setsm_code.cpp

/*
 * Copyright 2017 Myoung-Jong Noh
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include <atomic>
#include <memory>

#include "setsm_code.hpp"
#include "log.hpp"

#ifdef BUILDMPI
#include "mpi.h"
#include "mpi_helpers.hpp"
#endif

const char setsm_version[] = "4.3.14";

int main(int argc,char *argv[])
{

#ifdef BUILDMPI
    init_mpi(argc, argv);
    int rank;
    MPI_Comm_rank(MPI_COMM_WORLD, &rank);
#endif

    init_logging();

    setlogmask (LOG_UPTO (LOG_NOTICE));

    openlog ("setsm", LOG_CONS | LOG_PID | LOG_NDELAY, LOG_NOTICE);

    syslog (LOG_NOTICE, "git_description: %s user: %s\n", GIT_DESCRIPTION, getlogin());
    #ifdef DEBUG_SYSLOG
      printf ("setsm git_description: %s user: %s\n", GIT_DESCRIPTION, getlogin());
    #endif

    closelog ();
    
    setbuf(stdout, NULL);
    TIFFSetWarningHandler(NULL);
    char* projectfilename   = (char*)"default.txt";
    int i=0;
    ARGINFO args;
    
    args.sensor_type = SB; //1 = satellite, 2 = Aerial Photo
    args.pyramid_level = 4;
    args.SDM_SS = 3;
    args.SDM_AS = 20.0;
    args.SDM_days = 1;
    args.number_of_images = 2;
    args.check_arg = 0;
    args.check_DEM_space = false;
    args.check_Threads_num = false;
    args.check_seeddem = false;
    args.check_minH = false;
    args.check_maxH = false;
    args.check_tiles_SR = false;
    args.check_tiles_ER = false;
    args.check_tiles_SC = false;
    args.check_tiles_EC = false;
    args.check_RA_line  = false;
    args.check_RA_sample= false;
    args.check_gridonly = false;
    args.check_RA_tileR = false;
    args.check_RA_tileC = false;
    args.check_tilesize = false;
    args.check_boundary = false;
    args.check_checktiff = false;
    args.check_ortho = false;
    args.check_RA_only = false;
    args.check_LSF   = false;
    args.check_LSF_DEM = false;
    args.check_LSFDEMpath = false;
    args.check_LSF2  = 0;
    args.check_Matchtag = false;
    args.check_EO = false;
    args.check_fl = false;
    args.check_ccd = false;
    args.check_full_cal = false;
    args.check_coreg = 0;     //image coreg = 1, DEM coreg = 2, image + DEM = 3
    args.check_sdm_ortho = 0; //no coreg = 1 , with coreg = 2
    args.check_DEM_coreg_output = false;
    args.check_tif_rounding = false;
    args.check_txt_input = 0; //no txt input = 0, DEM coregistration txt input = 1;
    args.check_downsample = false;
    args.check_DS_txy = false;
    
    args.number_of_images = 2;
    args.projection = 3;//PS = 1, UTM = 2
    args.param.pm = 0;
    args.sensor_provider = DG; //DG = 1, Pleiades = 2, Planet = 3
    args.check_imageresolution = false;
    args.utm_zone = -99;
    args.ortho_count = 1;
    args.overlap_length = 50;
    args.RA_only = 0;
    args.focal_length = 120;
    args.CCD_size = 12;
    args.SGM_py = 1;
    args.DS_sigma = 1.6;
    args.DS_kernel = 9;
    args.GCP_spacing = -9;
    
    TransParam param;
    param.bHemisphere = 1;
    
    int image_count = 0;
    int RA_line_count = 1;
    int RA_sample_count = 1;
    
    args.ra_line[0] = 0.0;  //first image is a reference for RPCs bias computation
    args.ra_sample[0] = 0.0;
    args.System_memory = getSystemMemory(); //default system memory
    
    int DEM_divide = 0;
    double **Imageparams = NULL;
    
    if(argc == 1)
    {
        char save_filepath[500];
        char LeftImagefilename[500];
        
        args.check_arg = 0;
        
        Imageparams = (double**)calloc(args.number_of_images, sizeof(double*));
        for(int ti = 0 ; ti < args.number_of_images ; ti++)
        {
            Imageparams[ti] = (double*)calloc(sizeof(double),2);
            Imageparams[ti][0] = 0.0;
            Imageparams[ti][1] = 0.0;
        }
        
        DEM_divide = SETSMmainfunction(&param,projectfilename,args,save_filepath,Imageparams);
        
#ifdef BUILDMPI
        if(rank == 0) {
#endif
        char DEMFilename[500];
        char Outputpath[500];
        sprintf(DEMFilename, "%s/%s_dem.tif", save_filepath,args.Outputpath_name);
        sprintf(Outputpath, "%s", save_filepath);
            
        printf("%s\n",LeftImagefilename);
        printf("%s\n",DEMFilename);
        printf("%s\n",Outputpath);
        if(DEM_divide == 0)
            orthogeneration(param,args,LeftImagefilename, DEMFilename, Outputpath,1,DEM_divide,Imageparams);
        else
            orthogeneration(param,args,LeftImagefilename, DEMFilename, Outputpath,1,DEM_divide,Imageparams);
#ifdef BUILDMPI
        }
#endif
    }
    else if(argc == 2)
    {
        if (strcmp("-help",argv[1]) == 0) 
        {
            printf("Usage:./setsm [-help] : general explanation\n");
            printf("\texecution 1 : ./setsm : execute setsm with default.txt\n");
            printf("\t\texample usage : ./setsm\n");
            printf("\texecution 2 : ./setsm [image1] [image2] [output_directory]\n");
            printf("\t\t(execute setsm with image1, image2, and output directory for saving the results)\n");
            printf("\t\texample usage : ./setsm /home/image1.tif /home/image2.tif /home/output\n");
            printf("\t\t\t or ./setsm /home/image1.bin /home/image2.bin /home/output\n");
            printf("\texecution 3 : ./setsm [image1] [image2] [output_directory] [-options]\n");
            printf("\t\t(execute setsm with image1, image2 and output directory for saving the results with user-defined options\n");
            printf("\t\texample usage : ./setsm /home/image1.tif /home/image2.tif /home/output -outres 10 -threads 12 -seed /home/seed_dem.bin 50\n\n");
            
            printf("setsm version : %s\n", setsm_version);
            printf("supported image format : tif with xml, and binary with envi header file\n");
            printf("options\n");
            printf("\t[-outres value]\t: Output grid spacing[m] of Digital Elevation Model(DEM)\n");
            printf("\t[-seed filepath sigma]\t: Seed DEM(tif or binary format with envi header file for reducing computation loads with a height accuracy[m] of seed dem\n");
            printf("\t\t(if this option is set, setsm defines serach-spaces between + 1*sigma and - 1*sigma for calculating a height of grid position.\n");
            printf("\t\tThis option is not recommended on very changeable area. setsm can reconstruct 3D surface information without any seed dem\n");
            printf("\t[-boundary_min_X value1 -boundary_min_Y value2 -boundary_max_X value3 -boundary_max_Y value4]\t: Define specific DEM area to generate. The X and Y coordinate values should be Polar Stereographic or UTM\n");
            printf("\t[-tilesize value]\t: Set a tilesize for one time processing. Default is 8,000 pixels\n");
            printf("\t[-projection value]\t: Set planemetric coordinate projection. The value is 'ps' or 'utm'. Default projection is automatically defined by latitude of the input information of xml (between 60N and 60S is utm, and other is ps\n");
            printf("\t[-threads value]\t : Total number of threads for utilizing openmp parallel codes\n");
            printf("\t\t(if you don't know about this value, input '0'. Openmp can automatically detect a best value of your system)\n");
            printf("\t[-RAonly value]\t: If set to 1 (true), program will exit after RA calculation. Default = 0 (false)\n");
        }
    }
    else if(argc == 3)
    {
        if(strcmp("-gridonly",argv[1]) == 0)
        {
            char save_filepath[500];
            
            args.check_gridonly = true;
            
            sprintf(args.Outputpath,"%s",argv[2]);
            
            char *Outputpath_name  = SetOutpathName(args.Outputpath);
            sprintf(args.Outputpath_name,"%s",Outputpath_name);
            printf("after pathname %s\n",args.Outputpath_name);
            
            printf("%s\n",args.Outputpath);
            printf("%s\n", args.Outputpath_name);

            free(Outputpath_name);
            
            Imageparams = (double**)calloc(args.number_of_images, sizeof(double*));
            for(int ti = 0 ; ti < args.number_of_images ; ti++)
            {
                Imageparams[ti] = (double*)calloc(sizeof(double),2);
                Imageparams[ti][0] = 0.0;
                Imageparams[ti][1] = 0.0;
            }
            
            DEM_divide = SETSMmainfunction(&param,projectfilename,args,save_filepath,Imageparams);
        }
    }
    else if(argc == 4)
    {
        args.check_arg = 1;
        sprintf(args.Image[0],"%s",argv[1]);
        sprintf(args.Image[1],"%s",argv[2]);
        sprintf(args.Outputpath,"%s",argv[3]);
        
        char *Outputpath_name  = SetOutpathName(args.Outputpath);
        sprintf(args.Outputpath_name,"%s",Outputpath_name);
        printf("after pathname %s\n",args.Outputpath_name);
        
        printf("%s\n",args.Image[0]);
        printf("%s\n",args.Image[1]);
        printf("%s\n",args.Outputpath);
        printf("%s\n", args.Outputpath_name);

        free(Outputpath_name);
        
        char save_filepath[500];
        char LeftImagefilename[500];
        
        if( strcmp(args.Image[0],args.Image[1]) != 0)
        {
            Imageparams = (double**)calloc(args.number_of_images, sizeof(double*));
            for(int ti = 0 ; ti < args.number_of_images ; ti++)
            {
                Imageparams[ti] = (double*)calloc(sizeof(double),2);
                Imageparams[ti][0] = 0.0;
                Imageparams[ti][1] = 0.0;
            }
            
            DEM_divide = SETSMmainfunction(&param,projectfilename,args,save_filepath,Imageparams);
            
#ifdef BUILDMPI
            if(rank == 0) {
#endif
            char DEMFilename[500];
            char Outputpath[500];
            
            sprintf(Outputpath, "%s", save_filepath);
            if(DEM_divide == 0)
            {
                sprintf(DEMFilename, "%s/%s_dem.tif", save_filepath,args.Outputpath_name);
                orthogeneration(param,args,LeftImagefilename, DEMFilename, Outputpath,1,DEM_divide,Imageparams);
            }
            else
            {
                for(int iter = 1 ; iter <= DEM_divide ; iter++)
                {
                    sprintf(DEMFilename, "%s/%s_%d_dem.tif", save_filepath,args.Outputpath_name,iter);
                    orthogeneration(param,args,LeftImagefilename, DEMFilename, Outputpath,1,iter,Imageparams);
                }
            }
#ifdef BUILDMPI
            }
#endif
        }
        else
            printf("Please check input 1 and input 2. Both is same\n");
            
    }
    else if(argc > 4)
    {
        bool cal_flag = true;
        
        for (i=0; i<argc; i++)
        {
            if (strcmp("-LSFDEM",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input '1' for Yes or '0' for No\n");
                    cal_flag = false;
                }
                else
                {
                    args.check_LSF_DEM = atoi(argv[i+1]);
                    printf("LSFDEM %d\n",args.check_LSF_DEM);
                }
            }
            
            if (strcmp("-LSFDEM_path",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input DEM path for LSF\n");
                    cal_flag = false;
                }
                else
                {
                    sprintf(args.Outputpath,"%s",argv[i+1]);
                    args.check_LSFDEMpath = true;
                    printf("LSFDEMpath %s\n",args.Outputpath);
                }
            }
            
            if (strcmp("-round",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input '1' for generating rounded tifs by 128\n");
                    cal_flag = false;
                }
                else
                {
                    args.check_tif_rounding = atoi(argv[i+1]);
                    printf("Rounded Tiff generation %d\n",args.check_tif_rounding);
                }
            }
            
            if (strcmp("-coreg",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input '1' for Orthoimage or '2' for DEM\n");
                    cal_flag = false;
                }
                else
                {
                    args.check_coreg = atoi(argv[i+1]);
                    printf("Coregistration %d\n",args.check_coreg);
                }
            }
            
            if (strcmp("-txt_input",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input image txt file\n");
                    cal_flag = false;
                }
                else
                {
                    args.check_txt_input = 1;
                    printf("txt input %d\n",args.check_txt_input);
                    if(args.check_txt_input == 1)
                    {
                        sprintf(args.DEM_input_file,"%s",argv[i+1]);
                        printf("txt input %s\n",args.DEM_input_file);
                    }
                }
            }
            
            if (strcmp("-coreg_output",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input '2' for generation both coregistered image and whole image diff stat or '1' for generation whole image diff stat or '0' for no generation\n");
                    cal_flag = false;
                }
                else
                {
                    if(args.check_coreg == 2 || args.check_coreg == 3)
                    {
                        args.check_DEM_coreg_output = atoi(argv[i+1]);
                        printf("Coregistration output tif gneneration %d\n",args.check_DEM_coreg_output);
                    }
                }
            }
            
            if (strcmp("-gcp_space",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input the GCP space value\n");
                    cal_flag = false;
                }
                else
                {
                    args.GCP_spacing = atof(argv[i+1]);
                    printf("%f\n",args.GCP_spacing);
                }
            }
            
            if (strcmp("-SDM",argv[i]) == 0 || strcmp("-sdm",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input '1' for Orthoimage only without coreg, '2' for orthoimage with coreg, '3' for DEM with original image\n");
                    cal_flag = false;
                }
                else
                {
                    args.check_sdm_ortho = atoi(argv[i+1]);
                    printf("SDM with orthoimage %d\n",args.check_sdm_ortho);
                }
            }
            
            if (strcmp("-outres",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input the outres value\n");
                    cal_flag = false;
                }
                else
                {
                    args.DEM_space = atof(argv[i+1]);
                    printf("%f\n",args.DEM_space);
                    args.check_DEM_space = true;
                }
            }
            
            if (strcmp("-projection", argv[i]) == 0) {
                if (argc == i + 1) {
                    printf("Please input Projection info\n");
                    cal_flag = false;
                } else {
                    if(strcmp("utm",argv[i+1]) == 0 || strcmp("UTM",argv[i+1]) == 0)
                    {
                        args.projection = 2;
                        printf("UTM projection \n");
                        
                    }
                    else
                    {
                        args.projection = 1;
                        printf("PS projection\n");
                    }
                }
            }
            
            if (strcmp("-North",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input North value\n");
                    cal_flag = false;
                }
                else
                {
                    int dir = atoi(argv[i+1]);
                    if(dir == 1)
                    {
                        param.bHemisphere = 1;
                        param.pm = 1;
                    }
                    else
                    {
                        param.bHemisphere = 2;
                        param.pm = -1;
                    }
                }
            }
            
            if (strcmp("-mem",argv[i]) == 0)
            {
                if (argc == i+1) {
                    printf("Please input System memory\n");
                    cal_flag = false;
                }
                else
                {
                    args.System_memory = atof(argv[i+1]);
                    printf("System memory %f\n",args.System_memory);
                }
            }
        }
        
        if(args.check_LSF_DEM)
        {
            char str_DEMfile[1000];
            char str_matchfile[1000];
            char str_matchfile_tif[1000];
            
            char str_smooth_file[500];
            char DEM_header[500];
            char smooth_GEOTIFF_filename[500];
            char result_file[500];
            char metafilename[500];
            
            if(args.projection == 3)
                param.projection = 1;
            else
                param.projection = args.projection;
            
            char *ext = strrchr(args.Outputpath,'.');
            if(ext)
            {
                if (!strcmp("tif",ext+1) || !strcmp("TIF",ext+1) || !strcmp("raw",ext+1))
                {
                    printf("DEM file open\n");
                    
                    sprintf(str_DEMfile, "%s", args.Outputpath);
                    char *tmp_chr = remove_ext(args.Outputpath);
                    
                    sprintf(str_smooth_file, "%s_smooth.raw", tmp_chr);
                    sprintf(DEM_header, "%s_smooth.hdr", tmp_chr);
                    sprintf(smooth_GEOTIFF_filename, "%s_smooth.tif", tmp_chr);
                    
                    int full_size = strlen(tmp_chr);
                    char *t_name = (char*)malloc(sizeof(char)*(full_size-4));
                    for(int kk = 0; kk < full_size-4 ; kk++)
                        t_name[kk] = tmp_chr[kk];
           
                    sprintf(metafilename,"%s_meta.txt",t_name);
                    sprintf(str_matchfile,"%s_matchtag.raw",t_name);
                    sprintf(str_matchfile_tif,"%s_matchtag.tif",t_name);
                    sprintf(result_file,"%s_smooth_result.txt",t_name);

                    free(tmp_chr);
                }
                else
                {
                    printf("No DEM(tif or raw) exists!!\n");
                    exit(1);
                }
            }
            else
            {
                char *Outputpath_name  = SetOutpathName(args.Outputpath);
                
                sprintf(str_DEMfile, "%s/%s_dem.tif", args.Outputpath,Outputpath_name);
                sprintf(str_smooth_file,"%s/%s_dem_smooth.raw",args.Outputpath,Outputpath_name);
                sprintf(DEM_header, "%s/%s_dem_smooth.hdr", args.Outputpath,Outputpath_name);
                sprintf(smooth_GEOTIFF_filename, "%s/%s_dem_smooth.tif", args.Outputpath, Outputpath_name);
                sprintf(metafilename,"%s/%s_meta.txt",args.Outputpath,Outputpath_name);
                sprintf(str_matchfile,"%s/%s_matchtag.raw",args.Outputpath,Outputpath_name);
                sprintf(str_matchfile_tif,"%s/%s_matchtag.tif",args.Outputpath,Outputpath_name);
                sprintf(result_file,"%s/%sdem_smooth_result.txt",args.Outputpath,Outputpath_name);

                free(Outputpath_name);
            }
            
            printf("dem file %s\n",str_DEMfile);
            printf("metafilename %s\n",metafilename);
            printf("matchfile %s\n",str_matchfile);
            
            printf("smooth DEM %s\n",str_smooth_file);
            printf("DEM_header %s\n",DEM_header);
            printf("smooth_GEOTIFF_filename %s\n", smooth_GEOTIFF_filename);
            printf("result file %s\n",result_file);
            
            FILE *pFile_DEM = fopen(str_DEMfile,"r");
            printf("check exist %s %d\n",str_DEMfile,!!pFile_DEM);
            
            if(pFile_DEM)
            {
                double MPP_stereo_angle = 1;
                FILE *pMetafile   = fopen(metafilename,"r");
                if(pMetafile)
                {
                    printf("meta file exist!!");
                    
                    char linestr[1000];
                    char linestr1[1000];
                    char* pos1;
                    char* token = NULL;
                    bool check_mpp = false;
                    
                    while(!feof(pMetafile) && !check_mpp)
                    {
                        fgets(linestr,sizeof(linestr),pMetafile);
                        strcpy(linestr1,linestr);
                        token = strtok(linestr,"=");
                        
                        if(strcmp(token,"Setereo_pair_expected_height_accuracy") == 0)
                        {
                            pos1 = strstr(linestr1,"=")+1;
                            MPP_stereo_angle            = atof(pos1);
                            
                            check_mpp = true;
                        }
                    }
                    fclose(pMetafile);
                }
                else
                    printf("meta file doesn't exist!!\n");
                
                printf("MPP_stereo_angle %f\n",MPP_stereo_angle);
                
                double minX, maxY;
                double grid_size = args.DEM_space;
                CSize DEM_size = GetDEMsize(str_DEMfile,metafilename,&param,&grid_size,&minX,&maxY);
                float *seeddem = GetDEMValue(str_DEMfile,DEM_size);
                
                long data_length = (long)DEM_size.width*(long)DEM_size.height;
                printf("data_length %ld\n",data_length);
                printf("projection %d\tHemisphere %d\n",param.projection,param.bHemisphere);
                
                printf("%d\n",DEM_size.width);
                printf("%d\n",DEM_size.height);
                printf("%f\n",grid_size);
                
                LSFINFO *Grid_info = (LSFINFO*)malloc(sizeof(LSFINFO)*data_length);
                if(Grid_info == NULL)
                {
                    printf("Insufficient memory available\n");
                    exit(1);
                }
                
                for(long count_index = 0 ; count_index < data_length; count_index++)
                    Grid_info[count_index].lsf_kernel = 2;
                
                float *smooth_DEM = (float*)malloc(sizeof(float)*data_length);
                if(smooth_DEM == NULL)
                {
                    printf("Insufficient memory available\n");
                    exit(1);
                }
                
                double max_std = -100000;
                int max_std_iter = -1;
                int min_std_iter = 100;
                double min_std = 100000;
                int max_iter_th;
                if(grid_size >= 2)
                    max_iter_th = 2;
                else
                    max_iter_th = 2;
                
                const int max_iter_count = 5;
                int s_iter = 0;
                bool check_smooth_iter = true;
                
                double sigma_avg = 10000;
                double sigma_std = 10000;
                
                while(check_smooth_iter && s_iter < max_iter_count)
                {
                    printf("start LSF\n");
                    
                    if((sigma_avg < 0.5 && sigma_std < 1) || s_iter == max_iter_count-1)
                    {
                        if(s_iter > max_iter_th)
                        {
                            printf("final local suface fitting\n");
                            check_smooth_iter = false;
                        }
                    }
                    
                    DEM_STDKenel_LSF(Grid_info, &sigma_avg, &sigma_std,seeddem,smooth_DEM,grid_size,s_iter,DEM_size, MPP_stereo_angle);
                    
                    if(sigma_avg > max_std)
                    {
                        max_std = sigma_avg;
                        max_std_iter = s_iter;
                    }
                    
                    if(sigma_avg < min_std)
                    {
                        min_std = sigma_avg;
                        min_std_iter = s_iter;
                    }
                    
                    printf("End LSF %d\tsigma avg std %f\t%f\n",s_iter,sigma_avg,sigma_std);
                    memcpy(seeddem,smooth_DEM,sizeof(float)*data_length);
                    
                    s_iter++;
                }
                free(smooth_DEM);
                free(Grid_info);
                
                WriteGeotiff(smooth_GEOTIFF_filename, seeddem, DEM_size.width, DEM_size.height, grid_size, minX, maxY, param.projection, param.utm_zone, param.bHemisphere, 4);
                
                FILE *presult = fopen(result_file,"w");
                fprintf(presult,"%d\t%f\t%d\t%f\n",max_std_iter,max_std,min_std_iter,min_std);
                fclose(presult);
                
                printf("%d\t%f\t%d\t%f\n",max_std_iter,max_std,min_std_iter,min_std);
                
                free(seeddem);
      
                fclose(pFile_DEM);
            }
        }
        else
        {
            args.check_arg = 1;
            
            bool bminx  = false;
            bool bmaxx  = false;
            bool bminy  = false;
            bool bmaxy  = false;
            
            for (i=0; i<argc; i++)
            {
                if (strcmp("-SGMpy",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input sgm pyramid level steps (default is -1)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.SGM_py = atoi(argv[i+1]);
                        printf("Steps of sgm pyramid level %d\n",args.SGM_py);
                    }
                }
                
                if (strcmp("-PL",argv[i]) == 0 || strcmp("-pl",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input pyramid level steps (default is 4)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.pyramid_level = atoi(argv[i+1]);
                        printf("Steps of pyramid level %d\n",args.pyramid_level);
                    }
                }
                
                if (strcmp("-SDM_SS",argv[i]) == 0 || strcmp("-sdm_ss",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input SDM search size (default is 3)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.SDM_SS = atoi(argv[i+1]);
                        printf("SDM search size %d\n",args.SDM_SS);
                    }
                }
                
                if (strcmp("-SDM_DAYS",argv[i]) == 0 || strcmp("-sdm_days",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input time difference(day) between images (default is 1)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.SDM_days = atof(argv[i+1]);
                        printf("SDM time gap %f(days)\n",args.SDM_days);
                    }
                }
                
                if (strcmp("-SDM_AS",argv[i]) == 0 || strcmp("-sdm_as",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input average velocity per day(m/day) for SDM\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.SDM_AS = atof(argv[i+1]);
                        printf("Average velocity %f(m/day)\n",args.SDM_AS);
                    }
                }
                
                if (strcmp("-PC",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please select option of full resolution DEM grid (default is 0)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.check_full_cal = atoi(argv[i+1]);
                        printf("Option of full resolution DEM grid %d\n",args.check_full_cal);
                    }
                }
                
                if (strcmp("-Sensor",argv[i]) == 0 || strcmp("-sensor",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input '1' for RFM(default) or '0' for Collinear Equation(Frame)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        int temp;
                        temp = atoi(argv[i+1]);
                        if(temp == 1)
                        {
                            args.sensor_type = SB;
                            printf("Spaceborne RFM Sensor %d\n",args.sensor_type);
                        }
                        else
                        {
                            args.sensor_type = AB;
                            printf("Airborne frame Sensor %d\n",args.sensor_type);
                        }
                    }
                }
                
                if (strcmp("-NImages",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input Number of images (default is 2 for stereo)\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.number_of_images = atoi(argv[i+1]);
                        printf("Number of Images %d\n",args.number_of_images);
                    }
                }
                
                if (strcmp("-FL",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input focal length[mm]\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.focal_length = atof(argv[i+1]);
                        printf("focal length %f\n",args.focal_length);
                        args.check_fl = true;
                    }
                }
                
                if (strcmp("-CCDsize",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input CCD size[um]\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.CCD_size = atof(argv[i+1]);
                        printf("CCD size %f\n",args.CCD_size);
                        args.check_ccd = true;
                    }
                }
                
                if (strcmp("-EO",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input Exterior Orientation informations\n");
                        cal_flag = false;
                    }
                    else
                    {
                        sprintf(args.EO_Path,"%s",argv[i+1]);
                        args.check_EO = true;
                        printf("EO_path %s\n",args.EO_Path);
                    }
                }
                
                if (strcmp("-image",argv[i]) == 0 || strcmp("-Image",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input image path\n");
                        cal_flag = false;
                    }
                    else
                    {
                        sprintf(args.Image[image_count],"%s",argv[i+1]);
                        printf("image%d %s\n",image_count,args.Image[image_count]);
                        
                        image_count++;
                    }
                }
                
                if (strcmp("-outpath",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input outpath\n");
                        cal_flag = false;
                    }
                    else
                    {
                        sprintf(args.Outputpath,"%s",argv[i+1]);
                        printf("Out path %s\n",args.Outputpath);
                    }
                }
                
                if (strcmp("-provider", argv[i]) == 0) {
                    if (argc == i + 1) {
                        printf("Please input Provider info\n");
                        cal_flag = false;
                    } else {
                        if(strcmp("DG",argv[i+1]) == 0 || strcmp("dg",argv[i+1]) == 0)
                        {
                            args.sensor_provider = DG;
                            printf("Image Provider : Digital Globe\n");
                            
                        }
                        else if(strcmp("Pleiades",argv[i+1]) == 0 || strcmp("pleiades",argv[i+1]) == 0)
                        {
                            args.sensor_provider = PL;
                            printf("Image Provider : Pleiades\n");
                        }
                        else if(strcmp("Planet",argv[i+1]) == 0 || strcmp("planet",argv[i+1]) == 0)
                        {
                            args.sensor_provider = PT;
                            printf("Image Provider : Planet\n");
                        }
                        else
                        {
                            args.projection = 1;    
                            printf("Not suppoted Provider. Please use Digital Globe (Worldview, QuickBird, GeoEye) or Pleiades\n");
                            exit(1);
                        }
                    }
                }
                
                if (strcmp("-GSD",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input the image resolution (GSD) value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.image_resolution = atof(argv[i+1]);
                        printf("%f\n",args.image_resolution);
                        args.check_imageresolution = true;
                    }
                }
                
                if (strcmp("-LSF",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input '1 ' for applying LSF smoothing\n ");
                        cal_flag = false;
                    }
                    else
                    {
                        int input_number = atoi(argv[i+1]);
                        if(input_number == 1 || input_number == 2)
                        {
                            args.check_LSF2 = input_number;
                            printf("LSF %d\n",args.check_LSF2);
                        }
                        else
                            printf("LSF is not applied!!\n");
                    }
                }
                
                if (strcmp("-MT",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input '1 ' for applying v331 matchtag info\n ");
                        cal_flag = false;
                    }
                    else
                    {
                        int input_number = atoi(argv[i+1]);
                        if(input_number == 1)
                        {
                            args.check_Matchtag = true;
                            printf("MT %d\n",args.check_Matchtag);
                        }
                        else
                            printf("MT is not applied!!\n");
                    }
                }
                
                if (strcmp("-outres",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the outres value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.DEM_space = atof(argv[i+1]);
                        printf("%f\n",args.DEM_space);
                        args.check_DEM_space = true;
                    }
                }
                
                if (strcmp("-threads",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the threads value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.Threads_num = atoi(argv[i+1]);
                        printf("%d\n",args.Threads_num);
                        args.check_Threads_num = true;
                    }
                }
     
                if (strcmp("-downsample",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input the threads value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        sprintf(args.seedDEMfilename,"%s",argv[i+1]);
                        printf("source %s\n",args.seedDEMfilename);
                        sprintf(args.Outputpath_name,"%s",argv[i+2]);
                        printf("target %s\n",args.Outputpath_name);
                        args.check_downsample = true;
                    }
                }
                
                if (strcmp("-txy",argv[i]) == 0)
                {
                    args.DS_tx = atof(argv[i+1]);
                    printf("Target origin X %f\n",args.DS_tx);
                    args.DS_ty = atof(argv[i+2]);
                    printf("Target origin Y %f\n",args.DS_ty);
                    args.check_DS_txy = true;
                }
                
                if (strcmp("-kernel",argv[i]) == 0)
                {
                    args.DS_kernel = atoi(argv[i+1]);
                    printf("kernel size %d\n",args.DS_kernel);
                }
                
                if (strcmp("-sigma",argv[i]) == 0)
                {
                    args.DS_sigma = atof(argv[i+1]);
                    printf("sigma value %f\n",args.DS_sigma);
                }
                
                if (strcmp("-seed",argv[i]) == 0)
                {
                    if(args.check_sdm_ortho == 0)
                    {
                        TIFF *tif = NULL;
                        
                        if (argc == i+1) {
                            printf("Please input the seed filepath\n");
                            cal_flag = false;
                        }
                        else
                        {
                            int str_size = strlen(argv[i+1]);
                            int kk=0;
                            
                            for(kk=0;kk<str_size;kk++)
                            {
                                args.seedDEMfilename[kk] = argv[i+1][kk];
                            }
                            args.seedDEMfilename[str_size] = '\0';
                            
                            printf("%s\n",args.seedDEMfilename);
                            
                            printf("DEM check\n");
                            tif  = TIFFOpen(args.seedDEMfilename,"r");
                            printf("first check\n");

                            if(tif)
                            {
                                printf("DEM is exist!! \n");
                                
                                printf("%s\n",args.seedDEMfilename);
                                args.check_seeddem = true;
                            }
                            else {
                                printf("second check\n");
                                char* temp_path = remove_ext(args.seedDEMfilename);
                                
                                sprintf(args.seedDEMfilename,"%s.tif",temp_path);
                                
                                tif  = TIFFOpen(args.seedDEMfilename,"r");
                                if(tif)
                                {
                                    printf("%s\n",args.seedDEMfilename);
                                    args.check_seeddem = true;
                                }
                                else
                                {
                                    sprintf(args.seedDEMfilename,"%s.raw",temp_path);
                                    printf("%s\n",args.seedDEMfilename);
                                    FILE *pfile = fopen(args.seedDEMfilename,"r");
                                    if(pfile)
                                    {
                                        printf("DEM is exist!! \n");
                                        
                                        printf("%s\n",args.seedDEMfilename);
                                        args.check_seeddem = true;
                                    }
                                    else
                                    {
                                        printf("DEM doesn't exist!! Please check DEM path\n");
                                        args.check_seeddem = false;
                                        exit(0);
                                    }
                                }

                                free(temp_path);
                            }

                            if(args.check_seeddem)
                            {
                                char* temp_path = remove_ext(args.seedDEMfilename);
                                printf("seedem %s\n",temp_path);
                                int full_size;
                                full_size       = strlen(args.seedDEMfilename);
                                char* Metafile1 = (char*)malloc(sizeof(char)*(full_size-8+1));
                                char Metafile[500];
                                int i;
                                for(i=0;i<full_size-8;i++)
                                    Metafile1[i] = args.seedDEMfilename[i];
                                Metafile1[full_size-8] = '\0';
                                
                                for(i=0;i<full_size-8;i++)
                                    Metafile[i] = args.seedDEMfilename[i];
                                Metafile[full_size-8] = '\0';
                                
                                printf("%s\n",Metafile);
                                char *str = (char*)"meta.txt";
                                
                                sprintf(args.metafilename,"%s_%s",Metafile,str);
                                printf("Meta file %s\n",args.metafilename);
                                
                                FILE* pFile_meta;
                                pFile_meta  = fopen(args.metafilename,"r");
                                if(pFile_meta)
                                {
                                    printf("meta file loading successful\n");
                                    printf("Meta file %s\n",args.metafilename);
                                    fclose(pFile_meta);
                                }
                                else
                                {
                                    printf("%s\n",Metafile1);
                                    
                                    sprintf(args.metafilename,"%s_%s",Metafile1,str);
                                    FILE* pFile_meta1;
                                    pFile_meta1 = fopen(args.metafilename,"r");
                                    if(pFile_meta1)
                                    {
                                        printf("meta file loading successful\n");
                                        printf("Meta file %s\n",args.metafilename);
                                        fclose(pFile_meta1);
                                    }
                                    else
                                    {
                                        printf("meta file loading failed\n");
                                        args.check_seeddem = false;
                                    }
                                }
                                
                                free(Metafile1);
                                free(temp_path);
                            }
                            
                        }
                        
                        if (argc == i+2) {
                            printf("Please input the seed sigma value\n");
                            cal_flag = false;
                        }
                        else
                        {
                            args.seedDEMsigma = atof(argv[i+2]);
                            printf("%f\n",args.seedDEMsigma);
                            if(tif)
                                args.check_seeddem = true;
                        }
                    }
                    else
                    {
                        int str_size = strlen(argv[i+1]);
                        int kk=0;
                        
                        for(kk=0;kk<str_size;kk++)
                        {
                            args.seedDEMfilename[kk] = argv[i+1][kk];
                        }
                        args.seedDEMfilename[str_size] = '\0';
                        
                        printf("%s\n",args.seedDEMfilename);
                        args.check_seeddem = true;
                    }
                }
                
                if (strcmp("-tilesSR",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the start row tile value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.start_row = atoi(argv[i+1]);
                        printf("%d\n",args.start_row);
                        args.check_tiles_SR = true;
                    }
                }
                
                if (strcmp("-tilesER",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the end row tile value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        
                        args.end_row = atoi(argv[i+1]);
                        printf("%d\n",args.end_row);
                        args.check_tiles_ER = true;
                    }
                }
                
                if (strcmp("-tilesSC",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the start col tile value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.start_col = atoi(argv[i+1]);
                        printf("%d\n",args.start_col);
                        args.check_tiles_SC = true;
                    }
                }
                
                if (strcmp("-tilesEC",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the end col tile value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.end_col = atoi(argv[i+1]);
                        printf("%d\n",args.end_col);
                        args.check_tiles_EC = true;
                    }
                }
                
                if (strcmp("-minH",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the min Height value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.minHeight = atof(argv[i+1]);
                        printf("%f\n",args.minHeight);
                        args.check_minH = true;
                    }
                }
                
                if (strcmp("-maxH",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the max Height value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.maxHeight = atof(argv[i+1]);
                        printf("%f\n",args.maxHeight);
                        args.check_maxH = true;
                    }
                }
                
                if (strcmp("-RAline",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the RA line value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.ra_line[RA_line_count] = atof(argv[i+1]);
                        printf("%f\n",args.ra_line[RA_line_count]);
                        args.check_RA_line = true;
                        
                        RA_line_count++;
                    }
                }
                
                if (strcmp("-RAsample",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the RA sample value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.ra_sample[RA_sample_count] = atof(argv[i+1]);
                        printf("%f\n",args.ra_sample[RA_sample_count]);
                        args.check_RA_sample = true;
                        
                        RA_sample_count ++;
                    }
                }
                
                if (strcmp("-RAtileR",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the RA tileR value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.RA_row = atof(argv[i+1]);
                        printf("%d\n",args.RA_row);
                        args.check_RA_tileR = true;
                    }
                }
                
                if (strcmp("-RAtileC",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input the RA tileC value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.RA_col = atof(argv[i+1]);
                        printf("%d\n",args.RA_col);
                        args.check_RA_tileC = true;
                    }
                }

                if (strcmp("-RAonly",argv[i]) == 0)
                {
                    if (argc == i+1 || (atoi(argv[i+1]) != 0 && atoi(argv[i+1]) != 1)) {
                        printf("Please input the RA_only 0 or 1\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.RA_only = atoi(argv[i+1]);
                        printf("%d\n",args.RA_only);
                        args.check_RA_only = true;
                    }
                }

                if (strcmp("-tilesize",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input tile size value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.tilesize = atoi(argv[i+1]);
                        if(args.tilesize > 20000)
                            args.tilesize = 100000;
                        
                        printf("%d\n",args.tilesize);
                        args.check_tilesize = true;
                    }
                }
                
                if (strcmp("-LOO",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input length of overlapped area value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.overlap_length = atof(argv[i+1]);
                        printf("%f\n",args.overlap_length);
                    }
                }
                
                
                if (strcmp("-boundary_min_X",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input boundary min_X value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.Min_X = atof(argv[i+1]);
                        printf("%f\n",args.Min_X);
                        
                        bminx   = true;
                    }
                }
                if (strcmp("-boundary_min_Y",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input boundary min_Y value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.Min_Y = atof(argv[i+1]);
                        printf("%f\n",args.Min_Y);
                        
                        bminy   = true;
                    }
                }
                if (strcmp("-boundary_max_X",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input boundary max_X value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.Max_X = atof(argv[i+1]);
                        printf("%f\n",args.Max_X);
                        
                        bmaxx   = true;
                    }
                }
                if (strcmp("-boundary_max_Y",argv[i]) == 0) 
                {
                    if (argc == i+1) {
                        printf("Please input boundary max_Y value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.Max_Y = atof(argv[i+1]);
                        printf("%f\n",args.Max_Y);
                        
                        bmaxy   = true;
                    }
                }
                
                if (bminx && bmaxx && bminy && bmaxy)
                    args.check_boundary = true;
                
                if(strcmp("-checktiff",argv[i]) == 0)
                {
                    args.check_checktiff = true;
                }
                
                if (strcmp("-projection", argv[i]) == 0) {
                    if (argc == i + 1) {
                        printf("Please input Projection info\n");
                        cal_flag = false;
                    } else {
                        if(strcmp("utm",argv[i+1]) == 0 || strcmp("UTM",argv[i+1]) == 0)
                        {
                            args.projection = 2;
                            printf("UTM projection \n");
                            
                        }
                        else
                        {
                            args.projection = 1;    
                            printf("PS projection\n");
                        }
                    }
                }
                
                if (strcmp("-utm_zone",argv[i]) == 0)
                {
                    if (argc == i+1) {
                        printf("Please input utm_zome value\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.utm_zone = atoi(argv[i+1]);
                        printf("%d\n",args.utm_zone);
                    }
                }
                
                
                if (strcmp("-ortho",argv[i]) == 0)
                {
                    args.check_ortho = true;
                    printf("ortho only\n");
                    
                    if (argc == i + 1) {
                        printf("Please input ortho # 1 or 2\n");
                        cal_flag = false;
                    }
                    else
                    {
                        args.ortho_count = atoi(argv[i+1]);
                        printf("%d\n",args.ortho_count);
                    }
                }
            }
            
            if(cal_flag)
            {
                char save_filepath[500];
                
                if(args.check_txt_input == 0)
                {
                    if(args.check_downsample)
                    {
                        DownSample(args);
                    }
                    else if(image_count > 1 || args.check_ortho)
                    {
                        args.number_of_images = image_count;
                        
                        char *Outputpath_name  = SetOutpathName(args.Outputpath);
                        sprintf(args.Outputpath_name,"%s",Outputpath_name);
                        printf("after pathname %s\n",args.Outputpath_name);
                        
                        printf("%s\n",args.Outputpath);
                        printf("%s\n", args.Outputpath_name);

                        free(Outputpath_name);

                        Imageparams = (double**)calloc(args.number_of_images, sizeof(double*));
                        for(int ti = 0 ; ti < args.number_of_images ; ti++)
                        {
                            Imageparams[ti] = (double*)calloc(sizeof(double),2);
                            Imageparams[ti][0] = 0.0;
                            Imageparams[ti][1] = 0.0;
                        }
                        
                        if(args.check_checktiff)
                        {
                            DEM_divide = SETSMmainfunction(&param,projectfilename,args,save_filepath,Imageparams);
                        }
                        else if( strcmp(args.Image[0],args.Image[1]) != 0)
                        {
                            DEM_divide = SETSMmainfunction(&param,projectfilename,args,save_filepath,Imageparams);

#ifdef BUILDMPI
                            if(rank == 0) {
#endif
                            char DEMFilename[500];
                            char Outputpath[500];
                            
                            sprintf(Outputpath, "%s", save_filepath);
                            
                            printf("param %s %d %d\n", param.direction,param.utm_zone,param.projection);
                            if(args.projection != 3)
                                param.projection = args.projection;
                            
                            printf("imageparams %f\t%f\t%f\t%f\n",Imageparams[0][0],Imageparams[0][1],Imageparams[1][0],Imageparams[1][1]);
                            
                            if(DEM_divide == 0)
                            {
                                //if(!args.check_ortho)
                                    sprintf(DEMFilename, "%s/%s_dem.tif", save_filepath,args.Outputpath_name);
                                //else
                                //    sprintf(DEMFilename, "%s", args.seedDEMfilename);
                                
                                if(!args.check_Matchtag)
                                {
                                    orthogeneration(param,args,args.Image[0], DEMFilename, Outputpath,1,DEM_divide,Imageparams);
                                    orthogeneration(param,args,args.Image[1], DEMFilename, Outputpath,2,DEM_divide,Imageparams);
                                }
                                //else if(args.ortho_count == 2)
                                //    orthogeneration(param,args,args.Image[1], DEMFilename, Outputpath,2,DEM_divide,Imageparams);
                                
                                if(args.check_LSF2 == 2)
                                    remove(DEMFilename);
                            }
                            else
                            {
                                for(int iter = 1 ; iter <= DEM_divide ; iter++)
                                {
                                    sprintf(DEMFilename, "%s/%s_%d_dem.tif", save_filepath,args.Outputpath_name,iter);
                                    if(!args.check_Matchtag)
                                    {
                                        orthogeneration(param,args,args.Image[0], DEMFilename, Outputpath,1,iter,Imageparams);
                                        orthogeneration(param,args,args.Image[1], DEMFilename, Outputpath,2,iter,Imageparams);
                                    }
                                    //else if(args.ortho_count == 2)
                                    //    orthogeneration(param,args,args.Image[1], DEMFilename, Outputpath,2,iter,Imageparams);
                                    
                                    if(args.check_LSF2 == 2)
                                        remove(DEMFilename);
                                }
                            }
#ifdef BUILDMPI
                        }
#endif
                        }
                        else
                            printf("Please check input 1 and input 2. Both is same\n");
                    }
                    else
                    {
                        printf("Plese check input images\n");
                    }
                }
                else if(args.check_txt_input == 1)
                {
                    char *Outputpath_name  = SetOutpathName(args.Outputpath);
                    sprintf(args.Outputpath_name,"%s",Outputpath_name);
                    printf("after pathname %s\n",args.Outputpath_name);
                    
                    printf("%s\n",args.Outputpath);
                    printf("%s\n", args.Outputpath_name);

                    free(Outputpath_name);
                    
                    SETSMmainfunction(&param,projectfilename,args,save_filepath,Imageparams);
                }
                    
            }
        }
    }
    
    single_printf("# of allocated threads = %d\n",omp_get_max_threads());

    if(Imageparams)
    {
        for(int ti = 0 ; ti < args.number_of_images ; ti++)
        {
            free(Imageparams[ti]);
        }
    }
    free(Imageparams);

    printMaxMemUsage();

#ifdef BUILDMPI
    // Make sure to finalize
    MPI_Finalize();
#endif
    
    return 0;
}

void DownSample(ARGINFO &args)
{
    CSize data_size;
    double minX, maxY, grid_size;
    
    CSize seeddem_size = ReadGeotiff_info(args.seedDEMfilename, &minX, &maxY, &grid_size);
    int downsample_step = ceil(log2(args.DEM_space/grid_size));
    if(downsample_step < 1)
    {
        printf("No downsampling necessary. Please check source(%3.1f) and target resolution(%3.1f)!!\n",grid_size,args.DEM_space);
        exit(1);
    }
    else
    {
        TransParam param;
        SetTranParam_fromGeoTiff(&param,args.seedDEMfilename);
        
        CSize Imagesize = seeddem_size;
        long cols[2] = {0, seeddem_size.width};
        long rows[2] = {0, seeddem_size.height};
        
        float type(0);
        float *seeddem = Readtiff_T(args.seedDEMfilename,&Imagesize,cols,rows,&data_size,type);
        
        CSize out_size = seeddem_size;
        float *pyimage = seeddem;
        
        for(int level = 0 ; level < downsample_step ; level ++)
        {
            float *next = CreateImagePyramid(pyimage, out_size, args.DS_kernel, args.DS_sigma);
            free(pyimage);
            out_size.width = out_size.width/2;
            out_size.height = out_size.height/2;
            pyimage = next;
        }

        printf("Done Gaussian processing\n");
        
        D2DPOINT target;
        if(!args.check_DS_txy)
        {
            target.m_X = (int)(minX/2.0)*2;
            target.m_Y = (int)(maxY/2.0)*2;
        }
        else
        {
            target.m_X = (int)(args.DS_tx/2.0)*2;
            target.m_Y = (int)(args.DS_ty/2.0)*2;
        }
        
        D2DPOINT Dxy(minX - (int)target.m_X, maxY - (int)target.m_Y);
        D2DPOINT Dgrid(-Dxy.m_X/args.DEM_space,Dxy.m_Y/args.DEM_space);
        long data_length = (long)out_size.width*(long)out_size.height;
        
        float *outimg = (float*)malloc(sizeof(float)*data_length);
#pragma omp parallel for schedule(guided)
        for(long int iter_count = 0 ; iter_count < data_length ; iter_count++)
        {
            long int pts_row = (long int)(floor(iter_count/out_size.width));
            long int pts_col = iter_count % out_size.width;
            
            D2DPOINT query_pt(pts_col + Dgrid.m_X,pts_row + Dgrid.m_Y);
            outimg[iter_count] = BilinearResampling(pyimage,out_size,query_pt);
        }
        printf("Done resampling\n");

        free(pyimage);
        
        WriteGeotiff(args.Outputpath_name, outimg, out_size.width, out_size.height, args.DEM_space, target.m_X, target.m_Y, param.projection, param.utm_zone, param.bHemisphere, 4);

        free(outimg);
         
    }
}

int SETSMmainfunction(TransParam *return_param, char* _filename, ARGINFO args, char *_save_filepath,double **Imageparams)
{
#ifdef BUILDMPI
    int rank;
    MPI_Comm_rank(MPI_COMM_WORLD, &rank);
#endif

    int DEM_divide = 0;
    char computation_file[500];
    time_t total_ST = 0, total_ET = 0;
    double total_gap;
    SINGLE_FILE *time_fid;
    uint16 buffer_area = 400;
    total_ST = time(0);
    
    bool cal_check;
    
    if(args.System_memory <= 0) {
        printf("ERROR: Cannot determine system memory. Specify system memory on the command line with the '-mem' option.\n");
        exit(1);
    }
    ProInfo *proinfo = new ProInfo;
    proinfo->number_of_images = args.number_of_images;
    proinfo->sensor_type = args.sensor_type;
    proinfo->System_memory = args.System_memory;
    proinfo->pyramid_level = args.pyramid_level;
    proinfo->check_full_cal = args.check_full_cal;
    proinfo->SGM_py = args.SGM_py;
    proinfo->check_tif_rounding = args.check_tif_rounding;
    
    sprintf(proinfo->save_filepath,"%s",args.Outputpath);
    printf("sgm level %d\n",proinfo->SGM_py);
    
    if(args.check_ortho)
    {
        printf("number of images %d\n",proinfo->number_of_images);
        if(OpenProject(_filename,proinfo,args))
        {
            if(Maketmpfolders(proinfo))
            {
                TransParam param;
                char Outputpath[500];
                sprintf(Outputpath, "%s", args.Outputpath);
                double ***RPCs = (double***)calloc(proinfo->number_of_images, sizeof(double**));
                
                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(args.sensor_provider == DG)
                    {
                        double row_grid_size, col_grid_size, product_grid_size;
                        BandInfo band;
                        RPCs[ti]       = OpenXMLFile(proinfo, ti, &row_grid_size, &col_grid_size, &product_grid_size, &band);
                    }
                    else if(args.sensor_provider == PL)
                    {
                        RPCs[ti]       = OpenXMLFile_Pleiades(proinfo->RPCfilename[ti]);
                    }
                    else if(args.sensor_provider == PT)
                    {
                        RPCs[ti]       = OpenXMLFile_Planet(proinfo->RPCfilename[ti]);
                    }
                }
                param.projection = args.projection;
                param.utm_zone   = args.utm_zone;
                
                double minLat, minLon;
                if(proinfo->sensor_type == SB)
                {
                    minLat      = RPCs[0][0][3];
                    minLon      = RPCs[0][0][2];
                    SetTransParam(minLat, minLon, &param);
                }
               
                printf("param projection %d\tzone %d\n",param.projection,param.utm_zone);
                char DEMFilename[500];
                sprintf(DEMFilename, "%s", args.seedDEMfilename);
                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    orthogeneration(param,args,args.Image[ti], DEMFilename, Outputpath,1,0,Imageparams);

                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    RPCsFree(RPCs[ti]);
                free(RPCs);
            }
        }
    }
    else if(args.check_coreg == 1)
    {
        D2DPOINT *adjust_sdt = (D2DPOINT*)calloc(sizeof(D2DPOINT),proinfo->number_of_images);
        double **Coreg_param = ImageCoregistration(return_param, _filename, args, _save_filepath, 1,adjust_sdt,&cal_check);
        if(cal_check)
            free(Coreg_param);
    }
    else if(args.check_coreg == 2)
        DEM_ImageCoregistration_GeomatricConstraint(return_param, _filename, args, _save_filepath, 2);
    else if(args.check_coreg == 3)
        DEM_ImageCoregistration_hillshade(return_param, _filename, args, _save_filepath, 2);
    else if(args.check_sdm_ortho == 1)
    {
        double** Coreg_param = (double**)calloc(sizeof(double*),2);
        Coreg_param[0] = (double*)calloc(sizeof(double),2);
        Coreg_param[1] = (double*)calloc(sizeof(double),2);
        SDM_ortho(_filename, args, Coreg_param);
        free(Coreg_param);
    }
    else if(args.check_sdm_ortho == 2)
    {
        D2DPOINT *adjust_sdt = (D2DPOINT*)calloc(sizeof(D2DPOINT),proinfo->number_of_images);
        double **Coreg_param = ImageCoregistration(return_param, _filename, args, _save_filepath, 1,adjust_sdt,&cal_check);
        printf("cal_check %d\n",cal_check);
        if(cal_check)
        {
            SDM_ortho(_filename, args, Coreg_param);
            free(Coreg_param);
        }
        free(adjust_sdt);
    }
    else
    {
        if(OpenProject(_filename,proinfo,args))
        {
            if(Maketmpfolders(proinfo))
            {
                const uint8 NumOfIAparam  = 2;
                
