.parseInt(properties.getProperty(prefix+"max_cameras"));
+	}
+	
+	@Override
+	public LWIRWorldParameters clone() throws CloneNotSupportedException {
+		LWIRWorldParameters lwp =     new LWIRWorldParameters();
+		lwp.world_hsize =               this.world_hsize;
+		lwp.min_hsize =                 this.min_hsize;
+		lwp.max_hsize =                 this.max_hsize;
+		lwp.max_mesh_centers =          this.max_mesh_centers;
+		lwp.max_cameras =               this.max_cameras;
+		return lwp;
+	}	
+}

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

@@ -92,7 +92,7 @@ public class QuadCLT extends QuadCLTCPU {
 	}
 	
 	
-	QuadCLT saveQuadClt() {
+	public QuadCLT saveQuadClt() {
 		if (gpuQuad == null) {
 			return null;
 		}
@@ -110,7 +110,7 @@ public class QuadCLT extends QuadCLTCPU {
 		}
 	}
 
-	void setQuadClt() {
+	public void setQuadClt() {
 		if (gpuQuad != null) {
 			gpuQuad.updateQuadCLT(this); // to re-load new set of Bayer images to the GPU
 		}
@@ -845,6 +845,7 @@ public class QuadCLT extends QuadCLTCPU {
 			final int         photo_offs_set, // 0;     // 0 - keep weighted offset average, 1 - balance result image, 2 - set weighted average to specific value
 			final double      photo_offs,     // 21946; // weighted average offset target value, if photo_offs_set (and not photo_offs_balance)
 			final int         num_refines, // 2
+			final int         min_good,     // minimal number of "good" pixels
 			final double [][] combo_dsn_final,     // double [][]    combo_dsn_final, // dls,			
 			int               threadsMax,
 			final boolean     debug)
@@ -919,6 +920,11 @@ public class QuadCLT extends QuadCLTCPU {
 					num_good++;
 				}
 			}
+			if (num_good < min_good) {
+				System.out.println("calibratePhotometric2(): Too few good pixels for calibration: "+
+			num_good+" < "+min_good+", abandoning photometric calibration.");
+				return false;
+			}
 			avg_img /= num_good;
 			double wavg_offs = photo_offs;
 			boolean set_offs = true;
@@ -1021,6 +1027,10 @@ public class QuadCLT extends QuadCLTCPU {
 							s += pa_data[nsens][i][0] - pa_data[nsens][i][1]/b; 
 						}
 						c = -s/num_good*b;
+						if (Double.isNaN(c)) {
+							System.out.println("calibratePhotometric2().1 c=NaN");
+							return false;
+						}
 					} else {
 					// need to balance quadratic so their average is 0	
 					// linear or quadratic
@@ -1028,9 +1038,18 @@ public class QuadCLT extends QuadCLTCPU {
 						c = pa_coeff[nsens][0];
 						b = pa_coeff[nsens][1];
 						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;
+						}
 					}
 					double A = a;
 					double C = -c/b;
+					if (Double.isNaN(C)) {
+						System.out.println("calibratePhotometric2().3 C=NaN");
+						return false;
+					}
+
 					if (Math.abs(a) >= min_abs_a) {
 						double d2 = b*b - 4*a*c;
 						if (d2 < 0) {
@@ -1038,6 +1057,10 @@ public class QuadCLT extends QuadCLTCPU {
 							return false;
 						}
 						C = (-b + Math.sqrt(d2))/(2 * a);
+						if (Double.isNaN(C)) {
+							System.out.println("calibratePhotometric2().4 C=NaN");
+							return false;
+						}
 					}
 					double B = 2 * C * a + b;
 					scales2_new[nsens] = A;
@@ -1094,6 +1117,11 @@ public class QuadCLT extends QuadCLTCPU {
 						double b = pa_coeff[nsens][1];
 						scales_new [nsens] = b;
 						offs_new[nsens] =   -c/b;
+						if (Double.isNaN(offs_new[nsens])) {
+							System.out.println("calibratePhotometric2().5 offs_new[nsens]=NaN");
+							return false;
+						}
+
 					}
 					// re-normalize scales_new
 					double scales_avg = 1.0;
@@ -4270,7 +4298,6 @@ if (debugLevel < -100) {
 					null,                 // final QuadCLTCPU     ref_scene, // may be null if scale_fpn <= 0
 					threadsMax,
 					debugLevel);
-//			return quadCLT;
 		}
 
 	  

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

@@ -1025,10 +1025,6 @@ 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);
 		return properties;
 	}
@@ -1348,7 +1344,7 @@ public class QuadCLTCPU {
 				this.image_name, // quad timestamp. Will be ignored if correctionsParameters.use_x3d_subdirs is false
 				correctionsParameters.jp4SubDir,
 				true,  // smart,
-				true);  //newAllowed, // save
+				true); // false); // true);  //newAllowed, // save
 		String [] sourceFiles = correctionsParameters.selectSourceFileInSet(jp4_copy_path, debugLevel);
 		if (sourceFiles.length < getNumSensors()) {
 			if (sourceFiles.length > 0) {
@@ -1390,22 +1386,6 @@ public class QuadCLTCPU {
 					threadsMax,
 					1); // debugLevel); // final int       debug_level)
 		}
-		/*
-		// try to restore DSI generated from interscene if available, if not use single-scene -DSI_MAIN
-		if (restoreDSI(
-				"-DSI_INTER",
-				true // silent
-				) < 0) { 
-			restoreDSI(
-					"-DSI_MAIN",  // "-DSI_COMBO", "-DSI_MAIN" (DSI_COMBO_SUFFIX, DSI_MAIN_SUFFIX)
-					false); // silent
-		}
-		restoreInterProperties( // restore properties for interscene processing (extrinsics, ers, ...) // get relative poses (98)
-				null, // String path,             // full name with extension or null to use x3d directory
-				false, // boolean all_properties,//				null, // Properties properties,   // if null - will only save extrinsics)
-				debugLevel);
-//		showDSIMain();
-       */
  		return this; //  can only be QuadCLT instance
 	}
 	
@@ -4706,8 +4686,8 @@ public class QuadCLTCPU {
 		  return result;
 	  }
 
-	  class SetChannels{ // USED in lwir
-		  String set_name;    // set name (timestamp)
+	  public class SetChannels{ // USED in lwir
+		  public String set_name;    // set name (timestamp)
 		  int [] file_number; // array of file numbers for channels
 		  public SetChannels(String name, int[] fn){ // USED in lwir
 			  set_name = name;
@@ -4724,7 +4704,7 @@ public class QuadCLTCPU {
 		  }
 	  }
 
-	  SetChannels [] setChannels( // USED in lwir
+	  public SetChannels [] setChannels( // USED in lwir
 			  int debugLevel) {
 		  return setChannels(null, debugLevel);
 	  }

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

@@ -921,7 +921,7 @@ public class TexturedModel {
 						scene_ers_atr_dt); // double []    ers_atr_dt)(ers_scene_original_xyz_dt);
 			}
 			double [][] dxyzatr_dt = null;
-			if (mb_en) {
+			if (mb_en) { // all scenes have the same name/path
 				dxyzatr_dt = OpticalFlow.getVelocities( // looks at previous/next scene poses
 						scenes,   // QuadCLT []     quadCLTs,
 						nscene);  // int            nscene)
@@ -976,7 +976,7 @@ public class TexturedModel {
 									if (slice_texture[tileY][tileX] != null) {
 										double w = 1.0;
 										if (tex_mb > 0.0) {
-											double mb_l2 = mb_tau2 * ( motion_blur[0][nTile]*motion_blur[0][nTile] +
+											double mb_l2 = mb_tau2 * ( motion_blur[0][nTile]*motion_blur[0][nTile] + // motion_blur == null;
 													motion_blur[1][nTile]*motion_blur[1][nTile]);
 											if (mb_l2 > 1.0) {
 												w /= mb_l2; // 1/(squared mb)