                ImageInfo *image_info = (ImageInfo*)malloc(sizeof(ImageInfo)*proinfo->number_of_images);
                CSize *Limagesize = (CSize*)malloc(sizeof(CSize)*proinfo->number_of_images); //original imagesize
                double ***RPCs = (double***)calloc(proinfo->number_of_images, sizeof(double**));
                
                sprintf(_save_filepath,"%s",proinfo->save_filepath);
                
                printf("Completion of loading project file!!\n");
                printf("# of detected threads by openmp = %d\n",omp_get_max_threads());
                printf("# of allocated threads = %d\tinput image counts = %d\n",omp_get_max_threads(),proinfo->number_of_images);
                
                char metafilename[500];
                
                SINGLE_FILE *pMetafile = NULL;
                sprintf(metafilename, "%s/%s_meta.txt", proinfo->save_filepath, proinfo->Outputpath_name);
                if(args.check_Matchtag)
                    sprintf(metafilename, "%s/%s_new_matchtag_meta.txt", proinfo->save_filepath, proinfo->Outputpath_name);
                
                if(!proinfo->check_checktiff && !args.check_ortho)
                {
                    pMetafile   = single_fopen(metafilename,"w");
                    
                    fprintf(pMetafile,"SETSM Version=%s\n", setsm_version);
                }
                
                time_t current_time;
                char*   c_time_string;
                
                current_time = time(NULL);
                c_time_string = ctime(&current_time);
                
                char temp_filepath[500];
                double *Image_gsd_r = (double*)calloc(sizeof(double),proinfo->number_of_images);
                double *Image_gsd_c = (double*)calloc(sizeof(double),proinfo->number_of_images);
                double *Image_gsd = (double*)calloc(sizeof(double),proinfo->number_of_images);
                
                ImageGSD *GSD_image = (ImageGSD*)calloc(sizeof(ImageGSD),proinfo->number_of_images);
                BandInfo *leftright_band = (BandInfo*)calloc(sizeof(BandInfo),proinfo->number_of_images);
                
                ImageGSD GSD_image1;
                GSD_image1.row_GSD = 0;
                GSD_image1.col_GSD = 0;
                GSD_image1.pro_GSD = 0;
                
                printf("sensor_provider %d\t%d\n",args.sensor_type,args.sensor_provider);
                
                double mean_product_res;
                double convergence_angle;
                if(args.sensor_type == AB)
                {
                    for(int ti=0;ti<proinfo->number_of_images ;ti++)
                    {
                        RPCs[ti]       = OpenXMLFile(proinfo,ti,&Image_gsd_r[ti],&Image_gsd_c[ti],&Image_gsd[ti],&leftright_band[ti]);
                        
                        GSD_image1.row_GSD += Image_gsd_r[ti];
                        GSD_image1.col_GSD += Image_gsd_c[ti];
                        GSD_image1.pro_GSD += Image_gsd[ti];
                        mean_product_res = GSD_image1.pro_GSD/proinfo->number_of_images;
                        
                        GetImageSize(proinfo->Imagefilename[ti],&Limagesize[ti]);
                        proinfo->frameinfo.m_Camera.m_ImageSize.width = Limagesize[ti].width;
                        proinfo->frameinfo.m_Camera.m_ImageSize.height = Limagesize[ti].height;
                        
                        printf("%s\t%lf\t%lf\t%lf\t%lf\t%lf\t%lf\t%d\t%d\n",
                               proinfo->frameinfo.Photoinfo[ti].path,
                               proinfo->frameinfo.Photoinfo[ti].m_Xl,proinfo->frameinfo.Photoinfo[ti].m_Yl,proinfo->frameinfo.Photoinfo[ti].m_Zl,
                               proinfo->frameinfo.Photoinfo[ti].m_Wl,proinfo->frameinfo.Photoinfo[ti].m_Pl,proinfo->frameinfo.Photoinfo[ti].m_Kl,
                               proinfo->frameinfo.m_Camera.m_ImageSize.width,proinfo->frameinfo.m_Camera.m_ImageSize.height);
                    }
                    convergence_angle = 40;
                    
                    printf("Load EO\n");
                }
                else
                {
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    {
                        if(args.sensor_provider == DG)
                        {
                            RPCs[ti]       = OpenXMLFile(proinfo,ti,&Image_gsd_r[ti],&Image_gsd_c[ti],&Image_gsd[ti],&leftright_band[ti]);
                            
                            GSD_image1.row_GSD += Image_gsd_r[ti];
                            GSD_image1.col_GSD += Image_gsd_c[ti];
                            GSD_image1.pro_GSD += Image_gsd[ti];
                            mean_product_res = GSD_image1.pro_GSD/proinfo->number_of_images;
                            
                            GetImageSize(proinfo->Imagefilename[ti],&Limagesize[ti]);
                            
                            OpenXMLFile_orientation(proinfo->RPCfilename[ti],&image_info[ti]);
                            
                            image_info[0].convergence_angle = acos(sin(image_info[0].Mean_sat_elevation*DegToRad)*sin(image_info[1].Mean_sat_elevation*DegToRad) + cos(image_info[0].Mean_sat_elevation*DegToRad)*cos(image_info[1].Mean_sat_elevation*DegToRad)*cos( (image_info[0].Mean_sat_azimuth_angle - image_info[1].Mean_sat_azimuth_angle)*DegToRad))*RadToDeg;
                            
                            convergence_angle = image_info[0].convergence_angle;
                            
                            printf("%d_image info\nSatID = %s\nAcquisition_time = %s\nMean_row_GSD = %f\nMean_col_GSD = %f\nMean_GSD = %f\nMean_sun_azimuth_angle = %f\nMean_sun_elevation = %f\nMean_sat_azimuth_angle = %f\nMean_sat_elevation = %f\nIntrack_angle = %f\nCrosstrack_angle = %f\nOffnadir_angle = %f\ntdi = %d\neffbw = %f\nabscalfact = %f\nconvergence_angle = %f\n",ti+1,image_info[ti].SatID,image_info[ti].imagetime,Image_gsd_r[ti],Image_gsd_c[ti],Image_gsd[ti],image_info[ti].Mean_sun_azimuth_angle,image_info[ti].Mean_sun_elevation,image_info[ti].Mean_sat_azimuth_angle,image_info[ti].Mean_sat_elevation,image_info[ti].Intrack_angle,image_info[ti].Crosstrack_angle,image_info[ti].Offnadir_angle,(int)leftright_band[ti].tdi,leftright_band[ti].effbw,leftright_band[ti].abscalfactor,image_info[0].convergence_angle);
                        }
                        else if(args.sensor_provider == PL)
                        {
                            RPCs[ti]       = OpenXMLFile_Pleiades(proinfo->RPCfilename[ti]);
                            GetImageSize(proinfo->Imagefilename[ti],&Limagesize[ti]);
                            convergence_angle = 40;
                            mean_product_res = 0.5;
                        }
                        else if(args.sensor_provider == PT)
                        {
                            printf("planet header loading\n");
                            RPCs[ti]       = OpenXMLFile_Planet(proinfo->RPCfilename[ti]);
                            GetImageSize(proinfo->Imagefilename[ti],&Limagesize[ti]);
                            convergence_angle = 40;
                        }
                    }
                }
                
                if(!args.check_imageresolution)
                {
                    if(proinfo->sensor_type == AB)
                    {
                        proinfo->resolution = (int)((mean_product_res)*10 + 0.5)/10.0;
                    }
                    else if(args.sensor_provider == DG)
                    {
                        proinfo->resolution = (int)((mean_product_res)*10 + 0.5)/10.0;
                        
                        if (proinfo->resolution < 0.75)
                        {
                            proinfo->resolution = 0.5;
                        }
                        else if(proinfo->resolution < 2.0)
                            proinfo->resolution = 1.0;
                        else
                            proinfo->resolution = floor(proinfo->resolution);
                    }
                    else
                        proinfo->resolution = 0.5;
                }
                else
                {
                    proinfo->resolution  = args.image_resolution;
                    mean_product_res = args.image_resolution;
                }
                
                double MPP_stereo_angle = 1;
                CalMPP_pair(convergence_angle,mean_product_res, proinfo->resolution, &MPP_stereo_angle);
                
                printf("image resolution %f\t%f\n",proinfo->resolution,mean_product_res);
                
                if(args.check_Matchtag)
                    proinfo->check_Matchtag = args.check_Matchtag;
                
                if(!proinfo->check_checktiff && !args.check_ortho)
                {
                    fprintf(pMetafile,"Creation Date=%s",c_time_string);
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        fprintf(pMetafile,"Image %d=%s\n",ti+1,proinfo->Imagefilename[ti]);
                    fprintf(pMetafile,"Output Resolution=%f\n",proinfo->DEM_resolution);
                }
                
                double Image_res[2] = {proinfo->resolution, proinfo->resolution};
                
                TransParam param;
                param.bHemisphere = 3; //no assigned
                param.projection = args.projection;
                param.utm_zone   = args.utm_zone;
                
                double minLat, minLon;
                if(proinfo->sensor_type == SB)
                {
                    double t_boundary[4];
                    if(args.sensor_provider == DG)
                    {
                        findOverlappArea_Imageinfo(proinfo, image_info, t_boundary);
               
                        minLat = t_boundary[1] + fabs(t_boundary[3] - t_boundary[1])/2.0;
                        minLon = t_boundary[0] + fabs(t_boundary[2] - t_boundary[0])/2.0;
                    }
                    else
                    {
                        minLat      = RPCs[0][0][3];
                        minLon      = RPCs[0][0][2];
                    }
                    SetTransParam(minLat,minLon,&param);
                    
                    printf("minLat Lon %f\t%f\n",minLat, minLon);
                }
                
                if(args.param.pm != 0)
                    param.pm = args.param.pm;
                
                printf("param projection %d\tzone %d\tdirection %d(1=north,-1=south)\n",param.projection,param.utm_zone,param.pm);
                *return_param = param;
                
                double Boundary[4], LBoundary[4],LminmaxHeight[2],ori_minmaxHeight[2];
                double LHinterval, Hinterval;
                double lonlatboundary[4] = {0.0};
                if(args.check_boundary)
                {
                    Boundary[0] = args.Min_X;
                    Boundary[1] = args.Min_Y;
                    Boundary[2] = args.Max_X;
                    Boundary[3] = args.Max_Y;
                    
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    {
                        Imageparams[ti][0]  = proinfo->RA_param[ti][0];
                        Imageparams[ti][1]  = proinfo->RA_param[ti][1];
                        
                        if(proinfo->sensor_type == SB)
                            SetDEMBoundary(RPCs[ti],Image_res,param,LBoundary,LminmaxHeight,&LHinterval);
                        else
                            SetDEMBoundary_photo(proinfo->frameinfo.Photoinfo[ti], proinfo->frameinfo.m_Camera, proinfo->frameinfo.Photoinfo[ti].m_Rm, LBoundary,LminmaxHeight,&LHinterval);
                        
                        if(ti == 0)
                        {
                            Hinterval   = LHinterval;
                            
                            ori_minmaxHeight[0] = LminmaxHeight[0];
                            ori_minmaxHeight[1] = LminmaxHeight[1];
                        }
                        else
                        {
                            if(LHinterval > Hinterval)
                                Hinterval   = LHinterval;
                            
                            ori_minmaxHeight[0] = min(LminmaxHeight[0],ori_minmaxHeight[0]);
                            ori_minmaxHeight[1] = max(LminmaxHeight[1],ori_minmaxHeight[1]);
                        }
                    }
                }
                else
                {
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    {
                        Imageparams[ti][0]  = proinfo->RA_param[ti][0];
                        Imageparams[ti][1]  = proinfo->RA_param[ti][1];
                        
                        if(proinfo->sensor_type == SB)
                            SetDEMBoundary(RPCs[ti],Image_res,param,LBoundary,LminmaxHeight,&LHinterval);
                        else
                            SetDEMBoundary_photo(proinfo->frameinfo.Photoinfo[ti], proinfo->frameinfo.m_Camera, proinfo->frameinfo.Photoinfo[ti].m_Rm, LBoundary,LminmaxHeight,&LHinterval);
                        
                        if(ti == 0)
                        {
                            for(int i=0;i<4;i++)
                                lonlatboundary[i] = LBoundary[i];
                            
                            Hinterval   = LHinterval;
                            
                            ori_minmaxHeight[0] = LminmaxHeight[0];
                            ori_minmaxHeight[1] = LminmaxHeight[1];
                        }
                        else
                        {
                            for(int i=0;i<4;i++)
                            {
                                if(i<2)
                                    lonlatboundary[i] = max(LBoundary[i], lonlatboundary[i]);
                                else
                                    lonlatboundary[i] = min(LBoundary[i], lonlatboundary[i]);
                            }
                            
                            double minX = min(lonlatboundary[0],lonlatboundary[2]);
                            double maxX = max(lonlatboundary[0],lonlatboundary[2]);
                            
                            double minY = min(lonlatboundary[1],lonlatboundary[3]);
                            double maxY = max(lonlatboundary[1],lonlatboundary[3]);
                            
                            lonlatboundary[0] = minX;
                            lonlatboundary[1] = minY;
                            lonlatboundary[2] = maxX;
                            lonlatboundary[3] = maxY;
                            
                            printf("all boundary %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
                            
                            if(LHinterval > Hinterval)
                                Hinterval   = LHinterval;
                            
                            ori_minmaxHeight[0] = min(LminmaxHeight[0],ori_minmaxHeight[0]);
                            ori_minmaxHeight[1] = max(LminmaxHeight[1],ori_minmaxHeight[1]);
                        }
                    }
                    
                    findOverlappArea(proinfo,param,RPCs,Image_res,lonlatboundary);
                    
                    if(proinfo->sensor_type == SB)
                    {
                        printf("lonlatboundary = %f\t%f\t%f\t%f\n",lonlatboundary[0],lonlatboundary[1],lonlatboundary[2],lonlatboundary[3]);
                        
                        D2DPOINT *lonlat = (D2DPOINT *) malloc(sizeof(D2DPOINT) * 4);
                        lonlat[0].m_X = lonlatboundary[0];
                        lonlat[0].m_Y = lonlatboundary[1];
                        lonlat[1].m_X = lonlatboundary[0];
                        lonlat[1].m_Y = lonlatboundary[3];
                        lonlat[2].m_X = lonlatboundary[2];
                        lonlat[2].m_Y = lonlatboundary[3];
                        lonlat[3].m_X = lonlatboundary[2];
                        lonlat[3].m_Y = lonlatboundary[1];
                        
                        D2DPOINT *XY = wgs2ps(param, 4, lonlat);
                        
                        printf("XY X %f\t%f\t%f\t%f\n",XY[0].m_X,XY[1].m_X,XY[2].m_X,XY[3].m_X);
                        printf("XY Y %f\t%f\t%f\t%f\n",XY[0].m_Y,XY[1].m_Y,XY[2].m_Y,XY[3].m_Y);
                        
                        double minX = min(XY[3].m_X, min(XY[2].m_X, min(XY[0].m_X, XY[1].m_X)));
                        double maxX = max(XY[3].m_X, max(XY[2].m_X, max(XY[0].m_X, XY[1].m_X)));
                        
                        double minY = min(XY[3].m_Y, min(XY[2].m_Y, min(XY[0].m_Y, XY[1].m_Y)));
                        double maxY = max(XY[3].m_Y, max(XY[2].m_Y, max(XY[0].m_Y, XY[1].m_Y)));
                        
                        free(lonlat);
                        free(XY);
                        
                        Boundary[0] = ceil(minX/2.0)*2;
                        Boundary[1] = ceil(minY/2.0)*2;
                        Boundary[2] = floor(maxX/2.0)*2;
                        Boundary[3] = floor(maxY/2.0)*2;
                    }
                    else
                    {
                        Boundary[0] = lonlatboundary[0];
                        Boundary[1] = lonlatboundary[1];
                        Boundary[2] = lonlatboundary[2];
                        Boundary[3] = lonlatboundary[3];
                    }
                    
                    
                }
                printf("boundary = %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
                
                CSize Boundary_size(ceil(Boundary[2] - Boundary[0]), ceil(Boundary[3] - Boundary[1]));
                
                if(Boundary_size.height/1000.0 > args.overlap_length || Boundary_size.width/1000.0 > args.overlap_length)
                {
                    double new_height = (10000000 - Boundary[3] + Boundary[1])/1000.0;
                    if( new_height > args.overlap_length)
                    {
                        printf("Overlapped area between stereo pair is very long along the strip(height=%3.2f(km), width=%3.2f(km)), so that the assumption of RPC bias computation (less than 50km) is not satisfied,\nso relative RPC bias can be not accurately compensated. \nPlease process after split the overlapped area in strip direction into several small area less than 30 km\nBounary(minX, minY, maxX, maxY[m]) = %f %f %f %f\n",Boundary_size.height/1000.0,Boundary_size.width/1000.0,Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
                        exit(1);
                    }
                    else
                    {
                        if(param.pm == 1)
                        {
                            double temp = Boundary[3];
                            Boundary[3] = Boundary[1];
                            Boundary[1] = temp - 10000000;
                        }
                        else if(param.pm == -1)
                        {
                            double temp = Boundary[1];
                            Boundary[1] = Boundary[3];
                            Boundary[3] = 10000000 + temp;
                        }
                        
                        Boundary_size.width     = Boundary[2] - Boundary[0];
                        Boundary_size.height    = Boundary[3] - Boundary[1];
                        printf("cross equator boundary_size %f\t%d\t%d\n",new_height,Boundary_size.width,Boundary_size.height);
                        printf("boundary = %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
                    }
                }
                
                CSize Matchtag_seeddem_size;
                if(proinfo->check_Matchtag && !args.check_tiles_SR && !args.check_tiles_SC && !args.check_tiles_ER && !args.check_tiles_EC)
                {
                    double t_minX,t_maxY, t_grid_size;
                    char *seed_path = proinfo->priori_DEM_tif;
                    
                    Matchtag_seeddem_size = ReadGeotiff_info(seed_path, &t_minX, &t_maxY, &t_grid_size);
                    
                    Boundary_size = Matchtag_seeddem_size;
                    
                    Boundary[0] = t_minX;
                    Boundary[1] = t_maxY - t_grid_size*Boundary_size.height;
                    Boundary[2] = t_minX + t_grid_size*Boundary_size.width;
                    Boundary[3] = t_maxY;
                    
                    printf("size %d\t%d\t boundary %f\t%f\t%f\t%f\n",Boundary_size.width,Boundary_size.height, Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
                }
                
                if (args.check_minH) {
                    ori_minmaxHeight[0] = (int)args.minHeight;
                    printf("minmaxH = %f\t%f\n", ori_minmaxHeight[0], ori_minmaxHeight[1]);
                }
                if (args.check_maxH) {
                    ori_minmaxHeight[1] = (int)args.maxHeight;
                    printf("minmaxH = %f\t%f\n", ori_minmaxHeight[0], ori_minmaxHeight[1]);
                }
                
                if (proinfo->check_minH) {
                    ori_minmaxHeight[0] = (int)proinfo->minHeight;
                    printf("minmaxH = %f\t%f\n", ori_minmaxHeight[0], ori_minmaxHeight[1]);
                }
                if (proinfo->check_maxH) {
                    ori_minmaxHeight[1] = (int)proinfo->maxHeight;
                    printf("minmaxH = %f\t%f\n", ori_minmaxHeight[0], ori_minmaxHeight[1]);
                }
                
                if(proinfo->pre_DEMtif)
                {
                    ori_minmaxHeight[1] += 1000;
                    ori_minmaxHeight[0] -= 1000;
                    if(ori_minmaxHeight[0] < -100)
                        ori_minmaxHeight[0] = -100;
                }
                
                if (ori_minmaxHeight[1] >9000) {
                    ori_minmaxHeight[1] = 9000;
                }
                if (ori_minmaxHeight[0] < -100)
                    ori_minmaxHeight[0] = -100;
                
                if(!args.check_ortho)
                {
                    printf("minmaxH = %f\t%f\n",ori_minmaxHeight[0],ori_minmaxHeight[1]);
                    printf("seed fff %d\n",proinfo->pre_DEMtif);
                    
                    if(SetupParam(proinfo,&proinfo->pre_DEMtif))
                    {
                        const double bin_angle = 360.0/18.0;
                        const uint8 Template_size = 15;
                        uint8 pyramid_step = proinfo->pyramid_level;
                        
                        double seedDEM_gridsize;
                        
                        uint8 iter_row_start, iter_row_end, t_col_start, t_col_end;
                        int tile_size = 0;
                        double subX, subY;
                        
                        time_t ST = 0, ET = 0;
                        double gap;
                        
                        printf("IsRA = %d\n",proinfo->IsRA);
                        if(proinfo->IsRA)
                        {
                            uint8 RA_row_iter = 1;
                            uint8 RA_col_iter = 1;
                            
                            tile_size           = 8000;
                            if(args.check_tilesize)
                                tile_size       = args.tilesize*2;
                            printf("tileszie %d\n",tile_size);
                            
                            if (args.check_RA_tileR)
                            {
                                if(args.RA_row == 100)
                                {
                                    tile_size           = 50000;
                                    args.RA_row         = 1;
                                }
                            }
                            
                            SetTiles_RA(proinfo, Boundary, tile_size, &pyramid_step, &iter_row_start, &iter_row_end, &RA_row_iter, &t_col_start, &t_col_end, &RA_col_iter, &subX, &subY);
                            
                            printf("before RA row:col => row = %d\t%d\t;col = %d\t%d\n",iter_row_start,iter_row_end,t_col_start,t_col_end);
                            
                            if (args.check_RA_tileR)
                            {
                                iter_row_start  = args.RA_row;
                                iter_row_end    = iter_row_start+1;
                            }
                            
                            if (args.check_RA_tileC)
                            {
                                t_col_start     = args.RA_col;
                                t_col_end       = t_col_start + 1;
                            }
                            
                            printf("RA row:col = row = %d\t%d\t;col = %d\t%d\n",iter_row_start,iter_row_end,t_col_start,t_col_end);
                            
                            //loading existing RA parameters
                            bool check_load_RA = false;
                            char bufstr[500];
                            
                            //check RA info in seeddem folder
                            printf("check seedem %d\n",args.check_seeddem);
                            if(args.check_seeddem)
                            {
                                //meta file check in seeddem folder
                                printf("Meta file %s\n",proinfo->metafilename);
                                FILE* pFile_meta  = fopen(proinfo->metafilename,"r");
                                if(pFile_meta)
                                {
                                    printf("meta file exist!!\n");
                                    int ti = 0;
                                    while(!feof(pFile_meta))
                                    {
                                        fgets(bufstr,500,pFile_meta);
                                        
                                        if (strstr(bufstr,"RA Params=")!=NULL)
                                        {
                                            printf("%s\n",bufstr);
                                            sscanf(bufstr,"RA Params=%lf\t%lf\n",&Imageparams[ti][0],&Imageparams[ti][1]);
                                            if(ti == 0)
                                                proinfo->check_selected_image[ti] = true;
                                            else
                                            {
                                                if(Imageparams[ti][0] != 0 && Imageparams[ti][1] != 0)
                                                    check_load_RA = true;
                                                else
                                                    proinfo->check_selected_image[ti] = false;
                                            }
                                            
                                            printf("meta RA %d %f %f\n",ti,Imageparams[ti][0],Imageparams[ti][1]);
                                            
                                            if(proinfo->number_of_images == 2 && ti == 0 && Imageparams[ti][0] != 0 && Imageparams[ti][1] != 0)
                                            {
                                                check_load_RA = true;
                                                Imageparams[1][0] = Imageparams[ti][0];
                                                Imageparams[1][1] = Imageparams[ti][1];

                                                Imageparams[0][0] = 0;
                                                Imageparams[0][1] = 0;
                                                proinfo->check_selected_image[1] = true;
                                            }
                                            
                                            ti++;
                                        }
                                        else if(strstr(bufstr,"SETSM Version=")!=NULL)
                                        {
                                            printf("%s\n",bufstr);
                                            double version;
                                            sscanf(bufstr,"SETSM Version=%lf\n",&version);
                                            printf("version %f\n",version);
                                            
                                            if(!args.check_Matchtag)
                                            {
                                                if (version > 2.0128) {
                                                    if(args.seedDEMsigma < 10)
                                                        proinfo->seedDEMsigma = 10;
                                                    else
                                                        proinfo->seedDEMsigma = args.seedDEMsigma;
                                                }
                                                else {
                                                    proinfo->seedDEMsigma = 100;
                                                }
                                            }
                                            printf("sigma %f\n",proinfo->seedDEMsigma);
                                        }
                                        else if(strstr(bufstr,"Output Resolution=")!=NULL)
                                        {
                                            printf("%s\n",bufstr);
                                            //double version;
                                            sscanf(bufstr,"Output Resolution=%lf\n",&seedDEM_gridsize);
                                            printf("seed DEM gridsize %f\n",seedDEM_gridsize);
                                        }
                                    }
                                    fclose(pFile_meta);
                                }
                                else
                                    printf("meta file doesn't exist!! \n");
                                
                                //RAinfo file check in seeddem folder
                                if(!check_load_RA)
                                {
                                    int full_size       = strlen(args.seedDEMfilename);
                                    printf("full_size %d\n",full_size);
                                    char RAfile_raw[500];
                                    for (int i = 0; i < full_size - 14; i++)
                                        RAfile_raw[i] = args.seedDEMfilename[i];
                                    
                                    char str_rafile_2[500];
                                    sprintf(str_rafile_2, "%s/txt/RAinfo.txt", RAfile_raw);
                                    printf("RA file %s\n", str_rafile_2);
                                    
                                    check_load_RA = GetRAinfo(proinfo, str_rafile_2, Imageparams);
                                }
                                
                                //echo_result file check in seeddem folder
                                if(!check_load_RA)
                                {
                                    char *lastSlash   = (char*)malloc(strlen(args.seedDEMfilename) + 1);
                                    strcpy(lastSlash, args.seedDEMfilename);
                                    char *fullseeddir = dirname(lastSlash);
                                    int dir_size        = strlen(fullseeddir);
                                    
                                    printf("fullseeddir %s\tdir_size %d\n",fullseeddir,dir_size);
                                    printf("lastSlash %s\n",lastSlash);
                                    
                                    /*char seeddir[500];
                                    for(int i=0;i<dir_size-4;i++)
                                        seeddir[i] = fullseeddir[i];
                                    */
                                    
                                    char str_echofile[500];
                                    sprintf(str_echofile,"%s/txt/echo_result_row_1_col_1.txt",fullseeddir);
                                    
                                    check_load_RA = GetRAinfoFromEcho(proinfo, str_echofile, Imageparams);
                                }
                            }
                            else
                            {
                                //RA_echo and echo_result file check in current working folder
                                char str_echofile[500];
                                sprintf(str_echofile,"%s/txt/echo_result_row_1_col_1.txt",proinfo->save_filepath);
                                
                                printf("echo %s\n",str_echofile);
                                
                                check_load_RA = GetRAinfoFromEcho(proinfo, str_echofile, Imageparams);
                                
                                //RAinfo file check in current working folder
                                if(!check_load_RA)
                                {
                                    char str_rafile[500];
                                    sprintf(str_rafile,"%s/txt/RAinfo.txt",proinfo->save_filepath);
                                    printf("RAinfo %s\n",str_rafile);
                                    
                                    check_load_RA = GetRAinfo(proinfo, str_rafile, Imageparams);
                                }
                            }
                            
                            for(int ti = 0; ti < proinfo->number_of_images ; ti++)
                                printf("check load RA %d %f %f %d\n",check_load_RA,Imageparams[ti][0],Imageparams[ti][1], proinfo->check_selected_image[ti]);
                            
                            if(!check_load_RA)
                            {
                                tile_size           = 40000;
                                
                                args.RA_row         = 1;
                                
                                SetTiles_RA(proinfo, Boundary,  tile_size, &pyramid_step, &iter_row_start, &iter_row_end, &RA_row_iter, &t_col_start, &t_col_end, &RA_col_iter, &subX, &subY);
                                
                                double temp_DEM_resolution = proinfo->DEM_resolution;
                                proinfo->DEM_resolution = Image_res[0]*pwrtwo(pyramid_step+1);
                                
                                Matching_SETSM(proinfo,pyramid_step, Template_size, buffer_area,1,2,1,2,subX,subY,bin_angle,Hinterval,Image_res, Imageparams, RPCs, NumOfIAparam, Limagesize,param, ori_minmaxHeight,Boundary,convergence_angle,mean_product_res,&MPP_stereo_angle);
                                proinfo->DEM_resolution = temp_DEM_resolution;
                            }
                        }
                        
                        if (args.check_RA_line && args.check_RA_sample)
                        {
                            for(int ti = 0; ti < proinfo->number_of_images ; ti++)
                            {
                                Imageparams[ti][0] = args.ra_line[ti];
                                Imageparams[ti][1] = args.ra_sample[ti];
                            }
                        }
                        
                        if(!proinfo->check_checktiff)
                        {
                            for(int ti = 0; ti < proinfo->number_of_images ; ti++)
                                fprintf(pMetafile,"RA Params=%f\t%f\t\n",Imageparams[ti][0],Imageparams[ti][1]);
                   
                            fprintf(pMetafile,"RA tilesize=%d\n",tile_size);
                        }
                        
                        proinfo->IsRA        = false;
                        
                        if(!args.RA_only)
                        {
                            tile_size           = 4000;
                            
                            if(Boundary_size.width < tile_size && Boundary_size.height < tile_size)
                            {
                                if(Boundary_size.width > Boundary_size.height)
                                    tile_size = Boundary_size.width;
                                else
                                    tile_size = Boundary_size.height;
                            }
                            
                            if(args.check_tilesize)
                                tile_size       = args.tilesize;
                            printf("tilesize %d\n",tile_size);
                            
                            if(!proinfo->check_checktiff)
                            {
                                fprintf(pMetafile,"tilesize=%d\n",tile_size);
                                if(proinfo->pre_DEMtif)
                                    fprintf(pMetafile,"Seed DEM=%s\n",proinfo->priori_DEM_tif);
                                else
                                    fprintf(pMetafile,"Seed DEM=\n");
                                
                                if(param.projection == 1)
                                {
                                    if (param.bHemisphere)
                                        fprintf(pMetafile, "Output Projection='+proj=stere +lat_0=90 +lat_ts=70 +lon_0=-45, +k=1 +x_0=0 +y_0=0 +datum=WGS84 +unit=m +no_defs'\n");
                                    else
                                        fprintf(pMetafile, "Output Projection='+proj=stere +lat_0=-90 +lat_ts=-71 +lon_0=0, +k=1 +x_0=0 +y_0=0 +datum=WGS84 +unit=m +no_defs'\n");
                                }
                                else
                                {
                                    if (param.bHemisphere)
                                        fprintf(pMetafile, "Output Projection='+proj=utm +zone=%d +north=%s +datum=WGS84 +unit=m +no_defs'\n", param.utm_zone, param.direction);
                                    else
                                        fprintf(pMetafile, "Output Projection='+proj=utm +zone=%d +south=%s +datum=WGS84 +unit=m +no_defs'\n", param.utm_zone, param.direction);
                                }
                            }
                            
                            SetTiles(proinfo, Boundary, tile_size, &pyramid_step, &buffer_area, &iter_row_start, &iter_row_end, &t_col_start, &t_col_end, &subX, &subY);
                            
                            if (args.check_tiles_SR)
                                iter_row_start    = args.start_row;
                            
                            if (args.check_tiles_ER)
                                iter_row_end      = args.end_row;
                            
                            if (args.check_tiles_SC)
                                t_col_start       = args.start_col;
                            
                            if (args.check_tiles_EC)
                                t_col_end         = args.end_col;
                            
                            if (proinfo->check_tiles_SR)
                                iter_row_start    = proinfo->start_row;
                            
                            if (proinfo->check_tiles_ER)
                                iter_row_end      = proinfo->end_row;
                            
                            if (proinfo->check_tiles_SC)
                                t_col_start       = proinfo->start_col;
                            
                            if (proinfo->check_tiles_EC)
                                t_col_end         = proinfo->end_col;
                            
                            for(int ti = 0; ti < proinfo->number_of_images ; ti++)
                                printf("RA param = %f\t%f\n",Imageparams[ti][0],Imageparams[ti][1]);
                            
                            printf("Tiles row:col = row = %d\t%d\t;col = %d\t%d\tseed flag =%d\n",iter_row_start,iter_row_end,t_col_start,t_col_end,proinfo->pre_DEMtif);
                            
                            if(!args.check_gridonly)
                            {
                                Matching_SETSM(proinfo,pyramid_step, Template_size, buffer_area,iter_row_start, iter_row_end,t_col_start,t_col_end,subX,subY,bin_angle,Hinterval,Image_res,Imageparams,RPCs, NumOfIAparam, Limagesize,param,ori_minmaxHeight,Boundary,convergence_angle,mean_product_res,&MPP_stereo_angle);
                            }
#ifdef BUILDMPI
                            MPI_Barrier(MPI_COMM_WORLD);
                            if(rank == 0) {
#endif
                            if(!args.check_ortho)
                            {
                                char check_file[500];
                                int max_row = 0;
                                int max_col = 0;
                                for(int row = 1; row < 100 ; row++)
                                {
                                    for(int col = 1; col < 100 ; col++)
                                    {
                                        sprintf(check_file,"%s/txt/matched_pts_%d_%d_0_3.txt",proinfo->save_filepath,row,col);
                                        FILE *pcheckFile = fopen(check_file,"r");
                                        if(pcheckFile)
                                        {
                                            if(max_row < row)
                                                max_row = row;
                                            if(max_col < col)
                                                max_col = col;
                                            
                                            fclose(pcheckFile);
                                        }
                                    }
                                }
                                
                                if (args.check_tiles_SR)
                                    iter_row_start    = args.start_row;
                                
                                if (args.check_tiles_ER)
                                    iter_row_end      = args.end_row;
                                else
                                {
                                    if (proinfo->check_tiles_ER)
                                        iter_row_end      = proinfo->end_row;
                                    else
                                        iter_row_end = max_row + 1;
                                }
                                
                                if (args.check_tiles_SC)
                                    t_col_start       = args.start_col;
                                
                                if (args.check_tiles_EC)
                                    t_col_end         = args.end_col;
                                else
                                {
                                    if (proinfo->check_tiles_EC)
                                        t_col_end         = proinfo->end_col;
                                    else
                                        t_col_end    = max_col + 1;
                                }
                                
                                if (proinfo->check_tiles_SR)
                                    iter_row_start    = proinfo->start_row;
                                
                                if (proinfo->check_tiles_SC)
                                    t_col_start       = proinfo->start_col;
                            }
                            
                            printf("Tiles row:col = row = %d\t%d\t;col = %d\t%d\tseed flag =%d\n",iter_row_start,iter_row_end,t_col_start,t_col_end,proinfo->pre_DEMtif);
                            
                            if(iter_row_end < 2 && t_col_end < 2)
                            {
                                printf("No matching results. Please check overlapped area of stereo pair, or image textures\n");
                                exit(1);
                            }
                            
                            char str_DEMfile[500];
                            float *DEM_values = NULL;
                            signed char *Ortho_values = NULL;
                            float *H_value = NULL;
                            unsigned char* MT_value = NULL;
                            
                            int buffer_tile = buffer_area + 20;
                            const int final_iteration = 3;
                            
                            double FinalDEM_boundary[4] = {0.};
                            CSize Final_DEMsize;
                            
                            int total_row_num = iter_row_end - iter_row_start;
                            int total_col_num = t_col_end - t_col_start;
                            double DEM_width = Boundary[2] - Boundary[0];
                            double DEM_height = Boundary[3] - Boundary[1];
                            
                            if((total_col_num == 1 && total_row_num == 1) || (DEM_width < buffer_tile || DEM_height < buffer_tile))
                                buffer_tile = 0;
                            
                            if(proinfo->check_Matchtag && !args.check_tiles_SR && !args.check_tiles_SC && !args.check_tiles_ER && !args.check_tiles_EC)
                            {
                                buffer_tile = 0;
                                
                                FinalDEM_boundary[0] = Boundary[0];
                                FinalDEM_boundary[1] = Boundary[1];
                                FinalDEM_boundary[2] = Boundary[2];
                                FinalDEM_boundary[3] = Boundary[3];
                                
                                Final_DEMsize = Matchtag_seeddem_size;
                            }
                            else
                                Final_DEMsize = DEM_final_Size(proinfo->save_filepath, iter_row_start,t_col_start, iter_row_end,t_col_end,proinfo->DEM_resolution,FinalDEM_boundary);
                            
                            double total_memory;
                            if(args.check_LSF2 == 1 || args.check_LSF2 == 2)
                                total_memory = CalMemorySize_Post_LSF(Final_DEMsize,Final_DEMsize);
                            else
                                total_memory = CalMemorySize_Post(Final_DEMsize,Final_DEMsize);
                            
                            printf("total tile memory %f\t%f\t%d\t%d\n",proinfo->System_memory,total_memory,Final_DEMsize.width,Final_DEMsize.height);
                            
                            if(total_memory > proinfo->System_memory - 5)
                            {
                                double define_row = 2.0;
                                int tile_row_step;
                                const int tile_row_half = ceil(iter_row_end/2.0);
                                double row_tilememory;
                                
                                char outsefile[500];
                                sprintf(outsefile, "%s/DEM_splited.txt", proinfo->save_filepath);
                                FILE *p_sefile = fopen(outsefile,"w");
                                
                                bool check_tile = true;
                                while(check_tile && define_row < 10.0)
                                {
                                    tile_row_step = ceil((iter_row_end-1)/define_row);
                                    
                                    int tile_row_step_half = floor(tile_row_step/2.0);
                                    int tile_row_start = tile_row_half - tile_row_step_half;
                                    int tile_row_end = tile_row_start + tile_row_step - 1;
                                    
                                    printf("%d\t%d\t%d\t%d\t%d\n",tile_row_half,tile_row_step,tile_row_step_half,tile_row_start,tile_row_end);
                                    
                                    CSize tile_Final_DEMsize = DEM_final_Size(proinfo->save_filepath, tile_row_start,t_col_start, tile_row_end,t_col_end,proinfo->DEM_resolution,FinalDEM_boundary);
                                    
                                    row_tilememory = CalMemorySize_Post(tile_Final_DEMsize,tile_Final_DEMsize);
                                    if(args.check_LSF2 == 1 || args.check_LSF2 == 2)
                                        row_tilememory = CalMemorySize_Post_LSF(tile_Final_DEMsize,tile_Final_DEMsize);
                                    
                                    printf("tile_Final_DEMsize %d\t%d\t%d\t%d\t%d\t%d\n",tile_Final_DEMsize.width,tile_Final_DEMsize.height,tile_row_start,t_col_start, tile_row_end,t_col_end);
                                    printf("while tile_row_step %d\tdivide %f\tmemory %f\n",tile_row_step,define_row,row_tilememory);
                                    
                                    if(row_tilememory < proinfo->System_memory - 5)
                                        check_tile = false;
                                    else
                                        define_row++;
                                }
                                
                                printf("define_row tile_row_step %f\t%d\t%f\n",define_row,tile_row_step,row_tilememory);
                                DEM_divide = define_row;
                                fprintf(p_sefile,"total_splited_DEMs %d\n",(int)define_row);
                                
                                for(int tile_row = 1 ; tile_row <= define_row ; tile_row++)
                                {
                                    iter_row_start  = 1 + tile_row_step*(tile_row-1);
                                    iter_row_end    = tile_row_step*tile_row;
                                    
                                    printf("iter %d\tTiles row:col = row = %d\t%d\t;col = %d\t%d\n",tile_row,iter_row_start,iter_row_end,t_col_start,t_col_end);
                                    
                                    sprintf(str_DEMfile, "%s/%s_%d_dem.tif", proinfo->save_filepath,proinfo->Outputpath_name,tile_row);
                                    
                                    FILE *pFile_DEM = fopen(str_DEMfile,"r");
                                    
                                    ST = time(0);
                                    printf("Tile merging start final iteration %d!!\n",final_iteration);
                                    
                                    CSize tile_Final_DEMsize =
                                    DEM_final_Size(proinfo->save_filepath, iter_row_start,t_col_start, iter_row_end,t_col_end,proinfo->DEM_resolution,FinalDEM_boundary);
                                    
                                    printf("DEM_size %d\t%d\t%d\t%d\t%d\t%d\n",tile_Final_DEMsize.width,tile_Final_DEMsize.height,iter_row_start,iter_row_end,t_col_start,t_col_end);
                                    
                                    if(tile_row == 1)
                                    {
                                        FinalDEM_boundary[3] += 200;
                                        iter_row_end += 1;
                                    }
                                    else if(tile_row == define_row)
                                        FinalDEM_boundary[1] -= 200;
                                    else
                                    {
                                        FinalDEM_boundary[1] -= 200;
                                        FinalDEM_boundary[3] += 200;
                                        iter_row_end += 1;
                                        iter_row_start -= 1;
                                    }
                                    printf("re boundary %f\t%f\t%f\t%f\n",FinalDEM_boundary[0],FinalDEM_boundary[1],FinalDEM_boundary[2],FinalDEM_boundary[3]);
                                    tile_Final_DEMsize.width = (int)((FinalDEM_boundary[2] - FinalDEM_boundary[0])/proinfo->DEM_resolution) + 1;
                                    tile_Final_DEMsize.height = (int)((FinalDEM_boundary[3] - FinalDEM_boundary[1])/proinfo->DEM_resolution) + 1;
                                    printf("re DEM_size %d\t%d\t%d\t%d\t%d\t%d\n",tile_Final_DEMsize.width,tile_Final_DEMsize.height,iter_row_start,iter_row_end,t_col_start,t_col_end);
                                    
                                    fprintf(p_sefile,"DEM %d\n",tile_row);
                                    fprintf(p_sefile,"Output dimensions=%d\t%d\n",tile_Final_DEMsize.width,tile_Final_DEMsize.height);
                                    fprintf(p_sefile,"Upper left coordinates=%f\t%f\n",FinalDEM_boundary[0],FinalDEM_boundary[3]);
                                    
                                    DEM_values = (float*)malloc(sizeof(float)*tile_Final_DEMsize.width*tile_Final_DEMsize.height);
                                    MergeTiles(proinfo,iter_row_start,t_col_start,iter_row_end,t_col_end,buffer_tile,final_iteration,DEM_values,tile_Final_DEMsize,FinalDEM_boundary);
                                    
                                    printf("Interpolation start!!\n");
                                    printf("%f %f\n",proinfo->DEM_resolution,proinfo->DEM_resolution);
                                    
                                    H_value = (float*)malloc(sizeof(float)*(long)tile_Final_DEMsize.width*(long)tile_Final_DEMsize.height);
                                    MT_value = (unsigned char*)calloc(sizeof(unsigned char),(long)tile_Final_DEMsize.width*(long)tile_Final_DEMsize.height);
                                    NNA_M(proinfo, param, iter_row_start, t_col_start, iter_row_end, t_col_end, buffer_tile, final_iteration, tile_row, tile_Final_DEMsize, DEM_values, H_value, MT_value, FinalDEM_boundary);
                                    
                                    ET = time(0);
                                    gap = difftime(ET,ST);
                                    printf("DEM finish(time[m] = %5.2f)!!\n",gap/60.0);
                                    
                                    double MT_memory = CalMemorySize_Post_MT(tile_Final_DEMsize,tile_Final_DEMsize);
                                    if(MT_memory > proinfo->System_memory - 5)
                                    {
                                        ST = time(0);
                                        
                                        printf("not enough memory for matchtag filtering[%f]!!\nMake original matchtag file!!\n",MT_memory);
                                        char GEOTIFF_matchtag_filename[500];
                                        sprintf(GEOTIFF_matchtag_filename, "%s/%s_%d_matchtag.tif", proinfo->save_filepath, proinfo->Outputpath_name,tile_row);
                                        
                                        WriteGeotiff(GEOTIFF_matchtag_filename, MT_value, tile_Final_DEMsize.width, tile_Final_DEMsize.height, proinfo->DEM_resolution, FinalDEM_boundary[0], FinalDEM_boundary[3], param.projection, param.utm_zone, param.bHemisphere, 1);
                                        
                                        free(H_value);
                                        free(MT_value);
                                        
                                        ET = time(0);
                                        gap = difftime(ET,ST);
                                        printf("Matched PT finish(time[m] = %5.2f)!!\n",gap/60.0);
                                    }
                                    else
                                    {
                                        ST = time(0);
                                        
                                        Ortho_values = (signed char*)malloc(sizeof(signed char)*tile_Final_DEMsize.width*tile_Final_DEMsize.height);
                                        MergeTiles_Ortho(proinfo,iter_row_start,t_col_start,iter_row_end,t_col_end,buffer_tile,final_iteration,Ortho_values,tile_Final_DEMsize,FinalDEM_boundary);

                                        NNA_M_MT(proinfo, param, iter_row_start,t_col_start, iter_row_end, t_col_end, buffer_tile, final_iteration, tile_row, Ortho_values, H_value, MT_value, tile_Final_DEMsize, FinalDEM_boundary);
                                        
                                        ET = time(0);
                                        gap = difftime(ET,ST);
                                        printf("Matched PT finish(time[m] = %5.2f)!!\n",gap/60.0);
                                    }
                                    
                                    if(args.check_LSF2 == 1 || args.check_LSF2 == 2)
                                    {
                                        ST = time(0);
                                        
                                        LSFSmoothing_DEM(proinfo->save_filepath,proinfo->Outputpath_name,MPP_stereo_angle,tile_row,proinfo->check_tif_rounding);
                                        
                                        ET = time(0);
                                        gap = difftime(ET,ST);
                                        printf("LSF finish(time[m] = %5.2f)!!\n",gap/60.0);
                                    }
                                    
                                    CSize seeddem_size;
                                    double tminX, tmaxY;
                                    
                                    char tiff_path[500];
                                    sprintf(tiff_path, "%s/%s_%d_dem.tif", proinfo->save_filepath, proinfo->Outputpath_name,tile_row);
                                    seeddem_size = ReadGeotiff_info(tiff_path, &tminX, &tmaxY, NULL);
                                    
                                    fprintf(pMetafile,"DEM %d\n",tile_row);
                                    fprintf(pMetafile,"Output dimensions=%d\t%d\n",seeddem_size.width,seeddem_size.height);
                                    fprintf(pMetafile,"Upper left coordinates=%f\t%f\n",tminX,tmaxY);
                                }
                                fclose(p_sefile);
                            }
                            else
                            {
                                sprintf(str_DEMfile, "%s/%s_dem.tif", proinfo->save_filepath,proinfo->Outputpath_name);
                                
                                FILE* pFile_DEM = NULL;
                                
                                pFile_DEM = fopen(str_DEMfile,"r");
                                printf("check exist %s %d\n",str_DEMfile,!!pFile_DEM);
                                
                                ST = time(0);
                                printf("Tile merging start final iteration %d!!\n",final_iteration);
                                
                                DEM_values = (float*)malloc(sizeof(float)*Final_DEMsize.width*Final_DEMsize.height);
                                MergeTiles(proinfo,iter_row_start,t_col_start,iter_row_end,t_col_end,buffer_tile,final_iteration,DEM_values,Final_DEMsize,FinalDEM_boundary);
                                printf("%f\t",DEM_values[10]);
                                
                                printf("Interpolation start!!\n");
                                printf("%f %f\n",proinfo->DEM_resolution,proinfo->DEM_resolution);
                                
                                H_value = (float*)malloc(sizeof(float)*(long)Final_DEMsize.width*(long)Final_DEMsize.height);
                                MT_value = (unsigned char*)calloc(sizeof(unsigned char),(long)Final_DEMsize.width*(long)Final_DEMsize.height);
                                NNA_M(proinfo, param, iter_row_start, t_col_start, iter_row_end, t_col_end, buffer_tile, final_iteration, 0, Final_DEMsize, DEM_values, H_value, MT_value, FinalDEM_boundary);
                                
                                ET = time(0);
                                gap = difftime(ET,ST);
                                printf("DEM finish(time[m] = %5.2f)!!\n",gap/60.0);
                                
                                double MT_memory = CalMemorySize_Post_MT(Final_DEMsize,Final_DEMsize);
                                //MT_memory = 100;
                                if(MT_memory > proinfo->System_memory - 5)
                                {
                                    ST = time(0);
                                    
                                    printf("not enough memory for matchtag filtering[%f]!!\nMake original matchtag file!!\n",MT_memory);
                                    char GEOTIFF_matchtag_filename[500];
                                    sprintf(GEOTIFF_matchtag_filename, "%s/%s_matchtag.tif", proinfo->save_filepath, proinfo->Outputpath_name);
                                    
                                    WriteGeotiff(GEOTIFF_matchtag_filename, MT_value, Final_DEMsize.width, Final_DEMsize.height, proinfo->DEM_resolution, FinalDEM_boundary[0], FinalDEM_boundary[3], param.projection, param.utm_zone, param.bHemisphere, 1);
                                    
                                    free(H_value);
                                    free(MT_value);
                                    
                                    ET = time(0);
                                    gap = difftime(ET,ST);
                                    printf("Matched PT finish(time[m] = %5.2f)!!\n",gap/60.0);
                                }
                                else
                                {
                                    ST = time(0);
                                    
                                    Ortho_values = (signed char*)malloc(sizeof(signed char)*Final_DEMsize.width*Final_DEMsize.height);
                                    MergeTiles_Ortho(proinfo,iter_row_start,t_col_start,iter_row_end,t_col_end,buffer_tile,final_iteration,Ortho_values,Final_DEMsize,FinalDEM_boundary);
                                    
                                    NNA_M_MT(proinfo, param, iter_row_start, t_col_start, iter_row_end, t_col_end, buffer_tile, final_iteration, 0, Ortho_values, H_value, MT_value, Final_DEMsize, FinalDEM_boundary);
                                    
                                    ET = time(0);
                                    gap = difftime(ET,ST);
                                    printf("Matched PT finish(time[m] = %5.2f)!!\n",gap/60.0);
                                }
                                
                                CSize seeddem_size;
                                double tminX, tmaxY;
                                