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

@@ -2971,7 +2971,16 @@ if (debugLevel > -100) return true; // temporarily !
 	}
 
 
-
+	/**
+	 * Copy source files to the model directory (above versions) and optionally extract location data to *.kml file
+	 * @param set_name       set name (timestamp)
+	 * @param quadCLT_main   RGB QuadCLT instance
+	 * @param quadCLT_aux    secondary RGB or LWIR QuadCLT instance
+	 * @param clt_parameters CLT parameters
+	 * @param skip_existing  do not copy if destination files exist
+	 * @param search_KML     search fpr geo data and extract it to KML file if found
+	 * @param debugLevel     debug level
+	 */
 	public static void copyJP4src(
 			String                                   set_name,
 			QuadCLT                                  quadCLT_main,  // tiles should be set
@@ -2981,9 +2990,6 @@ if (debugLevel > -100) return true; // temporarily !
 			boolean                                  search_KML,
 			final int                                debugLevel) // throws Exception
 	{
-		//		  quadCLT_main.writeKml(debugLevel);
-		//		  quadCLT_main.writeRatingFile(debugLevel);
-
 
 		String [] sourceFiles_main=quadCLT_main.correctionsParameters.getSourcePaths();
 		//
@@ -8482,7 +8488,6 @@ if (debugLevel > -100) return true; // temporarily !
     	if (min_num_scenes < 1) {
     		min_num_scenes = 1;
     	}
-		
     	long start_time_all = System.nanoTime();
 		OpticalFlow opticalFlow = new OpticalFlow(
 				quadCLT_main.getNumSensors(),
@@ -8499,6 +8504,7 @@ if (debugLevel > -100) return true; // temporarily !
 				num_seq = pathFirstLast.length; 
 			}
 		}
+		
 		class VideoSet {
 			String []    video_paths;
 			int []       stereo_widths;
@@ -8520,12 +8526,6 @@ if (debugLevel > -100) return true; // temporarily !
 		
 		ArrayList<VideoSet> video_sets_list = new ArrayList<VideoSet>();
 		
-//		String [][] video_lists =   new String [num_seq][];
-//		int [] earliest_scene_pointer = new int[1];
-//		int [][]    stereo_widths = new int  [num_seq][];
-		
-		
-		
 		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)+")");
@@ -8609,6 +8609,10 @@ if (debugLevel > -100) return true; // temporarily !
 			}
 		}
 		
+		
+		
+		
+		
 		// combine videos if generated
 		if ((video_sets_list.size() > 1) &&
 				(video_sets_list.get(0).getVideoPaths() != null) &&