                                char tiff_path[500];
                                if(proinfo->check_Matchtag)
                                    sprintf(tiff_path, "%s", proinfo->priori_DEM_tif);
                                else
                                    sprintf(tiff_path, "%s/%s_dem.tif", proinfo->save_filepath, proinfo->Outputpath_name);
                                seeddem_size = ReadGeotiff_info(tiff_path, &tminX, &tmaxY, NULL);
                                fprintf(pMetafile,"Output dimensions=%d\t%d\n",seeddem_size.width,seeddem_size.height);
                                fprintf(pMetafile,"Upper left coordinates=%f\t%f\n",tminX,tmaxY);
                                
                                if (args.check_minH)
                                    fprintf(pMetafile,"user_defined_minH=%f\n",args.minHeight);
                                if (args.check_maxH)
                                    fprintf(pMetafile,"user_defined_maxH=%f\n",args.maxHeight);
                                
                                if(args.check_LSF2 == 1 || args.check_LSF2 == 2)
                                {
                                    ST = time(0);
                                    
                                    LSFSmoothing_DEM(proinfo->save_filepath,proinfo->Outputpath_name,MPP_stereo_angle,0,proinfo->check_tif_rounding);
                                    
                                    ET = time(0);
                                    gap = difftime(ET,ST);
                                    printf("LSF finish(time[m] = %5.2f)!!\n",gap/60.0);
                                }
                            }
                            
                            for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                            {
                                fprintf(pMetafile,"Image %d info\nImage_%d_satID=%s\nImage_%d_Acquisition_time=%s\nImage_%d_Mean_row_GSD=%f\nImage_%d_Mean_col_GSD=%f\nImage_%d_Mean_GSD=%f\nImage_%d_Mean_sun_azimuth_angle=%f\nImage_%d_Mean_sun_elevation=%f\nImage_%d_Mean_sat_azimuth_angle=%f\nImage_%d_Mean_sat_elevation=%f\nImage_%d_Intrack_angle=%f\nImage_%d_Crosstrack_angle=%f\nImage_%d_Offnadir_angle=%f\nImage_%d_tdi=%d\nImage_%d_effbw=%f\nImage_%d_abscalfact=%f\n",ti+1,ti+1,image_info[ti].SatID,ti+1,image_info[ti].imagetime,ti+1,Image_gsd_r[ti],ti+1,Image_gsd_c[ti],ti+1,Image_gsd[ti],ti+1,image_info[ti].Mean_sun_azimuth_angle,ti+1,image_info[ti].Mean_sun_elevation,ti+1,image_info[ti].Mean_sat_azimuth_angle,ti+1,image_info[ti].Mean_sat_elevation,ti+1,image_info[ti].Intrack_angle,ti+1,image_info[ti].Crosstrack_angle,ti+1,image_info[ti].Offnadir_angle,ti+1,(int)leftright_band[ti].tdi,ti+1,leftright_band[ti].effbw,ti+1,leftright_band[ti].abscalfactor);
                            }
                            
                            fprintf(pMetafile,"Stereo_pair_convergence_angle=%f\n",convergence_angle);
                            fprintf(pMetafile,"Stereo_pair_expected_height_accuracy=%f\n",MPP_stereo_angle);
                            fclose(pMetafile);
#ifdef BUILDMPI
                        }
#endif
                        } // if (!RA_only)
                    }
                    else
                        printf("out of boundary!! please check boundary infomation!!\n");
                    
                    sprintf(temp_filepath,"%s/tmp",proinfo->save_filepath);
                }

                for(int i = 0; i < proinfo->number_of_images; i++)
                    RPCsFree(RPCs[i]);
                free(RPCs);
                free(leftright_band);
                free(Image_gsd_r);
                free(Image_gsd_c);
                free(Image_gsd);
                free(Limagesize);
                free(image_info);
            }
            else
                printf("Check output directory path!!\n");
        }
    }
    
    if(!cal_check && args.check_sdm_ortho == 2)
    {
    
    }
    else
    {
        total_ET = time(0);
        total_gap = difftime(total_ET,total_ST);
        
        sprintf(computation_file,"%s/txt/computation_time.txt",proinfo->save_filepath);
        time_fid            = single_fopen(computation_file,"w");
        fprintf(time_fid,"Computation_time[m] = %5.2f\n",total_gap/60.0);
        single_printf("Computation_time[m] = %5.2f\n",total_gap/60.0);
        
        fclose(time_fid);
    }
    
    delete proinfo;

    if(args.check_coreg == 1)
        exit(1);

    if(args.check_coreg == 2 || args.check_coreg == 3)
        exit(1);
    else if(args.check_sdm_ortho == 1)
        exit(1);
    else if(args.check_sdm_ortho == 2)
        exit(1);
    else if(args.check_ortho)
        exit(1);
    
    return DEM_divide;
}

class SerialTileIndexer : public TileIndexer {
private:
    int i;
    int length;
public:
    SerialTileIndexer(int length) : i(0), length(length) {}
    int next() {
        if(i >= length)
            return -1;
        int ret = -1;
        if(i < length) {
            ret = i;
            i++;
        }
        return ret;
    }
};

void findOverlappArea(ProInfo *proinfo, TransParam param, double*** RPCs, double *Image_res, double Boundary[])
{
    Boundary[0] = 10000000;
    Boundary[1] = 10000000;
    Boundary[2] = -10000000;
    Boundary[3] = -10000000;
    
    double LBoundary[4],LminmaxHeight[2];
    double LHinterval;
    
    
    for(int ref_ti = 0 ; ref_ti < proinfo->number_of_images - 1 ; ref_ti++)
    {
        double lonlatboundary_ref[4] = {0.0};
        
        if(proinfo->sensor_type == SB)
            SetDEMBoundary(RPCs[ref_ti],Image_res,param,LBoundary,LminmaxHeight,&LHinterval);
        else
            SetDEMBoundary_photo(proinfo->frameinfo.Photoinfo[ref_ti], proinfo->frameinfo.m_Camera, proinfo->frameinfo.Photoinfo[ref_ti].m_Rm, LBoundary,LminmaxHeight,&LHinterval);
        
        for(int i=0;i<4;i++)
            lonlatboundary_ref[i] = LBoundary[i];
        
        for(int ti = ref_ti + 1 ; ti < proinfo->number_of_images ; ti ++)
        {
            double lonlatboundary[4] = {0.0};
            if(proinfo->sensor_type == SB)
                SetDEMBoundary(RPCs[ti],Image_res,param,LBoundary,LminmaxHeight,&LHinterval);
            else
                SetDEMBoundary_photo(proinfo->frameinfo.Photoinfo[ti], proinfo->frameinfo.m_Camera, proinfo->frameinfo.Photoinfo[ti].m_Rm, LBoundary,LminmaxHeight,&LHinterval);
            
            printf("tar %d\tboundary %f\t%f\t%f\t%f\n",ti,LBoundary[0],LBoundary[1],LBoundary[2],LBoundary[3]);
            
            for(int i=0;i<4;i++)
            {
                if(i<2)
                    lonlatboundary[i] = max(LBoundary[i], lonlatboundary_ref[i]);
                else
                    lonlatboundary[i] = min(LBoundary[i], lonlatboundary_ref[i]);
            }
            
            printf("ref %d tar %d\tboundary %f\t%f\t%f\t%f\n",ref_ti,ti,lonlatboundary[0],lonlatboundary[1],lonlatboundary[2],lonlatboundary[3]);
            
            for(int i=0;i<4;i++)
            {
                if(i<2)
                    Boundary[i] = min(Boundary[i], lonlatboundary[i]);
                else
                    Boundary[i] = max(Boundary[i], lonlatboundary[i]);
            }
            
            printf("all boundary %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
            
            double minX = min(Boundary[0],Boundary[2]);
            double maxX = max(Boundary[0],Boundary[2]);
            
            double minY = min(Boundary[1],Boundary[3]);
            double maxY = max(Boundary[1],Boundary[3]);
            
            Boundary[0] = minX;
            Boundary[1] = minY;
            Boundary[2] = maxX;
            Boundary[3] = maxY;
            
            printf("all boundary %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
        }
    }
}

void findOverlappArea_Imageinfo(ProInfo *proinfo, ImageInfo *imageinfo, double Boundary[])
{
    Boundary[0] = 10000000;
    Boundary[1] = 10000000;
    Boundary[2] = -10000000;
    Boundary[3] = -10000000;
    
    double LBoundary[4];
    
    
    for(int ref_ti = 0 ; ref_ti < proinfo->number_of_images - 1 ; ref_ti++)
    {
        double lonlatboundary_ref[4] = {0.0};
        
        LBoundary[0] = imageinfo[ref_ti].LL[0];
        LBoundary[1] = imageinfo[ref_ti].LL[1];
        LBoundary[2] = imageinfo[ref_ti].UR[0];
        LBoundary[3] = imageinfo[ref_ti].UR[1];
        
        for(int i=0;i<4;i++)
            lonlatboundary_ref[i] = LBoundary[i];
        
        for(int ti = ref_ti + 1 ; ti < proinfo->number_of_images ; ti ++)
        {
            double lonlatboundary[4] = {0.0};
            
            LBoundary[0] = imageinfo[ti].LL[0];
            LBoundary[1] = imageinfo[ti].LL[1];
            LBoundary[2] = imageinfo[ti].UR[0];
            LBoundary[3] = imageinfo[ti].UR[1];
            
            printf("tar %d\tboundary %f\t%f\t%f\t%f\n",ti,LBoundary[0],LBoundary[1],LBoundary[2],LBoundary[3]);
            
            for(int i=0;i<4;i++)
            {
                if(i<2)
                    lonlatboundary[i] = max(LBoundary[i], lonlatboundary_ref[i]);
                else
                    lonlatboundary[i] = min(LBoundary[i], lonlatboundary_ref[i]);
            }
            
            printf("ref %d tar %d\tboundary %f\t%f\t%f\t%f\n",ref_ti,ti,lonlatboundary[0],lonlatboundary[1],lonlatboundary[2],lonlatboundary[3]);
            
            for(int i=0;i<4;i++)
            {
                if(i<2)
                    Boundary[i] = min(Boundary[i], lonlatboundary[i]);
                else
                    Boundary[i] = max(Boundary[i], lonlatboundary[i]);
            }
            
            printf("all boundary %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
            
            double minX = min(Boundary[0],Boundary[2]);
            double maxX = max(Boundary[0],Boundary[2]);
            
            double minY = min(Boundary[1],Boundary[3]);
            double maxY = max(Boundary[1],Boundary[3]);
            
            Boundary[0] = minX;
            Boundary[1] = minY;
            Boundary[2] = maxX;
            Boundary[3] = maxY;
            
            printf("all boundary %f\t%f\t%f\t%f\n",Boundary[0],Boundary[1],Boundary[2],Boundary[3]);
        }
    }
}

int Matching_SETSM(ProInfo *proinfo,const uint8 pyramid_step, const uint8 Template_size, const uint16 buffer_area, const uint8 iter_row_start, const uint8 iter_row_end, const uint8 t_col_start, const uint8 t_col_end, const double subX,const double subY,const double bin_angle,const double Hinterval,const double *Image_res, double **Imageparams, const double *const*const*RPCs, const uint8 NumOfIAparam, const CSize *Imagesizes,const TransParam param, double *ori_minmaxHeight,const double *Boundary, const double CA,const double mean_product_res, double *stereo_angle_accuracy)
{
#ifdef BUILDMPI
    int rank, size;
    MPI_Comm_rank(MPI_COMM_WORLD, &rank);
    MPI_Comm_size(MPI_COMM_WORLD, &size);

    // async_progressor should come before TileIndexer, needs to to be destroyed second
    std::unique_ptr<MPIProgressor> async_progressor = nullptr;
#endif

    int final_iteration = -1;
    int row,col;
    int* RA_count = (int*)calloc(sizeof(int),proinfo->number_of_images);
    
    int row_length = iter_row_end-iter_row_start;
    int col_length = t_col_end-t_col_start;
    int *iterations = (int*)malloc(col_length*row_length*2*sizeof(int));
    int length = 0;
    int count_tri;
    
    for(row = iter_row_start; row < iter_row_end ; row++)
    {
        for(col = t_col_start ; col < t_col_end ; col++)
        {
            iterations[2*length] = row;
            iterations[2*length+1] = col;
            length+=1;
        }
    }

    std::unique_ptr<TileIndexer> tile_indices(new SerialTileIndexer(length));
#ifdef BUILDMPI
    if (length > 1 && !proinfo->IsRA) {
        // Setup MPI work queue for tiles for non-RA case
        tile_indices = std::move(std::unique_ptr<MPITileIndexer>(new MPITileIndexer(length, rank)));

        // only enable custom async progress if it was requested
        if(rank == 0 && requested_custom_async_progress()) {
            async_progressor = std::unique_ptr<MPIProgressor>(new MPIProgressor(
                std::chrono::milliseconds(750)));
        }
    } else if(rank != 0) {
        // only rank 0 will be doing RA, so all other ranks get no tiles
        tile_indices = std::move(std::unique_ptr<SerialTileIndexer>(new SerialTileIndexer(0)));

    }
#endif

    int tile_iter;
    while((tile_iter = tile_indices->next()) != -1)
    {
        row = iterations[2*tile_iter];
        col = iterations[2*tile_iter+1];

#ifdef BUILDMPI
        printf("MPI: Rank %d is analyzing row %d, col %d\n", rank, row, col);
#endif
        bool check_cal = false;
        bool check_cal_2 = false;
        if(proinfo->IsRA)
            check_cal = true;
        else 
        {
            char check_file[500];
            sprintf(check_file,"%s/txt/matched_pts_%d_%d_0_3.txt",proinfo->save_filepath,row,col);
            FILE* pcheckFile = fopen(check_file,"r");
            if(!pcheckFile)
                check_cal = true;
            else
                fclose(pcheckFile);
            
            sprintf(check_file,"%s/txt/matched_BR_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
            FILE* pcheckFile_2 = fopen(check_file,"r");
            if(!pcheckFile_2)
                check_cal_2 = true;
            else
                fclose(pcheckFile_2);
            
            printf("check existing tile reuslt %d\t%d\t%d\t%d\n",row,col,check_cal,check_cal_2);
        }
        
        if(check_cal || check_cal_2)
        {
            printf("start cal tile\n");
            
            FILE *fid = NULL;
            FILE *fid_header = NULL;
            
            D2DPOINT *Startpos_ori = (D2DPOINT*)calloc(sizeof(D2DPOINT),proinfo->number_of_images);
            CSize *Subsetsize = (CSize*)calloc(sizeof(CSize),proinfo->number_of_images);
            
            double **t_Imageparams = (double**)calloc(sizeof(double*),proinfo->number_of_images);
            for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                t_Imageparams[ti] = (double*)calloc(sizeof(double),2);
            
            char save_file[500];
            if(proinfo->IsRA)
            {
                if(!proinfo->check_checktiff)
                {
                    sprintf(save_file,"%s/txt/RA_echo_result_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
                    fid         = fopen(save_file,"w");
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        fprintf(fid,"RA param X = %f\tY = %f\n",t_Imageparams[ti][0],t_Imageparams[ti][1]);
                    
                    sprintf(save_file,"%s/txt/RA_headerinfo_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
                    fid_header  = fopen(save_file,"w");
                    
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    {
                        Imageparams[ti][0] = 0;
                        Imageparams[ti][1] = 0;
                    }
                }
            }
            else
            {
                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                {
                    t_Imageparams[ti][0]    = Imageparams[ti][0];
                    t_Imageparams[ti][1]    = Imageparams[ti][1];
                }
                
                if(!proinfo->check_checktiff)
                {
                    sprintf(save_file,"%s/txt/echo_result_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
                    fid         = fopen(save_file,"w");
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        fprintf(fid,"RA param X = %f\tY = %f\n",t_Imageparams[ti][0],t_Imageparams[ti][1]);
                    
                    sprintf(save_file,"%s/txt/headerinfo_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
                    fid_header  = fopen(save_file,"w");
                }
            }
            
            double subBoundary[4];
            double minmaxHeight[2] = {ori_minmaxHeight[0], ori_minmaxHeight[1]};
            printf("minmaxH = %f\t%f\n",minmaxHeight[0],minmaxHeight[1]);
            SetSubBoundary(Boundary,subX,subY,buffer_area,col,row,subBoundary);
            
            printf("subBoundary = %f\t%f\t%f\t%f\n", subBoundary[0], subBoundary[1], subBoundary[2], subBoundary[3]);
            
            printf("subsetimage\n");
            
            double RA_memory = 0;
            for(int ti = 0; ti < proinfo->number_of_images ; ti++)
            {
                printf("RA Params=%f\t%f\t\n",Imageparams[ti][0],Imageparams[ti][1]);
                
                CSize t_Imagesize((subBoundary[2] - subBoundary[0])/0.7, (subBoundary[3] - subBoundary[1])/0.7);
                long int data_length =(long int)t_Imagesize.width*(long int)t_Imagesize.height;
                RA_memory += (sizeof(uint16)*data_length)*2;
                RA_memory += (sizeof(int16)*data_length);
                RA_memory += (sizeof(uint8)*data_length);
                
                proinfo->check_selected_image[ti] = true;
            }
            
            RA_memory = RA_memory/1024.0/1024.0/1024.0;
            
            if(proinfo->IsRA)
            {
                printf("RPC bias calculation required Memory : System %f\t SETSM required %f\n",proinfo->System_memory,RA_memory);
                if(RA_memory > proinfo->System_memory - 2)
                {
                    printf("System memory is not enough to run a relative RPC bias computation module of SETSM. Please reduce RA tilesize or assign more physical memory!!\n");
                    exit(1);
                }
            }
            
            time_t PreST = 0, PreET = 0;
            double Pregab = 0;
            
            LevelInfo levelinfo = {NULL};
            levelinfo.RPCs = RPCs;
            levelinfo.Boundary = subBoundary;
            levelinfo.Template_size = &Template_size;
            levelinfo.ImageAdjust = t_Imageparams;
            levelinfo.param = &param;
            levelinfo.NumOfIAparam = &NumOfIAparam;
            
            uint16 **SourceImages = (uint16**)malloc(sizeof(uint16*)*proinfo->number_of_images);
            int count_available_images = 0;
            for(int index_image = 0 ; index_image < proinfo->number_of_images ; index_image++)
            {
                SourceImages[index_image] = SetsubsetImage(proinfo, levelinfo, index_image,param,NumOfIAparam,RPCs,t_Imageparams,subBoundary,minmaxHeight,Startpos_ori,Subsetsize);
                if(proinfo->check_selected_image[index_image])
                    count_available_images++;
            }
            
            if(count_available_images >= 2)
            {
                printf("Completion of subsetImage!!\n");
                
                if( check_kernel_size(proinfo, Subsetsize, Template_size, pyramid_step))
                {
                    double total_memory = 0.0;
                    double py_resolution = 0;
                    double grid_resolution = 0;
                    double pre_grid_resolution = 0;
                    bool lower_level_match = true;
                    
                    bool flag_start = false;
                    
                    int level             = pyramid_step;
                    if(proinfo->check_Matchtag)
                    {
                        level   = 0;
                        printf("reprocessing Matchtag\n");
                    }
                    
                    CSize Size_Grid2D(0,0), pre_Size_Grid2D(0,0);
                    CSize **data_size_lr = (CSize**)malloc(sizeof(CSize*)*proinfo->number_of_images);
                    UGRID *GridPT3 = NULL, *Pre_GridPT3 = NULL;
                     
                    if(!proinfo->check_Matchtag)
                    {
                        for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        {
                            if(proinfo->check_selected_image[ti])
                            {
                                data_size_lr[ti] = (CSize*)malloc(sizeof(CSize)*(level+1));
                                SetPySizes(data_size_lr[ti], Subsetsize[ti], level);
                                
                                for (int ttt = 0 ; ttt < level+1 ;ttt++)
                                    printf("data_size %d\t%d\n",data_size_lr[ti][ttt].width,data_size_lr[ti][ttt].height);
                            }
                        }
                    }
                    else
                    {
                        for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        {
                            if(proinfo->check_selected_image[ti])
                            {
                                data_size_lr[ti] = (CSize*)malloc(sizeof(CSize)*(level+2));
                                SetPySizes(data_size_lr[ti], Subsetsize[ti], level+1);
                                for (int ttt = 0 ; ttt < level+2 ;ttt++)
                                    printf("data_size %d\t%d\n",data_size_lr[ti][ttt].width,data_size_lr[ti][ttt].height);
                            }
                        }
                    }
                    
                    PreST = time(0);
                    printf("row = %d/%d\tcol = %d/%d\tPreprocessing start!!\n",row,iter_row_end,col,t_col_end);
                    
                    //Set Pyramid Images memory
                    uint8 py_level_set;
                    if(proinfo->check_Matchtag)
                        py_level_set = 2;
                    else
                        py_level_set = level + 1;
                    
                    uint16 ***SubImages = (uint16***)malloc(sizeof(uint16**)*py_level_set);
                    uint8  ***SubOriImages = (uint8***)malloc(sizeof(uint8**)*py_level_set);
                    uint16 ***SubMagImages = (uint16***)malloc(sizeof(uint16**)*py_level_set);
                    
                    for(int iter_level = 0 ; iter_level < py_level_set; iter_level++)
                    {
                        SubImages[iter_level] = (uint16**)malloc(sizeof(uint16*)*proinfo->number_of_images);
                        SubOriImages[iter_level] = (uint8**)malloc(sizeof(uint8*)*proinfo->number_of_images);
                        SubMagImages[iter_level] = (uint16**)malloc(sizeof(uint16*)*proinfo->number_of_images);
                        
                        for(int image_index = 0 ; image_index < proinfo->number_of_images ; image_index++)
                        {
                            if(proinfo->check_selected_image[image_index])
                            {
                                long int data_length = (long int)data_size_lr[image_index][iter_level].height*(long int)data_size_lr[image_index][iter_level].width;
                                
                                if(iter_level == 0)
                                    SubImages[iter_level][image_index] = SourceImages[image_index];
                                else
                                    SubImages[iter_level][image_index] = NULL;//(uint16*)malloc(sizeof(uint16)*data_length);
                                
                                SubOriImages[iter_level][image_index] = (uint8*)malloc(sizeof(uint8)*data_length);
                                SubMagImages[iter_level][image_index] = (uint16*)malloc(sizeof(uint16)*data_length);
                            }
                        }
                    }
                    //pyramid image generation
                    SetPyramidImages(proinfo, py_level_set, data_size_lr, SubImages, SubMagImages, SubOriImages);
                    
                    PreET = time(0);
                    Pregab = difftime(PreET,PreST);
                    printf("row = %d/%d\tcol = %d/%d\tPreprocessing finish(time[m] = %5.2f)!!\n",row,iter_row_end,col,t_col_end,Pregab/60.0);
                    
                    PreST = time(0);
                    printf("row = %d/%d\tcol = %d/%d\tDEM generation start!!\n",row,iter_row_end,col,t_col_end);
                    
                    int blunder_selected_level;
                    // int pre_blunder_selected_level;
                    // if(proinfo->DEM_resolution == 8)
                    //     pre_blunder_selected_level = 4;
                    // else if(proinfo->DEM_resolution == 4)
                    //     pre_blunder_selected_level = 3;
                    // else if(proinfo->DEM_resolution == 2)
                    //     pre_blunder_selected_level = 2;
                    // else if(proinfo->DEM_resolution == 1)
                    //     pre_blunder_selected_level = 1;
                    // else
                    //     pre_blunder_selected_level = 0;
                    
                    
                    int final_level_iteration = 1;
                    if(proinfo->check_Matchtag)
                        final_level_iteration = 2;
                    
                    double matching_rate = 0;
                    bool check_matching_rate = false;
                    const double th_mr = 0.05;
                    
                    bool check_RA_divide = false;
                    const double tilesize_RA = 20000;
                    const double lengthOfX = subBoundary[2] - subBoundary[0];
                    const double lengthOfY = subBoundary[3] - subBoundary[1];
                    int division_X = 0, division_Y = 0;
                    int total_tile = 0;
                    double new_subBoundary_RA[4];
                    bool check_new_subBoundary_RA = false;
                    double preBoundary[4] = {0};
                    const double coverage = lengthOfY*lengthOfX/1000000.0;
                    if(coverage > tilesize_RA*tilesize_RA/1000000.0)
                    {
                        if(lengthOfX < lengthOfY)
                        {
                            if(lengthOfY > tilesize_RA)
                            {
                                check_RA_divide = true;
                                division_X = (int) (ceil(lengthOfX / (tilesize_RA)));
                                division_Y = (int) (ceil(lengthOfY / (tilesize_RA)));
                                total_tile = division_X*division_Y;
                            }
                        }
                        else
                        {
                            if(lengthOfX > tilesize_RA)
                            {
                                check_RA_divide = true;
                                division_X = (int) (ceil(lengthOfX / (tilesize_RA)));
                                division_Y = (int) (ceil(lengthOfY / (tilesize_RA)));
                                total_tile = division_X*division_Y;
                            }
                        }
                    }
                    
                    printf("length %f\t%f\tdivision %d\t%d\ntotal_tile %d\tcheck_RA_divide %d\n", lengthOfX, lengthOfY, division_X, division_Y, total_tile, check_RA_divide);
                    
                    const int Py_combined_level = 0;
                    while(lower_level_match && level >= 0)
                    {
                        printf("level = %d\t final_level_iteration %d\n",level,final_level_iteration);
                        
                        if(proinfo->IsRA && check_new_subBoundary_RA)
                        {
                            printf("Resize RA tile\n");
                            //delete pre-asigned image memory
                            for(int t_level = 0 ; t_level < py_level_set ; t_level++)
                            {
                                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                                {
                                    if(proinfo->check_selected_image[ti])
                                    {
                                        free(SubImages[t_level][ti]);
                                        free(SubMagImages[t_level][ti]);
                                        free(SubOriImages[t_level][ti]);
                                    }
                                }
                                free(SubImages[t_level]);
                                free(SubMagImages[t_level]);
                                free(SubOriImages[t_level]);
                            }
                            free(SubImages);
                            free(SubMagImages);
                            free(SubOriImages);
                            free(SourceImages);
                            
                            preBoundary[0] = subBoundary[0];
                            preBoundary[1] = subBoundary[1];
                            preBoundary[2] = subBoundary[2];
                            preBoundary[3] = subBoundary[3];
                            
                            subBoundary[0] = new_subBoundary_RA[0];
                            subBoundary[1] = new_subBoundary_RA[1];
                            subBoundary[2] = new_subBoundary_RA[2];
                            subBoundary[3] = new_subBoundary_RA[3];
                            
                            SourceImages = (uint16**)malloc(sizeof(uint16*)*proinfo->number_of_images);
                            
                            for(int image_index = 0 ; image_index < proinfo->number_of_images ; image_index++)
                            {
                                if(proinfo->check_selected_image[image_index])
                                {
                                    SourceImages[image_index] = SetsubsetImage(proinfo, levelinfo, image_index,param,NumOfIAparam,RPCs,t_Imageparams,subBoundary,minmaxHeight,Startpos_ori,Subsetsize);
                                    
                                    SetPySizes(data_size_lr[image_index], Subsetsize[image_index], pyramid_step);
                                }
                            }
                            
                            //new memory allocate
                            SubImages = (uint16***)malloc(sizeof(uint16**)*(pyramid_step+1));
                            SubOriImages = (uint8***)malloc(sizeof(uint8**)*(pyramid_step+1));
                            SubMagImages = (uint16***)malloc(sizeof(uint16**)*(pyramid_step+1));
                            
                            for(int iter_level = 0 ; iter_level < pyramid_step+1; iter_level++)
                            {
                                SubImages[iter_level] = (uint16**)malloc(sizeof(uint16*)*proinfo->number_of_images);
                                SubOriImages[iter_level] = (uint8**)malloc(sizeof(uint8*)*proinfo->number_of_images);
                                SubMagImages[iter_level] = (uint16**)malloc(sizeof(uint16*)*proinfo->number_of_images);
                                
                                for(int image_index = 0 ; image_index < proinfo->number_of_images ; image_index++)
                                {
                                    if(proinfo->check_selected_image[image_index])
                                    {
                                        long int data_length = (long int)data_size_lr[image_index][iter_level].height*(long int)data_size_lr[image_index][iter_level].width;
                                        
                                        if(iter_level == 0)
                                            SubImages[iter_level][image_index] = SourceImages[image_index];
                                        else
                                            SubImages[iter_level][image_index] = NULL;//(uint16*)malloc(sizeof(uint16)*data_length);
                                        
                                        SubOriImages[iter_level][image_index] = (uint8*)malloc(sizeof(uint8)*data_length);
                                        SubMagImages[iter_level][image_index] = (uint16*)malloc(sizeof(uint16)*data_length);
                                    }
                                }
                            }
                            //pyramid image generation
                            SetPyramidImages(proinfo, pyramid_step+1, data_size_lr, SubImages, SubMagImages, SubOriImages);
                            
                            printf("Resize RA tile end\n");
                        }
                        
                        printf("subBoundary %f\t%f\t%f\t%f\t preBoundary %f\t%f\t%f\t%f\n", subBoundary[0], subBoundary[1], subBoundary[2], subBoundary[3], preBoundary[0], preBoundary[1], preBoundary[2], preBoundary[3]);
                        
                        double Th_roh, Th_roh_min, Th_roh_start, Th_roh_next;
                        double minH_mps, maxH_mps;
                        double minH_grid, maxH_grid;
                        double MPP;
                        double MPP_simgle_image;
                        double MPP_stereo_angle = 1;
                        
                        if(level >= pyramid_step)
                            blunder_selected_level = level;
                        else if(level >= 2)
                            blunder_selected_level = level + 1;
                        else
                            blunder_selected_level = level + 1;
                        printf("selected_bl %d\n",blunder_selected_level);
                        
                        uint8 iteration;
                        
                        D2DPOINT *Startpos = (D2DPOINT*)malloc(sizeof(D2DPOINT)*proinfo->number_of_images);
                        D2DPOINT *BStartpos= (D2DPOINT*)malloc(sizeof(D2DPOINT)*proinfo->number_of_images);
                        
                        D2DPOINT *Startpos_next = NULL;
                        if(level > Py_combined_level)
                        {
                            Startpos_next = (D2DPOINT*)malloc(sizeof(D2DPOINT)*proinfo->number_of_images);
                        }
                        
                        for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        {
                            Startpos[ti].m_X       = (double)(Startpos_ori[ti].m_X/pwrtwo(level));
                            Startpos[ti].m_Y       = (double)(Startpos_ori[ti].m_Y/pwrtwo(level));
                            
                            BStartpos[ti].m_X       = (double)(Startpos_ori[ti].m_X/pwrtwo(blunder_selected_level));
                            BStartpos[ti].m_Y       = (double)(Startpos_ori[ti].m_Y/pwrtwo(blunder_selected_level));
                            
                            printf("Startpos %f\t%f\t%f\t%f\t%f\t%f\n",Startpos_ori[ti].m_X,Startpos_ori[ti].m_Y,Startpos[ti].m_X,Startpos[ti].m_Y,BStartpos[ti].m_X,BStartpos[ti].m_Y);
                            
                            if(level > Py_combined_level)
                            {
                                Startpos_next[ti].m_X       = (double)(Startpos_ori[ti].m_X/pwrtwo(level-1));
                                Startpos_next[ti].m_Y       = (double)(Startpos_ori[ti].m_Y/pwrtwo(level-1));
                            }
                        }
                        
                        levelinfo.py_Images = SubImages[level];
                        levelinfo.py_MagImages = SubMagImages[level];
                        levelinfo.py_OriImages = SubOriImages[level];
                        
                        levelinfo.py_BImages = SubImages[blunder_selected_level];
                        levelinfo.py_BMagImages = SubMagImages[blunder_selected_level];
                        
                        if(level > Py_combined_level)
                        {
                            levelinfo.py_Images_next = SubImages[level-1];
                            levelinfo.py_OriImages_next = SubOriImages[level-1];
                            levelinfo.py_MagImages_next = SubMagImages[level-1];
                        }
                        
                        levelinfo.py_Startpos = Startpos;
                        levelinfo.py_BStartpos = BStartpos;
                        levelinfo.py_Startpos_next = Startpos_next;
                        
                        levelinfo.RPCs = RPCs;
                        levelinfo.Boundary = subBoundary;
                        levelinfo.Pyramid_step = &level;
                        levelinfo.py_Sizes = data_size_lr;
                        levelinfo.Template_size = &Template_size;
                        levelinfo.ImageAdjust = t_Imageparams;
                        levelinfo.param = &param;
                        levelinfo.NumOfIAparam = &NumOfIAparam;
                        levelinfo.bin_angle = &bin_angle;
                        levelinfo.blunder_selected_level = &blunder_selected_level;
                        levelinfo.Py_combined_level = &Py_combined_level;
                        
                        printf("levelinfo %d\t%d\n",*levelinfo.Pyramid_step,*levelinfo.blunder_selected_level);
                        
                        SetThs(proinfo,level,final_level_iteration, &Th_roh, &Th_roh_min, &Th_roh_next, &Th_roh_start);
                        
                        D2DPOINT *GridPT = NULL;
                        if(proinfo->IsRA)
                        {
                            py_resolution           = Image_res[0]*pwrtwo(pyramid_step+1);
                            grid_resolution         = Image_res[0]*pwrtwo(pyramid_step+1);
                            
                            GridPT                  = SetDEMGrid(subBoundary, grid_resolution, grid_resolution,&Size_Grid2D);
                            
                            printf("RA grid size %f\tSize_Grid2D %d\t%d\n", py_resolution, Size_Grid2D.width, Size_Grid2D.height);
                        }
                        else
                            GridPT  = SetGrids(proinfo, level, final_level_iteration, proinfo->resolution, &Size_Grid2D, proinfo->DEM_resolution, &py_resolution, &grid_resolution, subBoundary);
                        
                        const long int Grid_length = (long int)Size_Grid2D.width*(long int)Size_Grid2D.height;
                        
                        levelinfo.Size_Grid2D = &Size_Grid2D;
                        levelinfo.Grid_length = &Grid_length;
                        levelinfo.GridPts = GridPT;
                        levelinfo.grid_resolution = &grid_resolution;
                        levelinfo.Hinterval = &Hinterval;
                        
                        if(!flag_start)
                        {
                            printf("GridPT3 start\t seed flag %d\t filename %s\timage_resolution %f minmax %f %f\n", proinfo->pre_DEMtif, proinfo->priori_DEM_tif, Image_res[0], minmaxHeight[0], minmaxHeight[1]);
                            if (GridPT3)
                                free(GridPT3);
                            GridPT3 = SetGrid3PT(proinfo, levelinfo, Th_roh, minmaxHeight);
                        }
                        
                        if(flag_start)
                        {
                            if(proinfo->IsRA)
                            {
                                if(check_new_subBoundary_RA)
                                {
                                    GridPT3 = ResizeGirdPT3_RA(proinfo, pre_Size_Grid2D, Size_Grid2D, preBoundary,subBoundary, GridPT, Pre_GridPT3, pre_grid_resolution,minmaxHeight);
                                    
                                    check_new_subBoundary_RA = false;
                                    
                                    printf("start ResizeGridPT3 with newBoundry pre size %d %d size %d %d pre_resol %f\n",pre_Size_Grid2D.width,pre_Size_Grid2D.height,Size_Grid2D.width,Size_Grid2D.height,pre_grid_resolution);
                                }
                                else
                                {
                                    printf("start ResizeGridPT3 pre size %d %d size %d %d pre_resol %f\n",pre_Size_Grid2D.width,pre_Size_Grid2D.height,Size_Grid2D.width,Size_Grid2D.height,pre_grid_resolution);
                                    GridPT3 = ResizeGirdPT3(proinfo, pre_Size_Grid2D, Size_Grid2D, subBoundary, GridPT, Pre_GridPT3, pre_grid_resolution,minmaxHeight);
                                }
                            }
                            else
                            {
                                printf("start ResizeGridPT3 pre size %d %d size %d %d pre_resol %f\n",pre_Size_Grid2D.width,pre_Size_Grid2D.height,Size_Grid2D.width,Size_Grid2D.height,pre_grid_resolution);
                                GridPT3 = ResizeGirdPT3(proinfo, pre_Size_Grid2D, Size_Grid2D, subBoundary, GridPT, Pre_GridPT3, pre_grid_resolution,minmaxHeight);
                            }
                        }
                        
                        printf("end start ResizeGridPT3 minmax height %f\t%f\n",minmaxHeight[0],minmaxHeight[1]);
                        
                        pre_Size_Grid2D.width = Size_Grid2D.width;
                        pre_Size_Grid2D.height = Size_Grid2D.height;
                        pre_grid_resolution = grid_resolution;
                        
                        fprintf(fid,"level = %d, Completion of Gridinfo setup\t%d\t%d!!\n",level,Size_Grid2D.width,Size_Grid2D.height);
                        
                        fprintf(fid_header, "%d\t%d\t%d\t%f\t%f\t%f\t%d\t%d\n", row, col, level, subBoundary[0], subBoundary[1], grid_resolution, Size_Grid2D.width,Size_Grid2D.height);
                        
                        D2DPOINT *Grid_wgs = ps2wgs(param,Grid_length,GridPT);
                        
                        levelinfo.Grid_wgs = Grid_wgs;
                        levelinfo.reference_id = 0;
                        
                        const double height_step = GetHeightStep(level,Image_res[0]);
                        
                        levelinfo.height_step = &height_step;
                        
                        
                        printf("Height step %f\t%f\t%f\n",minmaxHeight[1],minmaxHeight[0],height_step);
                        
                        if(proinfo->pre_DEMtif && !flag_start)
                            VerticalLineLocus_seeddem(proinfo,levelinfo, GridPT3, minmaxHeight);
                        
                        iteration       = 1;
                        if(level == 0)
                            iteration = final_level_iteration;
                        
                        int pre_matched_pts=10;
                        double matching_change_rate = 100;
                        const double rate_th = 0.00999999;
                        const int max_iteration = 9;
                        float mem_th = 5;
                        if(level <= 1)
                            mem_th = 10;
                        
                        double minimum_memory;
                        const double level_total_memory =  CalMemorySize(proinfo,levelinfo,GridPT3,&minimum_memory,iteration,minmaxHeight);
                        
                        if(total_memory < level_total_memory)
                            total_memory = level_total_memory;
                        
                        printf("Memory : System %f\t SETSM required %f\tminimum %f\tcheck_matching_rate %d\n",proinfo->System_memory, total_memory,minimum_memory,check_matching_rate);
                        if(minimum_memory > proinfo->System_memory -2)
                        {
                            printf("System memory is not enough to run SETSM. Please reduce tilesize or assign more physical memory!!\n");
                            exit(1);
                        }
                        
                        if(!check_matching_rate)
                        {
                            if(proinfo->IsRA || level <= 2 && (total_memory > proinfo->System_memory - mem_th  ))
                                check_matching_rate = true;
                        }
                        
                        if(proinfo->check_Matchtag && proinfo->DEM_resolution < 2)
                            check_matching_rate = true;
                        
                        VOXEL **grid_voxel = NULL;
                        if(!check_matching_rate)
                            grid_voxel = (VOXEL**)calloc(sizeof(VOXEL*),Size_Grid2D.width*Size_Grid2D.height);
                        
                        if(proinfo->sensor_type == SB)
                        {
                            if(proinfo->IsRA)
                                CalMPP_8(proinfo, levelinfo, minmaxHeight, CA, mean_product_res, &MPP_simgle_image, &MPP_stereo_angle);
                            else
                            {
                                if(proinfo->DEM_resolution <= 4)
                                    CalMPP(proinfo, levelinfo, minmaxHeight, CA, mean_product_res, &MPP_simgle_image, &MPP_stereo_angle);
                                else
                                    CalMPP_8(proinfo, levelinfo, minmaxHeight, CA, mean_product_res, &MPP_simgle_image, &MPP_stereo_angle);
                            }
                        }
                        else
                        {
                            MPP_simgle_image = proinfo->resolution*1.5;
                            MPP_stereo_angle = MPP_simgle_image;
                        }
                        
                        *stereo_angle_accuracy = MPP_stereo_angle;
                        
                        printf("final MPP %f\t%f\n",MPP_simgle_image,MPP_stereo_angle);
                        
                        NCCresult *nccresult = (NCCresult*)calloc(sizeof(NCCresult),Grid_length);
                        
                        levelinfo.check_matching_rate = &check_matching_rate;
                        
                        bool level_check_matching_rate = false;
                        while((Th_roh >= Th_roh_min || (matching_change_rate > rate_th)) )
                        {
                            levelinfo.ImageAdjust = t_Imageparams;
                            levelinfo.iteration = &iteration;
                            
                            if(level == 0 &&  iteration == 3)
                                matching_change_rate = 0.001;
                            
                            printf("%f \t %f\n",Th_roh,Th_roh_min);
                            
                            double Th_roh_update = 0;
                            
                            char filename_mps[500];
                            char filename_mps_asc[500];
                            
                            int count_results[2];
                            int count_results_anchor[2];
                            int count_MPs;
                            bool check_ortho_cal = false;
                            
                            uint8 ortho_level = 2;
                            if(proinfo->DEM_resolution >= 8)
                                ortho_level = 3;
                            
                            if(level >= ortho_level)
                            {
                                check_ortho_cal = true;
                                
                                if(level == 2 && iteration > 5)
                                    check_ortho_cal = false;
                            }
                            else
                                check_ortho_cal = false;
                            
                            printf("ortho level = %d\n",ortho_level);
                            
                            fprintf(fid,"Starting computation of NCC\n iteration = %u\tTh_roh = %f\tTh_roh_start = %f\tGrid size %d %d\n",
                                    iteration, Th_roh,Th_roh_start,Size_Grid2D.width,Size_Grid2D.height);
                            
                            if(proinfo->IsRA)
                            {
                                sprintf(filename_mps,"%s/txt/RA_matched_pts_%d_%d_%d_%d.txt",proinfo->save_filepath,row,col,level,iteration);
                                sprintf(filename_mps_asc,"%s/txt/RA_matched_pts_%d_%d_%d_%d_asc.txt",proinfo->save_filepath,row,col,level,iteration);
                            }
                            else
                            {
                                sprintf(filename_mps,"%s/txt/matched_pts_%d_%d_%d_%d.txt",proinfo->save_filepath,row,col,level,iteration);
                                sprintf(filename_mps_asc,"%s/txt/matched_pts_%d_%d_%d_%d_asc.txt",proinfo->save_filepath,row,col,level,iteration);
                            }
                            
                            printf("template size =%d\n",Template_size);
                            
                            if(!check_matching_rate)
                                InitializeVoxel(proinfo,grid_voxel,levelinfo,GridPT3, nccresult,iteration,minmaxHeight);
                  
                            const long int Accessable_grid = VerticalLineLocus(grid_voxel,proinfo,nccresult,levelinfo,GridPT3,iteration,minmaxHeight);
                            
                            printf("Done VerticalLineLocus\tgrid %ld\n",Accessable_grid);
                            
                            if(!check_matching_rate)
                            {
                                if(level == 0 && iteration > 1 && proinfo->DEM_resolution >= 2)
                                {
                                    fprintf(fid_header, "%d\t%d\t%d\t%f\t%f\t%f\t%d\t%d\n", row, col, level, subBoundary[0], subBoundary[1], grid_resolution, Size_Grid2D.width,Size_Grid2D.height);
                                    
                                    printf("header file write %d\t%d\n",level,iteration);
                                }
                                
                                const int MaxNumberofHeightVoxel = (int)((minmaxHeight[1] - minmaxHeight[0])/height_step);
                                
                                AWNCC(proinfo,grid_voxel,Size_Grid2D, GridPT3,nccresult,height_step,level,iteration,MaxNumberofHeightVoxel);
                                printf("Done AWNCC\n");
                            }
                            
                            printf("row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd computation of NCC!! minmax %f %f\n",row,col,level,iteration,minmaxHeight[0], minmaxHeight[1]);
                            
                            minH_mps = 1000000;
                            maxH_mps = -1000000;
                            
                            if(level >= 5)
                                MPP = MPP_simgle_image;
                            else if(MPP_stereo_angle > 5)
                                MPP = MPP_stereo_angle;
                            else
                                MPP = MPP_simgle_image;
                            
                            vector<D3DPOINT> MatchedPts_list;
                            
                            count_MPs = SelectMPs(proinfo, levelinfo, nccresult, GridPT3, Th_roh, Th_roh_min, Th_roh_start, Th_roh_next, iteration, MPP, final_level_iteration, MPP_stereo_angle, &MatchedPts_list);
                            
                            printf("row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd SelectMPs\tcount_mps = %d\t%zu\n",row,col,level,iteration,count_MPs,MatchedPts_list.size());
                            
                            D3DPOINT *ptslists = NULL;
                            
                            vector<D3DPOINT> MatchedPts_list_mps;
                            vector<D3DPOINT> MatchedPts_list_blunder;
                            vector<D3DPOINT> MatchedPts_list_anchor;
                            
                            if(count_MPs > 10)
                            {
                                if (check_ortho_cal && proinfo->IsRA != 1)
                                {
                                    printf("blunder detection for anchor points\n");
                                    //anchor points
                                    ptslists = (D3DPOINT*)malloc(sizeof(D3DPOINT)*MatchedPts_list.size());
                                    
                                    for(long count_pt = 0 ; count_pt < MatchedPts_list.size() ; count_pt ++)
                                        ptslists[count_pt] = MatchedPts_list[count_pt];
                                    
                                    DecisionMPs(proinfo, levelinfo, false,count_MPs,GridPT3, iteration, Hinterval,count_results_anchor, &minH_mps,&maxH_mps,minmaxHeight, ptslists);
                                    
                                    long tcnt;
                                    count_results_anchor[0] = 0;
                                    for(tcnt=0;tcnt<count_MPs;tcnt++)
                                    {
                                        if(ptslists[tcnt].flag != 1 && ptslists[tcnt].m_X >= subBoundary[0] && ptslists[tcnt].m_X <= subBoundary[2] && ptslists[tcnt].m_Y >= subBoundary[1] && ptslists[tcnt].m_Y <= subBoundary[3])
                                        {
                                            MatchedPts_list_anchor.push_back(ptslists[tcnt]);
                                            count_results_anchor[0]++;
                                        }
                                        ptslists[tcnt].flag = 0;
                                    }
                                    
                                    printf("row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd anchor points\n",row,col,level,iteration);
                                    
                                    printf("blunder detection for all points\n");
                                    //blunder detection
                                    DecisionMPs(proinfo, levelinfo, true,count_MPs,GridPT3, iteration, Hinterval,count_results, &minH_mps,&maxH_mps,minmaxHeight, ptslists);
                                    
                                    count_results[0] = 0;
                                    for(tcnt=0;tcnt<count_MPs;tcnt++)
                                    {
                                        if(ptslists[tcnt].flag != 1 && ptslists[tcnt].m_X >= subBoundary[0] && ptslists[tcnt].m_X <= subBoundary[2] && ptslists[tcnt].m_Y >= subBoundary[1] && ptslists[tcnt].m_Y <= subBoundary[3])
                                        {
                                            MatchedPts_list_blunder.push_back(ptslists[tcnt]);
                                            count_results[0]++;
                                            
                                            if(minH_mps > ptslists[tcnt].m_Z)
                                                minH_mps        = ptslists[tcnt].m_Z;
                                            if(maxH_mps < ptslists[tcnt].m_Z)
                                                maxH_mps       = ptslists[tcnt].m_Z;
                                        }
                                    }
                                    
                                    free(ptslists);
                                    printf("row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd blunder points\n",row,col,level,iteration);
                                }
                                else
                                {
                                    printf("blunder detection for all points\n");
                                    ptslists = (D3DPOINT*)malloc(sizeof(D3DPOINT)*MatchedPts_list.size());
                                    for(long count_pt = 0 ; count_pt < MatchedPts_list.size() ; count_pt ++)
                                        ptslists[count_pt] = MatchedPts_list[count_pt];
                                    
                                    DecisionMPs(proinfo, levelinfo, true,count_MPs,GridPT3, iteration, Hinterval,count_results, &minH_mps,&maxH_mps,minmaxHeight, ptslists);
                                    
                                    count_results[0] = 0;
                                    for(int tcnt=0;tcnt<count_MPs;tcnt++)
                                    {
                                        if(ptslists[tcnt].flag != 1 && ptslists[tcnt].m_X >= subBoundary[0] && ptslists[tcnt].m_X <= subBoundary[2] && ptslists[tcnt].m_Y >= subBoundary[1] && ptslists[tcnt].m_Y <= subBoundary[3])
                                        {
                                            MatchedPts_list_mps.push_back(ptslists[tcnt]);
                                            count_results[0]++;
                                            
                                            if(minH_mps > ptslists[tcnt].m_Z)
                                                minH_mps        = ptslists[tcnt].m_Z;
                                            if(maxH_mps < ptslists[tcnt].m_Z)
                                                maxH_mps       = ptslists[tcnt].m_Z;
                                        }
                                    }
                                    
                                    count_MPs       = count_results[0];
                                    
                                    free(ptslists);
                                    printf("RA row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd blunder points\n",row,col,level,iteration);
                                }
                            }
                            else
                                lower_level_match = false;
                            
                            MatchedPts_list.clear();
                            vector<D3DPOINT>().swap(MatchedPts_list);
                            
                            fprintf(fid,"row = %d\tcol = %d\tlevel = %d\titeration = %d\tcheck = %d(%d)\tEnd blunder detection\n",row,col,level,iteration,lower_level_match,count_MPs);
                            
                            printf("End computation of blunder!! Mps = %d\tTris = %d\tminz Mp = %f\tmaxz Mp = %f minmax %f %f \n",
                                   count_results[0],count_results[1],minH_mps,maxH_mps,minmaxHeight[0],minmaxHeight[1]);
                            
                            if(lower_level_match)
                            {
                                if(check_ortho_cal && proinfo->IsRA != 1)
                                {
                                    printf("settingflag %zu\t%zu\n",MatchedPts_list_anchor.size(),MatchedPts_list_blunder.size());
                                    count_MPs = SetttingFlagOfGrid(levelinfo, GridPT3, MatchedPts_list_anchor, MatchedPts_list_blunder, &MatchedPts_list_mps);
                                    MatchedPts_list_anchor.clear();
                                    vector<D3DPOINT>().swap(MatchedPts_list_anchor);
                                    MatchedPts_list_blunder.clear();
                                    vector<D3DPOINT>().swap(MatchedPts_list_blunder);
                                }
                                
                                printf("count_MPs %d\t%zu\n",count_MPs,MatchedPts_list_mps.size());
                                count_MPs = MatchedPts_list_mps.size();
                                
                                vector<UI3DPOINT> t_trilists;
                                
                                if(level == 0 && iteration == 3)
                                {
                                    D3DPOINTSAVE *ptslists_save = (D3DPOINTSAVE*)calloc(count_MPs,sizeof(D3DPOINTSAVE));
                                    double minmaxBR[6] = {10000000, 10000000, -10000000, -10000000, 100000, -100000};
                                    
                                    int i = 0;
                                    for( i = 0 ; i < MatchedPts_list_mps.size() ; i++)
                                    {
                                        ptslists_save[i].m_X = MatchedPts_list_mps[i].m_X;
                                        ptslists_save[i].m_Y = MatchedPts_list_mps[i].m_Y;
                                        ptslists_save[i].m_Z = MatchedPts_list_mps[i].m_Z;
                                        