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

+/**
+ **
+ ** XyzAtr - store position+orientation (world XYZ, Azimuth, Tilt, Roll)
+ ** of other scenes relative to the position of this camera.
+ ** Positions/orientations are sampled during scanning of the center line 
+ **
+ **
+ ** Copyright (C) 2022 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  XyzAtr.java is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ ** -----------------------------------------------------------------------------**
+ **
+ */
+package com.elphel.imagej.tileprocessor;
+
+public class XyzAtr {
+	double [] xyz;
+	double [] atr;
+	
+	double [] ers_xyz_dt;  // world camera Vx, Vy, Vz (m/s)
+	double [] ers_atr_dt;  // camera rotations (az, tilt, roll in radians/s, corresponding to the frame center)
+	double [] ers_atr_d2t; // camera rotations (az, tilt, roll in radians/s, corresponding to the frame center)
+	double [] ers_xyz_d2t; // world camera Vx, Vy, Vz (m/s^2)
+	
+	public XyzAtr() {
+		xyz = new double[3];
+		atr = new double[3];
+	}
+	
+	public XyzAtr(double [] xyz, double [] atr) {
+		this.xyz = xyz;
+		this.atr = atr;
+		this.ers_xyz_dt =  new double[3];
+		this.ers_atr_dt =  new double[3];
+		this.ers_xyz_d2t = new double[3];
+		this.ers_atr_d2t = new double[3];
+	}
+
+	public XyzAtr(
+			double [] xyz,
+			double [] atr,
+			double [] ers_xyz_dt,
+			double [] ers_atr_dt) {
+		this.xyz = xyz;
+		this.atr = atr;
+		this.ers_xyz_dt = ers_xyz_dt;
+		this.ers_atr_dt = ers_atr_dt;
+		this.ers_xyz_d2t = new double[3];
+		this.ers_atr_d2t = new double[3];
+	}
+
+	public XyzAtr(
+			double [] xyz,
+			double [] atr,
+			double [] ers_xyz_dt,
+			double [] ers_atr_dt,
+			double [] ers_xyz_d2t,
+			double [] ers_atr_d2t
+			) {
+		this.xyz = xyz;
+		this.atr = atr;
+		this.ers_xyz_dt = ers_xyz_dt;
+		this.ers_atr_dt = ers_xyz_dt;
+		this.ers_xyz_d2t = ers_xyz_d2t;
+		this.ers_atr_d2t = ers_xyz_d2t;
+	}
+	
+	
+	
+	
+	public XyzAtr(String s) {
+		double [] d = ErsCorrection.parseDoublesCSV(s);
+		xyz = new double [] {d[0], d[1], d[2]};
+		atr = new double [] {d[3], d[4], d[5]};
+	}
+
+	public XyzAtr(String [] ss) {
+		if (ss[0] != null) {
+			double [] d = ErsCorrection.parseDoublesCSV(ss[0]);
+			xyz = new double [] {d[0], d[1], d[2]};
+			atr = new double [] {d[3], d[4], d[5]};
+			this.ers_xyz_dt =  new double[3];
+			this.ers_atr_dt =  new double[3];
+			this.ers_xyz_d2t = new double[3];
+			this.ers_atr_d2t = new double[3];
+			if (ss.length > 1) {
+				if (ss[1] != null) {
+					d = ErsCorrection.parseDoublesCSV(ss[1]);
+					ers_xyz_dt = new double [] {d[0], d[1], d[2]};
+					ers_atr_dt = new double [] {d[3], d[4], d[5]};
+				}
+				if (ss.length > 2) {
+					if (ss[2] != null) {
+						d = ErsCorrection.parseDoublesCSV(ss[2]);
+						ers_xyz_d2t = new double [] {d[0], d[1], d[2]};
+						ers_atr_d2t = new double [] {d[3], d[4], d[5]};
+					}
+				}
+			} 
+		}
+	}
+	
+	public String toString() {
+		return String.format("%f,  %f, %f, %f, %f, %f",xyz[0],xyz[1],xyz[2],atr[0],atr[1],atr[2]);
+	}
+	
+	public String [] toStrings() {
+		return new String[] {
+				String.format("%f,  %f, %f, %f, %f, %f",xyz[0],         xyz[1],         xyz[2],         atr[0],         atr[1],         atr[2]),
+				String.format("%f,  %f, %f, %f, %f, %f",ers_xyz_dt[0],  ers_xyz_dt[1],  ers_xyz_dt[2],  ers_atr_dt[0],  ers_atr_dt[1],  ers_atr_dt[2]),
+				String.format("%f,  %f, %f, %f, %f, %f",ers_xyz_d2t[0], ers_xyz_d2t[1], ers_xyz_d2t[2], ers_atr_d2t[0], ers_atr_d2t[1], ers_atr_d2t[2])};
+	}
+	
+	
+	public double [] getXYZ() {
+		return xyz;
+	}
+	public double [] getATR() {
+		return atr;
+	}
+	public void setXYZ(double [] d) {
+		xyz[0] = d[0];
+		xyz[1] = d[1];
+		xyz[2] = d[2];
+	}
+	public void setATR(double [] d) {
+		atr[0] = d[0];
+		atr[1] = d[1];
+		atr[2] = d[2];
+	}
+	
+	public double [] getErsXYZ_dt() {
+		return ers_xyz_dt;
+	}
+	public double [] getErsATR_dt() {
+		return ers_atr_dt;
+	}
+	public double [] getErsXYZ_d2t() {
+		return ers_xyz_d2t;
+	}
+	public double [] getErsATR_d2t() {
+		return ers_atr_d2t;
+	}
+	public void setErsXYZ_dt(double [] d) {
+		ers_xyz_dt[0] = d[0];
+		ers_xyz_dt[1] = d[1];
+		ers_xyz_dt[2] = d[2];
+	}
+	public void setErsATR_dt(double [] d) {
+		ers_atr_dt[0] = d[0];
+		ers_atr_dt[1] = d[1];
+		ers_atr_dt[2] = d[2];
+	}
+	public void setErsXYZ_d2t(double [] d) {
+		ers_xyz_d2t[0] = d[0];
+		ers_xyz_d2t[1] = d[1];
+		ers_xyz_d2t[2] = d[2];
+	}
+	public void setErsATR_d2t(double [] d) {
+		ers_atr_d2t[0] = d[0];
+		ers_atr_d2t[1] = d[1];
+		ers_atr_d2t[2] = d[2];
+	}
+	
+	
+	
+}
\ No newline at end of file

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocOctree.java

@@ -127,11 +127,12 @@ public class LwocOctree implements Serializable {
     	infinity = 0;
     	double max_hsize = world.getMaxHsize();
     	LwocOctree lwoc_root = world.getLwocRoot();
+    	double [] root_center = (lwoc_root == null)?center:lwoc_root.center; 
     	for (int dm = 0; dm < center.length;  dm++) {
-    		if ((center[dm] - hsize) <= (lwoc_root.center[dm] - max_hsize)) {
+    		if ((center[dm] - hsize) <= (root_center[dm] - max_hsize)) {
     			infinity |= (1 << (2 * dm));
     		}
-    		if ((center[dm] + hsize) >= (lwoc_root.center[dm] + max_hsize)) {
+    		if ((center[dm] + hsize) >= (root_center[dm] + max_hsize)) {
     			infinity |= (1 << (2 * dm + 1));
     		}
     	}

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocScene.java

@@ -24,28 +24,33 @@
 
 package com.elphel.imagej.tileprocessor.lwoc;
 
-import java.util.ArrayList;
-import java.util.concurrent.atomic.AtomicInteger;
+import java.io.Serializable;
+import java.util.HashMap;
 import com.elphel.imagej.tileprocessor.GeometryCorrection;
-
-public class LwocScene {
+import com.elphel.imagej.tileprocessor.QuadCLT;
+import com.elphel.imagej.tileprocessor.XyzAtr;
+//https://www.baeldung.com/java-treemap-vs-hashmap
+public class LwocScene implements Serializable {
 	private static final long    serialVersionUID = 1L;
-	static AtomicInteger SCENE_ID = new AtomicInteger();
-	static ArrayList<LwocScene> LWOC_SCENES;
-	
-	int       id;         // assign unique ID
+	static HashMap<String, LwocScene> LWOC_SCENES; 
+//	int       id;         // assign unique ID
 	String    stimestamp;
-	GeometryCorrection geometryCorrection;
+	GeometryCorrection geometryCorrection; // serialize?
 	double [] camera_xyz;
 	double [] camera_atr;
 	double [] camera_xyz_dt;
 	double [] camera_atr_dt;
-	double [][][] tile_layers_dsm; // per tile, per layer, {disparity, strength, mode}. For mode -
+	
+	HashMap<String, XyzAtr> other_scenes;
+	transient QuadCLT quadCLT; // use QuadCLT to restore
+	// will be stored as Tiff
+	transient double [][][] tile_layers_dsm; // per tile, per layer, {disparity, strength, mode}. For mode -
 	// interpret as Double doubleToLongBits(), [22] - used LMA, 0..15 - which sensors were used
 
 	public static void resetScenes() {
-		SCENE_ID.set(0);
-		LWOC_SCENES = new ArrayList<LwocScene>();
+//		SCENE_ID.set(0);
+//		LWOC_SCENES = new ArrayList<LwocScene>();
+		LWOC_SCENES = new HashMap<String, LwocScene>();
 	}
 	
 	public LwocScene (
@@ -64,8 +69,9 @@ public class LwocScene {
 		this.camera_xyz_dt =      camera_xyz_dt;
 		this.camera_atr_dt =      camera_atr_dt;
 		this.tile_layers_dsm =    tile_layers_dsm;
-		id = SCENE_ID.getAndIncrement();
-		LWOC_SCENES.add(this);
+//		id = SCENE_ID.getAndIncrement();
+//		LWOC_SCENES.add(this);
+		LWOC_SCENES.put(stimestamp, this);
 	};
 	// add functionality to save/restore
 	public double [] getCameraXYZ() {

src/main/java/com/elphel/imagej/tileprocessor/lwoc/LwocWorld.java

@@ -171,6 +171,14 @@ public class LwocWorld  implements Serializable {
 		return new_world;
 	}
 	
+	public static LwocWorld getWorld() {
+		return getWorld(lwoc_worlds.size()-1);
+	}
+	
+	public static LwocWorld getWorld(int indx) {
+		return lwoc_worlds.get(indx);
+	}
+
 	/**
 	 * Delete world from the universe (if existed)
 	 * @param world world instance to remove