                                        if(minmaxBR[0] > ptslists_save[i].m_X)
                                            minmaxBR[0]     = ptslists_save[i].m_X;
                                        if(minmaxBR[1] > ptslists_save[i].m_Y)
                                            minmaxBR[1]     = ptslists_save[i].m_Y;
                                        
                                        if(minmaxBR[2] < ptslists_save[i].m_X)
                                            minmaxBR[2]     = ptslists_save[i].m_X;
                                        if(minmaxBR[3] < ptslists_save[i].m_Y)
                                            minmaxBR[3]     = ptslists_save[i].m_Y;
                                        if(minmaxBR[4] > ptslists_save[i].m_Z)
                                            minmaxBR[4] = ptslists_save[i].m_Z;
                                        if(minmaxBR[5] < ptslists_save[i].m_Z)
                                            minmaxBR[5] = ptslists_save[i].m_Z;
                                    }
                                    
                                    MatchedPts_list_mps.clear();
                                    vector<D3DPOINT>().swap(MatchedPts_list_mps);
                                    
                                    FILE *pFile = fopen(filename_mps,"wb");
                                    fwrite(ptslists_save,sizeof(D3DPOINTSAVE),count_MPs,pFile);
                                    fclose(pFile);
                                    
                                    if(!proinfo->IsRA)
                                    {
                                        FILE *fid_BR;
                                        FILE *fid_count;
                                        
                                        char save_file[500];
                                        sprintf(save_file,"%s/txt/matched_BR_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
                                        fid_BR  = fopen(save_file,"w");
                                        fprintf(fid_BR,"%f\t%f\t%f\t%f\t%f\t%f\n",minmaxBR[0],minmaxBR[1],minmaxBR[2],minmaxBR[3],minmaxBR[4],minmaxBR[5]);
                                        fclose(fid_BR);
                                        
                                        sprintf(save_file,"%s/txt/count_row_%d_col_%d.txt",proinfo->save_filepath,row,col);
                                        fid_count  = fopen(save_file,"w");
                                        
                                        fprintf(fid_count,"%d\n",count_MPs);
                                        fclose(fid_count);
                                        
                                        echoprint_Gridinfo(proinfo,nccresult,row,col,level,iteration,0,&Size_Grid2D,GridPT3,(char*)"final");
                                    }
                                    free(ptslists_save);
                                    
                                    matching_change_rate = 0.001;
                                }
                                else
                                {
                                    if(check_ortho_cal && proinfo->IsRA != 1)
                                    {
                                        int i;
                                        
                                        ptslists = (D3DPOINT*)malloc(sizeof(D3DPOINT)*count_MPs);
                                        
                                        for( i = 0 ; i < MatchedPts_list_mps.size() ; i++)
                                        {
                                            ptslists[i] = MatchedPts_list_mps[i];
                                            if(level == 4)
                                                ptslists[i].flag = 1; //temporary blunders flag for ortho blunder
                                        }
                                        
                                        MatchedPts_list_mps.clear();
                                        vector<D3DPOINT>().swap(MatchedPts_list_mps);
                       
                                        double min_max[4] = {subBoundary[0], subBoundary[1], subBoundary[2], subBoundary[3]};
                                        UI3DPOINT *trilists;
                                        
                                        FullTriangulation *origTri = TINCreate_list(ptslists,count_MPs,&t_trilists,min_max,&count_tri, grid_resolution);
                                        delete origTri;
                                        
                                        count_tri = t_trilists.size();
                                        trilists    = (UI3DPOINT*)malloc(sizeof(UI3DPOINT)*count_tri);
                                        
                                        for(i = 0 ; i < t_trilists.size() ; i++)
                                            trilists[i] = t_trilists[i];
                                        
                                        t_trilists.clear();
                                        vector<UI3DPOINT>().swap(t_trilists);
                                        
                                        fprintf(fid,"level = %d\tMatching Pts = %d\n",level,count_results[0]);
                                        
                                        printf("ortho minmax %f %f pts anchor blunder %d %d \n",minmaxHeight[0],minmaxHeight[1],count_MPs,count_tri);
                                        
                                        count_results[0] = Ortho_blunder(proinfo, levelinfo, MPP_simgle_image, ptslists, count_MPs, trilists,count_tri, GridPT3);
                                        free(trilists);
                                        
                                        printf("end ortho_blunder %d\n",count_results[0]);
                                        
                                        int matched_pts = 0;
                                        i = 0;
                                        
                                        if(level == 4)
                                        {
                                            vector<D3DPOINT> ortho_list;
                                            for(i=0;i<count_MPs;i++)
                                            {
                                                if(ptslists[i].flag != 1)
                                                {
                                                    ortho_list.push_back(ptslists[i]);
                                                    matched_pts++;
                                                }
                                            }
                                            
                                            free(ptslists);
                                            count_MPs = matched_pts;
                                            ptslists = (D3DPOINT*)malloc(sizeof(D3DPOINT)*count_MPs);
                                            
                                            for( i = 0 ; i < ortho_list.size() ; i++)
                                            {
                                                ptslists[i] = ortho_list[i];
                                            }
                                            ortho_list.clear();
                                            vector<D3DPOINT>().swap(ortho_list);
                                        }
                                        
                                        printf("load ortho_blunder pts %d\n",count_MPs);
                                        
                                        //Save triangulation and delete it since we will not use it
                                        FullTriangulation *origTri_2 = TINCreate_list(ptslists,count_MPs,&t_trilists,min_max,&count_tri, grid_resolution);
                                        delete origTri_2;
                                        
                                        count_tri = t_trilists.size();
                                        trilists    = (UI3DPOINT*)malloc(sizeof(UI3DPOINT)*count_tri);
                                        
                                        for(i = 0 ; i < t_trilists.size() ; i++)
                                        trilists[i] = t_trilists[i];
                                        t_trilists.clear();
                                        vector<UI3DPOINT>().swap(t_trilists);
                          
                                        DecisionMPs_setheight(proinfo, levelinfo, count_MPs,GridPT3, iteration, Hinterval, minmaxHeight, ptslists,trilists,count_tri);
                                        
                                        printf("end decision_setheight\n");
                                        
                                        if(pre_matched_pts == 0)
                                            matching_change_rate = 0;
                                        else
                                            matching_change_rate = fabs( (double)pre_matched_pts - (double)count_MPs ) /(double)pre_matched_pts;
                                        
                                        matching_rate = count_MPs/(double)(Accessable_grid);
                                        
                                        printf("matching change rate pre curr %f\t%d\t%d\tmatching rate %f\t%ld\n",matching_change_rate,count_MPs,pre_matched_pts,matching_rate,Accessable_grid);
                                        pre_matched_pts = count_MPs;
                                        
                                        if(level <= 2 && matching_rate < th_mr && proinfo->DEM_resolution <= 4)
                                            level_check_matching_rate = true;
                                        
                                        if(iteration > max_iteration)
                                            matching_change_rate = 0.001;
                                        
                                        if(level == 0)
                                        {
                                            if(proinfo->DEM_resolution < 2)
                                                matching_change_rate = 0.001;
                                            if(iteration > 2)
                                                matching_change_rate = 0.001;
                                        }
                                        
                                        if(level <= 1)
                                        {
                                            if(iteration >= ceil(max_iteration/2.0))
                                                matching_change_rate = 0.001;
                                        }
                                        
                                        if(proinfo->IsRA)
                                            matching_change_rate = 0.001;
                                        
                                        if(proinfo->DEM_resolution >= 8)
                                            matching_change_rate = 0.001;
                             
                                        if(Th_roh >= Th_roh_min)
                                        {
                                            if(level == 0)
                                            {
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                                if(iteration >= 2)
                                                    Th_roh_update          = (double)(Th_roh - 0.50);
                                            }
                                            else if(level == 1)
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                            else if(level == 2)
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                            else if(level == 3)
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                            else
                                            {
                                                if(proinfo->IsRA)
                                                    Th_roh_update       = (double)(Th_roh - 0.10);
                                                else
                                                    Th_roh_update       = (double)(Th_roh - 0.06);
                                            }
                                        }
                                        
                                        printf("matching change rate pre curr %f\t%d\t%d\tTh_roh %f\t%f\n",matching_change_rate,count_MPs,pre_matched_pts,Th_roh,Th_roh_min);
                                        
                                        if(level == 0)
                                        {
                                            if(MPP_stereo_angle > 5)
                                                MPP = MPP_stereo_angle;
                                            else
                                                MPP = MPP_simgle_image;
                                            
                                            if(proinfo->DEM_resolution < 2)
                                                Pre_GridPT3     = SetHeightRange(proinfo, levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                            else
                                                GridPT3         = SetHeightRange(proinfo, levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                        }
                                        else if(Th_roh_update < Th_roh_min && matching_change_rate < rate_th && level > 0)
                                        {
                                            if(MPP_stereo_angle > 5)
                                            {
                                                if(level > 2)
                                                    MPP = MPP_stereo_angle;
                                                else
                                                    MPP = MPP_simgle_image;
                                            }
                                            else
                                                MPP = MPP_simgle_image;
                                            
                                            Pre_GridPT3     = SetHeightRange(proinfo, levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                        }
                                        else
                                        {
                                            if(MPP_stereo_angle > 5)
                                            {
                                                if(level <= 1)
                                                    MPP = MPP_stereo_angle;
                                                else
                                                    MPP = MPP_simgle_image;
                                            }
                                            else
                                                MPP = MPP_simgle_image;
                                            
                                            GridPT3     = SetHeightRange(proinfo, levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                        }
                                        
                                        free(trilists);
                                        free(ptslists);
                                        
                                        final_iteration = iteration;
                                    }
                                    else
                                    {
                                        int i;
                                        
                                        ptslists = (D3DPOINT*)malloc(sizeof(D3DPOINT)*count_MPs);
                                        
                                        for( i = 0 ; i < MatchedPts_list_mps.size() ; i++)
                                            ptslists[i] = MatchedPts_list_mps[i];
                                
                                        MatchedPts_list_mps.clear();
                                        vector<D3DPOINT>().swap(MatchedPts_list_mps);
                                        
                                        UI3DPOINT *trilists;
                                        
                                        double min_max[4] = {subBoundary[0], subBoundary[1], subBoundary[2], subBoundary[3]};
                                        
                                        //Save triangulation and delete it since we will not use it
                                        FullTriangulation *origTri = TINCreate_list(ptslists,count_MPs,&t_trilists,min_max,&count_tri, grid_resolution);
                                        delete origTri;
                                        
                                        count_tri = t_trilists.size();
                                        trilists    = (UI3DPOINT*)malloc(sizeof(UI3DPOINT)*count_tri);
                                        
                                        for(i = 0 ; i < t_trilists.size() ; i++)
                                            trilists[i] = t_trilists[i];
                             
                                        t_trilists.clear();
                                        vector<UI3DPOINT>().swap(t_trilists);
                                        
                                        if(pre_matched_pts == 0)
                                            matching_change_rate = 0;
                                        else
                                            matching_change_rate = fabs( (double)pre_matched_pts - (double)count_MPs ) /(double)pre_matched_pts;
                                        
                                        printf("matching change rate pre curr %f\t%d\t%d\n",matching_change_rate,count_MPs,pre_matched_pts);
                                        pre_matched_pts = count_results[0];
                                        
                                        if(iteration > max_iteration)
                                            matching_change_rate = 0.001;
                                        
                                        if(level == 0)
                                        {
                                            if(proinfo->DEM_resolution < 2)
                                                matching_change_rate = 0.001;
                                            if(iteration > 2)
                                                matching_change_rate = 0.001;
                                        }
                                        
                                        if(level <= 1)
                                        {
                                            if(iteration >= ceil(max_iteration/2.0))
                                                matching_change_rate = 0.001;
                                        }
                                        
                                        if(proinfo->IsRA)
                                            matching_change_rate = 0.001;
                                        
                                        if(proinfo->DEM_resolution >= 8)
                                            matching_change_rate = 0.001;
                               
                                        if(Th_roh >= Th_roh_min)
                                        {
                                            if(level == 0)
                                            {
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                                if(iteration >= 2)
                                                    Th_roh_update          = (double)(Th_roh - 0.50);
                                            }
                                            else if(level == 1)
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                            else if(level == 2)
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                            else if(level == 3)
                                                Th_roh_update       = (double)(Th_roh - 0.10);
                                            else
                                            {
                                                if(proinfo->IsRA)
                                                    Th_roh_update       = (double)(Th_roh - 0.10);
                                                else
                                                    Th_roh_update       = (double)(Th_roh - 0.06);
                                            }
                                        }
                                        
                                        matching_rate = count_MPs/(double)(Accessable_grid);
                                        printf("matching change rate pre curr %f\t%d\t%d\tTh_roh %f\t%f\tmatching rate %f\t%ld\n",matching_change_rate,count_MPs,pre_matched_pts,Th_roh,Th_roh_min,matching_rate,Accessable_grid);
                                        
                                        if(level <= 2 && matching_rate < th_mr && proinfo->DEM_resolution <= 4)
                                            level_check_matching_rate = true;
                                            
                                        //bool check_level_end = false;
                                        
                                        /*if(level != 0)
                                        {
                                            if(Th_roh_update < Th_roh_min && matching_change_rate < rate_th)
                                                check_level_end = true;
                                        }*/
                                        
                                        if(level == 0)
                                        {
                                            if(MPP_stereo_angle > 5)
                                                MPP = MPP_stereo_angle;
                                            else
                                                MPP = MPP_simgle_image;
                                            if(proinfo->DEM_resolution < 2)
                                            {
                                                Pre_GridPT3     = SetHeightRange(proinfo, levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                            }
                                            else
                                            {
                                                GridPT3         = SetHeightRange(proinfo,levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                            }
                                        }
                                        else if(Th_roh_update < Th_roh_min && matching_change_rate < rate_th && level > 0)
                                        {
                                            if(MPP_stereo_angle > 5)
                                            {
                                                if(level > 2)
                                                    MPP = MPP_stereo_angle;
                                                else
                                                    MPP = MPP_simgle_image;
                                            }
                                            else
                                                MPP = MPP_simgle_image;
                                            
                                            Pre_GridPT3     = SetHeightRange(proinfo, levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                        }
                                        else
                                        {
                                            if(MPP_stereo_angle > 5)
                                            {
                                                if(level <= 1)
                                                    MPP = MPP_stereo_angle;
                                                else
                                                    MPP = MPP_simgle_image;
                                            }
                                            else
                                                MPP = MPP_simgle_image;
                                            
                                            GridPT3     = SetHeightRange(proinfo,levelinfo, nccresult, count_MPs, count_tri, GridPT3, iteration, &minH_grid, &maxH_grid, ptslists, trilists, MPP, check_matching_rate);
                                        }
                                        
                                        free(trilists);
                                        
                                        if(proinfo->IsRA && level <= 3)
                                        {
                                            int RA_iter_counts = 0;
                                            RA_iter_counts = AdjustParam(proinfo, levelinfo, count_MPs, t_Imageparams, pyramid_step, ptslists);
                                            for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                                            {
                                                if(proinfo->check_selected_image[ti])
                                                {
                                                    fprintf(fid,"RA iter = %d\tRA Line = %f\tSamp = %f\n",RA_iter_counts,t_Imageparams[ti][0],t_Imageparams[ti][1]);
                                                    printf("RA iter = %d\tRA Line = %f\tSamp = %f\n",RA_iter_counts,t_Imageparams[ti][0],t_Imageparams[ti][1]);
                                                }
                                            }
                                            
                                            if (level <= 1)
                                            {
                                                char save_file[500];
                                                sprintf(save_file,"%s/txt/RAinfo.txt",proinfo->save_filepath);
                                                FILE *fid_RAinfo  = fopen(save_file,"w");
                                                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                                                    fprintf(fid_RAinfo,"%f\t%f\n",t_Imageparams[ti][0],t_Imageparams[ti][1]);
                                                fclose(fid_RAinfo);
                                            }
                                        }
                                        
                                        if(proinfo->IsRA)
                                        {
                                            if(check_RA_divide)
                                            {
                                                if(level <= 3 && iteration > 2)
                                                {
                                                    int* t_count = (int*)calloc(sizeof(int),total_tile);
                                                    
                                                    for(int k=0;k<count_MPs;k++)
                                                    {
                                                        int t_col = floor((ptslists[k].m_X - subBoundary[0])/(double)tilesize_RA);
                                                        int t_row = floor((ptslists[k].m_Y - subBoundary[1])/(double)tilesize_RA);
                                                        
                                                        t_count[t_col+division_X*t_row] ++;
                                                    }
                                                    
                                                    int saved_count = 0;
                                                    int selected_X = 0;
                                                    int selected_Y = 0;
                                                    int total_count = 0;
                                                    for(int k=0;k<total_tile;k++)
                                                    {
                                                        if(t_count[k] > saved_count)
                                                        {
                                                            saved_count = t_count[k];
                                                            selected_Y  = floor(k/division_X);
                                                            selected_X  = k % division_X;
                                                        }
                                                        total_count += t_count[k];
                                                    }
                                                    printf("total_count %d\tsaved_count %d\tselected_X %d\tselected_Y %d\n",total_count,saved_count,selected_X,selected_Y);
                                                    printf("selected br %f\t%f\t%f\t%f\n",subBoundary[0] + selected_X*tilesize_RA,subBoundary[1] + selected_Y*tilesize_RA,
                                                           subBoundary[0] + (selected_X+1)*tilesize_RA,subBoundary[1] + (selected_Y+1)*tilesize_RA);
                                                    
                                                    fprintf(fid,"total_count %d\tsaved_count %d\tselected_X %d\tselected_Y %d\n",total_count,saved_count,selected_X,selected_Y);
                                                    
                                                    new_subBoundary_RA[0] = subBoundary[0] + selected_X*tilesize_RA;
                                                    new_subBoundary_RA[1] = subBoundary[1] + selected_Y*tilesize_RA;
                                                    new_subBoundary_RA[2] = subBoundary[0] + (selected_X+1)*tilesize_RA;
                                                    new_subBoundary_RA[3] = subBoundary[1] + (selected_Y+1)*tilesize_RA;
                                                    
                                                    check_new_subBoundary_RA = true;
                                                    check_RA_divide = false;
                                                    
                                                    free(t_count);
                                                }
                                            }
                                        }
                                        free(ptslists);
                                    }
                                }
                                
                                fprintf(fid,"row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd iterpolation of Grids!! Mps = %d\tminH = %f\tmaxH = %f\tmatching_rate = %f\n",
                                        row,col,level,iteration,count_MPs,minmaxHeight[0],minmaxHeight[1],matching_rate);
                                printf("row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd iterpolation of Grids!! Mps = %d\tminH = %f\tmaxH = %f\n",
                                       row,col,level,iteration,count_MPs,minmaxHeight[0],minmaxHeight[1]);
                            }
                            
                            if(lower_level_match)
                            {
                                flag_start          = true;
                                iteration++;
                            }
                            else if(level == 0)
                                iteration++;
                            
                            if(level == 0)
                            {
                                if(proinfo->DEM_resolution >= 2)
                                    Th_roh          = (double)(Th_roh - 0.10);
                                else
                                    Th_roh          = (double)(Th_roh - 0.50);
                                
                                if(iteration > 3)
                                    Th_roh          = (double)(Th_roh - 0.50);
                            }
                            else if(level == 1)
                                Th_roh          = (double)(Th_roh - 0.10);
                            else if(level == 2)
                                Th_roh          = (double)(Th_roh - 0.10);
                            else if(level == 3)
                                Th_roh          = (double)(Th_roh - 0.10);
                            else
                            {
                                if(proinfo->IsRA)
                                    Th_roh          = (double)(Th_roh - 0.10);
                                else
                                    Th_roh          = (double)(Th_roh - 0.06);
                            }
                            
                            if(lower_level_match)
                            {
                                if(Th_roh < Th_roh_min && matching_change_rate > rate_th)
                                {
                                    if(level == 0)
                                        Th_roh          = (double)(Th_roh + 0.10);
                                    else if(level == 1)
                                        Th_roh          = (double)(Th_roh + 0.10);
                                    else if(level == 2)
                                        Th_roh          = (double)(Th_roh + 0.10);
                                    else if(level == 3)
                                        Th_roh          = (double)(Th_roh + 0.10);
                                    else
                                    {
                                        if(proinfo->IsRA)
                                            Th_roh          = (double)(Th_roh + 0.10);
                                        else
                                            Th_roh          = (double)(Th_roh + 0.06);
                                    }
                                }
                            }
                            
                            if (!lower_level_match && Th_roh < Th_roh_min)
                            {
                                if(level > 0)
                                {
                                    iteration++;
                                    matching_change_rate = 0.001;
                                    Th_roh_min = 0.4;
                                }
                            }
                            
                            if(level == 0)
                                final_level_iteration = iteration;
                            
                            printf("Memory : System %f\t SETSM required %f\n",proinfo->System_memory, total_memory);
                        }
                        
                        if(flag_start)
                        {
                            double min_after   = (double)(minH_mps - pwrtwo(level)*10*MPP);
                            double max_after   = (double)(maxH_mps + pwrtwo(level)*10*MPP);
                            if(level <= 2)
                            {
                                if(minmaxHeight[0] < min_after)
                                    minmaxHeight[0]     = (double)(floor(min_after));
                                if(minmaxHeight[1] > max_after)
                                    minmaxHeight[1]     = (double)(ceil(max_after));
                            }
                            else
                            {
                                if(min_after > minH_grid)
                                    min_after = minH_grid;
                                if(max_after < maxH_grid)
                                    max_after = maxH_grid;
                                
                                minmaxHeight[0]     = min_after;
                                minmaxHeight[1]     = max_after;
                            }
                            printf("minmax %f\t%f\t\n", minmaxHeight[0],minmaxHeight[1]);
                            fprintf(fid,"row = %d\tcol = %d\tlevel = %d\titeration = %d\tEnd of level processing!! minmaxHeight = [%f \t%f]\n",
                                    row,col,level,iteration,minmaxHeight[0],minmaxHeight[1]);
                        }
                        
                        printf("\trow = %d/%d\tcol = %d/%d\tDEM generation(%%) = %4.2f%% !!\n",row,iter_row_end,col,t_col_end,(double)(pyramid_step+1 - level)/(double)(pyramid_step+1)*100);
                        
                        if(proinfo->IsRA)
                        {
                            if(!lower_level_match)
                            {
                                lower_level_match   = true;
                                flag_start          = false;
                            }
                        }
                        else
                        {
                            if(!lower_level_match && level > 2)
                            {
                                lower_level_match   = true;
                                flag_start          = false;
                            }
                        }
                        
                        printf("release Grid_wgs, nccresult\n");
                        free(GridPT);
                        free(Grid_wgs);
                        
                        if(!check_matching_rate)
                        {
#pragma omp parallel for schedule(guided)
                            for(long int t_i = 0 ; t_i < Size_Grid2D.width*Size_Grid2D.height ; t_i++)
                            {
                                if(nccresult[t_i].NumOfHeight > 0)
                                {
                                    if(grid_voxel[t_i])
                                        free(grid_voxel[t_i]);
                                }
                            }
                            free(grid_voxel);
                            printf("free grid_voxel\n");
                        }
                        
                        if(!check_matching_rate)
                            check_matching_rate = level_check_matching_rate;
                        
                        free(nccresult);
                        free(Startpos);
                        free(BStartpos);
                        
                        if(level > Py_combined_level)
                            free(Startpos_next);
                        
                        if(level > 0)
                            level   = level - 1;
                        
                        if(level == 0 && final_level_iteration == 4)
                            level = -1;
                        
                    }
                    printf("relese data size\n");
                    
                    for(int t_level = 0 ; t_level < py_level_set ; t_level++)
                    {
                        for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                        {
                            if(proinfo->check_selected_image[ti])
                            {
                                free(SubImages[t_level][ti]);
                                free(SubMagImages[t_level][ti]);
                                free(SubOriImages[t_level][ti]);
                            }
                        }
                        free(SubImages[t_level]);
                        free(SubMagImages[t_level]);
                        free(SubOriImages[t_level]);
                    }
                    
                    free(SubImages);
                    free(SubMagImages);
                    free(SubOriImages);
                    
                    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                    {
                        if(proinfo->check_selected_image[ti])
                             free(data_size_lr[ti]);
                    }
                    free(data_size_lr);
                    
                    free(GridPT3);
                    
                    printf("release GridTP3\n");
                    PreET = time(0);
                    Pregab = difftime(PreET,PreST);
                    printf("row = %d/%d \tcol = %d/%d\tDEM generation finish(time[m] = %5.2f)!!\n",row,iter_row_end,col,t_col_end,Pregab/60.0);
                }
            }
            
            free(SourceImages);
            
            fclose(fid);
            fclose(fid_header);
            
            if(proinfo->IsRA)
            {
                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(t_Imageparams[ti][0] != 0 && t_Imageparams[ti][1] != 0 && ti > 0)
                    {
                        RA_count[ti]++;
                        Imageparams[ti][0] += t_Imageparams[ti][0];
                        Imageparams[ti][1] += t_Imageparams[ti][1];
                    }
                }
            }
            
            for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
            {
                if(proinfo->check_selected_image[ti])
                    free(t_Imageparams[ti]);
            }
            free(t_Imageparams);
            free(Startpos_ori);
            free(Subsetsize);
        }
    }
    
    free(iterations);
    if(proinfo->IsRA)
    {
        for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
        {
            if(Imageparams[ti][0] != 0 && Imageparams[ti][1] != 0 && RA_count[ti] > 0)
            {
                Imageparams[ti][0] /= RA_count[ti];
                Imageparams[ti][1] /= RA_count[ti];
            }
        }
    }
#ifdef BUILDMPI
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
        MPI_Bcast(Imageparams[ti], 2, MPI_DOUBLE, 0, MPI_COMM_WORLD);
#endif
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
        printf("Num of RAs = %d\tRA param = %f\t%f\n",RA_count[ti],Imageparams[ti][0],Imageparams[ti][1]);
    free(RA_count);
    
    return final_iteration;
}

double CalMemorySize(const ProInfo *info,LevelInfo &plevelinfo,const UGRID *GridPT3, double *minimum_memory, const uint8 iteration,const double *minmaxHeight)
{
    double Memory = 0;
    
    double image = 0;
    double oriimage = 0;
    double magimage = 0;
    
    const int level = *(plevelinfo.Pyramid_step);
    const int blunder_selected_level = *(plevelinfo.blunder_selected_level);
    printf("%d\t%d\n",level,blunder_selected_level);
    
    for(int iter_level = 0 ; iter_level <= level ; iter_level++)
    {
        for(int image_index = 0 ; image_index < info->number_of_images ; image_index++)
        {
            long int data_length = (long int)plevelinfo.py_Sizes[image_index][iter_level].height*(long int)plevelinfo.py_Sizes[image_index][iter_level].width;
                
            image += (double)(sizeof(uint16)*data_length)*2.0;
            image += (double)(sizeof(uint8)*data_length);
        }
    }
    
    //printf("%f\t%f\t%f\t%f\n",subBoundary[0],subBoundary[1],subBoundary[2],subBoundary[3]);
    Memory += (image + oriimage + magimage);
    //printf("memory 1 %f\t%f\t%f\t%f\n",Memory,image,oriimage,magimage);
    long int GridPT  = (double)(sizeof(D2DPOINT)*(*(plevelinfo.Grid_length)));
    Memory += (GridPT)*3;
    //printf("memory 2 %f\n",Memory);
    long int GridPT3_size = (double)(sizeof(UGRID)*(*(plevelinfo.Grid_length)));
    Memory += (GridPT3_size);
    //printf("memory 3 %f\n",Memory);
    long int nccresult_size = (double)(sizeof(NCCresult)*(*(plevelinfo.Grid_length)));
    Memory += (nccresult_size);
    //printf("memory 4 %f\n",Memory);
    
    bool check_ortho = true;
    if((level == 4 && iteration == 1) || info->IsRA == true)
        check_ortho = false;
    if(check_ortho)
    {
        int sub_imagesize_w, sub_imagesize_h;
        int sub_imagesize_w_next, sub_imagesize_h_next;
        double all_im_cd = 0;
        double all_im_cd_next = 0;
        double im_resolution = info->resolution*pwrtwo(level);
        double im_resolution_next;
        long int sub_imagesize_total_next;
        
        if(level > 0)
            im_resolution_next = im_resolution*pwrtwo(level-1);
        
        sub_imagesize_w = (int)((plevelinfo.Boundary[2] - plevelinfo.Boundary[0])/im_resolution)+1;
        sub_imagesize_h = (int)((plevelinfo.Boundary[3] - plevelinfo.Boundary[1])/im_resolution)+1;
        
        if(level > 0)
        {
            sub_imagesize_w_next = (int)((plevelinfo.Boundary[2] - plevelinfo.Boundary[0])/im_resolution_next)+1;
            sub_imagesize_h_next = (int)((plevelinfo.Boundary[3] - plevelinfo.Boundary[1])/im_resolution_next)+1;
            sub_imagesize_total_next = (long int)sub_imagesize_w_next * (long int)sub_imagesize_h_next;
        }
        
        long int sub_imagesize_total = (long int)sub_imagesize_w * (long int)sub_imagesize_h;
        
        for(int ti = 0 ; ti < info->number_of_images ; ti++)
        {
            all_im_cd += (double)(sizeof(D2DPOINT)*sub_imagesize_total);
            if(level > 0)
                all_im_cd_next += (double)(sizeof(D2DPOINT)*sub_imagesize_total_next);
        }
        Memory += (all_im_cd + all_im_cd_next);
    }
    *minimum_memory = (double)(Memory/1024.0/1024.0/1024.0);
    
    if(!info->IsRA)
    {
        long int grid_voxel = (double)(sizeof(VOXEL)*(*(plevelinfo.Grid_length)));
        grid_voxel += (double)(sizeof(float)*(*(plevelinfo.Grid_length)));
        for(long int t_i = 0 ; t_i < (*(plevelinfo.Grid_length)); t_i++)
        {
            if(check_image_boundary(info,plevelinfo,plevelinfo.GridPts[t_i],plevelinfo.Grid_wgs[t_i],GridPT3[t_i].minHeight,GridPT3[t_i].maxHeight,7))
            {
                bool check_blunder_cell = true;
                double th_height = 1000;
                
                if ( level >= 2)
                    check_blunder_cell = false;
                else if( GridPT3[t_i].Matched_flag != 0)
                {
                    if(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight > 0)
                    {
                        if(level <= 1)
                        {
                            if(GridPT3[t_i].maxHeight <= minmaxHeight[1] && GridPT3[t_i].minHeight >= minmaxHeight[0])
                                check_blunder_cell = false;
                        }
                        
                        if(level == 1)
                        {
                            if((abs(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight) < 1000))
                                check_blunder_cell = false;
                        }
                        
                        if(level == 0)
                        {
                            if(abs(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight) < th_height)
                                check_blunder_cell = false;
                        }
                    }
                }
                
                if(!check_blunder_cell)
                {
                    const int NumberofHeightVoxel = (int)((GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight)/(*(plevelinfo.height_step)));
                    
                    if(NumberofHeightVoxel > 0 )
                    {
                        grid_voxel += (double)(sizeof(VOXEL)*NumberofHeightVoxel);
                        grid_voxel += (double)(sizeof(float)*NumberofHeightVoxel);
                    }
                }
            }
        }
        Memory += (grid_voxel);
    }
    //printf("memory 5 %f\n",Memory);
    
    double result = (double)(Memory/1024.0/1024.0/1024.0);
    
    return result;
}


bool SetupParam(ProInfo *info, bool *pre_DEMtif)
{
    bool cal_check      = true;
    
    printf("seed flag %d\n",info->pre_DEMtif);
    
    if (info->pre_DEMtif)
    {
        FILE *pFile_DEM;
        printf("dem filename %s\n",info->priori_DEM_tif);
        pFile_DEM   = fopen(info->priori_DEM_tif,"r");
        if(pFile_DEM)
            *pre_DEMtif = true;
        else
            *pre_DEMtif = false;
        fclose(pFile_DEM);
    }
    
    printf("seed flag %d\n",*pre_DEMtif);

    return cal_check;
}


void SetTiles(const ProInfo *info, const double *Boundary, const int tile_size, uint8 *pyramid_step, uint16 *buffer_area, uint8 *iter_row_start, uint8 *iter_row_end, uint8 *t_col_start, uint8 *t_col_end, double *subX, double *subY)
{
    int division_X, division_Y;
    SetsubsetBR(info, Boundary, tile_size, subX, subY, division_X, division_Y);
    printf("dx = %d\tdy = %d\t%f\t%f\n", division_X, division_Y, *subX, *subY);
    
    if(info->pyramid_level != 4)
        *pyramid_step = info->pyramid_level;
    else
        *pyramid_step   = 4;
    
    if(info->pre_DEMtif)
    {
        if(info->seedDEMsigma <= 15)
            *pyramid_step   = 2;
        else if(info->seedDEMsigma <= 30)
            *pyramid_step   = 3;
    }
    
    if(info->DEM_resolution  >= 10)
        *buffer_area    = (uint16)(*buffer_area * 1.5);

    *iter_row_start = 1;
    *iter_row_end   = division_Y+1;
    
    *t_col_start    = 1;
    *t_col_end      = division_X+1;
    
    if(*iter_row_start == *iter_row_end)
        *iter_row_end += 1;
    if(*t_col_start == *t_col_end)
        *t_col_end += 1;
}

void SetTiles_RA(const ProInfo *info, const double *Boundary, const int tile_size, uint8 *pyramid_step, uint8 *RA_row_start, uint8 *RA_row_end, uint8 * RA_row_iter, uint8 *t_col_start, uint8 *t_col_end, uint8 *RA_col_iter, double *subX, double *subY)
{
    int division_X, division_Y;
    SetsubsetBR(info, Boundary, tile_size, subX, subY, division_X, division_Y);
    
    printf("dx = %d\tdy = %d\t%f\t%f\n", division_X, division_Y, *subX, *subY);
    
    *pyramid_step = 4;
    *RA_col_iter = 2;
    *RA_row_iter = 2;
    
    const uint8 ceilDivisionX = (uint8) ceil(division_X / 2.0);
    *RA_row_start = ceilDivisionX;
    *RA_row_end = (uint8) (ceilDivisionX + 1);
    *t_col_start = ceilDivisionX;
    *t_col_end = (uint8) (ceilDivisionX + 1);
}

void SetsubsetBR(const ProInfo *info, const double *Boundary, const int tile_size, double *subX, double *subY, int &division_X, int &division_Y)
{
    int lengthOfX = Boundary[2] - Boundary[0];
    int lengthOfY = Boundary[3] - Boundary[1];
    division_X = (int) (ceil(lengthOfX / (double)(tile_size)));
    division_Y = (int) (ceil(lengthOfY / (double)(tile_size)));
    *subX = floor((ceil(ceil(lengthOfX / division_X) / info->DEM_resolution) * info->DEM_resolution) / 2) * 2;
    *subY = floor((ceil(ceil(lengthOfY / division_Y) / info->DEM_resolution) * info->DEM_resolution) / 2) * 2;
}

void SetThs(const ProInfo *proinfo,const int level, const int final_level_iteration, double *Th_roh, double *Th_roh_min, double *Th_roh_next, double *Th_roh_start)
{
    if(proinfo->IsRA)
    {
        if(level >= 4)
        {
            *Th_roh          = (double)(0.80);
            *Th_roh_min      = (double)(0.39);
            
            if(proinfo->IsRA)
            {
                *Th_roh          = (double)(0.80);
                *Th_roh_min      = (double)(0.49);
            }
        }
        else if(level >= 3)
        {
            *Th_roh          = (double)(0.70);
            *Th_roh_min      = (double)(0.39);
        }
        else if(level == 2)
        {
            *Th_roh          = (double)(0.60);
            *Th_roh_min      = (double)(0.49);
        }
        else if(level == 1)
        {
            *Th_roh          = (double)(0.50);
            *Th_roh_min      = (double)(0.39);
        }
        else if(level == 0)
        {
            *Th_roh          = (double)(0.40 - 0.10*(final_level_iteration-1));
            *Th_roh_min      = (double)(0.19);
        }
        
        
        if(level == 5)
            *Th_roh_next        = (double)(0.80);
        else if(level == 4)
            *Th_roh_next        = (double)(0.70);
        else if(level == 3)
            *Th_roh_next        = (double)(0.60);
        else if(level == 2)
            *Th_roh_next        = (double)(0.50);
        else if(level == 1)
            *Th_roh_next        = (double)(0.40);
        else
            *Th_roh_next        = (double)(0.20);
        
        *Th_roh_start       = (double)(*Th_roh);
    }
    else
    {
        if(proinfo->DEM_resolution >= 8)
        {
            if(level >= 4)
            {
                *Th_roh          = (double)(0.80);
                *Th_roh_min      = (double)(0.39);
                
                if(proinfo->IsRA)
                {
                    *Th_roh          = (double)(0.80);
                    *Th_roh_min      = (double)(0.49);
                }
            }
            else if(level >= 3)
            {
                *Th_roh          = (double)(0.70);
                *Th_roh_min      = (double)(0.39);
            }
            else if(level == 2)
            {
                *Th_roh          = (double)(0.60);
                *Th_roh_min      = (double)(0.49);
            }
            else if(level == 1)
            {
                *Th_roh          = (double)(0.50);
                *Th_roh_min      = (double)(0.39);
            }
            else if(level == 0)
            {
                *Th_roh          = (double)(0.40 - 0.10*(final_level_iteration-1));
                *Th_roh_min      = (double)(0.19);
            }

            
            if(level == 5)
                *Th_roh_next        = (double)(0.80);
            else if(level == 4)
                *Th_roh_next        = (double)(0.70);
            else if(level == 3)
                *Th_roh_next        = (double)(0.60);
            else if(level == 2)
                *Th_roh_next        = (double)(0.50);
            else if(level == 1)
                *Th_roh_next        = (double)(0.40);
            else
                *Th_roh_next        = (double)(0.20);
       
            *Th_roh_start       = (double)(*Th_roh);
        }
        else
        {
            if(level >= 4)
            {
                *Th_roh          = (double)(0.80);
                *Th_roh_min      = (double)(0.39);
            }
            else if(level >= 3)
            {
                *Th_roh          = (double)(0.70);
                *Th_roh_min      = (double)(0.39);
            }
            else if(level == 2)
            {
                *Th_roh          = (double)(0.50);
                *Th_roh_min      = (double)(0.19);
            }
            else if(level == 1)
            {
                *Th_roh          = (double)(0.40);
                *Th_roh_min      = (double)(0.19);
            }
            else if(level == 0)
            {
                *Th_roh          = (double)(0.40 - 0.10*(final_level_iteration-1));
                *Th_roh_min      = (double)(0.19);
            }
            
            
            if(level == 5)
                *Th_roh_next        = (double)(0.80);
            else if(level == 4)
                *Th_roh_next        = (double)(0.70);
            else if(level == 3)
                *Th_roh_next        = (double)(0.50);
            else if(level == 2)
                *Th_roh_next        = (double)(0.40);
            else if(level == 1)
                *Th_roh_next        = (double)(0.40);
            else
                *Th_roh_next        = (double)(0.20);
            
            *Th_roh_start       = (double)(*Th_roh);
        }
        
        if(proinfo->check_Matchtag)
        {
            *Th_roh          = (double)(0.35 - 0.15*(final_level_iteration-2));
            *Th_roh_min      = (double)(0.19);
            
            *Th_roh_start       = (double)(*Th_roh);
        }
    }
}

D2DPOINT *SetGrids(const ProInfo *info, const int level, const int final_level_iteration, const double resolution, CSize *Size_Grid2D, const double DEM_resolution, double *py_resolution, double *grid_resolution, const double *subBoundary)
{
    *py_resolution   = (double)(resolution*pwrtwo(level));
    *grid_resolution = *py_resolution;
    
    printf("pre resolution %f\t level %d\t final_level_iteration %d\n",*py_resolution,level,final_level_iteration);
    
    if(*py_resolution > 32)//low-res original imagery
    {
        *py_resolution = (int)(*py_resolution/4.0);
        *grid_resolution = *py_resolution;
    }
    else
    {
        if(resolution >= 0.4)
        {
            if(level > 0)
            {
                if((*py_resolution)*3 > DEM_resolution) //low-res DEM more than 8m
                {
                    if(DEM_resolution > 8)
                    {
                        *py_resolution = DEM_resolution;
                    }
                    else
                    {
                        if((*py_resolution)*3 > 8)
                            *py_resolution = 8;
                        else
                            *py_resolution   = (*py_resolution)*3;
                    }
                }
                else
                    *py_resolution = DEM_resolution;
            }
            else if(level == 0)
            {
                if(DEM_resolution >= 2)
                    *py_resolution = DEM_resolution;
                else
                {
                    if(final_level_iteration == 1)
                    {
                        if(*py_resolution < 2)
                        {
                            if((*py_resolution)*4 > DEM_resolution)
                                *py_resolution   = (*py_resolution)*4;
                            else
                                *py_resolution   = DEM_resolution;
                        }
                        else
                        {
                            *py_resolution = DEM_resolution;
                        }
                    }
                    else if(final_level_iteration == 2)
                    {
                        if(*py_resolution < 2)
                        {
                            if((*py_resolution)*2 > DEM_resolution)
                                *py_resolution   = (*py_resolution)*2;
                            else
                                *py_resolution   = DEM_resolution;
                        }
                        else
                        {
                            *py_resolution = DEM_resolution;
                        }
                    }
                    else
                        *py_resolution   = DEM_resolution;
                }
                
            }
        }
        else
        {
            if(DEM_resolution >= 2)
                *py_resolution = DEM_resolution;
            else
            {
                if(level == 0)
                {
                    if(final_level_iteration == 1)
                    {
                        if((*py_resolution)*4 > DEM_resolution)
                            *py_resolution   = (*py_resolution)*4;
                        else
                            *py_resolution   = DEM_resolution;
                    }
                    else if(final_level_iteration == 2)
                    {
                        if((*py_resolution)*2 > DEM_resolution)
                            *py_resolution   = (*py_resolution)*2;
                        else
                            *py_resolution   = DEM_resolution;
                    }
                    else
                        *py_resolution   = DEM_resolution;
                }
            }
        }
    }
    
    //full computation
    if(info->check_full_cal)
    {
        *py_resolution   = (double)(resolution*pwrtwo(level));
        *grid_resolution = *py_resolution;
    }
    
    if(*py_resolution < DEM_resolution)
        *py_resolution = DEM_resolution;
    
    *grid_resolution = *py_resolution;
    
    
    Size_Grid2D->width  = (int)(ceil((double)(subBoundary[2] - subBoundary[0])/(*grid_resolution) ));
    Size_Grid2D->height = (int)(ceil((double)(subBoundary[3] - subBoundary[1])/(*grid_resolution) ));
 
    printf("DEM resolution %f\tresolution %f\t size %d\t%d\n",DEM_resolution,*py_resolution,Size_Grid2D->width,Size_Grid2D->height);
    D2DPOINT *GridPT = SetDEMGrid(subBoundary, *grid_resolution, *grid_resolution, Size_Grid2D);

    return GridPT;
}

UGRID *SetGrid3PT(const ProInfo *proinfo, LevelInfo &rlevelinfo, const double Th_roh, double *minmaxHeight)
{
    UGRID *GridPT3 = NULL;
    long int total_grid_counts = *rlevelinfo.Grid_length;;

    GridPT3                 = (UGRID*)calloc(sizeof(UGRID),total_grid_counts);

#pragma omp parallel for
    for(long i=0;i<total_grid_counts;i++)
    {
        GridPT3[i].Matched_flag     = 0;
        GridPT3[i].roh              = DoubleToSignedChar_grid(Th_roh);
        GridPT3[i].anchor_flag      = 0;
        for(int ti=0;ti<MaxNCC;ti++)
            GridPT3[i].ortho_ncc[ti]        = 0;
        GridPT3[i].Mean_ortho_ncc   = 0;

        GridPT3[i].minHeight        = floor(minmaxHeight[0] - 0.5);
        GridPT3[i].maxHeight        = ceil(minmaxHeight[1] + 0.5);
        GridPT3[i].Height           = -1000.0;
    }
    if(proinfo->pre_DEMtif)
    {
        printf("seedem load\n");
        SetHeightWithSeedDEM(proinfo, rlevelinfo, GridPT3, minmaxHeight);
    }

    return GridPT3;
}

void SetSubBoundary(const double *Boundary, const double subX, const double subY, const double buffer_area, const int col, const int row, double *subBoundary)
{
    subBoundary[0]      = Boundary[0] + subX*(col - 1) - buffer_area;
    subBoundary[1]      = Boundary[1] + subY*(row - 1) - buffer_area;
    subBoundary[2]      = Boundary[0] + subX*(col    ) + buffer_area;
    subBoundary[3]      = Boundary[1] + subY*(row    ) + buffer_area;
    
    subBoundary[0] =  (int)(floor(subBoundary[0]/8))*8 - 40;
    subBoundary[1] =  (int)(floor(subBoundary[1]/8))*8 - 40;
    subBoundary[2] =  (int)(floor(subBoundary[2]/8))*8 + 40;
    subBoundary[3] =  (int)(floor(subBoundary[3]/8))*8 + 40;
    
    if(subBoundary[0] < Boundary[0])
        subBoundary[0] = Boundary[0];
    if(subBoundary[1] < Boundary[1])
        subBoundary[1] = Boundary[1];
    if(subBoundary[2] > Boundary[2])
        subBoundary[2] = Boundary[2];
    if(subBoundary[3] > Boundary[3])
        subBoundary[3] = Boundary[3];
}

void SetHeightWithSeedDEM(const ProInfo *proinfo, LevelInfo &rlevelinfo, UGRID *Grid, double *minmaxHeight)
{
    const char *GIMP_path = proinfo->priori_DEM_tif;
    int IsRA = proinfo->IsRA;
    const char* metafilename = proinfo->metafilename;

    int check_ftype = 1; // 1 = tif, 2 = raw
    const char *ext = strrchr(GIMP_path,'.');

    if (!strcmp("tif",ext+1) || !strcmp("TIF",ext+1))
    {
        check_ftype = 1;
    }
    else if(!strcmp("raw",ext+1))
    {
        check_ftype = 2;
    }

    const double oriminH = minmaxHeight[0];
    const double orimaxH = minmaxHeight[1];

    printf("oriminmaxH %f\t%f\n",oriminH,orimaxH);

    double seedDEM_sigma = proinfo->seedDEMsigma;
    if(!proinfo->check_Matchtag)
    {
        if(seedDEM_sigma < 10)
            seedDEM_sigma = 10;

        if(IsRA == 1)
        {
            if(seedDEM_sigma < 50)
                seedDEM_sigma = 50;
        }
    }

    printf("ttt1 %f\n",seedDEM_sigma);

    FILE *pFile_meta  = fopen(metafilename,"r");
    printf("meta file = %s\n",metafilename);


    double minX = 0, maxX = 0, minY = 0, maxY = 0, grid_size = 0;
    CSize seeddem_size;
    if(pFile_meta)
    {
        char bufstr[500];
        printf("open Boundary\n");
        while(!feof(pFile_meta))
        {
            fgets(bufstr,500,pFile_meta);
            if (strstr(bufstr,"Output Resolution=")!=NULL)
            {
                printf("%s\n",bufstr);
                sscanf(bufstr,"Output Resolution=%lf\n",&grid_size);
            }
            else if (strstr(bufstr,"Output dimensions=")!=NULL)
            {
                printf("%s\n",bufstr);
                sscanf(bufstr,"Output dimensions=%d\t%d\n",&seeddem_size.width,&seeddem_size.height);
            }
            else if (strstr(bufstr,"Upper left coordinates=")!=NULL)
            {
                printf("%s\n",bufstr);
                sscanf(bufstr,"Upper left coordinates=%lf\t%lf\n",&minX,&maxY);
            }
        }
        fclose(pFile_meta);
    }
    if(check_ftype == 1)
    {
        seeddem_size = ReadGeotiff_info(GIMP_path, &minX, &maxY, &grid_size);
    }
    else if(check_ftype == 2)
    {
        char* hdr_path = remove_ext(GIMP_path);
        sprintf(hdr_path,"%s.hdr",hdr_path);

        printf("hdr path %s\n",hdr_path);
        seeddem_size  = Envihdr_reader_seedDEM(*rlevelinfo.param,hdr_path, &minX, &maxY, &grid_size);
        free(hdr_path);
    }

    maxX    = minX + grid_size*((double)seeddem_size.width);
    minY    = maxY - grid_size*((double)seeddem_size.height);

    printf("%d\n",seeddem_size.width);
    printf("%d\n",seeddem_size.height);
    printf("%f\n",minX);
    printf("%f\n",minY);
    printf("%f\n",maxX);
    printf("%f\n",maxY);
    printf("%f\n",grid_size);

    double a_minX = 0, a_maxX = 0, a_minY = 0, a_maxY = 0;
    if(minX > rlevelinfo.Boundary[0])
        a_minX = minX;
    else 
        a_minX = rlevelinfo.Boundary[0];

    if (maxX < rlevelinfo.Boundary[2])
        a_maxX = maxX;
    else 
        a_maxX = rlevelinfo.Boundary[2];

    if(minY > rlevelinfo.Boundary[1])
        a_minY = minY;
    else 
        a_minY = rlevelinfo.Boundary[1];

    if (maxY < rlevelinfo.Boundary[3])
        a_maxY = maxY;
    else 
        a_maxY = rlevelinfo.Boundary[3];

    printf("%f %f %f %f\n",rlevelinfo.Boundary[0],rlevelinfo.Boundary[1],rlevelinfo.Boundary[2],rlevelinfo.Boundary[3]);
    printf("%f %f %f %f\n",a_minX, a_maxX, a_minY, a_maxY);
    if ( (a_minX < a_maxX) && (a_minY < a_maxY))
    {
        printf("seeddem cal %f\n",seedDEM_sigma);

        if(check_ftype == 2)
        {
            FILE *bin = fopen(GIMP_path,"rb");
            float *seeddem = (float*)malloc(sizeof(float)*(long int)seeddem_size.width*(long int)seeddem_size.height);
            fread(seeddem,sizeof(float),(long int)seeddem_size.width*(long int)seeddem_size.height,bin);

            SetGridHeightFromSeed(rlevelinfo, Grid, seeddem, seeddem_size, grid_size, minX, maxY, seedDEM_sigma, minmaxHeight);
            
            free(seeddem);
        }
        else
        {
            long int cols[2];
            long int rows[2];
            CSize data_size;

            CSize *LImagesize = (CSize*)malloc(sizeof(CSize));
            LImagesize->width = seeddem_size.width;
            LImagesize->height = seeddem_size.height;

            cols[0] = 0;
            cols[1] = seeddem_size.width;

            rows[0] = 0;
            rows[1] = seeddem_size.height;

            float type(0);
            float *seeddem = Readtiff_T(GIMP_path,LImagesize,cols,rows,&data_size, type);
            printf("Grid size %d\t%d\tcols rows %ld\t%ld\t%ld\t%ld\n",rlevelinfo.Size_Grid2D->width,rlevelinfo.Size_Grid2D->height,cols[0],cols[1],rows[0],rows[1]);

            SetGridHeightFromSeed(rlevelinfo, Grid, seeddem, seeddem_size, grid_size, minX, maxY, seedDEM_sigma, minmaxHeight);
            
            free(seeddem);
        }
        printf("seeddem end\n");
        printf("%f %f\n",minmaxHeight[0],minmaxHeight[1]);
    }
}

void SetGridHeightFromSeed(LevelInfo &rlevelinfo, UGRID *Grid, float *seeddem, CSize seeddem_size, double seed_grid, double minX, double maxY, double seedDEM_sigma, double *minmaxHeight)
{
    double total_minH = 999999;
    double total_maxH = -999999;
    
    for (long row = 0; row < rlevelinfo.Size_Grid2D->height; row ++)
    {
        for (long col = 0; col < rlevelinfo.Size_Grid2D->width; col ++)
        {
            long int index_grid = row*(long int)rlevelinfo.Size_Grid2D->width + col;
            double t_x = rlevelinfo.Boundary[0] + col*(*rlevelinfo.grid_resolution);
            double t_y = rlevelinfo.Boundary[1] + row*(*rlevelinfo.grid_resolution);
            
            long int col_seed = floor((t_x - minX)/seed_grid);
            long int row_seed = floor((maxY - t_y)/seed_grid);
            long int index_seeddem = row_seed*(long)seeddem_size.width + col_seed;
            if(index_seeddem >= 0 && index_seeddem < (long int)seeddem_size.width*(long int)seeddem_size.height)
            {
                if(seeddem[index_seeddem] > -1000)
                {
                    if(seeddem[index_seeddem] >= minmaxHeight[0] && seeddem[index_seeddem] <= minmaxHeight[1])
                    {
                        if(minmaxHeight[0] > (int)(seeddem[index_seeddem] - seedDEM_sigma - 0.5))
                            Grid[index_grid].minHeight = floor(minmaxHeight[0]);
                        else
                            Grid[index_grid].minHeight = floor(seeddem[index_seeddem] - seedDEM_sigma - 0.5);

                        if(minmaxHeight[1] < (int)(seeddem[index_seeddem] + seedDEM_sigma + 0.5))
                            Grid[index_grid].maxHeight = ceil(minmaxHeight[1]);
                        else
                            Grid[index_grid].maxHeight = ceil(seeddem[index_seeddem] + seedDEM_sigma + 0.5);

                        Grid[index_grid].Height        = seeddem[index_seeddem];
                    }
                    else
                    {
                        Grid[index_grid].minHeight      = floor(minmaxHeight[0] - 0.5);
                        Grid[index_grid].maxHeight      = ceil(minmaxHeight[1] + 0.5);
                        Grid[index_grid].Height         = -1000.0;
                    }

                    if(seeddem[index_seeddem] >= minmaxHeight[0] && seeddem[index_seeddem] <= minmaxHeight[1])
                    {
                        if(total_minH > seeddem[index_seeddem] -seedDEM_sigma)
                            total_minH = seeddem[index_seeddem] -seedDEM_sigma;

                        if(total_maxH < seeddem[index_seeddem] +seedDEM_sigma)
                            total_maxH = seeddem[index_seeddem] +seedDEM_sigma;
                    }
                }
                else
                {
                    Grid[index_grid].minHeight = Nodata;
                    Grid[index_grid].maxHeight = Nodata;
                }
            }
        }
    }
    minmaxHeight[0] = total_minH;
    minmaxHeight[1] = total_maxH;
}

void SetDEMBoundary(double** _rpcs, double* _res,TransParam _param, double* _boundary, double* _minmaxheight, double* _Hinterval)
{
    double minLon = (double) (-1.2 * _rpcs[1][2] + _rpcs[0][2]);
    double maxLon = (double) (1.2 * _rpcs[1][2] + _rpcs[0][2]);
    double minLat = (double) (-1.2 * _rpcs[1][3] + _rpcs[0][3]);
    double maxLat = (double) (1.2 * _rpcs[1][3] + _rpcs[0][3]);
    
    _minmaxheight[0] =  floor((-1.5 * _rpcs[1][4] + _rpcs[0][4])/10.0)*10;
    _minmaxheight[1] =  ceil((1.5 * _rpcs[1][4] + _rpcs[0][4])/10.0)*10;

    printf("minmaxheight %f\t%f\n",_minmaxheight[0],_minmaxheight[1]);
    int oriminmaxH[2];
    oriminmaxH[0] = floor(-1.0 * _rpcs[1][4] + _rpcs[0][4]);
    oriminmaxH[1] = ceil(1.0 * _rpcs[1][4] + _rpcs[0][4]);
    
    
    if (oriminmaxH[0] < -100) {
        oriminmaxH[0] = -100;
    }
    
    _Hinterval[0] = _minmaxheight[1] - _minmaxheight[0];
    
    if (_minmaxheight[0] < -100) {
        _minmaxheight[0] = -100;
    }
    
    D2DPOINT lonlat[4];
    lonlat[0].m_X = minLon;
    lonlat[0].m_Y = minLat;
    lonlat[1].m_X = minLon;
    lonlat[1].m_Y = maxLat;
    lonlat[2].m_X = maxLon;
    lonlat[2].m_Y = maxLat;
    lonlat[3].m_X = maxLon;
    lonlat[3].m_Y = minLat;
    
    double minX = min(lonlat[3].m_X, min(lonlat[2].m_X, min(lonlat[0].m_X, lonlat[1].m_X)));
    double maxX = max(lonlat[3].m_X, max(lonlat[2].m_X, max(lonlat[0].m_X, lonlat[1].m_X)));
    
    double minY = min(lonlat[3].m_Y, min(lonlat[2].m_Y, min(lonlat[0].m_Y, lonlat[1].m_Y)));
    double maxY = max(lonlat[3].m_Y, max(lonlat[2].m_Y, max(lonlat[0].m_Y, lonlat[1].m_Y)));
    
    printf("lonlat X %f\t%f\t%f\t%f\n",lonlat[0].m_X,lonlat[1].m_X,lonlat[2].m_X,lonlat[3].m_X);
    printf("lonlat Y %f\t%f\t%f\t%f\n",lonlat[0].m_Y,lonlat[1].m_Y,lonlat[2].m_Y,lonlat[3].m_Y);
    
    printf("minmaxXY %f\t%f\t%f\t%f\n",minX,minY,maxX,maxY);
    _boundary[0] =  (minX);
    _boundary[1] =  (minY);
    _boundary[2] =  (maxX);
    _boundary[3] =  (maxY);
    
    //_imagesize->height = (unsigned int) (ceil((_boundary[3] - _boundary[1]) / _res[1]));
    //_imagesize->width = (unsigned int) (ceil((_boundary[2] - _boundary[0]) / _res[0]));
}

void SetDEMBoundary_photo(EO Photo, CAMERA_INFO m_Camera, RM M, double* _boundary, double* _minmaxheight, double* _Hinterval)
{
    // manual setup of minmaxheight for test
    double MSL = 0;
    _minmaxheight[0] =  0;
    _minmaxheight[1] =  100;
    
    int oriminmaxH[2];
    oriminmaxH[0] = 0;
    oriminmaxH[1] = 100;
    
    
    if (oriminmaxH[0] < -100) {
        oriminmaxH[0] = -100;
    }
    
    _Hinterval[0] = _minmaxheight[1] - _minmaxheight[0];
    
    if (_minmaxheight[0] < -100) {
        _minmaxheight[0] = -100;
    }
    
    D3DPOINT top_left_3D,top_right_3D,bottom_right_3D,bottom_left_3D;
    D2DPOINT top_left, top_right, bottom_right,bottom_left;
    
    top_left.m_X = 0.0;
    top_left.m_Y = 0.0;
    top_right.m_X = m_Camera.m_ImageSize.width;
    top_right.m_Y = 0.0;
    bottom_right.m_X = m_Camera.m_ImageSize.width;
    bottom_right.m_Y = m_Camera.m_ImageSize.height;
    bottom_left.m_X = 0.0;
    bottom_left.m_Y = m_Camera.m_ImageSize.height;
    
    top_left = ImageToPhoto_single(top_left,m_Camera.m_CCDSize,m_Camera.m_ImageSize);
    top_right = ImageToPhoto_single(top_right,m_Camera.m_CCDSize,m_Camera.m_ImageSize);
    bottom_right = ImageToPhoto_single(bottom_right,m_Camera.m_CCDSize,m_Camera.m_ImageSize);
    bottom_left = ImageToPhoto_single(bottom_left,m_Camera.m_CCDSize,m_Camera.m_ImageSize);
    
    top_left_3D     = GetObjectCoordinate_single(top_left,MSL,Photo, m_Camera, M);
    top_right_3D    = GetObjectCoordinate_single(top_right,MSL,Photo, m_Camera, M);
    bottom_right_3D = GetObjectCoordinate_single(bottom_right,MSL,Photo, m_Camera, M);
    bottom_left_3D  = GetObjectCoordinate_single(bottom_left,MSL,Photo, m_Camera, M);
    
    double minX = (top_left_3D.m_X < bottom_left_3D.m_X) ? top_left_3D.m_X : bottom_left_3D.m_X;
    double minY = (bottom_left_3D.m_Y < bottom_right_3D.m_Y) ? bottom_left_3D.m_Y : bottom_right_3D.m_Y;
    double maxX = (top_right_3D.m_X > bottom_right_3D.m_X) ? top_right_3D.m_X : bottom_right_3D.m_X;
    double maxY = (top_left_3D.m_Y > top_right_3D.m_Y) ? top_left_3D.m_Y : top_right_3D.m_Y;
    
    _boundary[0] =  floor(minX);
    _boundary[1] =  floor(minY);
    _boundary[2] =  ceil(maxX);
    _boundary[3] =  ceil(maxY);
}

uint16 *SetsubsetImage(ProInfo *proinfo, LevelInfo &rlevelinfo, const int index_image, const TransParam transparam, const uint8 NumofIAparam, const double * const * const *RPCs, const double * const *ImageParams, const double *subBoundary, const double *minmaxHeight, D2DPOINT *Startpos, CSize *Subsetsize)
{
    CSize Imagesize;
    uint16 *outimage = NULL;
    
    if(GetImageSize(proinfo->Imagefilename[index_image],&Imagesize))
    {
        long int Lcols[2], Lrows[2];
        if(GetsubareaImage(proinfo->sensor_type, proinfo->frameinfo, index_image, *rlevelinfo.param, rlevelinfo.ImageAdjust[index_image],  rlevelinfo.RPCs[index_image], proinfo->Imagefilename[index_image], Imagesize, rlevelinfo.Boundary, minmaxHeight, Lcols, Lrows))
        {
            printf("read image %d\n", index_image);
            uint16 type(0);
            outimage   = Readtiff_T(proinfo->Imagefilename[index_image],&Imagesize,Lcols,Lrows,&Subsetsize[index_image],type);
            if(proinfo->check_checktiff)
                exit(1);
            
            Startpos[index_image].m_X  = (double)(Lcols[0]);
            Startpos[index_image].m_Y  = (double)(Lrows[0]);
            
            if(!outimage)
                proinfo->check_selected_image[index_image] = false;
        }
    }
    else
        proinfo->check_selected_image[index_image] = false;
  
    return outimage;
}

// temporary, 1st and 2nd image
void CalMPP_pair(double CA,double mean_product_res, double im_resolution, double *MPP_stereo_angle)
{
    double ccdsize = 0.00001;
    double scale = ccdsize/0.5;
    double convergence_mpp = 1.0/tan(CA*DegToRad*0.5)*mean_product_res;
    double BH_ratio = mean_product_res*2/convergence_mpp;
    double sigmaZ = 1.414*ccdsize/BH_ratio/scale;
    
    *MPP_stereo_angle = sigmaZ;
    
    if(*MPP_stereo_angle < im_resolution*1.5)
        *MPP_stereo_angle = im_resolution*1.5;
    
    printf("mpp = %f\n",*MPP_stereo_angle);
}

void CalMPP(ProInfo *proinfo, LevelInfo &rlevelinfo, const double* minmaxHeight, const double CA,const double mean_product_res, double *MPP_simgle_image, double *MPP_stereo_angle)
{
    D2DPOINT temp_p1, temp_p2;
    double temp_LIA[2] = {rlevelinfo.ImageAdjust[0][0], rlevelinfo.ImageAdjust[0][1]};
    
    const long int numofpts = *rlevelinfo.Grid_length;
    D3DPOINT temp_GrP(rlevelinfo.Grid_wgs[(int)(numofpts/2.0)].m_X, rlevelinfo.Grid_wgs[(int)(numofpts/2.0)].m_Y, minmaxHeight[0], 0);
    temp_p1     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[0],*rlevelinfo.NumOfIAparam,temp_LIA,temp_GrP);
    
    temp_GrP.m_Z = minmaxHeight[1];
    temp_p2     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[0],*rlevelinfo.NumOfIAparam,temp_LIA,temp_GrP);
    
    const double left_mpp = (minmaxHeight[1] - minmaxHeight[0]) / sqrt( pow(temp_p1.m_X - temp_p2.m_X,2.0) + pow(temp_p1.m_Y - temp_p2.m_Y,2.0));
    
    temp_GrP.m_Z = minmaxHeight[0];
    temp_GrP.flag = 0;
    temp_p1     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[1],*rlevelinfo.NumOfIAparam,rlevelinfo.ImageAdjust[1],temp_GrP);
    
    temp_GrP.m_Z = minmaxHeight[1];
    temp_p2     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[1],*rlevelinfo.NumOfIAparam,rlevelinfo.ImageAdjust[1],temp_GrP);
    
    const double right_mpp = (minmaxHeight[1] - minmaxHeight[0]) / sqrt( pow(temp_p1.m_X - temp_p2.m_X,2.0) + pow(temp_p1.m_Y - temp_p2.m_Y,2.0));
    
    printf("left right mpp %f\t%f\n",left_mpp,right_mpp);
    
    if(left_mpp > 5*proinfo->resolution)
        *MPP_simgle_image = right_mpp;
    else if(right_mpp > 5*proinfo->resolution)
        *MPP_simgle_image = left_mpp;
    else
    {
        if(left_mpp > right_mpp)
            *MPP_simgle_image = left_mpp;
        else
            *MPP_simgle_image = right_mpp;
    }
    
    const double ccdsize = 0.00001;
    const double scale = ccdsize/0.5;
    const double convergence_mpp = 1.0/tan(CA*DegToRad*0.5)*mean_product_res;
    const double BH_ratio = mean_product_res*2/convergence_mpp;
    const double sigmaZ = 1.414*ccdsize/BH_ratio/scale;
    
    printf("scale = %f\tconvergnece_mpp = %f\tBH_ratio = %f\t sigmaZ = %f\n",scale,convergence_mpp,BH_ratio,sigmaZ);
    if(*rlevelinfo.Pyramid_step > 2)
        *MPP_stereo_angle = (*MPP_simgle_image)*sigmaZ;
    else
    {
        *MPP_stereo_angle = sigmaZ;
        *MPP_simgle_image = sigmaZ;
    }
        
    if(*MPP_stereo_angle < proinfo->resolution*1.5)
        *MPP_stereo_angle = proinfo->resolution*1.5;
    
    printf("mpp = %f\t mpr = %f\n",*MPP_simgle_image,*MPP_stereo_angle);
}

void CalMPP_8(ProInfo *proinfo, LevelInfo &rlevelinfo, const double* minmaxHeight, const double CA,const double mean_product_res, double *MPP_simgle_image, double *MPP_stereo_angle)
{
    D2DPOINT temp_p1, temp_p2;
    double temp_LIA[2] = {rlevelinfo.ImageAdjust[0][0], rlevelinfo.ImageAdjust[0][1]};
    
    const long int numofpts = *rlevelinfo.Grid_length;
    D3DPOINT temp_GrP(rlevelinfo.Grid_wgs[(int)(numofpts/2.0)].m_X, rlevelinfo.Grid_wgs[(int)(numofpts/2.0)].m_Y, minmaxHeight[0], 0);
    temp_p1     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[0],*rlevelinfo.NumOfIAparam,temp_LIA,temp_GrP);
    
    temp_GrP.m_Z = minmaxHeight[1];
    temp_p2     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[0],*rlevelinfo.NumOfIAparam,temp_LIA,temp_GrP);
    
    const double left_mpp = (minmaxHeight[1] - minmaxHeight[0]) / sqrt( pow(temp_p1.m_X - temp_p2.m_X,2.0) + pow(temp_p1.m_Y - temp_p2.m_Y,2.0));
    
    temp_GrP.m_Z = minmaxHeight[0];
    temp_GrP.flag = 0;
    temp_p1     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[1],*rlevelinfo.NumOfIAparam,rlevelinfo.ImageAdjust[1],temp_GrP);
    
    temp_GrP.m_Z = minmaxHeight[1];
    temp_p2     = GetObjectToImageRPC_single_mpp(rlevelinfo.RPCs[1],*rlevelinfo.NumOfIAparam,rlevelinfo.ImageAdjust[1],temp_GrP);
    
    const double right_mpp = (minmaxHeight[1] - minmaxHeight[0]) / sqrt( pow(temp_p1.m_X - temp_p2.m_X,2.0) + pow(temp_p1.m_Y - temp_p2.m_Y,2.0));
    
    printf("left right mpp %f\t%f\n",left_mpp,right_mpp);
    
    if(left_mpp > 5*proinfo->resolution)
        *MPP_simgle_image = right_mpp;
    else if(right_mpp > 5*proinfo->resolution)
        *MPP_simgle_image = left_mpp;
    else
    {
        if(left_mpp > right_mpp)
            *MPP_simgle_image = left_mpp;
        else
            *MPP_simgle_image = right_mpp;
    }
    
    const double ccdsize = 0.00001;
    const double scale = ccdsize/0.5;
    const double convergence_mpp = 1.0/tan(CA*DegToRad*0.5)*mean_product_res;
    const double BH_ratio = mean_product_res*2.0/convergence_mpp;
    const double sigmaZ = 1.414*ccdsize/BH_ratio/scale;
    
    printf("scale = %f\tconvergnece_mpp = %f\tBH_ratio = %f\t sigmaZ = %f\n",scale,convergence_mpp,BH_ratio,sigmaZ);
    if(sigmaZ > 1)
        *MPP_stereo_angle = (*MPP_simgle_image)*sigmaZ;
    
    if(*MPP_stereo_angle < proinfo->resolution*2.0)
        *MPP_stereo_angle = proinfo->resolution*2.0;
    
    printf("mpp = %f\t mpr = %f\n",*MPP_simgle_image,*MPP_stereo_angle);
}

double GetHeightStep(int Pyramid_step, double im_resolution)
{
    const double h_divide = 2;
    
    im_resolution = im_resolution*pwrtwo(Pyramid_step);
    
    double HS = (double)(im_resolution/h_divide);
    
    double &&tt1 = HS*1000.0;
    double &&tt2 = floor(tt1 + 0.1);
    HS = tt2/1000.0;
    
    if(HS > 3)
        HS = 3;
    
    return HS;
}

void InitializeVoxel(const ProInfo *proinfo, VOXEL **grid_voxel,LevelInfo &plevelinfo, UGRID *GridPT3, NCCresult* nccresult,const int iteration, const double *minmaxHeight)
{
    const double height_step = *plevelinfo.height_step;
    const uint8 pyramid_step = *plevelinfo.Pyramid_step;
#pragma omp parallel for schedule(guided)
    for(long int t_i = 0 ; t_i < *plevelinfo.Grid_length; t_i++)
    {
        if(check_image_boundary(proinfo,plevelinfo,plevelinfo.GridPts[t_i],plevelinfo.Grid_wgs[t_i],GridPT3[t_i].minHeight,GridPT3[t_i].maxHeight,7))
        {
            int change_step_min = 0;
            int change_step_max = 0;
            bool check_blunder_cell = true;
            double th_height = 1000;
            if(proinfo->DEM_resolution <= 4)
                th_height = 500;
            
            if(proinfo->check_Matchtag || iteration == 1)
            {
                nccresult[t_i].minHeight = GridPT3[t_i].minHeight;
                nccresult[t_i].maxHeight = GridPT3[t_i].maxHeight;
                nccresult[t_i].GNCC = DoubleToSignedChar_result(-1.0);
                nccresult[t_i].check_height_change = true;
                check_blunder_cell = false;
            }
            else
            {
                if ( pyramid_step >= 2 )
                    check_blunder_cell = false;
                else if( GridPT3[t_i].Matched_flag != 0)
                {
                    if(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight > 0)
                    {
                        if(pyramid_step <= 1)
                        {
                            if(iteration > 1)
                            {
                                if(GridPT3[t_i].maxHeight <= minmaxHeight[1] && GridPT3[t_i].minHeight >= minmaxHeight[0] && nccresult[t_i].maxHeight <= minmaxHeight[1] && nccresult[t_i].minHeight >= minmaxHeight[0])
                                    check_blunder_cell = false;
                                else
                                    check_blunder_cell = true;
                            }
                            else
                            {
                                if(GridPT3[t_i].maxHeight <= minmaxHeight[1] && GridPT3[t_i].minHeight >= minmaxHeight[0])
                                    check_blunder_cell = false;
                                else
                                    check_blunder_cell = true;
                            }
                        }
                        
                        if(pyramid_step == 1)
                        {
                            if((abs(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight) < 1000))
                                check_blunder_cell = false;
                            else
                                check_blunder_cell = true;
                        }
                        
                        if(pyramid_step == 0)
                        {
                            if(iteration > 1)
                            {
                                if((abs(nccresult[t_i].maxHeight - nccresult[t_i].minHeight) < th_height) && (abs(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight) < th_height))
                                    check_blunder_cell = false;
                                else
                                    check_blunder_cell = true;
                            }
                            else
                            {
                                if((abs(GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight) < th_height))
                                    check_blunder_cell = false;
                                else
                                    nccresult[t_i].NumOfHeight = 0;
                            }
                        }
                    }
                    else
                    {
                        if(nccresult[t_i].NumOfHeight > 0)
                        {
                            if(grid_voxel[t_i])
                                free(grid_voxel[t_i]);
                        }
                        
                        nccresult[t_i].NumOfHeight = 0;
                        check_blunder_cell = true;
                    }
                }
                else
                {
                    if(nccresult[t_i].NumOfHeight > 0)
                    {
                        if(grid_voxel[t_i])
                            free(grid_voxel[t_i]);
                    }
                    
                    nccresult[t_i].NumOfHeight = 0;
                    check_blunder_cell = true;
                }
            }
            
            if(!check_blunder_cell)
            {
                
                if(iteration == 1 || (pyramid_step == 0 && proinfo->DEM_resolution < 2))
                {
                    nccresult[t_i].minHeight = GridPT3[t_i].minHeight;
                    nccresult[t_i].maxHeight = GridPT3[t_i].maxHeight;
                    nccresult[t_i].GNCC = DoubleToSignedChar_result(-1.0);
                    nccresult[t_i].check_height_change = true;
                    
                    if(pyramid_step == 1)
                    {
                        if((abs((int)GridPT3[t_i].maxHeight - (int)GridPT3[t_i].minHeight) > 1000))
                        {
                            GridPT3[t_i].maxHeight = -100;
                            GridPT3[t_i].minHeight = -100;
                            nccresult[t_i].check_height_change = false;
                        }
                    }
                    else if(pyramid_step == 0)
                    {
                        if((abs((int)GridPT3[t_i].maxHeight - (int)GridPT3[t_i].minHeight) > th_height))
                        {
                            GridPT3[t_i].maxHeight = -100;
                            GridPT3[t_i].minHeight = -100;
                            nccresult[t_i].check_height_change = false;
                        }
                    }
                }
                else
                {
                    const int NumberofHeightVoxel = (int)((GridPT3[t_i].maxHeight - GridPT3[t_i].minHeight)/height_step);
                    //new search height
                    if(nccresult[t_i].NumOfHeight == 0 && NumberofHeightVoxel > 0)
                    {
                        change_step_min = 0;
                        change_step_max = 0;
                        nccresult[t_i].check_height_change = true;
                    }
                    else
                    {
                        //extension search height than GridPT3 (compare before and after search height)
                        if(nccresult[t_i].minHeight > GridPT3[t_i].minHeight || nccresult[t_i].maxHeight < GridPT3[t_i].maxHeight)
                        {
                            if(nccresult[t_i].minHeight > GridPT3[t_i].minHeight)
                                change_step_min = (int)((nccresult[t_i].minHeight - GridPT3[t_i].minHeight)/height_step + 0.5);
                            
                            if(nccresult[t_i].maxHeight < GridPT3[t_i].maxHeight)
                                change_step_max = (int)((GridPT3[t_i].maxHeight - nccresult[t_i].maxHeight)/height_step + 0.5);
                            
                            nccresult[t_i].minHeight = floor(nccresult[t_i].minHeight - change_step_min*height_step);
                            nccresult[t_i].maxHeight = ceil(nccresult[t_i].maxHeight + change_step_max*height_step);
                            
                            nccresult[t_i].check_height_change = true;
                            
                            if(pyramid_step == 0 && abs(nccresult[t_i].maxHeight - nccresult[t_i].minHeight) > th_height)
                                nccresult[t_i].check_height_change = false;
                        }
                        else
                        {
                            nccresult[t_i].check_height_change = false;
                        }
                    }
                }
                
                if(nccresult[t_i].check_height_change)
                {
                    nccresult[t_i].minHeight = floor(nccresult[t_i].minHeight - change_step_min*height_step);
                    nccresult[t_i].maxHeight = ceil(nccresult[t_i].maxHeight + change_step_max*height_step);
                    
                    const int NumberofHeightVoxel = (int)((float)(nccresult[t_i].maxHeight - nccresult[t_i].minHeight)/height_step);
                    
                    if(NumberofHeightVoxel > 0 )
                    {
                        if(nccresult[t_i].NumOfHeight > 0)
                        {
                            if(grid_voxel[t_i])
                                free(grid_voxel[t_i]);
                        }
                        
                        nccresult[t_i].NumOfHeight = NumberofHeightVoxel;
                        
                        grid_voxel[t_i] = (VOXEL*)calloc(sizeof(VOXEL),NumberofHeightVoxel);
                        
                        for(int h = 0 ; h < NumberofHeightVoxel ; h++)
                        {
                            grid_voxel[t_i][h].flag_cal = true;
                            grid_voxel[t_i][h].INCC = DoubleToSignedChar_voxel(-1);
                        }
                    }
                    else
                    {
                        if(nccresult[t_i].NumOfHeight > 0)
                        {
                            if(grid_voxel[t_i])
                                free(grid_voxel[t_i]);
                        }
                        
                        nccresult[t_i].NumOfHeight = 0;
                        nccresult[t_i].check_height_change = false;
                    }
                }
            }
            else
            {
                if(nccresult[t_i].NumOfHeight > 0)
                {
                    if(grid_voxel[t_i])
                        free(grid_voxel[t_i]);
                }
                
                nccresult[t_i].NumOfHeight = 0;
                nccresult[t_i].check_height_change = false;
            }
        }
        else
        {
            if(nccresult[t_i].NumOfHeight > 0)
            {
                if(grid_voxel[t_i])
                    free(grid_voxel[t_i]);
            }
            
            nccresult[t_i].NumOfHeight = 0;
            nccresult[t_i].check_height_change = false;
        }
        
        if((nccresult[t_i].minHeight == 0 || nccresult[t_i].maxHeight == 0))
        {
            if(nccresult[t_i].NumOfHeight > 0)
            {
                if(grid_voxel[t_i])
                    free(grid_voxel[t_i]);
            }
            
            nccresult[t_i].NumOfHeight = 0;
            nccresult[t_i].check_height_change = false;
        }
        
        if(pyramid_step == 0 && nccresult[t_i].NumOfHeight > 1000)
        {
            if(nccresult[t_i].NumOfHeight > 0)
            {
                if(grid_voxel[t_i])
                    free(grid_voxel[t_i]);
            }
            
            nccresult[t_i].NumOfHeight = 0;
            nccresult[t_i].check_height_change = false;
        }
    }

}

double SetNCC_alpha(const int Pyramid_step, const int iteration, bool IsRA)
{
    double ncc_alpha;
    
    if(Pyramid_step >= 4)
    {
        ncc_alpha = 1.0 - ((4-Pyramid_step)*0.2 + (iteration-1)*0.05);
        if(ncc_alpha < 0.8)
            ncc_alpha = 0.8;
    }
    else if(Pyramid_step >= 3)
    {
        ncc_alpha = 1.0 - ((4-Pyramid_step)*0.2 + (iteration-1)*0.05);
        if(ncc_alpha < 0.6)
            ncc_alpha = 0.6;
    }
    else if(Pyramid_step == 2)
    {
        ncc_alpha = 1.0 - (0.4 + (iteration-1)*0.05);
        if(ncc_alpha < 0.4)
            ncc_alpha = 0.4;
    }
    else
        ncc_alpha = 1.0 - ((4-Pyramid_step)*0.2 + (iteration-1)*0.05);
    
    if(ncc_alpha < 0.1)
        ncc_alpha = 0.1;
    
    if(IsRA == 1)
        ncc_alpha = 1.0;
    
    return ncc_alpha;
    
}

int VerticalLineLocus(VOXEL **grid_voxel,const ProInfo *proinfo, NCCresult* nccresult, LevelInfo &plevelinfo, const UGRID *GridPT3, const uint8 iteration, const double *minmaxHeight)
{
    const bool check_matchtag = proinfo->check_Matchtag;
    // const char* save_filepath = proinfo->save_filepath;
    const bool pre_DEMtif = proinfo->pre_DEMtif;
    const bool IsRA = proinfo->IsRA;
    long int Accessable_grid = 0;
    
    const int Pyramid_step = *(plevelinfo.Pyramid_step);
    int Template_size = *(plevelinfo.Template_size);
    if(Pyramid_step >= 1)
    {
        double template_area = 5.0;
        int t_Template_size = (int)((template_area/(proinfo->resolution*pwrtwo(Pyramid_step)))/2.0)*2+1;
        if(*(plevelinfo.Template_size) < t_Template_size)
            Template_size = t_Template_size;
        
        printf("VerticalLineLocus : t Template_size %d\t%d\n",t_Template_size,Template_size);
    }
    
    int Half_template_size = (int)(Template_size/2);
    const double subBoundary[4] = {plevelinfo.Boundary[0], plevelinfo.Boundary[1], plevelinfo.Boundary[2], plevelinfo.Boundary[3]};
    
    bool check_ortho = false;
    const int TH_N = 0;
    if(Pyramid_step == 3)
        Half_template_size = Half_template_size - 1;
    else if(Pyramid_step < 3)
        Half_template_size = Half_template_size - 2;
    
    const long int numofpts = *(plevelinfo.Grid_length);
    
    bool check_combined_WNCC = false;
    bool check_combined_WNCC_INCC = false;
    
    if(!IsRA && ((Pyramid_step > (*plevelinfo.Py_combined_level))))
        check_combined_WNCC = true;
    
    if(check_combined_WNCC && ( (Pyramid_step >= 1 && iteration%2 == 0) ) )
        check_combined_WNCC_INCC = true;
    
    printf("check_combined_WNCC %d\tcheck_combined_WNCC_INCC %d\n",check_combined_WNCC,check_combined_WNCC_INCC);
    
    double im_resolution_next = proinfo->resolution;
    double im_resolution = proinfo->resolution;
    if(check_combined_WNCC)
        im_resolution_next = proinfo->resolution*pwrtwo(Pyramid_step-1);
    
    im_resolution = proinfo->resolution*pwrtwo(Pyramid_step);
    
    
    if((Pyramid_step == 4 && iteration == 1) || IsRA == true)
        check_ortho = false;
    else
        check_ortho = true;
    
    if(pre_DEMtif && !(Pyramid_step == 4 && iteration == 1))
        check_ortho = true;
    
    if(check_matchtag)
        check_ortho = true;
    
    if(Pyramid_step <= proinfo->SGM_py)
        check_ortho = false;
    
    //orthoimage pixel information save
    D2DPOINT **all_im_cd = NULL;
    D2DPOINT **all_im_cd_next = NULL;
    
    long int sub_imagesize_w, sub_imagesize_h;
    long int sub_imagesize_w_next, sub_imagesize_h_next;
    
    if(check_ortho)
    {
        all_im_cd = (D2DPOINT**)malloc(sizeof(D2DPOINT*)*proinfo->number_of_images);
        
        if(check_combined_WNCC)
            all_im_cd_next = (D2DPOINT**)malloc(sizeof(D2DPOINT*)*proinfo->number_of_images);
        
        SetOrthoImageCoord(proinfo, plevelinfo, GridPT3, check_combined_WNCC, OR, im_resolution, im_resolution_next, sub_imagesize_w, sub_imagesize_h, sub_imagesize_w_next, sub_imagesize_h_next, all_im_cd, all_im_cd_next);
    }
    
    const double ncc_alpha = SetNCC_alpha(Pyramid_step,iteration, IsRA);
    const double ncc_beta = 1.0 - ncc_alpha;
        
    //int sum_data2 = 0;
    //int sum_data = 0;
    const int reference_id = plevelinfo.reference_id;
    const double ortho_th = 0.7 - (4 - Pyramid_step)*0.10;
    
#pragma omp parallel
    {
        SetKernel rsetkernel(reference_id,1,Half_template_size);
        SetKernel rsetkernel_next(reference_id,1,Half_template_size);
        
#pragma omp for schedule(dynamic,1) reduction(+:Accessable_grid/*,sum_data2, sum_data*/)
        for(long int iter_count = 0 ; iter_count < numofpts ; iter_count++)
        {
            long int pts_row = (long int)(floor(iter_count/plevelinfo.Size_Grid2D->width));
            // long int pts_col = iter_count % plevelinfo.Size_Grid2D->width;
            long int pt_index = iter_count;//pts_row*(long int)plevelinfo.Size_Grid2D->width + pts_col;
            
            /*
            if(nccresult[pt_index].check_height_change)
                sum_data2++;
            else
                sum_data++;
            */
            const int start_H     = GridPT3[pt_index].minHeight;
            const int end_H       = GridPT3[pt_index].maxHeight;
     
            if(check_image_boundary(proinfo,plevelinfo,plevelinfo.GridPts[pt_index],plevelinfo.Grid_wgs[pt_index],start_H,end_H,Half_template_size))
            {
                bool check_blunder_cell = false;
                double th_height = 1000;
                if(proinfo->DEM_resolution <= 4)
                    th_height = 500;
                
                if ( Pyramid_step >= 2)
                    check_blunder_cell = false;
                else
                {
                    if(GridPT3[pt_index].Matched_flag == 0)
                        check_blunder_cell = true;
                    else if( GridPT3[pt_index].Matched_flag != 0)
                    {
                        if(Pyramid_step == 1)
                        {
                            if((abs(GridPT3[pt_index].maxHeight - GridPT3[pt_index].minHeight) < th_height))
                                check_blunder_cell = false;
                            else
                                check_blunder_cell = true;
                        }
                        else if((abs(GridPT3[pt_index].maxHeight - GridPT3[pt_index].minHeight) < th_height))
                            check_blunder_cell = false;
                        else
                            check_blunder_cell = true;
                    }
                    else
                        check_blunder_cell = true;
                }
                
                if(Pyramid_step <= 1)
                {
                    if(GridPT3[pt_index].maxHeight > minmaxHeight[1] || GridPT3[pt_index].minHeight < minmaxHeight[0])
                        check_blunder_cell = true;
                }
                
                if(check_matchtag && iteration  <= 2)
                {
                    check_blunder_cell = false;
                    if(GridPT3[pt_index].maxHeight > minmaxHeight[1] || GridPT3[pt_index].minHeight < minmaxHeight[0])
                        check_blunder_cell = true;
                    else if( (abs(GridPT3[pt_index].maxHeight - GridPT3[pt_index].minHeight) > th_height) )
                        check_blunder_cell = true;
                }
                
                if(!check_blunder_cell)
                {
                    for(int ti = 1 ; ti < proinfo->number_of_images ; ti ++)
                    {
                        if(proinfo->check_selected_image[ti])
                        {
                            double sum_GNCC_multi = 0; //peak find
                            double count_GNCC = 0;//peak find
                            Accessable_grid ++;
                            
                            rsetkernel.ti = ti;
                            rsetkernel_next.ti = ti;

                            KernelPatchArg patch{
                                rsetkernel,
                                plevelinfo.py_Sizes[rsetkernel.reference_id][*plevelinfo.Pyramid_step],
                                plevelinfo.py_Sizes[rsetkernel.ti][*plevelinfo.Pyramid_step],
                                plevelinfo.py_Images[rsetkernel.reference_id],
                                plevelinfo.py_MagImages[rsetkernel.reference_id],
                                plevelinfo.py_Images[rsetkernel.ti],
                                plevelinfo.py_MagImages[rsetkernel.ti]};

                            KernelPatchArg patch_next = check_combined_WNCC ?
                                KernelPatchArg{
                                    rsetkernel_next,
                                    plevelinfo.py_Sizes[rsetkernel_next.reference_id][*plevelinfo.Pyramid_step-1],
                                    plevelinfo.py_Sizes[rsetkernel_next.ti][*plevelinfo.Pyramid_step-1],
                                    plevelinfo.py_Images_next[rsetkernel_next.reference_id],
                                    plevelinfo.py_MagImages_next[rsetkernel_next.reference_id],
                                    plevelinfo.py_Images_next[rsetkernel_next.ti],
                                    plevelinfo.py_MagImages_next[rsetkernel_next.ti]}
                                : KernelPatchArg{rsetkernel_next,}; // unused, bit need to init ref type

                            
                            //GNCC computation
                            if(check_ortho && SignedCharToDouble_grid(GridPT3[pt_index].ortho_ncc[ti]) > ortho_th)
                            {
                                int Count_N_ortho[3] = {0};
                                int Count_N_ortho_next[3] = {0};
                                
                                for(int row = -Half_template_size; row <= Half_template_size ; row++)
                                {
                                    for(int col = -Half_template_size; col <= Half_template_size ; col++)
                                    {
                                        const int radius2  =  row*row + col*col;
                                        if(radius2 <= (Half_template_size+1)*(Half_template_size+1))
                                        {
                                            const double t_X     = plevelinfo.GridPts[pt_index].m_X + col*im_resolution;
                                            const double t_Y     = plevelinfo.GridPts[pt_index].m_Y + row*im_resolution;
                                            
                                            long int t_col   = (long int)((t_X - subBoundary[0])/im_resolution);
                                            long int t_row   = (long int)((t_Y - subBoundary[1])/im_resolution);
                                            long int pt_index_temp = t_row*sub_imagesize_w + t_col;
                                            
                                            const long int tt_col  = (long int)((t_X - subBoundary[0])/(*plevelinfo.grid_resolution));
                                            const long int tt_row  = (long int)((t_Y - subBoundary[1])/(*plevelinfo.grid_resolution));
                                            const long int pt_index_dem  = tt_row*(long int)plevelinfo.Size_Grid2D->width + tt_col;
                                            
                                            if(pt_index_temp >= 0 && pt_index_temp < sub_imagesize_w *sub_imagesize_h && t_col >= 0 && t_col < sub_imagesize_w && t_row >=0 && t_row < sub_imagesize_h && pt_index_dem >= 0 && pt_index_dem < numofpts && tt_col >= 0 && tt_col < plevelinfo.Size_Grid2D->width && tt_row >=0 && tt_row < plevelinfo.Size_Grid2D->height && all_im_cd[reference_id] != NULL && all_im_cd[ti] != NULL)
                                            {
                                                if(GridPT3[pt_index_dem].Height != -1000)
                                                {
                                                    D2DPOINT &pos_left = all_im_cd[reference_id][pt_index_temp];
                                                    D2DPOINT &pos_right = all_im_cd[ti][pt_index_temp];
                                                    
                                                    SetVecKernelValue(patch, row, col, pos_left,pos_right, radius2, Count_N_ortho);
                                                    
                                                    if(check_combined_WNCC)
                                                    {
                                                        t_col   = (long int)((t_X - subBoundary[0])/im_resolution_next);
                                                        t_row   = (long int)((t_Y - subBoundary[1])/im_resolution_next);
                                                        pt_index_temp = t_row*sub_imagesize_w_next + t_col;
                                                        
                                                        if(pt_index_temp >= 0 && pt_index_temp < sub_imagesize_w_next*sub_imagesize_h_next && t_col < sub_imagesize_w_next && t_row < sub_imagesize_h_next)
                                                        {
                                                            auto &pos_left  = all_im_cd_next[reference_id][pt_index_temp];
                                                            auto &pos_right = all_im_cd_next[ti][pt_index_temp];
                                                            
                                                            SetVecKernelValue(patch_next, row, col, pos_left,pos_right, radius2, Count_N_ortho_next);
                                                        }
                                                    }
                                                }
                                            }
                                        }  // if(radius2 <= ...
                                    }  // end col loop
                                }  // end row loop
                                
                                // Compute correlations
                                ComputeMultiNCC(rsetkernel, TH_N, Count_N_ortho, count_GNCC,  sum_GNCC_multi);
                                
                                if(check_combined_WNCC)
                                    ComputeMultiNCC(rsetkernel_next, TH_N, Count_N_ortho_next, count_GNCC,  sum_GNCC_multi);
                                
                                if(count_GNCC > 0)
                                    nccresult[pt_index].GNCC = DoubleToSignedChar_result(sum_GNCC_multi/count_GNCC);
                                else
                                    nccresult[pt_index].GNCC = DoubleToSignedChar_result(-1.0);
                            }  // if(check_ortho && GridPT3[pt_index].ortho_ncc[ti] > ortho_th)
                            else
                                nccresult[pt_index].GNCC = DoubleToSignedChar_result(-1.0);
                            
                            //INCC computation
                            const int NumOfHeights = (int)((end_H -  start_H)/(*plevelinfo.height_step));
                            if(IsRA || (*plevelinfo.check_matching_rate))
                            {
                                nccresult[pt_index].check_height_change = true;
                                nccresult[pt_index].NumOfHeight = NumOfHeights;
                            }
                            
                            if( IsRA || (*plevelinfo.check_matching_rate) || nccresult[pt_index].check_height_change || (Pyramid_step == 0 && proinfo->DEM_resolution < 2))
                            {
                                double pre_rho  = -1.0;
                                float pre_height= 0.0;
                                int direction   = 0;
                                bool check_rho  = false;
                                double max_WNCC = -100;
                                
                                nccresult[pt_index].result0 = DoubleToSignedChar_result(-1.0);
                                nccresult[pt_index].result2 = -1000;
                                nccresult[pt_index].result1 = DoubleToSignedChar_result(-1.0);
                                nccresult[pt_index].result3 = -1000;
                                nccresult[pt_index].result4 = 0;
                            
                                for(int grid_voxel_hindex = 0 ; grid_voxel_hindex < nccresult[pt_index].NumOfHeight ; grid_voxel_hindex++)
                                {
                                    float iter_height;
                                    
                                    if(IsRA || (*plevelinfo.check_matching_rate ))
                                        iter_height = start_H + grid_voxel_hindex*(*plevelinfo.height_step);
                                    else
                                        iter_height = nccresult[pt_index].minHeight + grid_voxel_hindex*(*plevelinfo.height_step);
                                    
                                    if(iter_height >= start_H && iter_height <= end_H)
                                    {
                                        const CSize LImagesize(plevelinfo.py_Sizes[reference_id][Pyramid_step]);
                                        const CSize RImagesize(plevelinfo.py_Sizes[ti][Pyramid_step]);
                                        
                                        // Image point setting
                                        const double temp_LIA[2] = {plevelinfo.ImageAdjust[reference_id][0], plevelinfo.ImageAdjust[reference_id][1]};
                                        
                                        D2DPOINT Ref_Imagecoord[1], Ref_Imagecoord_py[1];
                                        D2DPOINT Tar_Imagecoord[1], Tar_Imagecoord_py[1];
                                        D3DPOINT temp_GP[1];
                                        D2DPOINT photo;
                                        temp_GP[0].m_Z = (double)iter_height;
                                        if(proinfo->sensor_type == SB)
                                        {
                                            temp_GP[0] = plevelinfo.Grid_wgs[pt_index];
                                            
                                            Ref_Imagecoord[0]      = GetObjectToImageRPC_single(plevelinfo.RPCs[reference_id],*plevelinfo.NumOfIAparam,temp_LIA,temp_GP[0]);
                                            
                                            Tar_Imagecoord[0]     = GetObjectToImageRPC_single(plevelinfo.RPCs[ti],*plevelinfo.NumOfIAparam,plevelinfo.ImageAdjust[ti],temp_GP[0]);
                                        }
                                        else
                                        {
                                            temp_GP[0] = plevelinfo.GridPts[pt_index];
                                            
                                            photo = GetPhotoCoordinate_single(temp_GP[0],proinfo->frameinfo.Photoinfo[reference_id],proinfo->frameinfo.m_Camera,proinfo->frameinfo.Photoinfo[reference_id].m_Rm);
                                            Ref_Imagecoord[0] = PhotoToImage_single(photo,proinfo->frameinfo.m_Camera.m_CCDSize,proinfo->frameinfo.m_Camera.m_ImageSize);
                                            
                                            photo = GetPhotoCoordinate_single(temp_GP[0],proinfo->frameinfo.Photoinfo[ti],proinfo->frameinfo.m_Camera,proinfo->frameinfo.Photoinfo[ti].m_Rm);
                                            Tar_Imagecoord[0] = PhotoToImage_single(photo,proinfo->frameinfo.m_Camera.m_CCDSize,proinfo->frameinfo.m_Camera.m_ImageSize);
                                        }
                                        
                                        Ref_Imagecoord_py[0]   = OriginalToPyramid_single(Ref_Imagecoord[0],plevelinfo.py_Startpos[reference_id],Pyramid_step);
                                        Tar_Imagecoord_py[0]  = OriginalToPyramid_single(Tar_Imagecoord[0],plevelinfo.py_Startpos[ti],Pyramid_step);
                                        
                                        const bool check_py_image_pt = (int)Ref_Imagecoord_py[0].m_Y >= 0 && (int)Ref_Imagecoord_py[0].m_Y + 1 < LImagesize.height && (int)Ref_Imagecoord_py[0].m_X >= 0 && (int)Ref_Imagecoord_py[0].m_X + 1 < LImagesize.width && (int)Tar_Imagecoord_py[0].m_Y >= 0 && (int)Tar_Imagecoord_py[0].m_Y + 1 < RImagesize.height && (int)Tar_Imagecoord_py[0].m_X >= 0 && (int)Tar_Imagecoord_py[0].m_X + 1< RImagesize.width;
                                        
                                        // image point setting for next level
                                        bool check_py_image_pt_next = true;
                                        D2DPOINT Ref_Imagecoord_py_next[1];
                                        CSize LImagesize_next, RImagesize_next;
                                        D2DPOINT Tar_Imagecoord_py_next[1];
                                        if(check_combined_WNCC_INCC)
                                        {
                                            LImagesize_next = plevelinfo.py_Sizes[reference_id][Pyramid_step-1];
                                            RImagesize_next = plevelinfo.py_Sizes[ti][Pyramid_step-1];
                                            
                                            Ref_Imagecoord_py_next[0]   = OriginalToPyramid_single(Ref_Imagecoord[0],plevelinfo.py_Startpos_next[reference_id],Pyramid_step-1);
                                            
                                            Tar_Imagecoord_py_next[0]  = OriginalToPyramid_single(Tar_Imagecoord[0],plevelinfo.py_Startpos_next[ti],Pyramid_step-1);
                                            
                                            check_py_image_pt_next = (int)Ref_Imagecoord_py_next[0].m_Y >= 0 && (int)Ref_Imagecoord_py_next[0].m_Y + 1 < LImagesize_next.height && (int)Ref_Imagecoord_py_next[0].m_X >= 0 && (int)Ref_Imagecoord_py_next[0].m_X + 1 < LImagesize_next.width && (int)Tar_Imagecoord_py_next[0].m_Y >= 0 && (int)Tar_Imagecoord_py_next[0].m_Y + 1 < RImagesize_next.height && (int)Tar_Imagecoord_py_next[0].m_X >= 0 && (int)Tar_Imagecoord_py_next[0].m_X + 1< RImagesize_next.width;
                                        }
                                        
                                        if(check_py_image_pt && check_py_image_pt_next)
                                        {
                                            //orientation diff setting
                                            const int ori_diff = plevelinfo.py_OriImages[reference_id][(int)Ref_Imagecoord_py[0].m_Y*LImagesize.width + (int)Ref_Imagecoord_py[0].m_X] - plevelinfo.py_OriImages[ti][(int)Tar_Imagecoord_py[0].m_Y*RImagesize.width + (int)Tar_Imagecoord_py[0].m_X];
                                            
                                            int ori_diff_next = 0;
                                            if(check_combined_WNCC_INCC)
                                                ori_diff_next = plevelinfo.py_OriImages_next[reference_id][(int)Ref_Imagecoord_py_next[0].m_Y*LImagesize_next.width + (int)Ref_Imagecoord_py_next[0].m_X] - plevelinfo.py_OriImages_next[ti][(int)Tar_Imagecoord_py_next[0].m_Y*RImagesize_next.width + (int)Tar_Imagecoord_py_next[0].m_X];
                                            
                                            double diff_theta  = (double)(ori_diff);
                                            if(check_combined_WNCC_INCC)
                                                diff_theta = (diff_theta + (double)(ori_diff_next)) / 2.0;
                                            
                                            bool check_orientation = false;
                                            
                                            if(IsRA != 1)
                                            {
                                                if(Pyramid_step >= 3 && diff_theta*(*plevelinfo.bin_angle) < 90 && diff_theta*(*plevelinfo.bin_angle) > - 90)
                                                    check_orientation = true;
                                                else if(Pyramid_step <= 2)
                                                    check_orientation = true;
                                            }
                                            else
                                                check_orientation = true;
                                            
                                            //INCC computation
                                            if(check_orientation)
                                            {
                                                double sum_INCC_multi = 0;
                                                double count_INCC = 0;
                                                int Count_N[3] = {0};
                                                int Count_N_next[3] = {0};
                                                
                                                const double rot_theta = (double)(diff_theta*(*plevelinfo.bin_angle)*PI/180.0);
                                                const double cos0 = cos(-rot_theta);
                                                const double sin0 = sin(-rot_theta);
                                                
                                                for(int row = -Half_template_size; row <= Half_template_size ; row++)
                                                {
                                                    for(int col = -Half_template_size; col <= Half_template_size ; col++)
                                                    {
                                                        int radius2  =  row*row + col*col;
                                                        if(radius2 <= (Half_template_size + 1)*(Half_template_size + 1))
                                                        {
                                                            D2DPOINT pos_left(Ref_Imagecoord_py[0].m_X + col,Ref_Imagecoord_py[0].m_Y + row);
                                                            D2DPOINT temp_pos(cos0*col - sin0*row, sin0*col + cos0*row);
                                                            D2DPOINT pos_right(Tar_Imagecoord_py[0].m_X + temp_pos.m_X,Tar_Imagecoord_py[0].m_Y + temp_pos.m_Y);
                                                            
                                                            SetVecKernelValue(patch, row, col, pos_left,pos_right, radius2, Count_N);
                                                            
                                                            if(check_combined_WNCC_INCC)
                                                            {
                                                                D2DPOINT pos_left_next(Ref_Imagecoord_py_next[0].m_X + col,Ref_Imagecoord_py_next[0].m_Y + row);
                                                                D2DPOINT temp_pos_next(cos0*col - sin0*row, sin0*col + cos0*row);
                                                                D2DPOINT pos_right_next(Tar_Imagecoord_py_next[0].m_X + temp_pos_next.m_X,Tar_Imagecoord_py_next[0].m_Y + temp_pos_next.m_Y);
                                                                
                                                                SetVecKernelValue(patch_next, row, col, pos_left_next,pos_right_next, radius2, Count_N_next);
                                                                
                                                            }  // if(check_combined_WNCC_INCC)
                                                        }
                                                    }  // end col loop
                                                }  // end row loop
                                                
                                                // Compute correlations
                                                ComputeMultiNCC(rsetkernel, TH_N, Count_N, count_INCC,  sum_INCC_multi);
                                                if(Count_N[0] > TH_N && Count_N[1] > TH_N && Count_N[2] > TH_N)
                                                {
                                                    if(!(*plevelinfo.check_matching_rate) && !IsRA)
                                                        grid_voxel[pt_index][grid_voxel_hindex].flag_cal = true;
                                                }
                                                
                                                if(check_combined_WNCC_INCC)
                                                    ComputeMultiNCC(rsetkernel_next, TH_N, Count_N_next, count_INCC,  sum_INCC_multi);
                                                
                                                //printf("sum_INCC_multi %f\n",sum_INCC_multi);
                                                
                                                if(IsRA || (*plevelinfo.check_matching_rate )) //no 3D Voxel structure
                                                {
                                                    
                                                }
                                                else
                                                {
                                                    if(count_INCC > 0)
                                                        grid_voxel[pt_index][grid_voxel_hindex].INCC = DoubleToSignedChar_voxel(sum_INCC_multi/count_INCC);
                                                    else
                                                        grid_voxel[pt_index][grid_voxel_hindex].INCC = DoubleToSignedChar_voxel(-1.0);
                                                }
                                                
                                                
                                                double temp_rho;
                                                if(check_ortho && count_GNCC > 0) // GNCC check
                                                    temp_rho = sum_INCC_multi/count_INCC*ncc_alpha + sum_GNCC_multi/count_GNCC*ncc_beta;
                                                else
                                                {
                                                    if(count_INCC > 0)
                                                        temp_rho = sum_INCC_multi/count_INCC;
                                                    else
                                                        temp_rho = -1.0;
                                                }
                                                
                                                if(max_WNCC < temp_rho)
                                                    max_WNCC = temp_rho;
                                                
                                                //find peak position
                                                if(*plevelinfo.check_matching_rate)
                                                {
                                                    FindPeakNcc(*plevelinfo.Pyramid_step, iteration, pt_index, temp_rho, iter_height, check_rho, pre_rho, pre_height, direction, max_WNCC, nccresult);
                                                }
                                            }
                                            else
                                            {
                                                if(!(*plevelinfo.check_matching_rate) && !IsRA)
                                                    grid_voxel[pt_index][grid_voxel_hindex].flag_cal = false;
                                            }
                                        }
                                    }//end iter_height loop
                                }// end grid_voxel_hindex loop
                                if(nccresult[pt_index].check_height_change)
                                    nccresult[pt_index].max_WNCC = DoubleToSignedChar_result(max_WNCC);
                            }//end INCC computation
                        }
                    }  // end ti loop
                }//end check blunder cell
            }//end check_image_boundary
        } // end omp for
    } // end omp parallel
    
    //printf("check height cell %d\t%d\t%d\t%f\t%f\n",sum_data2,sum_data,sum_data2+sum_data,(double)sum_data2/(double)(sum_data2+sum_data)*100,(double)sum_data/(double)(sum_data2+sum_data)*100);
    
    if(check_ortho)
    {
        for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
        {
            if(proinfo->check_selected_image[ti])
            {
                if(all_im_cd[ti])
                    free(all_im_cd[ti]);
                
                if(check_combined_WNCC)
                {
                    if(all_im_cd_next[ti])
                        free(all_im_cd_next[ti]);
                }
            }
        }
        
        if (all_im_cd)
            free(all_im_cd);
        if(check_combined_WNCC)
        {
            if (all_im_cd_next)
                free(all_im_cd_next);
        }
    }
    
    return Accessable_grid;
}  // end VerticalLineLocus

void SetOrthoImageCoord(const ProInfo *proinfo, LevelInfo &plevelinfo, const UGRID *GridPT3, const bool check_combined_WNCC, enum PyImageSelect check_pyimage, const double im_resolution, const double im_resolution_next, long int &sub_imagesize_w, long int &sub_imagesize_h, long int &sub_imagesize_w_next, long int &sub_imagesize_h_next, D2DPOINT **all_im_cd, D2DPOINT **all_im_cd_next)
{
    sub_imagesize_w = (long int)((plevelinfo.Boundary[2] - plevelinfo.Boundary[0])/im_resolution)+1;
    sub_imagesize_h = (long int)((plevelinfo.Boundary[3] - plevelinfo.Boundary[1])/im_resolution)+1;
    
    if(check_combined_WNCC)
    {
        sub_imagesize_w_next = (long int)((plevelinfo.Boundary[2] - plevelinfo.Boundary[0])/im_resolution_next)+1;
        sub_imagesize_h_next = (long int)((plevelinfo.Boundary[3] - plevelinfo.Boundary[1])/im_resolution_next)+1;
    }
    
    const long int sub_imagesize_total = (long int)sub_imagesize_w * (long int)sub_imagesize_h;
    long int sub_imagesize_total_next;
    if(check_combined_WNCC)
        sub_imagesize_total_next = (long int)sub_imagesize_w_next * (long int)sub_imagesize_h_next;
    
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
    {
        if(proinfo->check_selected_image[ti])
        {
            all_im_cd[ti] = (D2DPOINT*)calloc(sizeof(D2DPOINT),sub_imagesize_total);
            if (all_im_cd[ti] == NULL)
            {
                printf("ERROR: Out of memory - all_left_im_cd is NULL\n");
                exit(1);
            }
            
            if(check_combined_WNCC)
            {
                all_im_cd_next[ti] = (D2DPOINT*)calloc(sizeof(D2DPOINT),sub_imagesize_total_next);
                if (all_im_cd_next[ti] == NULL)
                {
                    printf("ERROR: Out of memory - all_left_im_cd_next is NULL\n");
                    exit(1);
                }
            }
        }
    }
    
#pragma omp parallel for schedule(guided)
    for(long int iter_count = 0 ; iter_count < sub_imagesize_total ; iter_count++)
    {
        long int pts_row = (long int)(floor(iter_count/sub_imagesize_w));
        long int pts_col = iter_count % sub_imagesize_w;
        
        double t_X     = plevelinfo.Boundary[0] + pts_col*im_resolution;
        double t_Y     = plevelinfo.Boundary[1] + pts_row*im_resolution;
        
        long int t_col   = (long int)((t_X - plevelinfo.Boundary[0])/(*plevelinfo.grid_resolution));
        long int t_row   = (long int)((t_Y - plevelinfo.Boundary[1])/(*plevelinfo.grid_resolution));
        
        long int pt_index    = t_row*(long int)plevelinfo.Size_Grid2D->width + t_col;
        long int pt_index_im = pts_row*(long int)sub_imagesize_w + pts_col;
        
        
        long int t_col_next, t_row_next;
        long int pt_index_im_next;
        if(check_combined_WNCC)
        {
            t_col_next   = (long int)((t_X - plevelinfo.Boundary[0])/im_resolution_next);
            t_row_next   = (long int)((t_Y - plevelinfo.Boundary[1])/im_resolution_next);
            
            pt_index_im_next = t_row_next*(long int)sub_imagesize_w_next + t_col_next;
        }
        
        if(pt_index < *plevelinfo.Grid_length && t_col < plevelinfo.Size_Grid2D->width && t_row < plevelinfo.Size_Grid2D->height)
        {
            if(GridPT3[pt_index].Height != -1000)
            {
                D3DPOINT temp_GP;
                D2DPOINT temp_GP_p;
                
                if(proinfo->sensor_type == SB)
                {
                    temp_GP_p.m_X = t_X;
                    temp_GP_p.m_Y = t_Y;
                    
                    temp_GP     = ps2wgs_single(*plevelinfo.param,temp_GP_p);
                }
                else
                {
                    temp_GP.m_X   = t_X;
                    temp_GP.m_Y   = t_Y;
                }
                temp_GP.m_Z   = (double)GridPT3[pt_index].Height;
                
                for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                    {
                        D2DPOINT Imagecoord;
                        D2DPOINT Imagecoord_py;
                        if(proinfo->sensor_type == SB)
                            Imagecoord      = GetObjectToImageRPC_single(plevelinfo.RPCs[ti],*plevelinfo.NumOfIAparam,plevelinfo.ImageAdjust[ti],temp_GP);
                        else
                        {
                            D2DPOINT photo  = GetPhotoCoordinate_single(temp_GP,proinfo->frameinfo.Photoinfo[ti],proinfo->frameinfo.m_Camera,proinfo->frameinfo.Photoinfo[ti].m_Rm);
                            Imagecoord      = PhotoToImage_single(photo, proinfo->frameinfo.m_Camera.m_CCDSize, proinfo->frameinfo.m_Camera.m_ImageSize);
                        }
                        
                        if(check_pyimage == OR)
                            Imagecoord_py  = OriginalToPyramid_single(Imagecoord,plevelinfo.py_Startpos[ti],*plevelinfo.Pyramid_step);
                        else
                            Imagecoord_py  = OriginalToPyramid_single(Imagecoord,plevelinfo.py_BStartpos[ti],*plevelinfo.blunder_selected_level);
                        
                        all_im_cd[ti][pt_index_im] = Imagecoord_py;
                        
                        if(check_combined_WNCC)
                        {
                            Imagecoord_py  = OriginalToPyramid_single(Imagecoord,plevelinfo.py_Startpos_next[ti],*plevelinfo.Pyramid_step - 1);
                            if(pt_index_im_next < sub_imagesize_w_next*sub_imagesize_h_next && t_col_next < sub_imagesize_w_next && t_row_next < sub_imagesize_h_next)
                            {
                                all_im_cd_next[ti][pt_index_im_next] = Imagecoord_py;
                            }
                        }
                    }
                }
            }
        }
    }
}

void FindPeakNcc(const int Pyramid_step, const int iteration, const long int grid_index, const double temp_rho, const float iter_height, bool &check_rho, double &pre_rho, float &pre_height, int &direction, double &max_WNCC, NCCresult *nccresult)
{
    double diff_rho;
    int t_direction;
    if(temp_rho >= 0 && pre_rho >= 0)
        diff_rho = temp_rho - pre_rho;
    else if(temp_rho < 0 && pre_rho < 0)
        diff_rho = -(fabs(temp_rho) - fabs(pre_rho));
    else if(temp_rho >= 0 && pre_rho < 0)
        diff_rho = 1;
    else
        diff_rho = -1;
    
    if(diff_rho > 0)
        t_direction = 1;
    else if(diff_rho < 0)
        t_direction = -1;
    else
        t_direction = 0;
    
    if(!check_rho)
    {
        check_rho   = true;
        t_direction = -1;
    }
    else if(pre_rho != -1)
    {
        bool check_peak = false;
        
        if (Pyramid_step == 0 && iteration == 3)
        {
            if(direction > 0 && t_direction < 0 )
                check_peak = true;
        }
        else if(Pyramid_step == 4 && iteration < 3)
        {
            if (direction > 0 && t_direction < 0)
                check_peak = true;
        }
        else
        {
            if (direction > 0 && t_direction < 0)
                check_peak = true;
        }
        
        if( check_peak )
        {
            if(nccresult[grid_index].result4 < 10)
                nccresult[grid_index].result4 += 1;
            if(nccresult[grid_index].result0 < DoubleToSignedChar_result(pre_rho))
            {
                double temp_1 = SignedCharToDouble_result(nccresult[grid_index].result0);
                nccresult[grid_index].result0 = DoubleToSignedChar_result(pre_rho);
                
                float temp_2 = nccresult[grid_index].result2;
                nccresult[grid_index].result2 = pre_height;
                
                if(nccresult[grid_index].result1 < DoubleToSignedChar_result(temp_1))
                {
                    nccresult[grid_index].result1 = DoubleToSignedChar_result(temp_1);
                    nccresult[grid_index].result3 = temp_2;
                }
            }
            else
            {
                if(nccresult[grid_index].result1 < DoubleToSignedChar_result(pre_rho))
                {
                    nccresult[grid_index].result1 = DoubleToSignedChar_result(pre_rho);
                    nccresult[grid_index].result3 = pre_height;
                }
            }
        }
    }
    
    pre_rho                = temp_rho;
    pre_height             = iter_height;
    direction              = t_direction;
    
    if(max_WNCC < temp_rho)
        max_WNCC = temp_rho;
}


void SGM_start_pos(NCCresult *nccresult, VOXEL** grid_voxel, UGRID *GridPT3, long pt_index, float* LHcost_pre,float **SumCost, double height_step_interval)
{
    for(int height_step = 0 ; height_step < nccresult[pt_index].NumOfHeight ; height_step++)
    {
        float iter_height = nccresult[pt_index].minHeight + height_step*height_step_interval;//
        if(iter_height >= GridPT3[pt_index].minHeight && iter_height <= GridPT3[pt_index].maxHeight)
        {
            double WNCC_sum = SignedCharToDouble_voxel(grid_voxel[pt_index][height_step].INCC);
            LHcost_pre[height_step] = WNCC_sum;
            SumCost[pt_index][height_step] += LHcost_pre[height_step];
        }
    }
}

void SGM_con_pos(int pts_col, int pts_row, CSize Size_Grid2D, int direction_iter, double step_height, int P_HS_step, int *u_col, int *v_row, NCCresult *nccresult, VOXEL** grid_voxel,UGRID *GridPT3, long pt_index, double P1, double P2, float* LHcost_pre, float* LHcost_curr, float **SumCost)
{
    for(int height_step = 0 ; height_step < nccresult[pt_index].NumOfHeight ; height_step++)
    {
        const float iter_height = nccresult[pt_index].minHeight + height_step*step_height;
        double WNCC_sum = 0;
        if(iter_height >= GridPT3[pt_index].minHeight && iter_height <= GridPT3[pt_index].maxHeight)
        {
            WNCC_sum = SignedCharToDouble_voxel(grid_voxel[pt_index][height_step].INCC);
            double t_WNCC_sum;
            
            const int t_col = pts_col + u_col[direction_iter];
            const int t_row = pts_row + v_row[direction_iter];
            const int t_index = t_row*Size_Grid2D.width + t_col;
            
            float maxWNCC = SignedCharToDouble_result(nccresult[t_index].max_WNCC);
            
            if(t_col >= 0 && t_col < Size_Grid2D.width && t_row >= 0 && t_row < Size_Grid2D.height)
            {
                const int t_index_h_index   = (int)((iter_height - nccresult[t_index].minHeight)/step_height);
                const int t_index_h_index_1 = (int)((iter_height - nccresult[t_index].minHeight)/step_height) - P_HS_step;
                const int t_index_h_index_2 = (int)((iter_height - nccresult[t_index].minHeight)/step_height) + P_HS_step;
                double V1 = 0;
                double V2 = 0;
                double V3 = 0;
                double V4 = 0;
                
                if(t_index_h_index == 0 && t_index_h_index_2 >= 0 && t_index_h_index_2 < nccresult[t_index].NumOfHeight)
                {
                    if(grid_voxel[t_index][t_index_h_index].flag_cal && grid_voxel[t_index][t_index_h_index_2].flag_cal)
                    {
                        V2 = LHcost_pre[t_index_h_index_2] - P1;
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value23 = V2 > V3 ? V2 : V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index].flag_cal)
                    {
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value = V3 > V4 ? V3 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index_2].flag_cal)
                    {
                        V2 = LHcost_pre[t_index_h_index_2] - P1;
                        V4 = maxWNCC - P2;
                        
                        double max_value = V2 > V4 ? V2 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else
                    {
                        V4 = maxWNCC - P2;
                        
                        double max_value = V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                }
                else if(t_index_h_index == nccresult[t_index].NumOfHeight - 1 && t_index_h_index_1 >= 0 && t_index_h_index_1 < nccresult[t_index].NumOfHeight)
                {
                    if(grid_voxel[t_index][t_index_h_index].flag_cal && grid_voxel[t_index][t_index_h_index_1].flag_cal)
                    {
                        V1 = LHcost_pre[t_index_h_index_1] - P1;
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value23 = V1 > V3 ? V1 : V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index].flag_cal)
                    {
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value = V3 > V4 ? V3 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index_1].flag_cal)
                    {
                        V1 = LHcost_pre[t_index_h_index_1] - P1;
                        V4 = maxWNCC - P2;
                        
                        double max_value = V1 > V4 ? V1 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else
                    {
                        V4 = maxWNCC - P2;
                        
                        double max_value = V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                }
                else if(t_index_h_index   > 0 && t_index_h_index   < nccresult[t_index].NumOfHeight - 1 &&
                        t_index_h_index_1 >= 0 && t_index_h_index_1 < nccresult[t_index].NumOfHeight &&
                        t_index_h_index_2 >= 0 && t_index_h_index_2 < nccresult[t_index].NumOfHeight )
                {
                    
                    if(grid_voxel[t_index][t_index_h_index].flag_cal && grid_voxel[t_index][t_index_h_index_1].flag_cal
                       && grid_voxel[t_index][t_index_h_index_2].flag_cal)
                    {
                        V1 = LHcost_pre[t_index_h_index_1] - P1;
                        V2 = LHcost_pre[t_index_h_index_2] - P1;
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value12 = V1 > V2 ? V1 : V2;
                        double max_value23 = max_value12 > V3 ? max_value12 : V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index].flag_cal && grid_voxel[t_index][t_index_h_index_1].flag_cal)
                    {
                        V1 = LHcost_pre[t_index_h_index_1] - P1;
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value12 = V1;
                        double max_value23 = max_value12 > V3 ? max_value12 : V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index_1].flag_cal && grid_voxel[t_index][t_index_h_index_2].flag_cal)
                    {
                        V1 = LHcost_pre[t_index_h_index_1] - P1;
                        V2 = LHcost_pre[t_index_h_index_2] - P1;
                        V4 = maxWNCC - P2;
                        
                        double max_value12 = V1 > V2 ? V1 : V2;
                        double max_value23 = max_value12 > V3 ? max_value12 : V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index].flag_cal && grid_voxel[t_index][t_index_h_index_2].flag_cal)
                    {
                        V2 = LHcost_pre[t_index_h_index_2] - P1;
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value12 = V2;
                        double max_value23 = max_value12 > V3 ? max_value12 : V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index].flag_cal)
                    {
                        V3 = LHcost_pre[t_index_h_index];
                        V4 = maxWNCC - P2;
                        
                        double max_value23 = V3;
                        double max_value = max_value23 > V4 ? max_value23 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index_1].flag_cal)
                    {
                        V1 = LHcost_pre[t_index_h_index_1] - P1;
                        V4 = maxWNCC - P2;
                        
                        double max_value = V1 > V4 ? V1 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else if(grid_voxel[t_index][t_index_h_index_2].flag_cal)
                    {
                        V2 = LHcost_pre[t_index_h_index_2] - P1;
                        V4 = maxWNCC - P2;
                        
                        double max_value = V2 > V4 ? V2 : V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                    else
                    {
                        V4 = maxWNCC - P2;
                        
                        double max_value = V4;
                        t_WNCC_sum = max_value - maxWNCC;
                        //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                        //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                    }
                }
                else
                {
                    V4 = maxWNCC - P2;
                    
                    double max_value = V4;
                    t_WNCC_sum = max_value - maxWNCC;
                    
                    //LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                    //SumCost[pt_index][height_step] += LHcost_curr[height_step];
                }
                LHcost_curr[height_step] = WNCC_sum + t_WNCC_sum;
                SumCost[pt_index][height_step] += LHcost_curr[height_step];
            }
        }
    }
}

void AWNCC(ProInfo *proinfo, VOXEL **grid_voxel,CSize Size_Grid2D, UGRID *GridPT3, NCCresult *nccresult, double step_height, uint8 Pyramid_step, uint8 iteration,int MaxNumberofHeightVoxel)
{
    // P2 >= P1
    const double P1 = 0.3;
    const double P2 = 0.6;
    
    const int P_HS_step = 1;
    float **SumCost = NULL;
    
    bool check_SGM = false;
    bool check_diagonal = true;
    
    int SGM_th_py = proinfo->SGM_py;
    if(Pyramid_step <= SGM_th_py )
        check_SGM = true;
    
    if(check_SGM)
    {
        long total_grid_size = (long)Size_Grid2D.width*(long)Size_Grid2D.height;
        SumCost = (float**)calloc(sizeof(float*),total_grid_size);
        for(long i=0;i<Size_Grid2D.height;i++)
        {
            for(long j=0;j<Size_Grid2D.width;j++)
            {
                long t_index = i*(long)Size_Grid2D.width + j;
                if(Pyramid_step == 0 && iteration == 3 && nccresult[t_index].NumOfHeight > 2000)
                    printf("gridsize %d\t%d\t pos %ld\t%ld\t numofheight %d\t%d\t%d\n",Size_Grid2D.width,Size_Grid2D.height,j,i,nccresult[t_index].NumOfHeight,nccresult[t_index].maxHeight,nccresult[t_index].minHeight);
                if(nccresult[t_index].NumOfHeight > 0)
                {
                    SumCost[t_index] = (float*)calloc(sizeof(float),nccresult[t_index].NumOfHeight);
                }
            }
        }
        
        //left , right, top, bottom, upper left, upper right, bottom left, bottom right
        int v_row[8]    = { 0, 0, -1, 1, -1, -1 ,  1, 1};
        int u_col[8]    = {-1, 1,  0, 0, -1,  1 , -1, 1};
        
        int row_iter[8] = { 1, 1, 1, -1,  1,  1, -1, -1};
        int col_iter[8] = { 1,-1, 1,  1,  1, -1,  1, -1};
        
        int start_row[8]    = {                         0,                        0,                        0, (int)Size_Grid2D.height-1,                        0,                        0, (int) Size_Grid2D.height-1 , (int)Size_Grid2D.height-1};
        int end_row[8]      = {(int)Size_Grid2D.height   , (int)Size_Grid2D.height , (int)Size_Grid2D.height ,                         0, (int)Size_Grid2D.height , (int)Size_Grid2D.height ,                          0 ,                         0};
        int start_col[8]    = {                         0, (int)Size_Grid2D.width-1,                        0,                         0,                        0, (int)Size_Grid2D.width-1,                          0 , (int)Size_Grid2D.width-1 };
        int end_col[8]      = {(int)Size_Grid2D.width    ,                        0, (int)Size_Grid2D.width  , (int)Size_Grid2D.width   , (int)Size_Grid2D.width  ,                        0, (int) Size_Grid2D.width    ,                         0};

        int direction_iter = 0;
        
        short maxHeight = 0;
        for(long iter_count = 0 ; iter_count < (long)Size_Grid2D.height*(long)Size_Grid2D.width ; iter_count++)
          if(maxHeight < nccresult[iter_count].NumOfHeight)
            maxHeight = nccresult[iter_count].NumOfHeight;

        {
        //4 directional
#pragma omp parallel //default(none) private() shared(maxHeight)
        {
            float *LHcost_pre = (float*)calloc(sizeof(float), maxHeight);
            float *LHcost_curr = (float*)calloc(sizeof(float), maxHeight);
            float *temp;
            
            //printf("left to right\n");
#pragma omp for
            for(long pts_row = start_row[direction_iter] ; pts_row < end_row[direction_iter] ; pts_row = pts_row + row_iter[direction_iter])
            {
                for(long pts_col = start_col[direction_iter] ; pts_col < end_col[direction_iter] ; pts_col = pts_col + col_iter[direction_iter])
                {
                    long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
                    
                    if(pts_col == start_col[direction_iter])
                    {
                        memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                    }
                    else
                    {
                        memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                        
                        SWAP(LHcost_pre, LHcost_curr);
                    }
                }
            }
            
            //printf("right to left\n");
            direction_iter = 1;
#pragma omp for
            for(long pts_row = start_row[direction_iter] ; pts_row < end_row[direction_iter] ; pts_row = pts_row + row_iter[direction_iter])
            {
                for(long pts_col = start_col[direction_iter] ; pts_col >= end_col[direction_iter] ; pts_col = pts_col + col_iter[direction_iter])
                {
                    long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
                    
                    if(pts_col == start_col[direction_iter])
                    {
                        memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                    }
                    else
                    {
                        memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                        
                        SWAP(LHcost_pre, LHcost_curr);
                    }
                }
            }
            
            //printf("top to bottom\n");
            direction_iter = 2;
            
#pragma omp for
            for(long pts_col = start_col[direction_iter] ; pts_col < end_col[direction_iter] ; pts_col = pts_col + col_iter[direction_iter])
            {
                
                for(long pts_row = start_row[direction_iter] ; pts_row < end_row[direction_iter] ; pts_row = pts_row + row_iter[direction_iter])
                {
                    long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
                    
                    if(pts_row == start_row[direction_iter])
                    {
                        memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                    }
                    else
                    {
                        memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                        SWAP(LHcost_pre, LHcost_curr);
                    }
                }
            }
            
            //printf("bottom to top\n");
            direction_iter = 3;
#pragma omp for
            for(long pts_col = start_col[direction_iter] ; pts_col < end_col[direction_iter] ; pts_col = pts_col + col_iter[direction_iter])
            {
                
                for(long pts_row = start_row[direction_iter] ; pts_row >= end_row[direction_iter] ; pts_row = pts_row + row_iter[direction_iter])
                {
                    long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
                    
                    if(pts_row == start_row[direction_iter])
                    {
                        memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                    }
                    else
                    {
                        memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                        SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                        SWAP(LHcost_pre, LHcost_curr);
                    }
                }
            }
            free(LHcost_pre);
            free(LHcost_curr);
        }
        
        //8 directional
        if(check_diagonal)
        {
#pragma omp parallel //private(ref_iter, pts_row, pts_col)
        {
            float *LHcost_pre = (float*)calloc(sizeof(float), maxHeight);
            float *LHcost_curr = (float*)calloc(sizeof(float), maxHeight);
            float *temp;
            long ref_iter;
            long pts_row, pts_col;
            {
                //printf("upper left to right\n");
                direction_iter = 4;
                
#pragma omp for
                for(ref_iter = start_row[direction_iter] ; ref_iter < end_row[direction_iter] ; ref_iter = ref_iter + row_iter[direction_iter]) //left wall row direction
                {
                    pts_row = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_col = start_col[direction_iter];
             
                    while(pts_col < end_col[direction_iter] && !check_end)
                    {
                        if(pts_col == start_col[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_row = pts_row - v_row[direction_iter];
             
                            if(pts_row >= 0 && pts_row < Size_Grid2D.height)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_col = pts_col - u_col[direction_iter];
                   }
                }
             
#pragma omp for
                for(ref_iter = start_col[direction_iter] ; ref_iter < end_col[direction_iter] ; ref_iter = ref_iter + col_iter[direction_iter]) //top wall col direction
                {
                    pts_col = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_row = start_row[direction_iter];
             
                    while(pts_row < end_row[direction_iter] && !check_end)
                    {
                        if(pts_row == start_row[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_col = pts_col - u_col[direction_iter];
             
                            if(pts_col >= 0 && pts_col < Size_Grid2D.width)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_row = pts_row - v_row[direction_iter];
                    }
                }
            }
            
            {
                //printf("upper right to left\n");
                direction_iter = 5;
#pragma omp for
                for(ref_iter = start_row[direction_iter] ; ref_iter < end_row[direction_iter] ; ref_iter = ref_iter + row_iter[direction_iter]) //left wall row direction
                {
                    pts_row = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_col = start_col[direction_iter];
             
                    while(pts_col >= end_col[direction_iter] && !check_end)
                    {
                        if(pts_col == start_col[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_row = pts_row - v_row[direction_iter];
             
                            if(pts_row >= 0 && pts_row < Size_Grid2D.height)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_col = pts_col - u_col[direction_iter];
                    }
                }
             
#pragma omp for
                for(ref_iter = start_col[direction_iter] ; ref_iter >= end_col[direction_iter] ; ref_iter = ref_iter + col_iter[direction_iter]) //top wall col direction
                {
                    pts_col = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_row = start_row[direction_iter];
             
                    while(pts_row < end_row[direction_iter] && !check_end)
                    {
                        if(pts_row == start_row[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_col = pts_col - u_col[direction_iter];
             
                            if(pts_col >= 0 && pts_col < Size_Grid2D.width)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_row = pts_row - v_row[direction_iter];
                    }
                }
             
                //printf("bottom left to right\n");
                direction_iter = 6;
#pragma omp for
                for(ref_iter = start_row[direction_iter] ; ref_iter >= end_row[direction_iter] ; ref_iter = ref_iter + row_iter[direction_iter]) //left wall row direction
                {
                    pts_row = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_col = start_col[direction_iter];
             
                    while(pts_col < end_col[direction_iter] && !check_end)
                    {
                        if(pts_col == start_col[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_row = pts_row - v_row[direction_iter];
             
                            if(pts_row >= 0 && pts_row < Size_Grid2D.height)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_col = pts_col - u_col[direction_iter];
                    }
                }
             
#pragma omp for
                for(ref_iter = start_col[direction_iter] ; ref_iter < end_col[direction_iter] ; ref_iter = ref_iter + col_iter[direction_iter]) //top wall col direction
                {
                    pts_col = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_row = start_row[direction_iter];
             
                    while(pts_row >= end_row[direction_iter] && !check_end)
                    {
                        if(pts_row == start_row[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_col = pts_col - u_col[direction_iter];
             
                            if(pts_col >= 0 && pts_col < Size_Grid2D.width)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_row = pts_row - v_row[direction_iter];
                    }
                }
             
                //printf("bottom right to left\n");
                direction_iter = 7;
#pragma omp for
                for(ref_iter = start_row[direction_iter] ; ref_iter >= end_row[direction_iter] ; ref_iter = ref_iter + row_iter[direction_iter]) //left wall row direction
                {
                    pts_row = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_col = start_col[direction_iter];
             
                    while(pts_col >= end_col[direction_iter] && !check_end)
                    {
                        if(pts_col == start_col[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_row = pts_row - v_row[direction_iter];
             
                            if(pts_row >= 0 && pts_row < Size_Grid2D.height)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_col = pts_col - u_col[direction_iter];
                    }
                }
             
#pragma omp for
                for(ref_iter = start_col[direction_iter] ; ref_iter >= end_col[direction_iter] ; ref_iter = ref_iter + col_iter[direction_iter]) //top wall col direction
                {
                    pts_col = ref_iter;
                    // bool check_free_LHcost_pre = false;
                    bool check_end = false;
                    pts_row = start_row[direction_iter];
             
                    while(pts_row >= end_row[direction_iter] && !check_end)
                    {
                        if(pts_row == start_row[direction_iter])
                        {
                            long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                            memset(LHcost_pre, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                            SGM_start_pos(nccresult, grid_voxel, GridPT3, pt_index, LHcost_pre, SumCost, step_height);
                        }
                        else
                        {
                            pts_col = pts_col - u_col[direction_iter];
             
                            if(pts_col >= 0 && pts_col < Size_Grid2D.width)
                            {
                                long pt_index = pts_row*(long)Size_Grid2D.width + pts_col;
             
                                memset(LHcost_curr, 0, nccresult[pt_index].NumOfHeight*sizeof(float));
                                SGM_con_pos(pts_col, pts_row, Size_Grid2D, direction_iter, step_height, P_HS_step, u_col, v_row, nccresult, grid_voxel, GridPT3, pt_index, P1, P2, LHcost_pre, LHcost_curr, SumCost);
                                SWAP(LHcost_pre, LHcost_curr);
                            }
                            else
                            {
             
                                check_end = true;
                                // check_free_LHcost_pre = true;
                            }
                        }
                        pts_row = pts_row - v_row[direction_iter];
                    }
                }
            }
            free(LHcost_pre);
            free(LHcost_curr);
        }
        }
        }
        
    }
    
    printf("find peak\n");
    
    bool pre_DEMtif = proinfo->pre_DEMtif;
    bool check_ortho = false;
    
    if(Pyramid_step == 4 && iteration == 1)
        check_ortho = false;
    else
        check_ortho = true;
    
    if(pre_DEMtif && !(Pyramid_step == 4 && iteration == 1))
        check_ortho = true;
    
    const double ncc_alpha = SetNCC_alpha(Pyramid_step,iteration, proinfo->IsRA);
    const double ncc_beta = 1.0 - ncc_alpha;
    
#pragma omp parallel for schedule(guided)
    for(long iter_count = 0 ; iter_count < (long)Size_Grid2D.height*(long)Size_Grid2D.width ; iter_count++)
    {
        bool check_SGM_peak = false;
        
        if(Pyramid_step <= SGM_th_py )
            check_SGM_peak = true;
        
        long pts_row = (int)(floor(iter_count/Size_Grid2D.width));
        //long pts_col = iter_count % Size_Grid2D.width;
        long pt_index = iter_count;//pts_row*(long)Size_Grid2D.width + pts_col;
        
        double pre_rho  = -1.0;
        double pre_rho_WNCC = -1.0;
        float pre_height= 0.0;
        //int pre_height_step = 0;
        int direction   = 0;
        bool check_rho  = false;
        
        double max_roh = 0;
        //bool cell_check_peak = false;
        
        double temp_nccresult = -100.0;
        double temp_nccresult_sec = -100.0;
        
        nccresult[pt_index].result0 = DoubleToSignedChar_result(-1.0);
        nccresult[pt_index].result2 = -1000;
        nccresult[pt_index].result1 = DoubleToSignedChar_result(-1.0);
        nccresult[pt_index].result3 = -1000;
        nccresult[pt_index].result4 = 0;
    
        for(long height_step = 0 ; height_step < nccresult[pt_index].NumOfHeight ; height_step++)
        {
            float iter_height = nccresult[pt_index].minHeight + height_step*step_height;
            if(iter_height >= GridPT3[pt_index].minHeight && iter_height <= GridPT3[pt_index].maxHeight)
            {
                double temp_rho = 0;
                double WNCC_temp_rho = 0;
                double WNCC_sum = -1;
                
                if(check_SGM_peak)
                {
                    temp_rho = SumCost[pt_index][height_step];
                    
                    if(check_ortho && SignedCharToDouble_result(nccresult[pt_index].GNCC) > -1.0)
                        WNCC_sum = SignedCharToDouble_voxel(grid_voxel[pt_index][height_step].INCC)*ncc_alpha + SignedCharToDouble_result(nccresult[pt_index].GNCC)*ncc_beta;
                    else
                        WNCC_sum = SignedCharToDouble_voxel(grid_voxel[pt_index][height_step].INCC);
                    WNCC_temp_rho = WNCC_sum;
                }
                else
                {
                    if(check_ortho && SignedCharToDouble_result(nccresult[pt_index].GNCC) > -1.0)
                        WNCC_sum = SignedCharToDouble_voxel(grid_voxel[pt_index][height_step].INCC)*ncc_alpha + SignedCharToDouble_result(nccresult[pt_index].GNCC)*ncc_beta;
                    else
                        WNCC_sum = SignedCharToDouble_voxel(grid_voxel[pt_index][height_step].INCC);
                    WNCC_temp_rho = WNCC_sum;
                
                    temp_rho = WNCC_sum;
                }
                    
                long grid_index           = pt_index;
                
                double diff_rho;
                int t_direction;
                if(temp_rho >= 0 && pre_rho >= 0)
                    diff_rho = temp_rho - pre_rho;
                else if(temp_rho < 0 && pre_rho < 0)
                    diff_rho = -(fabs(temp_rho) - fabs(pre_rho));
                else if(temp_rho >= 0 && pre_rho < 0)
                    diff_rho = 1;
                else
                    diff_rho = -1;
                
                if(diff_rho > 0)
                    t_direction = 1;
                else if(diff_rho < 0)
                    t_direction = -1;
                else
                    t_direction = 0;
                
                if(!check_rho)
                {
                    check_rho   = true;
                    t_direction = -1;
                }
                else if(pre_rho != -1)
                {
                    bool check_peak = false;
                    
                    if (direction > 0 && t_direction < 0)
                        check_peak = true;
                    
                    if((iteration <= 3 && Pyramid_step == 4) || (iteration <= 2 && Pyramid_step == 3) || (iteration <= 1 && Pyramid_step == 2)) //Max AWNCC
                    {
                        if(temp_nccresult < temp_rho)
                        {
                            if(nccresult[grid_index].result4 < 10)
                                nccresult[grid_index].result4 += 1;
                            
                            temp_nccresult = temp_rho;
                            nccresult[grid_index].result2 = iter_height;
                            temp_nccresult_sec = -1.0;
                            nccresult[grid_index].result3 = Nodata;

                            max_roh = WNCC_temp_rho;
                            
                        }
                    }
                    else
                    {
                        if( check_peak )
                        {
                            if(nccresult[grid_index].result4 < 10)
                                nccresult[grid_index].result4 += 1;
                            if(temp_nccresult < pre_rho)
                            {
                                double temp_1;
                                float temp_2;
                                temp_1 = temp_nccresult;
                                temp_nccresult = pre_rho;
                                
                                temp_2 = nccresult[grid_index].result2;
                                
                                nccresult[grid_index].result2 = pre_height;
                                
                                max_roh = pre_rho_WNCC;
                                
                                if(temp_nccresult_sec < temp_1)
                                {
                                    temp_nccresult_sec = temp_1;
                                    nccresult[grid_index].result3 = temp_2;
                                }
                            }
                            else
                            {
                                if(temp_nccresult_sec < pre_rho)
                                {
                                    temp_nccresult_sec = pre_rho;
                                    nccresult[grid_index].result3 = pre_height;
                                }
                            }
                            //cell_check_peak = true;
                        }
                    }
                }
                
                pre_rho                = temp_rho;
                pre_rho_WNCC           = WNCC_temp_rho;
                pre_height             = iter_height;
                //pre_height_step        = height_step;
                
                direction              = t_direction;
            }
        }
        
        if(check_SGM_peak)
        {
            if(Pyramid_step == 0 && iteration >= 2)
            {
                nccresult[pt_index].result0 = DoubleToSignedChar_result(max_roh);
                nccresult[pt_index].result1 = DoubleToSignedChar_result(-1.0);
                nccresult[pt_index].result3 = Nodata;
            }
            else
            {
                nccresult[pt_index].result0 = DoubleToSignedChar_result(temp_nccresult);
                nccresult[pt_index].result1 = DoubleToSignedChar_result(temp_nccresult_sec);
            }
        }
        else
        {
            nccresult[pt_index].result0 = DoubleToSignedChar_result(temp_nccresult);
            nccresult[pt_index].result1 = DoubleToSignedChar_result(temp_nccresult_sec);
        }
    }
    
    if(check_SGM)
    {
        for(int i=0;i<Size_Grid2D.height;i++)
        {
            for(int j=0;j<Size_Grid2D.width;j++)
            {
                long t_index = (long)(i*Size_Grid2D.width) + (long)j;
                if(nccresult[t_index].NumOfHeight > 0)
                    free(SumCost[t_index]);
            }
        }
        free(SumCost);
        printf("done SumCost free\n");
    }
}

void VerticalLineLocus_seeddem(const ProInfo *proinfo,LevelInfo &rlevelinfo, UGRID *GridPT3, const double* minmaxHeight)
{
    const int Pyramid_step = *(rlevelinfo.Pyramid_step);
    int Template_size = *(rlevelinfo.Template_size);
    double template_area = 5.0;
    int t_Template_size = (int)((template_area/(proinfo->resolution*pwrtwo(Pyramid_step)))/2.0)*2+1;
    if(Template_size < t_Template_size)
        Template_size = t_Template_size;

    int Half_template_size = (int)(Template_size/2.0);
    const double subBoundary[4] = {rlevelinfo.Boundary[0], rlevelinfo.Boundary[1], rlevelinfo.Boundary[2], rlevelinfo.Boundary[3]};
    
    double im_resolution = proinfo->resolution*pwrtwo(Pyramid_step);
    double im_resolution_next = proinfo->resolution;
    D2DPOINT **all_im_cd = NULL;
    D2DPOINT **all_im_cd_next = NULL;
    
    long int sub_imagesize_w, sub_imagesize_h;
    long int sub_imagesize_w_next, sub_imagesize_h_next;
    
    all_im_cd = (D2DPOINT**)malloc(sizeof(D2DPOINT*)*proinfo->number_of_images);
    if(proinfo->check_Matchtag)
        SetOrthoImageCoord(proinfo, rlevelinfo, GridPT3, 0, BD, im_resolution, im_resolution_next, sub_imagesize_w, sub_imagesize_h, sub_imagesize_w_next, sub_imagesize_h_next, all_im_cd, all_im_cd_next);
    else
        SetOrthoImageCoord(proinfo, rlevelinfo, GridPT3, 0, OR, im_resolution, im_resolution_next, sub_imagesize_w, sub_imagesize_h, sub_imagesize_w_next, sub_imagesize_h_next, all_im_cd, all_im_cd_next);
    
    
    const int reference_id = rlevelinfo.reference_id;
    //int count_total = 0;
    //int count_low = 0;
#pragma omp parallel
    {
        SetKernel rsetkernel(reference_id,1,Half_template_size);
        
#pragma omp for /*reduction(+:count_low, count_total)*/ schedule(guided)
        for(long int iter_count = 0 ; iter_count < *rlevelinfo.Grid_length ; iter_count++)
        {
            long int pts_row = (long int)(floor(iter_count/rlevelinfo.Size_Grid2D->width));
            long int pts_col = iter_count % rlevelinfo.Size_Grid2D->width;
            long int pt_index = iter_count;//pts_row*(long int)rlevelinfo.Size_Grid2D->width + pts_col;

            if(pt_index < *rlevelinfo.Grid_length && pts_row < rlevelinfo.Size_Grid2D->height && pts_col < rlevelinfo.Size_Grid2D->width && pts_row >= 0 && pts_col >= 0)
            {
                for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                    {
                        rsetkernel.ti = ti;
                        int Count_N[3] = {0};
                        double count_GNCC = 0;
                        double nccresult = 0.0;

                        KernelPatchArg patch = proinfo->check_Matchtag ?
                            KernelPatchArg{
                                rsetkernel,
                                rlevelinfo.py_Sizes[rsetkernel.reference_id][*rlevelinfo.blunder_selected_level],
                                rlevelinfo.py_Sizes[rsetkernel.ti][*rlevelinfo.blunder_selected_level],
                                rlevelinfo.py_BImages[rsetkernel.reference_id],
                                rlevelinfo.py_BMagImages[rsetkernel.reference_id],
                                rlevelinfo.py_BImages[rsetkernel.ti],
                                rlevelinfo.py_BMagImages[rsetkernel.ti]}
                          : KernelPatchArg{
                                rsetkernel,
                                rlevelinfo.py_Sizes[rsetkernel.reference_id][*rlevelinfo.Pyramid_step],
                                 rlevelinfo.py_Sizes[rsetkernel.ti][*rlevelinfo.Pyramid_step],
                                 rlevelinfo.py_Images[rsetkernel.reference_id],
                                 rlevelinfo.py_MagImages[rsetkernel.reference_id],
                                 rlevelinfo.py_Images[rsetkernel.ti],
                                 rlevelinfo.py_MagImages[rsetkernel.ti]};
                        
                        //if(GridPT3[pt_index].Height != -1000)
                        //    count_total+=1;

                        for(int row = -Half_template_size; row <= Half_template_size ; row++)
                        {
                            for(int col = -Half_template_size; col <= Half_template_size ; col++)
                            {
                                const int radius2  =  row*row + col*col;
                                if(radius2 <= (Half_template_size+1)*(Half_template_size+1))
                                {
                                    const double t_X     = rlevelinfo.GridPts[pt_index].m_X + col*im_resolution;
                                    const double t_Y     = rlevelinfo.GridPts[pt_index].m_Y + row*im_resolution;
                                    
                                    long int t_col   = (long int)((t_X - subBoundary[0])/im_resolution);
                                    long int t_row   = (long int)((t_Y - subBoundary[1])/im_resolution);
                                    long int pt_index_temp = t_row*sub_imagesize_w + t_col;
                                    
                                    const long int tt_col  = (long int)((t_X - subBoundary[0])/(*rlevelinfo.grid_resolution));
                                    const long int tt_row  = (long int)((t_Y - subBoundary[1])/(*rlevelinfo.grid_resolution));
                                    const long int pt_index_dem  = tt_row*(long int)rlevelinfo.Size_Grid2D->width + tt_col;
                                    
                                    if(pt_index_temp >= 0 && pt_index_temp < sub_imagesize_w *sub_imagesize_h && t_col >= 0 && t_col < sub_imagesize_w && t_row >=0 && t_row < sub_imagesize_h && pt_index_dem >= 0 && pt_index_dem < *rlevelinfo.Grid_length && tt_col >= 0 && tt_col < rlevelinfo.Size_Grid2D->width && tt_row >=0 && tt_row < rlevelinfo.Size_Grid2D->height && all_im_cd[reference_id] != NULL && all_im_cd[ti] != NULL)
                                    {
                                        if(GridPT3[pt_index_dem].Height != -1000)
                                        {
                                            D2DPOINT pos_left(all_im_cd[reference_id][pt_index_temp]);
                                            D2DPOINT pos_right(all_im_cd[ti][pt_index_temp]);
                                            
                                            SetVecKernelValue(patch, row, col, pos_left,pos_right, radius2, Count_N);
                                        }
                                    }
                                }  // if(radius2 <= ...
                            }  // end col loop
                        }
                        
                        // Compute correlations
                        ComputeMultiNCC(rsetkernel, 0, Count_N, count_GNCC,  nccresult);
                        if(Count_N[0] == 0)
                            nccresult = -10;
                        
                        if(nccresult < 0.3)
                        {
                            if(!proinfo->check_Matchtag)
                            {
                                GridPT3[pt_index].minHeight     -= 100;
                                if(GridPT3[pt_index].minHeight < minmaxHeight[0])
                                    GridPT3[pt_index].minHeight     = floor(minmaxHeight[0]);
                                GridPT3[pt_index].maxHeight     += 100;
                                if(GridPT3[pt_index].maxHeight > minmaxHeight[1])
                                    GridPT3[pt_index].maxHeight     = ceil(minmaxHeight[1]);

                                if(nccresult < 0.1)
                                {
                                    GridPT3[pt_index].minHeight  = Nodata;
                                    GridPT3[pt_index].maxHeight  = Nodata;
                                }
                            }

                            //if(nccresult > -1)
                            //    count_low += 1;
                        }

                        GridPT3[pt_index].ortho_ncc[ti] = DoubleToSignedChar_grid(nccresult);


                        if(proinfo->check_Matchtag)
                        {
                            if(nccresult >= 0.2)
                                GridPT3[pt_index].roh   = DoubleToSignedChar_grid(nccresult);
                            else
                                GridPT3[pt_index].roh   = DoubleToSignedChar_grid(-0.2);
                        }
                    }
                } // end ti loop
            }
        } // end omp for

    } // end omp parallel
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
    {
        if(proinfo->check_selected_image[ti])
        {
            if(all_im_cd[ti])
                free(all_im_cd[ti]);
        }
    }
    if (all_im_cd)
        free(all_im_cd);

    //printf("%d %d\n",count_low,count_total);
}

bool VerticalLineLocus_blunder(const ProInfo *proinfo,LevelInfo &rlevelinfo, float* nccresult, UGRID *GridPT3, uint8 iteration, bool bblunder)
{
    double im_resolution = proinfo->resolution;
    uint8 Template_size = *rlevelinfo.Template_size;
    
    double template_area = 5.0;
    int t_Template_size = (int)((template_area/(im_resolution*pwrtwo(*rlevelinfo.blunder_selected_level)))/2.0)*2+1;
    if(Template_size < t_Template_size)
        Template_size = t_Template_size;
    
    int Half_template_size = (int)(Template_size/2.0);
    
    if(bblunder)
    {
        if(*rlevelinfo.Pyramid_step == 4)
        {
            Half_template_size = Template_size - iteration*2;
            if(Half_template_size < (int)(Template_size/2.0))
                Half_template_size = (int)(Template_size/2.0);
        }
        else if(*rlevelinfo.Pyramid_step == 3)
        {
            Half_template_size = Template_size - 2  - (iteration)*2;
            if(Half_template_size < (int)(Template_size/2.0))
                Half_template_size = (int)(Template_size/2.0);
        }
        else
        {
            Half_template_size = (int)(Template_size/2.0);
        }
    }
    
    
    const double subBoundary[4] = {rlevelinfo.Boundary[0], rlevelinfo.Boundary[1], rlevelinfo.Boundary[2], rlevelinfo.Boundary[3]};
    const long numofpts = *rlevelinfo.Grid_length;
    im_resolution = proinfo->resolution*pwrtwo(*rlevelinfo.blunder_selected_level);
    
    D2DPOINT **all_im_cd = (D2DPOINT**)malloc(sizeof(D2DPOINT*)*proinfo->number_of_images);
    D2DPOINT **all_im_cd_next = NULL;
    
    long sub_imagesize_w, sub_imagesize_h;
    long sub_imagesize_w_next, sub_imagesize_h_next;
    
    SetOrthoImageCoord(proinfo, rlevelinfo, GridPT3, false, BD, im_resolution, 0, sub_imagesize_w, sub_imagesize_h, sub_imagesize_w_next, sub_imagesize_h_next, all_im_cd, all_im_cd_next);
    
    const int reference_id = rlevelinfo.reference_id;
#pragma omp parallel
    {
        // Make patch vectors thread private rather than private to each loop iteration
        
        SetKernel rsetkernel(reference_id,0,Half_template_size);

#pragma omp for schedule(guided)
        for(long iter_count = 0 ; iter_count < numofpts ; iter_count++)
        {
            long pts_row = (int)(floor(iter_count/rlevelinfo.Size_Grid2D->width));
            long pts_col = iter_count % rlevelinfo.Size_Grid2D->width;
            long pt_index = iter_count;//pts_row*(long)rlevelinfo.Size_Grid2D->width + pts_col;
            
            
            if(pt_index < *rlevelinfo.Grid_length && pts_row < rlevelinfo.Size_Grid2D->height && pts_col < rlevelinfo.Size_Grid2D->width && pts_row >= 0 && pts_col >= 0)
            {
                nccresult[pt_index] = -1.0;
                double max_ncc = -100;
                
                for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                    {
                        rsetkernel.ti = ti;

                        KernelPatchArg patch{
                                rsetkernel,
                                rlevelinfo.py_Sizes[rsetkernel.reference_id][*rlevelinfo.blunder_selected_level],
                                rlevelinfo.py_Sizes[rsetkernel.ti][*rlevelinfo.blunder_selected_level],
                                rlevelinfo.py_BImages[rsetkernel.reference_id],
                                rlevelinfo.py_BMagImages[rsetkernel.reference_id],
                                rlevelinfo.py_BImages[rsetkernel.ti],
                                rlevelinfo.py_BMagImages[rsetkernel.ti]};

                        
                        int Count_N[3] = {0};
                        double count_GNCC = 0;
                        double t_nccresult = 0;
                        
                        for(int row = -Half_template_size; row <= Half_template_size ; row++)
                        {
                            for(int col = -Half_template_size; col <= Half_template_size ; col++)
                            {
                                const int radius2  = row*row + col*col;
                                if(radius2 <= (Half_template_size-1)*(Half_template_size-1))
                                {
                                    const double t_X     = rlevelinfo.GridPts[pt_index].m_X + col*im_resolution;
                                    const double t_Y     = rlevelinfo.GridPts[pt_index].m_Y + row*im_resolution;
                                    
                                    long int t_col   = (long int)((t_X - subBoundary[0])/im_resolution);
                                    long int t_row   = (long int)((t_Y - subBoundary[1])/im_resolution);
                                    long int pt_index_temp = t_row*sub_imagesize_w + t_col;
                                    
                                    const long int tt_col  = (long int)((t_X - subBoundary[0])/(*rlevelinfo.grid_resolution));
                                    const long int tt_row  = (long int)((t_Y - subBoundary[1])/(*rlevelinfo.grid_resolution));
                                    const long int pt_index_dem  = tt_row*(long int)rlevelinfo.Size_Grid2D->width + tt_col;
                                    
                                    if(pt_index_temp >= 0 && pt_index_temp < sub_imagesize_w *sub_imagesize_h && t_col >= 0 && t_col < sub_imagesize_w && t_row >=0 && t_row < sub_imagesize_h && pt_index_dem >= 0 && pt_index_dem < numofpts && tt_col >= 0 && tt_col < rlevelinfo.Size_Grid2D->width && tt_row >=0 && tt_row < rlevelinfo.Size_Grid2D->height && all_im_cd[reference_id] != NULL && all_im_cd[ti] != NULL)
                                    {
                                        if(GridPT3[pt_index_dem].Height != -1000)
                                        {
                                            D2DPOINT pos_left(all_im_cd[reference_id][pt_index_temp]);
                                            D2DPOINT pos_right(all_im_cd[ti][pt_index_temp]);
                                            
                                            SetVecKernelValue(patch, row, col, pos_left,pos_right, radius2, Count_N);
                                        }
                                    }
                                } // if(radius <= Half_template_size-1)
                            } // end col loop
                        } // end row loop
                        
                        // Compute collelations
                        ComputeMultiNCC(rsetkernel, 0, Count_N, count_GNCC,  t_nccresult);
                        
                        if(max_ncc < t_nccresult)
                            max_ncc = t_nccresult;
                        
                        GridPT3[pt_index].ortho_ncc[ti] = DoubleToSignedChar_grid(t_nccresult);
                    }
                } // end ti loop
                GridPT3[pt_index].Mean_ortho_ncc = DoubleToSignedChar_grid(max_ncc);
                nccresult[pt_index] = max_ncc;
            }
        } // end omp for
    } // end omp parallel
 
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
    {
        if(proinfo->check_selected_image[ti])
        {
            if(all_im_cd[ti])
                free(all_im_cd[ti]);
        }
    }
    if (all_im_cd)
        free(all_im_cd);
    
    return true;
}

int Ortho_blunder(ProInfo *proinfo, LevelInfo &rlevelinfo, double MPP, D3DPOINT *pts, int numOfPts, UI3DPOINT *tris,int numOfTri, UGRID *GridPT3)
{
    const int max_count = 200;
    int while_count = 0;
    
    const long num_triangles = numOfTri;
    // const int pyramid_step    = *rlevelinfo.Pyramid_step;
    const double gridspace = *rlevelinfo.grid_resolution;
    const double *boundary    = rlevelinfo.Boundary;
 
    uint8* tris_check = (uint8*)calloc(num_triangles,sizeof(uint8));
    bool check_stop_TIN = false;
    
    printf("tric_check done\n");
    while(!check_stop_TIN && while_count < max_count)
    {
        bool check_ortho_cal = false;
      
        while_count++;
      
        check_stop_TIN = true;
      
        double *updated_height = (double*)malloc(sizeof(double)*num_triangles);
        int *selected_index = (int*)malloc(sizeof(int)*num_triangles);
        bool *updated_check = (bool*)calloc(sizeof(bool),num_triangles);
        double *selected_count = (double*)calloc(sizeof(double),num_triangles);
        double *FNCC = (double*)calloc(sizeof(double),num_triangles);
        int *selected_target_index = (int*)malloc(sizeof(int)*num_triangles);
        double* com_count = (double*)calloc(sizeof(double),numOfPts);
        double* com_FNCC = (double*)calloc(sizeof(double),numOfPts);
        
#pragma omp parallel for schedule(dynamic, 1)
        for(int tcnt=0;tcnt<(int)(num_triangles);tcnt++)
        {
            if(tris_check[tcnt] == 0)
            {
                const UI3DPOINT t_tri   = tris[tcnt];
                const long pdex0 = t_tri.m_X;
                const long pdex1 = t_tri.m_Y;
                const long pdex2 = t_tri.m_Z;
                
                if(pdex0 < numOfPts && pdex1 < numOfPts && pdex2 < numOfPts)
                {
                    const D3DPOINT pt0(pts[pdex0]);
                    const D3DPOINT pt1(pts[pdex1]);
                    const D3DPOINT pt2(pts[pdex2]);
                    
                    const long node1_index = (long)((pt0.m_Y - boundary[1])/gridspace + 0.5)*rlevelinfo.Size_Grid2D->width + (long)((pt0.m_X - boundary[0])/gridspace + 0.5);
                    const long node2_index = (long)((pt1.m_Y - boundary[1])/gridspace + 0.5)*rlevelinfo.Size_Grid2D->width + (long)((pt1.m_X - boundary[0])/gridspace + 0.5);
                    const long node3_index = (long)((pt2.m_Y - boundary[1])/gridspace + 0.5)*rlevelinfo.Size_Grid2D->width + (long)((pt2.m_X - boundary[0])/gridspace + 0.5);
                    
                    const uint8 node1_F     =  GridPT3[node1_index].anchor_flag;
                    const uint8 node2_F     =  GridPT3[node2_index].anchor_flag;
                    const uint8 node3_F     =  GridPT3[node3_index].anchor_flag;
                    
                    int node_f_count = 0;
                    
                    if(node1_F == 1 || node1_F == 3)
                        node_f_count++;
                    if(node2_F == 1 || node2_F == 3)
                        node_f_count++;
                    if(node3_F == 1 || node3_F == 3)
                        node_f_count++;
                    
                    if(node_f_count == 3)
                        tris_check[tcnt] = 1;
                    else if(node_f_count == 2)
                    {
                        //ortho matching process
                        D3DPOINT ref1_pt, ref2_pt, target_pt;
                        long target_index; //ref1_index, ref2_index
                        long target_pt_index;
                        
                        if(node1_F == 2)
                        {
                            ref1_pt     = pt1;
                            ref2_pt     = pt2;
                            target_pt   = pt0;
                            target_index= node1_index;
                            //ref1_index  = node2_index;
                            //ref2_index  = node3_index;
                            target_pt_index = pdex0;
                        }
                        else if(node2_F == 2)
                        {
                            ref1_pt     = pt0;
                            ref2_pt     = pt2;
                            target_pt   = pt1;
                            target_index= node2_index;
                            //ref1_index  = node1_index;
                            //ref2_index  = node3_index;
                            target_pt_index = pdex1;
                        }
                        else
                        {
                            ref1_pt     = pt0;
                            ref2_pt     = pt1;
                            target_pt   = pt2;
                            target_index= node3_index;
                            //ref1_index  = node1_index;
                            //ref2_index  = node2_index;
                            target_pt_index = pdex2;
                        }
                        
                        double F_SNCC, F_height;
                        double t_selected_count = VerticalLineLocus_Ortho(proinfo,rlevelinfo, MPP, &F_height, ref1_pt,ref2_pt,target_pt, GridPT3,target_index,&F_SNCC);
             
                        if(F_height != Nodata )
                        {
                            updated_height[tcnt] = F_height;
                            selected_index[tcnt] = target_pt_index;
                            updated_check[tcnt] = true;
                            selected_count[tcnt] = t_selected_count;
                            FNCC[tcnt] = F_SNCC;
                            selected_target_index[tcnt] = target_index;
                        }
                    }
                }
            }
        }
        
        for(int tcnt=0;tcnt<(int)(num_triangles);tcnt++)
        {
            if(tris_check[tcnt] == 0)
            {
                const UI3DPOINT t_tri   = tris[tcnt];
                const long pdex0 = t_tri.m_X;
                const long pdex1 = t_tri.m_Y;
                const long pdex2 = t_tri.m_Z;
                
                if(pdex0 < numOfPts && pdex1 < numOfPts && pdex2 < numOfPts)
                {
                    const D3DPOINT pt0(pts[pdex0]);
                    const D3DPOINT pt1(pts[pdex1]);
                    const D3DPOINT pt2(pts[pdex2]);
                    
                    const long node1_index = (long)((pt0.m_Y - boundary[1])/gridspace + 0.5)*rlevelinfo.Size_Grid2D->width + (long)((pt0.m_X - boundary[0])/gridspace + 0.5);
                    const long node2_index = (long)((pt1.m_Y - boundary[1])/gridspace + 0.5)*rlevelinfo.Size_Grid2D->width + (long)((pt1.m_X - boundary[0])/gridspace + 0.5);
                    const long node3_index = (long)((pt2.m_Y - boundary[1])/gridspace + 0.5)*rlevelinfo.Size_Grid2D->width + (long)((pt2.m_X - boundary[0])/gridspace + 0.5);
                    
                    if(updated_check[tcnt])
                    {
                        const int target_pt_index = selected_index[tcnt];
                        if(com_count[target_pt_index] < selected_count[tcnt])
                        {
                            com_count[target_pt_index] = selected_count[tcnt];
                            com_FNCC[target_pt_index] = FNCC[tcnt];
                            
                            const int target_index = selected_target_index[tcnt];
                            GridPT3[target_index].anchor_flag = 3;
                            pts[target_pt_index].m_Z = updated_height[tcnt];
                            pts[target_pt_index].flag = 0;
                            
                            check_stop_TIN = false;
                            check_ortho_cal = true;
                            tris_check[tcnt] = 1;
                        }
                    }
                    
                    const uint8 node1_F     =  GridPT3[node1_index].anchor_flag;
                    const uint8 node2_F     =  GridPT3[node2_index].anchor_flag;
                    const uint8 node3_F     =  GridPT3[node3_index].anchor_flag;
                    
                    int node_f_count = 0;
                    if(node1_F == 1 || node1_F == 3)
                    {
                        node_f_count++;
                        pts[pdex0].flag = 0;
                    }
                    if(node2_F == 1 || node2_F == 3)
                    {
                        node_f_count++;
                        pts[pdex1].flag = 0;
                    }
                    if(node3_F == 1 || node3_F == 3)
                    {
                        node_f_count++;
                        pts[pdex2].flag = 0;
                    }
                    
                    if(node_f_count == 3)
                        tris_check[tcnt] = 1;
                }
            }
        }
        
        free(updated_height);
        free(selected_index);
        free(updated_check);
        free(selected_count);
        free(FNCC);
        free(selected_target_index);
        free(com_count);
        free(com_FNCC);
        
        if(check_ortho_cal == false)
            check_stop_TIN = true;
    }
    
    printf("ortho bluncer iteration %d\n",while_count);
    
    free(tris_check);
    
    return numOfPts;
}

int VerticalLineLocus_Ortho(ProInfo *proinfo, LevelInfo &rlevelinfo, double MPP, double *F_Height, D3DPOINT ref1_pt, D3DPOINT ref2_pt, D3DPOINT target_pt, UGRID *GridPT3, int target_index, double *F_sncc)
{
    double F_NCC = -1.0;
    //bool check_ncc = false;
    const double gridspace = *rlevelinfo.grid_resolution;
    const int Pyramid_step = *rlevelinfo.Pyramid_step;
    
    *F_Height = Nodata;
    
    const uint32 TIN_Grid_Size_X = rlevelinfo.Size_Grid2D->width;
    const uint32 TIN_Grid_Size_Y = rlevelinfo.Size_Grid2D->height;
    
    if(MPP > 3)
        MPP = 3;
    if(MPP < 1)
        MPP = 1;
    
    double height_step;
    //if(*rlevelinfo.iteration <= 2)
        height_step = proinfo->resolution*pwrtwo(Pyramid_step)*MPP;
    //else
    //    height_step = pwrtwo(Pyramid_step)*MPP;
    
    int start_H     = GridPT3[target_index].minHeight;
    int end_H       = GridPT3[target_index].maxHeight;
    
    const int NumOfHeights = (int)((end_H -  start_H)/height_step) + 1;
    
    const int th_count = 10;
    int min_th_count = 2;
    double min_th_sncc = 0.2;
    if(*rlevelinfo.Pyramid_step < 4)
    {
        min_th_count = 0;
        min_th_sncc = 0.5;
    }
    
    const int reference_id = rlevelinfo.reference_id;
    double selected_count = 0;
    
    for(long count_height = 0 ; count_height < NumOfHeights ; count_height++)
    {
        double sum_NCC = 0;
        int count_NCC = 0;
        int sum_count_N = 0;
        
        float iter_height      = start_H + count_height*height_step;
        
        D3DPOINT TriP1(ref1_pt.m_X, ref1_pt.m_Y, ref1_pt.m_Z, 0);
        D3DPOINT TriP2(ref2_pt.m_X, ref2_pt.m_Y, ref2_pt.m_Z, 0);
        D3DPOINT TriP3(target_pt.m_X, target_pt.m_Y, (double)iter_height, 0);
        
        // calculation on BoundingBox(MinMax XY) of triangle
        const double TriMinXY[2] = {min(min(TriP1.m_X,TriP2.m_X),TriP3.m_X), min(min(TriP1.m_Y,TriP2.m_Y),TriP3.m_Y)};
        const double TriMaxXY[2] = {max(max(TriP1.m_X,TriP2.m_X),TriP3.m_X), max(max(TriP1.m_Y,TriP2.m_Y),TriP3.m_Y)};
        
        int PixelMinXY[2] = {(int)((TriMinXY[0] - rlevelinfo.Boundary[0])/gridspace + 0.5), (int)((TriMinXY[1] - rlevelinfo.Boundary[1])/gridspace + 0.5)};
        int PixelMaxXY[2] = {(int)((TriMaxXY[0] - rlevelinfo.Boundary[0])/gridspace + 0.5), (int)((TriMaxXY[1] - rlevelinfo.Boundary[1])/gridspace + 0.5)};
        
        PixelMinXY[0] -= 1;     PixelMinXY[1] -= 1;
        PixelMaxXY[0] += 1;     PixelMaxXY[1] += 1;
        if (PixelMaxXY[0] >= (int)(TIN_Grid_Size_X))    
            PixelMaxXY[0] =  (int)(TIN_Grid_Size_X-1);
        if (PixelMaxXY[1] >= (int)(TIN_Grid_Size_Y))   
            PixelMaxXY[1] =  (int)(TIN_Grid_Size_Y-1);
        if (PixelMinXY[0] < 0)  
            PixelMinXY[0] = 0;
        if (PixelMinXY[1] < 0)  
            PixelMinXY[1] = 0;
        
        if(PixelMaxXY[1]-PixelMinXY[1] > 0 && PixelMaxXY[0]-PixelMinXY[0] > 0)
        {
            int patch_size = (PixelMaxXY[1]-PixelMinXY[1]+1) * (PixelMaxXY[0]-PixelMinXY[0]+1);
            double *left_patch_vec = (double *)malloc(sizeof(double)*patch_size);
            double *right_patch_vec = (double *)malloc(sizeof(double)*patch_size);
            double *left_mag_patch_vec = (double *)malloc(sizeof(double)*patch_size);
            double *right_mag_patch_vec = (double *)malloc(sizeof(double)*patch_size);
            
            for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
            {
                if(proinfo->check_selected_image[ti])
                {
                    int Count_N = 0;

                    CSize LImagesize, RImagesize;
                    
                    LImagesize.width  = rlevelinfo.py_Sizes[reference_id][Pyramid_step].width;
                    LImagesize.height = rlevelinfo.py_Sizes[reference_id][Pyramid_step].height;
                    RImagesize.width  = rlevelinfo.py_Sizes[ti][Pyramid_step].width;
                    RImagesize.height = rlevelinfo.py_Sizes[ti][Pyramid_step].height;
                    
                    for (long Row=PixelMinXY[1]; Row <= PixelMaxXY[1]; Row++)
                    {
                        for (long Col=PixelMinXY[0]; Col <= PixelMaxXY[0]; Col++)
                        {
                            bool rtn = false;
                            double Z = 0.0;
                            D3DPOINT CurGPXY( Col*gridspace + rlevelinfo.Boundary[0] , Row*gridspace + rlevelinfo.Boundary[1], 0, 0);
                            const D3DPOINT v12(TriP2 - TriP1);
                            const D3DPOINT v1P(CurGPXY - TriP1);
                            const D3DPOINT v23(TriP3 - TriP2);
                            const D3DPOINT v2P(CurGPXY - TriP2);
                            const D3DPOINT v31(TriP1 - TriP3);
                            const D3DPOINT v3P(CurGPXY - TriP3);
                            
                            int Sum = 3;
                            if (v12.m_X*v1P.m_Y-v12.m_Y*v1P.m_X <= 0)
                                Sum--;
                            if (v23.m_X*v2P.m_Y-v23.m_Y*v2P.m_X <= 0)
                                Sum--;
                            if (v31.m_X*v3P.m_Y-v31.m_Y*v3P.m_X <= 0)
                                Sum--;
                            
                            if (Sum==0 || Sum==3)
                            {
                                const D3DPOINT v12(TriP2 - TriP1);
                                const D3DPOINT v13(TriP3 - TriP1);
                                D3DPOINT Normal(v12.m_Y*v13.m_Z - v12.m_Z*v13.m_Y, v12.m_Z*v13.m_X - v12.m_X*v13.m_Z, v12.m_X*v13.m_Y - v12.m_Y*v13.m_X, 0);
                                const double Len = SQRT(Normal);
                                
                                if(Len > 0)
                                {
                                    Normal.m_X/=Len; Normal.m_Y/=Len; Normal.m_Z/=Len;
                                    const double A = Normal.m_X;
                                    const double B = Normal.m_Y;
                                    const double C = Normal.m_Z;
                                    const double D = -(A*TriP1.m_X+B*TriP1.m_Y+C*TriP1.m_Z);
                                    
                                    if(C != 0)
                                    {
                                        Z = -1.0 * ((A * CurGPXY.m_X) + (B * CurGPXY.m_Y) + D) / C;
                                        rtn = true;
                                    }
                                    else
                                        rtn = false;
                                }
                            }
                            
                            if (rtn)
                            {
                                D2DPOINT Ref_Imagecoord, temp_GP_p;
                                D3DPOINT temp_GP;
                                
                                const double temp_LIA[2] = {rlevelinfo.ImageAdjust[reference_id][0], rlevelinfo.ImageAdjust[reference_id][1]};
                                
                                temp_GP.m_Z = Z;
                                if(proinfo->sensor_type == SB)
                                {
                                    temp_GP_p.m_X = CurGPXY.m_X;
                                    temp_GP_p.m_Y = CurGPXY.m_Y;
                                    
                                    temp_GP     = ps2wgs_single(*rlevelinfo.param,temp_GP_p);
                                    
                                    Ref_Imagecoord     = GetObjectToImageRPC_single(rlevelinfo.RPCs[reference_id],*rlevelinfo.NumOfIAparam,temp_LIA,temp_GP);
                                }
                                else
                                {
                                    temp_GP.m_X = CurGPXY.m_X;
                                    temp_GP.m_Y = CurGPXY.m_Y;
                                    
                                    D2DPOINT photo = GetPhotoCoordinate_single(temp_GP,proinfo->frameinfo.Photoinfo[reference_id],proinfo->frameinfo.m_Camera,proinfo->frameinfo.Photoinfo[reference_id].m_Rm);
                                    
                                    Ref_Imagecoord = PhotoToImage_single(photo,proinfo->frameinfo.m_Camera.m_CCDSize,proinfo->frameinfo.m_Camera.m_ImageSize);
                                }
                                const D2DPOINT Ref_Imagecoord_py  = OriginalToPyramid_single(Ref_Imagecoord,rlevelinfo.py_Startpos[reference_id],Pyramid_step);
                                
                                D2DPOINT Tar_Imagecoord;
                                double pos_row_left;
                                double pos_col_left;
                                double pos_row_right;
                                double pos_col_right;
                                
                                if(proinfo->sensor_type == SB)
                                {
                                    temp_GP_p.m_X = CurGPXY.m_X;
                                    temp_GP_p.m_Y = CurGPXY.m_Y;
                                    
                                    temp_GP     = ps2wgs_single(*rlevelinfo.param,temp_GP_p);
                                    
                                    Tar_Imagecoord     = GetObjectToImageRPC_single(rlevelinfo.RPCs[ti],*rlevelinfo.NumOfIAparam,temp_LIA,temp_GP);
                                }
                                else
                                {
                                    temp_GP.m_X = CurGPXY.m_X;
                                    temp_GP.m_Y = CurGPXY.m_Y;
                                    
                                    D2DPOINT photo = GetPhotoCoordinate_single(temp_GP,proinfo->frameinfo.Photoinfo[ti],proinfo->frameinfo.m_Camera,proinfo->frameinfo.Photoinfo[ti].m_Rm);
                                    
                                    Tar_Imagecoord = PhotoToImage_single(photo,proinfo->frameinfo.m_Camera.m_CCDSize,proinfo->frameinfo.m_Camera.m_ImageSize);
                                }
                                const D2DPOINT Tar_Imagecoord_py = OriginalToPyramid_single(Tar_Imagecoord,rlevelinfo.py_Startpos[ti],Pyramid_step);
                                
                                pos_row_left      = Ref_Imagecoord_py.m_Y;
                                pos_col_left      = Ref_Imagecoord_py.m_X;
                                
                                pos_row_right     = Tar_Imagecoord_py.m_Y;
                                pos_col_right     = Tar_Imagecoord_py.m_X;
                                
                                if( pos_row_right >= 0 && pos_row_right+1 < RImagesize.height && pos_col_right  >= 0 && pos_col_right+1 < RImagesize.width &&
                                   pos_row_left >= 0 && pos_row_left+1   < LImagesize.height && pos_col_left   >= 0 && pos_col_left+1  < LImagesize.width)
                                {
                                    //interpolate left_patch
                                    double dx = pos_col_left - (int) (pos_col_left);
                                    double dy = pos_row_left - (int) (pos_row_left);
                                    long position = (long int) (pos_col_left) + (long int) (pos_row_left) * LImagesize.width;
                                    double left_patch = InterpolatePatch(rlevelinfo.py_Images[reference_id], position, LImagesize, dx, dy);
                                    double left_mag_patch = InterpolatePatch(rlevelinfo.py_MagImages[reference_id], position, LImagesize, dx, dy);
                                    
                                    //interpolate right_patch
                                    dx = pos_col_right - (int) (pos_col_right);
                                    dy = pos_row_right - (int) (pos_row_right);
                                    position = (long int) (pos_col_right) + (long int) (pos_row_right) * RImagesize.width;
                                    double right_patch = InterpolatePatch(rlevelinfo.py_Images[ti], position, RImagesize, dx, dy);
                                    double right_mag_patch = InterpolatePatch(rlevelinfo.py_MagImages[ti], position, RImagesize, dx, dy);
                                    
                                    //end
                                    left_patch_vec[Count_N] = left_patch;
                                    left_mag_patch_vec[Count_N] = left_mag_patch;
                                    right_patch_vec[Count_N] = right_patch;
                                    right_mag_patch_vec[Count_N] = right_mag_patch;
                                    Count_N++;
                                }
                            }  // if (rtn)
                        }  //  // end Col=PixelMinXY[0] loop
                    }  // end Row=PixelMinXY[1] loop
            
                    // Compute correlations
                    if(Count_N >= 1)
                    {
                        double temp_roh = 0;
                        double count_roh = 0;
                        double ncc_1 = Correlate(left_patch_vec, right_patch_vec, Count_N);
                        if (ncc_1 != -99)
                        {
                            count_roh++;
                            temp_roh += ncc_1;
                        }
                            
                        double ncc_2 = Correlate(left_mag_patch_vec, right_mag_patch_vec, Count_N);
                        if (ncc_2 != -99)
                        {
                            count_roh++;
                            temp_roh += ncc_2;
                        }
                        
                        double ncc;
                        if (count_roh > 0)
                            ncc = temp_roh/count_roh;
                        else
                            ncc = -1;

                        sum_count_N += Count_N;
                        sum_NCC += ncc;
                        count_NCC++;
                    }
                }
            }  // end ti loop
            free(left_patch_vec);
            free(right_patch_vec);
            free(left_mag_patch_vec);
            free(right_mag_patch_vec);
        
            if(count_NCC > 0)
            {
                if(sum_count_N/count_NCC >= th_count)
                {
                    double sncc = sum_NCC/count_NCC;
                    if(sncc > min_th_sncc)
                    {
                        //check_ncc = true;
                        if(F_NCC < sncc)
                        {
                            F_NCC = sncc;
                            *F_Height = (double)iter_height;
                            selected_count =  ((double)(sum_count_N)/(double)(count_NCC));
                            *F_sncc = F_NCC;
                        }
                    }
                }
                else if(sum_count_N/count_NCC > min_th_count)
                {
                    double sncc = sum_NCC/count_NCC;
                    if(sncc > min_th_sncc + 0.2)
                    {
                        //check_ncc = true;
                        if(F_NCC < sncc)
                        {
                            F_NCC = sncc;
                            *F_Height = (ref1_pt.m_Z + ref2_pt.m_Z)/2.0;
                            selected_count =  ((double)(sum_count_N)/(double)(count_NCC));
                            *F_sncc = F_NCC;
                        }
                    }
                }
            }
        }
    }
    
    return selected_count;
}

long SelectMPs(const ProInfo *proinfo,LevelInfo &rlevelinfo, const NCCresult* roh_height, UGRID *GridPT3, const double Th_roh, const double Th_roh_min, const double Th_roh_start, const double Th_roh_next, const int iteration, const double MPP, const int final_level_iteration,const double MPP_stereo_angle, vector<D3DPOINT> *linkedlist)
{
    long int count_MPs = 0;

    double minimum_Th = 0.2;
    int SGM_th_py = proinfo->SGM_py;
    const int Pyramid_step = *rlevelinfo.Pyramid_step;
    if(proinfo->IsRA)
    {
        minimum_Th = 0.2;
    }
    else
    {
        if(Pyramid_step > 0)
        {
            const int rohconvert = 100;
            long int* hist = (long int*)calloc(sizeof(long int),rohconvert);
            long int total_roh = 0;
            
            for(long int iter_index = 0 ; iter_index < *rlevelinfo.Grid_length ; iter_index++)
            {
                long row     = (long)(floor(iter_index/rlevelinfo.Size_Grid2D->width));
                long col     = iter_index % rlevelinfo.Size_Grid2D->width;
                long grid_index = iter_index;//row*(long)rlevelinfo.Size_Grid2D->width + col;
                
                if(row >= 0 && row < rlevelinfo.Size_Grid2D->height && col >= 0 && col < rlevelinfo.Size_Grid2D->width && roh_height[grid_index].NumOfHeight > 2)
                {
                    int roh_int = ceil(SignedCharToDouble_result(roh_height[grid_index].result0)*rohconvert);
                    //printf("roh_int %d\t%f\n", roh_int,SignedCharToDouble_result(roh_height[grid_index].result0));
                    if(roh_int > rohconvert - 1)
                        roh_int = rohconvert - 1;
                    if(roh_int >= 0)
                        hist[roh_int]++;
                    
                    total_roh++;
                }
            }
            
            if(total_roh > 0)
            {
                double min_roh_th;
                
                if(Pyramid_step == 4)
                    min_roh_th = 0.05 + (iteration-1)*0.01;
                else if(Pyramid_step == 3)
                    min_roh_th = 0.15 + (iteration-1)*0.01;
                else if(Pyramid_step == 2)
                    min_roh_th = 0.60;
                else if(Pyramid_step == 1)
                    min_roh_th = 0.80;
                
                if(Pyramid_step <= SGM_th_py )
                {
                    min_roh_th = 0.95 - Pyramid_step*0.1;
                    if(min_roh_th < 0.5)
                        min_roh_th = 0.5;
                }
                
                int roh_iter = rohconvert - 1;
                bool check_stop = false;
                minimum_Th = 0.2;
                int sum_roh_count = 0;
                double sum_roh_rate = 0;
                while(!check_stop && roh_iter > 0)
                {
                    sum_roh_count += hist[roh_iter];
                    sum_roh_rate = sum_roh_count/(double)total_roh;
                    //printf("roh_iter %d\t%d\t%d\t%f\n",roh_iter,hist[roh_iter],total_roh,sum_roh_rate);
                    if(sum_roh_rate > min_roh_th)
                    {
                        check_stop = true;
                        minimum_Th = (double)roh_iter/(double)rohconvert;
                    }
                    roh_iter--;
                }
                if(minimum_Th > 0.95)
                    minimum_Th = 0.95;
            }
            else
                minimum_Th = 0.2;
            
            free(hist);
        }
        else
            minimum_Th = 0.2;
    }
    
    printf("minimum TH %f\n",minimum_Th);
    
    bool check_iter_end = false;
    
    const double roh_th = 0.05;
     
    if(Pyramid_step == 0)
    {
        if(Th_roh - 0.10 < Th_roh_min)
            check_iter_end  = true;
    }
    else if(Pyramid_step <= 1)
    {
        if(Th_roh - 0.10 < Th_roh_min)
            check_iter_end  = true;
    }
    else if(Pyramid_step == 2)
    {
        if(Th_roh - 0.10 < Th_roh_min)
            check_iter_end  = true;
    }
    else if(Pyramid_step == 3) 
    {
        if(Th_roh - 0.10 < Th_roh_min)
            check_iter_end  = true;
    }
    else 
    {
        if(proinfo->IsRA)
        {
            if(Th_roh - 0.10 < Th_roh_min)
                check_iter_end  = true;
        }
        else
        {
            if(Th_roh - 0.06 < Th_roh_min)
                check_iter_end  = true;
        }
    }

    for(long int iter_index = 0 ; iter_index < *rlevelinfo.Grid_length ; iter_index++)
    {
        long row     = (long)(floor(iter_index/rlevelinfo.Size_Grid2D->width));
        long col     = iter_index % rlevelinfo.Size_Grid2D->width;
        long grid_index = iter_index;//row*(long)rlevelinfo.Size_Grid2D->width + col;
        
        if(row >= 0 && row < rlevelinfo.Size_Grid2D->height && col >= 0 && col < rlevelinfo.Size_Grid2D->width && roh_height[grid_index].NumOfHeight > 2)
        {
            bool index,index_1,index_2,index_3, roh_index;
            double ROR;
            
            if(Pyramid_step == 4 && iteration == 1)
                GridPT3[grid_index].Height          = -1000.0;
            
            index           = false;
            index_1         = false;
            index_2         = false;
            index_3         = false;
            roh_index       = false;
     
            //ratio of 1st peak roh / 2nd peak roh
            if((iteration <= 2 && Pyramid_step >= 3) || (iteration <= 1 && Pyramid_step == 2))
                ROR = 1.0;
            else
            {
                if(fabs(SignedCharToDouble_result(roh_height[grid_index].result0)) > 0)
                    ROR         = (SignedCharToDouble_result(roh_height[grid_index].result0) - SignedCharToDouble_result(roh_height[grid_index].result1))/SignedCharToDouble_result(roh_height[grid_index].result0);
                else
                    ROR         = 0;
            }
            
            if(Pyramid_step == 0)
            {
                if(ROR >= (0.1 - 0.03*(3 - Pyramid_step)) && SignedCharToDouble_result(roh_height[grid_index].result0) > minimum_Th)
                    index_2 = true;
            }
            else
            {
                if(ROR >= 0.1 && SignedCharToDouble_result(roh_height[grid_index].result0) > minimum_Th)
                    index_2 = true;
            }
            
            // threshold of 1st peak roh
            if(SignedCharToDouble_result(roh_height[grid_index].result0) > SignedCharToDouble_grid(GridPT3[grid_index].roh) - roh_th)
                index_3     = true;

            if(roh_height[grid_index].result4 > 0)
                index       = true;
            
            if(MPP_stereo_angle > 5)
            {
                if(Pyramid_step >= 2)
                    roh_index   = index & index_2 & index_3;
                else if(Pyramid_step >= 1)
                {
                    if( index_3  && SignedCharToDouble_result(roh_height[grid_index].result0) > minimum_Th)
                        index_1 = true;
                    
                    roh_index   = ((index_3 & index_2) | index_1);
                }
                else if(Pyramid_step == 0 && final_level_iteration < 3)
                {
                    roh_index   = index & index_2 & index_3;
                }
                else
                {
                    if( index_3)
                        index_1 = true;
                    
                    roh_index   = (index_2 & index_1);
                }
            }
            else
            {
                if(Pyramid_step >= 1)
                    roh_index   = index & index_2 & index_3;
                else if(Pyramid_step == 0 && final_level_iteration < 3)
                {
                    roh_index   = index & index_2 & index_3;
                }
                else
                {
                    if( index_3)
                        index_1 = true;
                    
                    roh_index   = (index_2 & index_1);
                }
            }
            
            if(GridPT3[grid_index].Matched_flag != 0)
            {
                index           = false;
                index_1         = false;
                index_2         = false;
                
                if(Pyramid_step <= 0)
                {
                    if( (ROR < (0.1 - 0.03*(3 - Pyramid_step)) ) && (SignedCharToDouble_result(roh_height[grid_index].result1) > SignedCharToDouble_grid(GridPT3[grid_index].roh) - roh_th) )
                        index   = true;
                }
                else
                {
                    if( (ROR < 0.1) && (SignedCharToDouble_result(roh_height[grid_index].result1) > SignedCharToDouble_grid(GridPT3[grid_index].roh) - roh_th) )
                        index   = true;
                }
                
                if(roh_height[grid_index].result2 > roh_height[grid_index].result3)
                    index_1     = true;
                index_2         = !index_1;
                index_1         = index & index_1;
                index_2         = index & index_2;
                
                if(index_1)
                {
                    GridPT3[grid_index].minHeight = floor(roh_height[grid_index].result3 - 0.5);
                    GridPT3[grid_index].maxHeight = ceil(roh_height[grid_index].result2 + 0.5);
                    GridPT3[grid_index].Matched_flag = 4;
                    
                }

                if(index_2)
                {
                    GridPT3[grid_index].minHeight = floor(roh_height[grid_index].result2 - 0.5);
                    GridPT3[grid_index].maxHeight = ceil(roh_height[grid_index].result3 + 0.5);
                    GridPT3[grid_index].Matched_flag = 4;
                }
            }
        
            D3DPOINT temp_mp;
            {
                //Set the matched pts and information
                if(roh_index)
                {
                    double pre_H, pre_range;
                    uint8 pre_Match;
                    bool index_1, index_2, index_3, index_4, index_5, index_41, index_42, index_6, index_7, index;
                    index           = false;
                    index_1         = false;
                    index_2         = false;
                    index_3         = false;
                    index_4         = false;
                    index_41        = false;
                    index_42        = false;
                    index_5         = false;
                    index_6         = false;
                    index_7         = false;

                    temp_mp.m_Z = (double)roh_height[grid_index].result2;
                    temp_mp.m_X = rlevelinfo.GridPts[grid_index].m_X;
                    temp_mp.m_Y = rlevelinfo.GridPts[grid_index].m_Y;
                    
                    //update MPs by previsous level results
                    if(Pyramid_step < 2)
                    {
                        pre_H           = (double)GridPT3[grid_index].Height;
                        pre_range       = (double)(GridPT3[grid_index].maxHeight - GridPT3[grid_index].minHeight);
                        pre_Match       = GridPT3[grid_index].Matched_flag;
                        
                        if(pre_Match == 0) //non matched grid
                            index_1     = true;
                        else if(pre_Match == 2) //matched grid
                            index_2     = true;
                        else if(pre_Match == 1 || pre_Match == 4) //inside triangle and min,max change status by matched grid
                            index_3     = true;
                        
                        
                        if(fabs(pre_H - temp_mp.m_Z) <= MPP*2*pwrtwo(Pyramid_step))
                            index_4     = true;
                        if(fabs(pre_H - temp_mp.m_Z) <= pre_range/2.0)
                            index_5     = true;
                        if(fabs(temp_mp.m_Z - GridPT3[grid_index].minHeight) <= MPP*3*pwrtwo(Pyramid_step))
                            index_41    = true;
                        if(fabs(temp_mp.m_Z - GridPT3[grid_index].maxHeight) <= MPP*3*pwrtwo(Pyramid_step))
                            index_42    = true;
                        
                        index_6         = (index_4 | index_5 | index_41 | index_42) & index_3; // inside triangle by matched grid
                        index_7         = index_2 & index_4; // matched grid
                        
                        index           = index_1 | index_7 | index_6;
                        
                        if(index && temp_mp.m_Z > -100 && temp_mp.m_Z < 10000)
                        {
                            count_MPs++;
                            
                            temp_mp.flag = 0;
                            linkedlist->push_back(temp_mp);
       
                            // update max_roh value
                            GridPT3[grid_index].roh     = roh_height[grid_index].result0;
                            if(GridPT3[grid_index].roh < DoubleToSignedChar_grid(minimum_Th))
                                GridPT3[grid_index].roh = DoubleToSignedChar_grid(minimum_Th);
                            
                        }
                        else
                        {
                            GridPT3[grid_index].roh = DoubleToSignedChar_grid(Th_roh);
                            if(check_iter_end && Th_roh_start == SignedCharToDouble_grid(GridPT3[grid_index].roh))
                                GridPT3[grid_index].roh     = DoubleToSignedChar_grid(Th_roh_next);
                        }
                    }
                    else
                    {
                        if(temp_mp.m_Z > -100 && temp_mp.m_Z < 10000)
                        {
                            count_MPs++;
                            
                            temp_mp.flag = 0;
                            linkedlist->push_back(temp_mp);
                        }
                        // update max_roh value
                        GridPT3[grid_index].roh     = roh_height[grid_index].result0;
                        if(GridPT3[grid_index].roh < DoubleToSignedChar_grid(minimum_Th))
                            GridPT3[grid_index].roh = DoubleToSignedChar_grid(minimum_Th);
                    }
                }
                else
                {
                    GridPT3[grid_index].roh = DoubleToSignedChar_grid(Th_roh);
                    // update max_roh value
                    if(check_iter_end && Th_roh_start == SignedCharToDouble_grid(GridPT3[grid_index].roh))
                        GridPT3[grid_index].roh     = DoubleToSignedChar_grid(Th_roh_next);
                }
            }
        }
    }

    return count_MPs;
}

void DecisionMPs(const ProInfo *proinfo, LevelInfo &rlevelinfo, const bool flag_blunder,const long int count_MPs_input,UGRID *GridPT3, const uint8 iteration, const double Hinterval, int *count_Results, double *minz_mp, double *maxz_mp, const double *minmaxHeight, D3DPOINT *ptslists)
{
    
    *minz_mp = 100000;
    *maxz_mp = -100000;

    if((*rlevelinfo.Pyramid_step == 0 && iteration == 3))
    {
        return;
    }

    const long int count_MPs       = count_MPs_input;
    const int Th_pts = 1;
 
    // Determine max count
    uint8 max_count         = 30;
    if(!flag_blunder) //anchor points
        max_count = 10;
    else //blunder points
    {
        if(*rlevelinfo.Pyramid_step >= 4)
            max_count  = 30;
        else if(*rlevelinfo.Pyramid_step >= 3)
            max_count  = 20;
        else
            max_count = 10;
    }
    
    long count = 0;
    double min_max[4] = {rlevelinfo.Boundary[0], rlevelinfo.Boundary[1], rlevelinfo.Boundary[2], rlevelinfo.Boundary[3]};
    
    UI3DPOINT *trilists = NULL;
    FullTriangulation *origTri = NULL;
    vector<UI3DPOINT> t_trilists;
    int count_tri;
    
    //Save triangulation for later use as we will remove blunders directly from this triangulation
    origTri = TINCreate_list(ptslists,count_MPs,&t_trilists,min_max,&count_tri, *rlevelinfo.grid_resolution);
    
    count_tri = t_trilists.size();
    
    //TODO why do we do this copy here?
    trilists    = (UI3DPOINT*)malloc(sizeof(UI3DPOINT)*count_tri);
    for(long i = 0 ; i < t_trilists.size() ; i++)
    {
        trilists[i] = t_trilists[i];
    }
    t_trilists.clear();
    vector<UI3DPOINT>().swap(t_trilists);
    
    
    bool flag               = true;
    //double blunder_dh = 0;
    long pre_count_blunder = -100;
    long pre_count_MPs = -100;
    
    
    // runs between 10 and 30 times (by max_count at least)
    while(flag == true && count < max_count && count_tri > 20)
    {
        long int count_blunders = 0;
        long blunder_count[2] = {0};
        
        float* ortho_ncc = (float*)calloc(*rlevelinfo.Grid_length,sizeof(float));
        
        bool *detBlunders = (bool*)calloc(sizeof(bool), count_MPs);
        
        if(proinfo->IsRA != 1)
        {
            //printf("DecisionMP : start VerticalLineLocus_blunder 1 iteration %d\n",count);
            SetHeightRange_blunder(rlevelinfo,ptslists, count_MPs, trilists,count_tri, GridPT3);
            VerticalLineLocus_blunder(proinfo, rlevelinfo, ortho_ncc, GridPT3, iteration, true);
            //printf("DecisionMP : end VerticalLineLocus_blunder 1\n");
        }
        
        //printf("blunder_detection_TIN start\n");
        blunder_detection_TIN(proinfo, rlevelinfo, iteration, ortho_ncc, flag_blunder, count, ptslists, detBlunders, count_MPs, trilists, count_tri, GridPT3, blunder_count,minz_mp,maxz_mp);
        //printf("blunder_detection_TIN end\n");
        
        free(ortho_ncc);
        
        if(count > 0)
            count_blunders = abs(int(blunder_count[1]) - pre_count_blunder);
        else
            count_blunders = blunder_count[1];
        
        if(count_blunders < Th_pts)
            flag = false;
        
        if(blunder_count[0] < Th_pts)
            flag = false;
        
        if(pre_count_blunder == blunder_count[1] && pre_count_MPs == blunder_count[0])
            flag = false;
        else
        {
            pre_count_MPs = blunder_count[0];
            pre_count_blunder = blunder_count[1];
        }
        
        //printf("start TIN\n");
        D3DPOINT *input_blunder_pts = (D3DPOINT*)calloc(sizeof(D3DPOINT),count_blunders);
        D3DPOINT *input_tri_pts = (D3DPOINT*)calloc(sizeof(D3DPOINT),blunder_count[0]);
        uint32 *check_id        = (uint32*)calloc(sizeof(uint32),blunder_count[0]);
        
        long int new_blunder_cnt = 0;
        long int t_tri_counts = 0;
        for(long int i=0;i<count_MPs;i++)
        {
            //Check for newly found blunders, and save them to be removed from triangulation
            if (detBlunders[i])
            {
                input_blunder_pts[new_blunder_cnt].m_X = ptslists[i].m_X;
                input_blunder_pts[new_blunder_cnt].m_Y = ptslists[i].m_Y;
                new_blunder_cnt++;
            }
            if(flag)
            {
                if(ptslists[i].flag != 1 && ptslists[i].flag != 2)
                {
                    input_tri_pts[t_tri_counts].m_X = ptslists[i].m_X;
                    input_tri_pts[t_tri_counts].m_Y = ptslists[i].m_Y;
                    check_id[t_tri_counts]          = i;
                    t_tri_counts++;
                }
            }
            else
            {
                if(ptslists[i].flag != 1)
                {
                    input_tri_pts[t_tri_counts].m_X = ptslists[i].m_X;
                    input_tri_pts[t_tri_counts].m_Y = ptslists[i].m_Y;
                    check_id[t_tri_counts]          = i;
                    t_tri_counts++;
                }
            }
        }
        
        if (new_blunder_cnt > 0)
        {
            free(trilists);
            vector<UI3DPOINT> tt_trilists;
            //If we have many blunders compared to points in triangulations, almost certainly faster to ditch old triangulation
            //Change the threshold by adding a scale factor to either t_tri_counts or t_blunder_counts
            if (TINUPD_THRSHLD*new_blunder_cnt > t_tri_counts)
            {
                //Must delete old triangulation and create new one, should be faster
                delete origTri;
                origTri = TINCreate_list(input_tri_pts, t_tri_counts, &tt_trilists, min_max, &count_tri, *rlevelinfo.grid_resolution);
            }
            else
            {
                //Rather than recreating entire triangulation, edit saved triangulation and only remove new blunders
                TINUpdate_list(input_tri_pts, t_tri_counts, &tt_trilists, min_max, &count_tri, *rlevelinfo.grid_resolution, origTri, input_blunder_pts, new_blunder_cnt);
            }
            
            count_tri = tt_trilists.size();
            
            trilists    = (UI3DPOINT*)malloc(sizeof(UI3DPOINT)*count_tri);
            
            //vector<UI3DPOINT>::iterator itt;
            for(long i = 0 ; i < tt_trilists.size() ; i++)
            //for(itt = tt_trilists.begin(); itt != tt_trilists.end() ; ++itt)
            {
                trilists[i].m_X = check_id[tt_trilists[i].m_X];
                trilists[i].m_Y = check_id[tt_trilists[i].m_Y];
                trilists[i].m_Z = check_id[tt_trilists[i].m_Z];
                //i++;
            }
            tt_trilists.clear();
            vector<UI3DPOINT>().swap(tt_trilists);
        }
        
        free(input_blunder_pts);
        free(input_tri_pts);
        free(detBlunders);
        free(check_id);
        
        //printf("end TIN\n");
        
        count_Results[0]    = count_MPs;
        count_Results[1]    = count_tri;
        
        count++;
        if(count >= max_count || count_tri <= 20)
            flag = false;
        
        //printf("iter = %d\tGridsize = %f\tMPs = %d\tBlunder = %d\tcount_tri = %d\tflag = %d\n",count,*rlevelinfo.grid_resolution,blunder_count[0],count_blunders,count_tri,flag);
    }

    SetHeightRange_blunder(rlevelinfo,ptslists, count_Results[0], trilists,count_tri, GridPT3);
   
    free(trilists);
    
    float* ortho_ncc = (float*)calloc(sizeof(float),*rlevelinfo.Grid_length);
    
    //printf("DecisionMP : start VerticalLineLocus_blunder 2\n");
    VerticalLineLocus_blunder(proinfo, rlevelinfo, ortho_ncc, GridPT3, iteration, false);
    //printf("DecisionMP : end VerticalLineLocus_blunder 2\n");
    
    free(ortho_ncc);
    delete origTri;
}

void DecisionMPs_setheight(const ProInfo *proinfo, LevelInfo &rlevelinfo, const long int count_MPs_input,UGRID *GridPT3, const uint8 iteration, const double Hinterval, const double *minmaxHeight, D3DPOINT *ptslists, UI3DPOINT *trilists,int numoftri)
{
    const int count_MPs       = count_MPs_input;
    //const double gridspace            = *rlevelinfo.grid_resolution;
    
    BL blunder_param;
    blunder_param.Boundary  = rlevelinfo.Boundary;
    blunder_param.gridspace = *rlevelinfo.grid_resolution;
    blunder_param.height_check_flag = true;
    blunder_param.Hinterval = Hinterval;
    blunder_param.iteration = iteration;
    blunder_param.Pyramid_step = *rlevelinfo.Pyramid_step;
    
    blunder_param.Size_Grid2D.width = rlevelinfo.Size_Grid2D->width;
    blunder_param.Size_Grid2D.height = rlevelinfo.Size_Grid2D->height;
    
    float* ortho_ncc = (float*)calloc(*rlevelinfo.Grid_length,sizeof(float));
    
    SetHeightRange_blunder(rlevelinfo,ptslists, count_MPs, trilists,numoftri, GridPT3);
    
    VerticalLineLocus_blunder(proinfo, rlevelinfo, ortho_ncc, GridPT3, iteration, false);

    free(ortho_ncc);

}

void set_blunder(long int index, uint8_t val, D3DPOINT *pts, bool *detectedBlunders) {
    // if the flag is already 1 and it's an "old blunder",
    // then we don't want to update it to 3. This can cause
    // nondeterminism in the loop. However, the race here is
    // okay. If it's an "old blunder", we'll always see 1 here.
    // If it's a new blunder, we may see any of 0, 1 or 3 here.
    // If it's a new blunder and 1, then detectedBlunders was
    // already set, so we can exit early. Same with 3. If it's
    // a new blunder and zero, but there's a race, that's fine
    // too.
    uint8_t prev = pts[index].flag;
    if(prev != 0)
        return;

    // Only update the detectedBlunders value
    // if we know that this is a new blunder.
    // if it was previously zero, we know it is
    // a new blunder. If it was not previously zero,
    // there are two possible cases. First, it
    // was already a blunder. In that case, we don't
    // want to set detectedBlunders. Alternatively,
    // it could be a new blunder but another thread
    // changed it from zero to 1 or 3. In that case,
    // the other thread/iteration would have
    // updated detectedBlunders, so we don't need to.
#pragma omp atomic capture
    {
        prev = pts[index].flag;
        pts[index].flag = val;
    }
    if(prev == 0)
    {
#pragma omp atomic write
        detectedBlunders[index] = true;
    }
}

bool blunder_detection_TIN(const ProInfo *proinfo, LevelInfo &rlevelinfo, const int iteration, float* ortho_ncc, bool flag_blunder, uint16 count_bl, D3DPOINT *pts, bool *detectedBlunders, long int num_points, UI3DPOINT *tris, long int num_triangles, UGRID *Gridpts, long *blunder_count,double *minz_mp, double *maxz_mp)
{
    int IsRA(proinfo->IsRA);
    const uint8 pyramid_step(*rlevelinfo.Pyramid_step);
    double gridspace = *rlevelinfo.grid_resolution;
    
    if(!(pyramid_step == 0 && iteration == 3))
    {
        uint32 hdiffcount = (uint32)(*rlevelinfo.Hinterval);
        const uint8 max_nodes       = 30;
        //savenode will now be a pointer to a uint
        //make savenode a giant array with row size max_nodes
        uint32 *savenode    = (uint32*)malloc((long)sizeof(uint32)*(long)max_nodes*(long)num_points);
        uint32 *nodecount   = (uint32*)calloc(num_points,sizeof(uint32));
        uint32 *hdiffbin    = (uint32*)calloc(hdiffcount+1,sizeof(uint32));
        
        const double *boundary    = rlevelinfo.Boundary;
        const CSize gridsize(rlevelinfo.Size_Grid2D->width, rlevelinfo.Size_Grid2D->height);
        double sum_oncc = 0;
        double sum2_oncc = 0;
        long int total_oncc_count = 0;
        double sum_data2    = 0.0;
        double sum_data = 0.0;
        long int dh_count = 0;
        
        //compute dh statistics
        for(long tcnt=0;tcnt<num_triangles;tcnt++)
        {
            bool check_pt_index = true;
            
            D3DPOINT pt0,pt1,pt2;
            int t_col,t_row;
            
            if(tris[tcnt].m_X < num_points)
            {
                if(nodecount[tris[tcnt].m_X] < max_nodes)
                {
                    savenode[(long)tris[tcnt].m_X*(long)max_nodes+(long)nodecount[tris[tcnt].m_X]] = tcnt;
                    nodecount[tris[tcnt].m_X]++;
                }
                pt0     = pts[tris[tcnt].m_X];
                
                t_col         = (int)((pt0.m_X - boundary[0])/gridspace + 0.5);
                t_row         = (int)((pt0.m_Y - boundary[1])/gridspace + 0.5);
                int pt0_index     = gridsize.width*t_row + t_col;
                if( ortho_ncc[pt0_index] > -1)
                {
                    sum_oncc += ortho_ncc[pt0_index];
                    sum2_oncc += ortho_ncc[pt0_index]* ortho_ncc[pt0_index];
                    total_oncc_count++;
                }
            }
            else
                check_pt_index = false;
            
            if(tris[tcnt].m_Y < num_points)
            {
                if(nodecount[tris[tcnt].m_Y] < max_nodes)
                {
                    savenode[(long)tris[tcnt].m_Y*(long)max_nodes+(long)nodecount[tris[tcnt].m_Y]] = tcnt;
                    nodecount[tris[tcnt].m_Y]++;
                }
                pt1     = pts[tris[tcnt].m_Y];
                
                t_col         = (int)((pt1.m_X - boundary[0])/gridspace + 0.5);
                t_row         = (int)((pt1.m_Y - boundary[1])/gridspace + 0.5);
                int pt1_index     = gridsize.width*t_row + t_col;
                if( ortho_ncc[pt1_index] > -1)
                {
                    sum_oncc += ortho_ncc[pt1_index];
                    sum2_oncc += ortho_ncc[pt1_index]* ortho_ncc[pt1_index];
                    total_oncc_count++;
                }
            }
            else
                check_pt_index = false;
            
            if(tris[tcnt].m_Z < num_points)
            {
                if(nodecount[tris[tcnt].m_Z] < max_nodes)
                {
                    savenode[(long)tris[tcnt].m_Z*(long)max_nodes+(long)nodecount[tris[tcnt].m_Z]] = tcnt;
                    nodecount[tris[tcnt].m_Z]++;
                }
                pt2     = pts[tris[tcnt].m_Z];
                
                t_col         = (int)((pt2.m_X - boundary[0])/gridspace + 0.5);
                t_row         = (int)((pt2.m_Y - boundary[1])/gridspace + 0.5);
                int pt2_index     = gridsize.width*t_row + t_col;
                if( ortho_ncc[pt2_index] > -1)
                {
                    sum_oncc += ortho_ncc[pt2_index];
                    sum2_oncc += ortho_ncc[pt2_index]* ortho_ncc[pt2_index];
                    total_oncc_count++;
                }
            }
            else
                check_pt_index = false;
            
            double dh1,dh2,dh3;
            if(check_pt_index)
            {
                dh1     = (double)fabs(pt0.m_Z - pt1.m_Z);
                sum_data += dh1;
                sum_data2 += dh1*dh1;
                dh_count++;
                
                dh2     = (double)fabs(pt0.m_Z - pt2.m_Z);
                sum_data += dh2;
                sum_data2 += dh2*dh2;
                dh_count++;
                
                dh3     = (double)fabs(pt1.m_Z - pt2.m_Z);
                sum_data += dh3;
                sum_data2 += dh3*dh3;
                dh_count++;
                
                dh1   = (uint32)dh1;
                if (dh1 < hdiffcount)
                    hdiffbin[(uint32)dh1]++;
                
                dh2   = (uint32)dh2;
                if (dh2 < hdiffcount)
                    hdiffbin[(uint32)dh2]++;
                
                dh3   = (uint32)dh3;
                if (dh3 < hdiffcount)
                    hdiffbin[(uint32)dh3]++;
            }
        }
        
        //set ortho_ncc
        const double oncc_mean    =  sum_oncc/total_oncc_count;
        const double oncc_std =   sqrt(fabs(sum2_oncc - (sum_oncc)*(sum_oncc)/total_oncc_count)/total_oncc_count);
        
        double ortho_ncc_th = 0.5 + (iteration-1)*0.02;
        double temp_oncc_th = oncc_mean - oncc_std;
        if(temp_oncc_th < ortho_ncc_th)
            ortho_ncc_th = temp_oncc_th;
        else
        {
            temp_oncc_th = oncc_mean - 2*oncc_std;
            if(temp_oncc_th < ortho_ncc_th)
                ortho_ncc_th = temp_oncc_th;
        }
        
        if(pyramid_step == 4 )
            ortho_ncc_th = 0.6 - (iteration - 1)*0.01;
        else if(pyramid_step >= 3)
            ortho_ncc_th = 0.5 - (iteration - 1)*0.01;
        else if(pyramid_step == 2)
            ortho_ncc_th = 0.4 - (iteration - 1)*0.01;
        else if(pyramid_step == 1)
            ortho_ncc_th = 0.3 ;
        else
            ortho_ncc_th = 0.2 ;
 
        const double ortho_ancc_th = 100.;
        double th_ref_ncc = 0.1 + (iteration-1)*0.05;
        if(th_ref_ncc > ortho_ncc_th)
            th_ref_ncc = ortho_ncc_th;
        
        //set height_th
        const int blunder_pyramid_step = 3;
        bool check_dh       = false;
        if(pyramid_step <= 4 && pyramid_step >= 3)
            check_dh        = true;
        else if(pyramid_step == 2)
        {
            if(iteration <= 4)
                check_dh        = true;
        }
        else if(pyramid_step <= 1)
        {
            if(iteration <= 2)
                check_dh        = true;
        }
        
        double height_th;
        double up_3sigma; //lw_3sigma
        bool check_total_dh = false;
        double GSD;
        double mean,std;
        uint32 th80 = 1000;
        
        if(pyramid_step >= 1)
        {
            GSD = gridspace;
            if(pyramid_step >= 3 && gridspace < pwrtwo(pyramid_step-1))
                GSD = pwrtwo(pyramid_step-1);
        }
        else
            GSD = pwrtwo(pyramid_step-1);
        
        const double height_th_1(*rlevelinfo.Hinterval);
        double height_th_2(GSD*10);
        
        if(IsRA == 1)
            height_th_2= GSD*30;
        
        if(height_th_1 < height_th_2)
            height_th       = height_th_1;
        else
            height_th       = height_th_2;
        
        if(pyramid_step >= blunder_pyramid_step)
        {
            if(check_dh)
            {
                mean    =   sum_data/dh_count;
                std =   sqrt((sum_data2 - (sum_data)*(sum_data)/dh_count)/dh_count);
                //lw_3sigma       = mean - 3*std;
                up_3sigma       = mean + 3*std;
            }
            else
            {
                //lw_3sigma       = -100;
                up_3sigma       = height_th;
            }
            
            if(up_3sigma < height_th)
            {
                if(up_3sigma < height_th/2.0)
                    height_th = height_th/2.0;
                else
                    height_th = up_3sigma;
            }
        }
        else
        {
            uint32 total_dh = 0;
            long tcnt = 0;
            while(tcnt<hdiffcount && !check_total_dh)
            {
                double per;
                total_dh += hdiffbin[tcnt];
                per = (double)total_dh/(double)dh_count*100.0;
                if (per > 99)
                {
                    th80 = tcnt;
                    check_total_dh = true;
                }
                tcnt++;
            }
            if (!check_total_dh)
                th80 = tcnt -1;
            
            mean    =   sum_data/dh_count;
            std =   sqrt((sum_data2 - (sum_data)*(sum_data)/dh_count)/dh_count);
            //lw_3sigma       = mean - 3*std;
            up_3sigma       = mean + 3*std;
            
            if(up_3sigma < th80)
                height_th = up_3sigma;
            else {
                height_th = th80;
            }
            
            if(height_th > 50)
                height_th = 50;
        }
        
        free(hdiffbin);

        // be very careful modifying this code. The thread safety
        // here is a bit complicated. This loop touches three
        // shared arrays: pts, detectedBlunders, and GridPts.
        // GridPts and detecetedBlunders are write-only, while
        // pts is read/write. GridPts is the least problematic.
        // It is written is a "safe" way, with one-to-one mapping
        // between iterations and the index.
        //
        // That's not the case for pts and detectedBlunders.
        // pts is only read from the iteration index. But, it is
        // written from other indices. detectedBlunders tracks
        // whether a given pts index was updated from zero to
        // one or three. It is also written from other threads.
        //
        // openmp atomics are used to coordinate this. Take
        // care when modifying anything in here.
        //
        // detectedBlunders is updated when for an index when
        // the pts value is changed from 0 to 1 or from 0 to 3.
#pragma omp parallel for schedule(guided)
        for(long index=0;index<num_points;index++)
        {
            if(pts[index].flag != 1)
            {
                // use this flag instead of setting the point directly
                bool pt_is_blunder = false;

                int count_th_positive   = 0;
                int count_th_negative   = 0;
                int count = 0;
                int max_iter;
                
                bool check_neigh = false;
                
                if(nodecount[index] < max_nodes)
                    max_iter    = nodecount[index];
                else
                    max_iter    = max_nodes;
                
                const D3DPOINT ref_index_pt(pts[index]);
                long t_col         = (long)((ref_index_pt.m_X - boundary[0])/gridspace + 0.5);
                long t_row         = (long)((ref_index_pt.m_Y - boundary[1])/gridspace + 0.5);
                const long ref_index((long)gridsize.width*t_row + t_col);
                
                // assume that the mapping between index
                // and ref_index is one-to-one, so this
                // is okay.
                Gridpts[ref_index].anchor_flag = 0;
                
                if(!IsRA)
                {
                    if(ortho_ncc[ref_index] < th_ref_ncc && pyramid_step >= 2)
                        pt_is_blunder = true;
                }
                if(pyramid_step >= 3 && iteration >= 4)
                {
                    if(ortho_ncc[ref_index] >= 0.95 && flag_blunder)
                    {
                        // Assume this is okay
                        Gridpts[ref_index].anchor_flag = 1;
                    }
                }
                
                for(long iter = 0 ; iter < max_iter ; iter++)
                {
                    if(savenode[(long)index*(long)max_nodes+(long)iter] < num_triangles && savenode[(long)index*(long)max_nodes+(long)iter] > 0)
                    {
                        long reference_index = 0;
                        long target_index_0 = 0, target_index_1 = 0;
                        const uint32 temp_tri[3] = {tris[savenode[(long)index*(long)max_nodes+(long)iter]].m_X, tris[savenode[(long)index*(long)max_nodes+(long)iter]].m_Y, tris[savenode[(long)index*(long)max_nodes+(long)iter]].m_Z};
                        
                        bool check_index = false;
                        for(int kk=0;kk<3;kk++)
                        {
                            if(temp_tri[kk] == index)
                                reference_index = index;
                            else
                            {
                                if(!check_index)
                                {
                                    target_index_0 = temp_tri[kk];
                                    check_index    = true;
                                }
                                else
                                    target_index_1 = temp_tri[kk];
                            }
                        }
                        
                        if(reference_index < num_points && target_index_0 < num_points && target_index_1 < num_points &&
                           target_index_0 >= 0 && target_index_1 >= 0)
                        {
                            //plane normal angle
                            const D3DPOINT pt0(pts[reference_index]);
                            const D3DPOINT pt1(pts[target_index_0]);
                            const D3DPOINT pt2(pts[target_index_1]);
                            
                            double angle = SetNormalAngle(pt0, pt1, pt2);
                            
                            const double dh1 = pt0.m_Z - pt1.m_Z;
                            const double dh2 = pt0.m_Z - pt2.m_Z;
                            const double dh3 = pt1.m_Z - pt2.m_Z;
                            
                            if(dh1 >= 0 && dh2 >= 0 && angle > 30)
                                count_th_positive ++;
                            if(dh1 <  0 && dh2 < 0  && angle > 30)
                                count_th_negative ++;
                            
                            bool check_match = false;
                            if(pyramid_step  > 1)
                            {
                                check_match     = true;
                            }
                            else if(pyramid_step == 1)
                            {
                                if(iteration == 1 && count_bl <= 5)
                                    check_match = true;
                            }
                            else if(pyramid_step == 0)
                            {
                                if(iteration == 1 && count_bl <= 5)
                                    check_match = true;
                                else if(iteration == 2 && count_bl <= 5)
                                    check_match = false;
                            }
                            else
                                check_match = false;
                            
                            if(check_match)
                            {
                                const double ddh_1     = fabs(dh1) - fabs(dh2);
                                const double ddh_2     = fabs(dh1) - fabs(dh3);
                                const double ddh_3     = fabs(dh2) - fabs(dh3);
                                
                                if((fabs(ddh_1) > height_th || fabs(ddh_2) > height_th || fabs(ddh_3) > height_th))
                                {
                                    // all node check with height difference.
                                    double h1,h2,dh;
                                    int t_o_min,t_o_max,t_o_mid;
                                    long order[3]    = {reference_index, target_index_0, target_index_1};
                                    double height[3] = {pt0.m_Z, pt1.m_Z, pt2.m_Z};
                                    
                                    long Col         = (long)((pt0.m_X - boundary[0])/gridspace + 0.5);
                                    long Row         = (long)((pt0.m_Y- boundary[1])/gridspace + 0.5);
                                    long Index[3];
                                    Index[0]     = (long)gridsize.width*Row + Col;
                                    Col             = (long)((pt1.m_X - boundary[0])/gridspace + 0.5);
                                    Row             = (long)((pt1.m_Y - boundary[1])/gridspace + 0.5);
                                    Index[1]     = (long)gridsize.width*Row + Col;
                           
                                    Col             = (long)((pt2.m_X - boundary[0])/gridspace + 0.5);
                                    Row             = (long)((pt2.m_Y - boundary[1])/gridspace + 0.5);
                                    Index[2]     = (long)gridsize.width*Row + Col;
                                    
                                    check_neigh = true;
                                    
                                    if(height[0] > height[1])
                                    {
                                        if(height[0] > height[2])
                                        {
                                            t_o_max = 0;
                                            if(height[1] > height[2])
                                            {
                                                t_o_min = 2;
                                                t_o_mid = 1;
                                            }
                                            else
                                            {
                                                t_o_min = 1;
                                                t_o_mid = 2;
                                            }
                                        }
                                        else
                                        {
                                            t_o_max = 2;
                                            t_o_min = 1;
                                            t_o_mid = 0;
                                        }
                                    }
                                    else
                                    {
                                        if(height[1] > height[2])
                                        {
                                            t_o_max = 1;
                                            if(height[0] > height[2])
                                            {
                                                t_o_min = 2;
                                                t_o_mid = 0;
                                            }
                                            else
                                            {
                                                t_o_min = 0;
                                                t_o_mid = 2;
                                            }
                                        }
                                        else
                                        {
                                            t_o_max = 2;
                                            t_o_mid = 1;
                                            t_o_min = 0;
                                        }
                                    }
                                    
                                    h1        = height[t_o_mid] - height[t_o_min];
                                    h2        = height[t_o_max] - height[t_o_mid];
                                    dh        = h1 - h2;

                                    long int blunder_neighbor_index = -1;
                                    if((dh > 0 && dh > height_th))
                                    {
                                        if(IsRA == 1)
                                        {
                                            blunder_neighbor_index = order[t_o_min];
                                        }
                                        else
                                        {
                                            if(flag_blunder)
                                            {
                                                if(ortho_ncc[Index[t_o_min]] < ortho_ncc_th)
                                                    blunder_neighbor_index = order[t_o_min];
                                            }
                                            else
                                                if(ortho_ncc[Index[t_o_min]] < ortho_ancc_th)
                                                    blunder_neighbor_index = order[t_o_min];
                                            
                                        }
                                    }
                                    else if((dh < 0 && fabs(dh) > height_th))
                                    {
                                        if(IsRA == 1)
                                        {
                                            blunder_neighbor_index = order[t_o_max];
                                        }
                                        else
                                        {
                                            if(flag_blunder)
                                            {
                                                if(ortho_ncc[Index[t_o_max]] < ortho_ncc_th)
                                                    blunder_neighbor_index = order[t_o_max];
                                            }
                                            else
                                                if(ortho_ncc[Index[t_o_max]] < ortho_ancc_th)
                                                    blunder_neighbor_index = order[t_o_max];
                                        }
                                    }

                                    if(blunder_neighbor_index >= 0)
                                        set_blunder(blunder_neighbor_index, 3, pts, detectedBlunders);
                                }
                            }
                            count++;
                        }
                    }
                }
                
                if(IsRA == 1)
                {
                    if(check_neigh == true)
                    {
                        if(!flag_blunder)
                            pt_is_blunder = true;
                    }
      
                    if((count_th_positive >= (int)(count*0.7 + 0.5) || count_th_negative >= (int)(count*0.7 + 0.5)) && count > 1)
                        pt_is_blunder = true;
                }
                else
                {
                    if(check_neigh == true)
                    {
                        if(!flag_blunder)
                        {
                            if(pyramid_step >= 3 && iteration == 4)
                            {
                                if(ortho_ncc[ref_index] < ortho_ancc_th)
                                    pt_is_blunder = true;
                            }
                            else
                                if(ortho_ncc[ref_index] < ortho_ancc_th)
                                    pt_is_blunder = true;
                        }
                    }
                    
                    double count_threshold;
                    count_threshold = count*0.5;
                    if(pyramid_step >= 2)
                        count_threshold = count*0.5;
                    else if(pyramid_step == 1)
                        count_threshold = (int)(count*0.6 + 0.5);
                    else
                        count_threshold = (int)(count*0.7 + 0.5);
                    
                    if((count_th_positive >= count_threshold || count_th_negative >= count_threshold) && count > 1)
                    {
                        if(flag_blunder)
                        {
                            double tmp_th = 0.6 - (4-pyramid_step)*0.1;
                            if(pyramid_step == 1)
                                tmp_th = 0.6;
                            
                            if(pyramid_step >= 1)
                            {
                                if(ortho_ncc[ref_index] < tmp_th)
                                    pt_is_blunder = true;
                            }
                            else if(pyramid_step == 0)
                            {
                                if(iteration <= 1)
                                {
                                    if(ortho_ncc[ref_index] < 0.9)
                                        pt_is_blunder = true;
                                }
                                else if(iteration == 2 )
                                    pt_is_blunder = true;
                                else {
                                    if(ortho_ncc[ref_index] < ortho_ncc_th)
                                        pt_is_blunder = true;
                                }
                            }
                        }
                        else
                        {
                            if(ortho_ncc[ref_index] < ortho_ancc_th)
                                pt_is_blunder = true;
                        }
                    }
                }
                // only set detectedBlunders[index] to true for the index associated
                // with this loop iteration. The neighbor points set detectedBlunders
                // above as appropriate. We have to use the private variable instead
                // of just reading the array value because other threads may set
                // the value to 3 as we're processing.
                if(pt_is_blunder)
                    set_blunder(index, 1, pts, detectedBlunders);
            }
        }
        
        for(long tcnt=0;tcnt<num_points;tcnt++)
        {
            if(pts[tcnt].flag == 1)
                blunder_count[1]++;
            else if(pts[tcnt].flag == 3)
            {
                blunder_count[1]++;
                pts[tcnt].flag = 1;
            }
            else
            {
                blunder_count[0]++;
                
                if(*minz_mp > pts[tcnt].m_Z)
                    *minz_mp        = pts[tcnt].m_Z;
                if(*maxz_mp < pts[tcnt].m_Z)
                    *maxz_mp        = pts[tcnt].m_Z;
            }
        }
        free(savenode);
        free(nodecount);
    }
  
    return true;
}

int SetttingFlagOfGrid(LevelInfo &rlevelinfo, UGRID *GridPT3, vector<D3DPOINT> MatchedPts_list_anchor,vector<D3DPOINT> MatchedPts_list_blunder,vector<D3DPOINT> *MatchedPts_list_mps)
{
    int total_count = 0;
    double X,Y,Z;
    int t_flag;
    long i = 0;
    long grid_index;
    long t_col, t_row;
    //vector<D3DPOINT>::iterator it;
    
    i = 0;
    for( i = 0 ; i < MatchedPts_list_anchor.size() ; i++)
    //for(it = MatchedPts_list_anchor.begin(); it != MatchedPts_list_anchor.end() ; ++it)
    {
        X = MatchedPts_list_anchor[i].m_X;
        Y = MatchedPts_list_anchor[i].m_Y;
        Z = MatchedPts_list_anchor[i].m_Z;
        t_flag = MatchedPts_list_anchor[i].flag;
        
        t_col         = (int)((X - rlevelinfo.Boundary[0])/(*rlevelinfo.grid_resolution) + 0.5);
        t_row         = (int)((Y - rlevelinfo.Boundary[1])/(*rlevelinfo.grid_resolution) + 0.5);
        grid_index     = (long)rlevelinfo.Size_Grid2D->width*t_row + t_col;
        if(grid_index >= 0 && grid_index < *rlevelinfo.Grid_length && t_col >=0 && t_col < rlevelinfo.Size_Grid2D->width && t_row >= 0 && t_row < rlevelinfo.Size_Grid2D->height)
        {
            GridPT3[grid_index].anchor_flag = 1;
        }
        
   //     i++;
    }
 
    i=0;
    for( i = 0 ; i < MatchedPts_list_blunder.size() ; i++)
    //for(it = MatchedPts_list_blunder.begin(); it != MatchedPts_list_blunder.end() ; ++it)
    {
        X = MatchedPts_list_blunder[i].m_X;
        Y = MatchedPts_list_blunder[i].m_Y;
        Z = MatchedPts_list_blunder[i].m_Z;
        t_flag = MatchedPts_list_blunder[i].flag;
        
        t_col         = (int)((X - rlevelinfo.Boundary[0])/(*rlevelinfo.grid_resolution) + 0.5);
        t_row         = (int)((Y - rlevelinfo.Boundary[1])/(*rlevelinfo.grid_resolution) + 0.5);
        
        grid_index     = (long)rlevelinfo.Size_Grid2D->width*t_row + t_col;
        if(grid_index >= 0 && grid_index < *rlevelinfo.Grid_length && t_col >=0 && t_col < rlevelinfo.Size_Grid2D->width && t_row >= 0 && t_row < rlevelinfo.Size_Grid2D->height)
        {
            D3DPOINT temp_pts;
            temp_pts.m_X = X;
            temp_pts.m_Y = Y;
            temp_pts.m_Z = Z;
            temp_pts.flag = t_flag;
            
            MatchedPts_list_mps->push_back(temp_pts);
            
            total_count++;
            if(GridPT3[grid_index].anchor_flag != 1)
            {
                GridPT3[grid_index].anchor_flag = 2;
                
            }
        }
        
        //i++;
    }

    return total_count;
}

UGRID* SetHeightRange(ProInfo *proinfo, LevelInfo &rlevelinfo, NCCresult *nccresult, const int numOfPts, const int num_triangles, UGRID *GridPT3, const int iteration, double *minH_grid, double *maxH_grid, D3DPOINT *pts, const UI3DPOINT *tris, const double MPP, const bool level_check_matching_rate)
{
    UGRID *result = NULL;
    
    double Total_Min_Z      =  100000;
    double Total_Max_Z      = -100000;
    
    printf("MPP of setheightrange = %f\n",MPP);
    
    const int pyramid_step      = *rlevelinfo.Pyramid_step;
    //const double gridspace      = *rlevelinfo.grid_resolution;
    //const double *boundary      = rlevelinfo.Boundary;
    
    double BufferOfHeight   = MPP*4.0*pwrtwo(pyramid_step);
    if (pyramid_step == 1)
    {
        if(iteration >= 2)
            BufferOfHeight = MPP*2;
        else
            BufferOfHeight = MPP*3;
    }
    else if(pyramid_step == 0)
    {
        if(iteration == 1)
            BufferOfHeight = MPP*2;
        else
            BufferOfHeight = MPP;
        
        if (BufferOfHeight < 0.5)
            BufferOfHeight = 0.5;
    }
    
    if(proinfo->pre_DEMtif)
    {
        if(BufferOfHeight > proinfo->seedDEMsigma)
            BufferOfHeight = proinfo->seedDEMsigma;
        
        printf("buff %f seed %f \n",BufferOfHeight,proinfo->seedDEMsigma);
    }
    
    BufferOfHeight = ceil(BufferOfHeight);
    
    if(BufferOfHeight > 100)
        BufferOfHeight = 100;
    
    printf("BufferOfHeight = %f\n",BufferOfHeight);
    
    double th_HG = 100000;
    
    if(proinfo->DEM_resolution >= 4)
    {
        if(pyramid_step <= 1)
            th_HG = 1000;
    }
    else
    {
        if(!level_check_matching_rate)
        {
            if(pyramid_step == 2 && iteration >= 5)
                th_HG = 1000;
            else if(pyramid_step == 1)
                th_HG = 500;
            else if(pyramid_step == 0)
                th_HG = 100;
        }
        else
        {
            if(pyramid_step <= 2)
                th_HG = 100;
        }
        
        if(pyramid_step == 0 && proinfo->DEM_resolution < 2 && iteration > 1)
            th_HG = 50;
    }
    
    printf("BufferOfHeight = %f\tth_HG = %f\n",BufferOfHeight,th_HG);
    
    uint8 *m_bHeight       = (uint8*)calloc(*rlevelinfo.Grid_length,sizeof(uint8));
    float *NewHeight = (float*)malloc(sizeof(float)*(*rlevelinfo.Grid_length));
#pragma omp parallel for schedule(static)
    for (long counter = 0; counter < *rlevelinfo.Grid_length; counter++)
        NewHeight[counter]          = -1000.0;
    
    for(long tcnt = 0;tcnt < num_triangles;tcnt++)
    {
        const UI3DPOINT &t_tri = (tris[tcnt]);
        const int pdex0 = t_tri.m_X;
        const int pdex1 = t_tri.m_Y;
        const int pdex2 = t_tri.m_Z;
        
        if(pdex0 < numOfPts && pdex1 < numOfPts && pdex2 < numOfPts)
        {
            const D3DPOINT &TriP1(pts[pdex0]);
            const D3DPOINT &TriP2(pts[pdex1]);
            const D3DPOINT &TriP3(pts[pdex2]);
            int PixelMinXY[2], PixelMaxXY[2];
            double temp_MinZ, temp_MaxZ;
            SetTinBoundary(rlevelinfo, TriP1, TriP2, TriP3, PixelMinXY, PixelMaxXY, Total_Min_Z, Total_Max_Z, temp_MinZ, temp_MaxZ);
            
            double angle = SetNormalAngle(TriP1, TriP2, TriP3);
            
            double angle_weight;
            if(angle <= 30)
                angle_weight = 1.0 + 0.05*(angle)/5.0;
            else
                angle_weight = 1.3;
            
            double BF;
            if(pyramid_step >= 3)
                BF = ceil(BufferOfHeight*angle_weight);
            else
                BF = ceil(BufferOfHeight);
            
            for (long Row=PixelMinXY[1]; Row <= PixelMaxXY[1]; Row++)
            {
                for (long Col=PixelMinXY[0]; Col <= PixelMaxXY[0]; Col++)
                {
                    long Index= (long)rlevelinfo.Size_Grid2D->width*Row + Col;
                    
                    if(!m_bHeight[Index])
                    {
                        float Z = -1000.0;
                        bool rtn = false;
                        
                        D3DPOINT CurGPXY((Col)*(*rlevelinfo.grid_resolution) + rlevelinfo.Boundary[0],(Row)*(*rlevelinfo.grid_resolution) + rlevelinfo.Boundary[1],0,0);
                        rtn = IsTinInside(CurGPXY, TriP1, TriP2, TriP3, Z);
                        
                        if (rtn)
                        {
                            if(pyramid_step < 2)
                            {
                                // IDW
                                const double diff1 = SQRT(CurGPXY, TriP1, 2);
                                const double diff2 = SQRT(CurGPXY, TriP2, 2);
                                const double diff3 = SQRT(CurGPXY, TriP3, 2);
                                
                                if(diff1 == 0)
                                {
                                    Z   = TriP1.m_Z;
                                    GridPT3[Index].Matched_flag = 2;
                                }
                                else if(diff2 == 0)
                                {
                                    Z   = TriP2.m_Z;
                                    GridPT3[Index].Matched_flag = 2;
                                }
                                else if(diff3 == 0)
                                {
                                    Z   = TriP3.m_Z;
                                    GridPT3[Index].Matched_flag = 2;
                                }
                            }
                            
                            m_bHeight[Index] = 1;
                            GridPT3[Index].Height = (float)Z;
                            NewHeight[Index] = GridPT3[Index].Height;
                            
                            double ortho_ncc_th;
                            if(pyramid_step == 4 )
                                ortho_ncc_th = 0.7;
                            else if(pyramid_step == 3)
                                ortho_ncc_th = 0.6 - (iteration - 1)*0.02;
                            else if(pyramid_step == 2)
                                ortho_ncc_th = 0.5 - (iteration - 1)*0.02;
                            else if(pyramid_step == 1)
                                ortho_ncc_th = 0.4;
                            else
                                ortho_ncc_th = 0.3;
                            
                            if(ortho_ncc_th < 0.3)
                                ortho_ncc_th = 0.3;
                            
                            //min, max height setting
                            double t1, t2;
                            t1       = min<double>(temp_MinZ, Z);
                            if(GridPT3[Index].Matched_flag == 4) //extension minHeight
                            {
                                if(t1 - BF <= GridPT3[Index].minHeight)
                                    GridPT3[Index].minHeight   = floor(t1 - BF);
                            }
                            else
                                GridPT3[Index].minHeight   = floor(t1 - BF);
                            
                            t2       = max<double>(temp_MaxZ, Z);
                            if(GridPT3[Index].Matched_flag == 4)
                            {
                                if(t2 + BF >= GridPT3[Index].maxHeight)
                                    GridPT3[Index].maxHeight   = ceil(t2 + BF);
                            }
                            else
                                GridPT3[Index].maxHeight   = ceil(t2 + BF);
                            
                            if(GridPT3[Index].minHeight > GridPT3[Index].maxHeight)
                            {
                                int temp_H = GridPT3[Index].minHeight;
                                GridPT3[Index].minHeight = GridPT3[Index].maxHeight;
                                GridPT3[Index].maxHeight = temp_H;
                            }
                            
                            if(GridPT3[Index].Matched_flag == 2)
                            {
                                int mintemp, maxtemp;
                                mintemp = floor(Z - BF);
                                maxtemp = ceil(Z + BF);
                                
                                GridPT3[Index].minHeight = mintemp;
                                GridPT3[Index].maxHeight = maxtemp;
                            }
                            else
                            {
                                GridPT3[Index].Matched_flag = 1;
                                if(GridPT3[Index].Mean_ortho_ncc > DoubleToSignedChar_grid(ortho_ncc_th))
                                {
                                    GridPT3[Index].minHeight = floor(Z - BF);
                                    GridPT3[Index].maxHeight = ceil(Z + BF);
                                }
                                else if(pyramid_step >= 2)
                                {
                                    GridPT3[Index].minHeight = floor(t1 - BF);
                                    GridPT3[Index].maxHeight = ceil(t2 + BF);
                                }
                            }
                            
                            GridPT3[Index].minHeight = floor(GridPT3[Index].minHeight);
                            GridPT3[Index].maxHeight = ceil(GridPT3[Index].maxHeight);
                            
                            int HeightGap = ((GridPT3[Index].maxHeight - GridPT3[Index].minHeight));
                            if(HeightGap > th_HG)
                            {
                                GridPT3[Index].minHeight = -100;
                                GridPT3[Index].maxHeight = -100;
                            }
                        }
                    }
                }
            }
        }
    }
    
    *minH_grid  = 100000.0;
    *maxH_grid  = -100000.0;
    
    double minH_temp = *minH_grid;
    double maxH_temp = *maxH_grid;
    
    UGRID *GridPT3_temp = (UGRID*)malloc(sizeof(UGRID)*(*rlevelinfo.Grid_length));
#pragma omp parallel for schedule(static)
    for (long counter = 0; counter < *rlevelinfo.Grid_length; counter++)
    {
        GridPT3[counter].Height = NewHeight[counter];
        GridPT3_temp[counter] = GridPT3[counter];
    }
    
    free(NewHeight);
    
    // minmaxheight setup for no matched grids
#pragma omp parallel for reduction(max:maxH_temp) reduction(min:minH_temp)
    for (long Row_R=0; Row_R < (long)rlevelinfo.Size_Grid2D ->height; Row_R++)
    {
        for (long Col_C=0; Col_C < (long)rlevelinfo.Size_Grid2D->width; Col_C++)
        {
            long Index = rlevelinfo.Size_Grid2D->width*Row_R + Col_C;
            if(GridPT3[Index].Matched_flag == 0)
            {
                int min_H = 10000;
                int max_H = -10000;
                bool  t_flag= false;
                for(long t_r = -1 ; t_r <= 1 ; t_r++)
                {
                    for(long t_c = -1 ; t_c <= 1 ; t_c++)
                    {
                        if(Col_C + t_c >= 0 && Col_C + t_c < (rlevelinfo.Size_Grid2D->width) && Row_R + t_r >= 0 && Row_R + t_r < (rlevelinfo.Size_Grid2D->height))
                        {
                            long t_index = (Col_C + t_c) + (Row_R + t_r)*(long)rlevelinfo.Size_Grid2D->width;
                            if(GridPT3_temp[t_index].Matched_flag != 0)
                            {
                                t_flag = true;
                                if(min_H > GridPT3_temp[t_index].minHeight)
                                    min_H   = GridPT3_temp[t_index].minHeight;
                                if(max_H < GridPT3_temp[t_index].maxHeight)
                                    max_H   = GridPT3_temp[t_index].maxHeight;
                            }
                        }
                    }
                }
                
                if(t_flag)
                {
                    GridPT3[Index].minHeight = min_H;
                    GridPT3[Index].maxHeight = max_H;
                    m_bHeight[Index] = 2;
                }
                else
                {
                    if(pyramid_step <= 1)
                    {
                        double diff_H = fabs(Total_Max_Z - Total_Min_Z)/3.0;
                        double BF;
                        if(BufferOfHeight > diff_H)
                            BF = diff_H;
                        else
                            BF = BufferOfHeight;
                        
                        if(BF < pwrtwo(pyramid_step)*proinfo->resolution)
                            BF = pwrtwo(pyramid_step)*proinfo->resolution;
                        
                        if(GridPT3[Index].minHeight < Total_Min_Z - BF)
                            GridPT3[Index].minHeight   =  floor(Total_Min_Z - BF);
                        if(GridPT3[Index].maxHeight > Total_Max_Z + BF)
                            GridPT3[Index].maxHeight   =  ceil(Total_Max_Z + BF);
                    }
                }
            }
            else
            {
                if(m_bHeight[Index] == 0)
                    GridPT3[Index].Matched_flag = 0;
            }
            
            if(minH_temp > GridPT3[Index].minHeight)
                minH_temp   = (double)GridPT3[Index].minHeight;
            if(maxH_temp < GridPT3[Index].maxHeight)
                maxH_temp   = (double)GridPT3[Index].maxHeight;
            
            GridPT3[Index].minHeight = floor(GridPT3[Index].minHeight);
            GridPT3[Index].maxHeight = ceil(GridPT3[Index].maxHeight);
            
            int HeightGap = ((GridPT3[Index].maxHeight - GridPT3[Index].minHeight));
            if(HeightGap > th_HG)
            {
                GridPT3[Index].minHeight = -100;
                GridPT3[Index].maxHeight = -100;
            }
        }
    }
    
    *minH_grid = minH_temp;
    *maxH_grid = maxH_temp;
    
    free(GridPT3_temp);
    
    printf("end grid set height!!\n");
    
    result                  = (UGRID*)calloc(sizeof(UGRID),*rlevelinfo.Grid_length);
    
#pragma omp parallel for
    for(long k=0;k<rlevelinfo.Size_Grid2D->height;k++)
    {
        for(long j=0;j<rlevelinfo.Size_Grid2D->width;j++)
        {
            long matlab_index    = k*(long)rlevelinfo.Size_Grid2D->width + j;
            
            if(GridPT3[matlab_index].minHeight > GridPT3[matlab_index].maxHeight)
            {
                int temp = GridPT3[matlab_index].maxHeight;
                GridPT3[matlab_index].maxHeight = GridPT3[matlab_index].minHeight;
                GridPT3[matlab_index].minHeight = temp;
            }
            
            result[matlab_index].Height                     = -1000;
            
            result[matlab_index].Matched_flag               = GridPT3[matlab_index].Matched_flag;
            if(m_bHeight[matlab_index] == 2 && GridPT3[matlab_index].Matched_flag == 0)
                result[matlab_index].Matched_flag           = 1;
            
            result[matlab_index].roh                        = GridPT3[matlab_index].roh;
            
            result[matlab_index].Height                     = GridPT3[matlab_index].Height;
            
            result[matlab_index].anchor_flag                = 0;
            
            for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
            {
                if(proinfo->check_selected_image[ti])
                    result[matlab_index].ortho_ncc[ti]      = GridPT3[matlab_index].ortho_ncc[ti];
            }
            result[matlab_index].Mean_ortho_ncc             = GridPT3[matlab_index].Mean_ortho_ncc;
            result[matlab_index].minHeight                  = GridPT3[matlab_index].minHeight;
            
            if(result[matlab_index].minHeight < -100)
                result[matlab_index].minHeight          = -100;
            
            result[matlab_index].maxHeight                  = GridPT3[matlab_index].maxHeight;
            
            if(m_bHeight[matlab_index] == 0)
                result[matlab_index].Height = -1000.0;
            
            if(result[matlab_index].minHeight == 0)
                result[matlab_index].minHeight = -1;
            if(result[matlab_index].maxHeight == 0)
                result[matlab_index].maxHeight = 1;
        }
    }
    
    if(m_bHeight)
        free(m_bHeight);
    
    printf("end updating grid set height!!\n");
    
    free(GridPT3);
    
    printf("end memory release updating grid set height!!\n");
    
    return result;
}

UGRID* ResizeGirdPT3(ProInfo *proinfo, CSize preSize, CSize resize_Size, double* Boundary, D2DPOINT *resize_Grid, UGRID *preGridPT3, double pre_gridsize, double* minmaxheight)
{
    if(resize_Size.height > 8000 || resize_Size.width > 8000)
        printf("resize memory allocation start\n");
    
    UGRID *resize_GridPT3 = (UGRID *)calloc(sizeof(UGRID),(long)resize_Size.height*(long)resize_Size.width);
    
    if(resize_Size.height > 8000 || resize_Size.width > 8000)
        printf("resize memory allocation start %ld\n",sizeof(UGRID)*(long)resize_Size.height*(long)resize_Size.width);
    
    printf("preresize memory allocation start %ld\n",sizeof(UGRID)*(long)preSize.height*(long)preSize.width);
    for(long row=0;row<resize_Size.height;row++)
    {
        for(long col=0;col<resize_Size.width;col++)
        {
            long index = row*(long)resize_Size.width + col;
            double X = resize_Grid[index].m_X;
            double Y = resize_Grid[index].m_Y;
            
            int pos_c = (int)((X - Boundary[0])/pre_gridsize);
            int pos_r = (int)((Y - Boundary[1])/pre_gridsize);
            long pre_index = pos_r*(long)preSize.width + pos_c;
            if(pos_c >= 0 && pos_c < preSize.width && pos_r >= 0 && pos_r < preSize.height && pre_index >= 0 && pre_index < (long)preSize.width*(long)preSize.height)
            {
                resize_GridPT3[index].minHeight     = preGridPT3[pre_index].minHeight;
                resize_GridPT3[index].maxHeight     = preGridPT3[pre_index].maxHeight;
                resize_GridPT3[index].Height        = preGridPT3[pre_index].Height;
                resize_GridPT3[index].Matched_flag  = preGridPT3[pre_index].Matched_flag;
                resize_GridPT3[index].roh           = preGridPT3[pre_index].roh;
                resize_GridPT3[index].anchor_flag   = preGridPT3[pre_index].anchor_flag;
              
                resize_GridPT3[index].Mean_ortho_ncc=preGridPT3[pre_index].Mean_ortho_ncc;
                
                for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                        resize_GridPT3[index].ortho_ncc[ti]     = preGridPT3[pre_index].ortho_ncc[ti];
                }
            }
            else
            {
                resize_GridPT3[index].minHeight     = floor(minmaxheight[0] - 0.5);
                resize_GridPT3[index].maxHeight     = ceil(minmaxheight[1] + 0.5);
                resize_GridPT3[index].Height        = -1000;
                resize_GridPT3[index].Matched_flag  = 0;
                resize_GridPT3[index].roh           = 0.0;
                resize_GridPT3[index].anchor_flag   = 0;
                for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                        resize_GridPT3[index].ortho_ncc[ti]     = 0;
                }
                resize_GridPT3[index].Mean_ortho_ncc= 0;
            }
        }
    }
    
    printf("before release preGirdPT3\n");
    
    free(preGridPT3);
    
    printf("after release preGirdPT3\n");

    return resize_GridPT3;
}

UGRID* ResizeGirdPT3_RA(const ProInfo *proinfo,const CSize preSize,const CSize resize_Size,const double* preBoundary,const double* Boundary, const D2DPOINT *resize_Grid, UGRID *preGridPT3, const double pre_gridsize,const double* minmaxheight)
{
    
    UGRID *resize_GridPT3 = (UGRID *)calloc(sizeof(UGRID),resize_Size.height*resize_Size.width);
    
    for(long int row=0;row<resize_Size.height;row++)
    {
        for(long int col=0;col<resize_Size.width;col++)
        {
            long int index = row*(long int)resize_Size.width + col;
            double X = resize_Grid[index].m_X;
            double Y = resize_Grid[index].m_Y;
            long int pos_c = (long int)((X - preBoundary[0])/pre_gridsize);
            long int pos_r = (long int)((Y - preBoundary[1])/pre_gridsize);
            long int pre_index = pos_r*(long int)preSize.width + pos_c;
            if(pos_c >= 0 && pos_c < preSize.width && pos_r >= 0 && pos_r < preSize.height && pre_index >= 0 && pre_index < (long)preSize.width*(long)preSize.height)
            {
                resize_GridPT3[index].minHeight     = preGridPT3[pre_index].minHeight;
                resize_GridPT3[index].maxHeight     = preGridPT3[pre_index].maxHeight;
                resize_GridPT3[index].Height        = preGridPT3[pre_index].Height;
                resize_GridPT3[index].Matched_flag  = preGridPT3[pre_index].Matched_flag;
                resize_GridPT3[index].roh           = preGridPT3[pre_index].roh;
                resize_GridPT3[index].anchor_flag   = preGridPT3[pre_index].anchor_flag;
                for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                        resize_GridPT3[index].ortho_ncc[ti]     = preGridPT3[pre_index].ortho_ncc[ti];
                }
                resize_GridPT3[index].Mean_ortho_ncc=preGridPT3[pre_index].Mean_ortho_ncc;
            }
            else
            {
                resize_GridPT3[index].minHeight     = floor(minmaxheight[0] - 0.5);
                resize_GridPT3[index].maxHeight     = ceil(minmaxheight[1] + 0.5);
                resize_GridPT3[index].Height        = -1000;
                resize_GridPT3[index].Matched_flag  = 0;
                resize_GridPT3[index].roh           = 0.0;
                resize_GridPT3[index].anchor_flag   = 0;
                for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
                {
                    if(proinfo->check_selected_image[ti])
                        resize_GridPT3[index].ortho_ncc[ti]     = 0;
                }
            }
        }
    }
    
    printf("before release preGirdPT3\n");
    
    free(preGridPT3);
    
    printf("after release preGirdPT3\n");
    
    return resize_GridPT3;
}

static void update_max(std::atomic<float> *cur, float val) {
    float prev = *cur;
    // exit this loop if cur becomes larger (or is larger) than val,
    // or if cur is updated to val. This update will only happen when
    // val is larger than cur.
    //
    // See here for a similar construct: https://stackoverflow.com/a/16190791
    while(val > prev) {
        if(cur->compare_exchange_weak(prev, val)) {
            break;
        }
    }
}

bool SetHeightRange_blunder(LevelInfo &rlevelinfo, const D3DPOINT *pts, const int numPts, UI3DPOINT *tris,const long num_triangles, UGRID *GridPT3)
{

    int len = rlevelinfo.Size_Grid2D->width * rlevelinfo.Size_Grid2D->height;

    constexpr double unset = -1000;
    std::unique_ptr<std::atomic<float>[]> heights(new std::atomic<float>[len]);
    for(int i = 0; i < len; i++) {
        heights[i] = unset;
    }

#pragma omp parallel for schedule(guided)
    for(long tcnt=0;tcnt<num_triangles;tcnt++)
    {
        //unused in this function, but SetTinBoundary requres them
        double Total_Min_Z      =  100000;
        double Total_Max_Z      = -100000;

        // get triangle and it's indicies
        const UI3DPOINT &t_tri = (tris[tcnt]);
        const int pdex0 = t_tri.m_X;
        const int pdex1 = t_tri.m_Y;
        const int pdex2 = t_tri.m_Z;
        
        // if triangle not entirely within grid, continue
        // this is mostly a sanity check I think
        if(pdex0 < numPts && pdex1 < numPts && pdex2 < numPts)
        {
            // Get the point corresponding to each triangle
            // vertex
            const D3DPOINT &TriP1 = (pts[pdex0]);
            const D3DPOINT &TriP2 = (pts[pdex1]);
            const D3DPOINT &TriP3 = (pts[pdex2]);


            // These will be pooulated with a bounding box
            // around the triangle
            int PixelMinXY[2], PixelMaxXY[2];

            // These are unused in this function, but
            // SetTinBoundary requries them
            double temp_MinZ, temp_MaxZ;
            SetTinBoundary(
                rlevelinfo,
                TriP1,
                TriP2,
                TriP3,
                PixelMinXY,
                PixelMaxXY,
                Total_Min_Z,
                Total_Max_Z,
                temp_MinZ,
                temp_MaxZ);
            
            // iterate through points in the triangle bounding box
            for (long Row=PixelMinXY[1]; Row <= PixelMaxXY[1]; Row++)
            {
                for (long Col=PixelMinXY[0]; Col <= PixelMaxXY[0]; Col++)
                {
                    //Index of the point in GridPT3
                    const int Index= (long)rlevelinfo.Size_Grid2D->width*Row + Col;

                    float Z = -1000.0;
                    bool rtn = false;
                     
                    // The point on object/world coordinates
                    // x, y, z, flag
                    D3DPOINT CurGPXY(
                        (Col)*(*rlevelinfo.grid_resolution) + rlevelinfo.Boundary[0],
                        (Row)*(*rlevelinfo.grid_resolution) + rlevelinfo.Boundary[1],
                        0,
                        0);

                    // checks to see if point is inside triangle
                    // if it is, returns true
                    // if inside, interpolates height value of point
                    // and puts that value in Z
                    rtn = IsTinInside(CurGPXY, TriP1, TriP2, TriP3, Z);
                    
                    if (rtn)
                    {
                        update_max(&heights[Index], (float)Z);
                    }
                }
            }
        }
    }
    for(int i = 0; i < len; i++) {
        if(heights[i] != unset) {
            GridPT3[i].Height = heights[i];
        }
    }
    return true;
}

void echoprint_Gridinfo(ProInfo *proinfo,NCCresult* roh_height,int row,int col,int level, int iteration, double update_flag, CSize *Size_Grid2D, UGRID *GridPT3, char *add_str)
{
    FILE *outfile_h, *outMean_ortho; //*outfile_min, *outfile_max, *outfile_flag, *outMean_ortho_asc
    CSize temp_S;
    char t_str[500];
    int k,j;
    /*FILE **outfile_roh;
    outfile_roh = (FILE**)malloc(sizeof(FILE*)*proinfo->number_of_images);*/
    
    //sprintf(t_str,"%s/txt/tin_min_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    //outfile_min   = fopen(t_str,"w");
    //sprintf(t_str,"%s/txt/tin_max_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    //outfile_max   = fopen(t_str,"w");
    sprintf(t_str,"%s/txt/tin_h_level_%d_%d_%d_iter_%d_%s.txt",proinfo->save_filepath,row,col,level,iteration,add_str);
    outfile_h   = fopen(t_str,"wb");
    sprintf(t_str,"%s/txt/tin_ortho_ncc_level_%d_%d_%d_iter_%d_%s.txt",proinfo->save_filepath,row,col,level,iteration,add_str);
    outMean_ortho = fopen(t_str,"wb");
    
    
    //sprintf(t_str,"%s/txt/tin_ortho_ncc_level_%d_%d_%d_iter_%d_%s_asc.txt",save_path,row,col,level,iteration,add_str);
    //outMean_ortho_asc = fopen(t_str,"w");
    /*for(int ti = 0 ; ti < proinfo->number_of_images; ti++)
    {
        sprintf(t_str,"%s/txt/tin_ortho_ncc_level_%d_%d_%d_iter_%d_%s_%d.txt",save_path,row,col,level,iteration,add_str,ti);
        outfile_roh[ti] = fopen(t_str,"w");
    }*/
    /*sprintf(t_str,"%s/txt/tin_flag_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
      outfile_flag  = fopen(t_str,"w");*/
    
//  if(outfile_min && outfile_max && outfile_h && outfile_roh && outfile_flag)
    {
        if(update_flag)
        {
            temp_S.height   = Size_Grid2D->height*2;
            temp_S.width    = Size_Grid2D->width*2;
        }
        else
        {
            temp_S.height   = Size_Grid2D->height;
            temp_S.width    = Size_Grid2D->width;
        }
        
        float* temp_height = (float*)malloc(sizeof(float)*temp_S.height*temp_S.width);
        float* temp_ncc = (float*)malloc(sizeof(float)*temp_S.height*temp_S.width);
        
        for(k=0;k<temp_S.height;k++)
        {
            for(j=0;j<temp_S.width;j++)
            {
                int matlab_index    = k*temp_S.width + j;

                //fprintf(outfile_min,"%f\t",GridPT3[matlab_index].minHeight);
                //fprintf(outfile_max,"%f\t",GridPT3[matlab_index].maxHeight - GridPT3[matlab_index].minHeight);
                //if(GridPT3[matlab_index].Matched_flag != 0)
                //if(roh_height[matlab_index].NumOfHeight > 0)
                {
                    //fprintf(outfile_h,"%f\t",GridPT3[matlab_index].Height);
                    //fprintf(outMean_ortho_asc,"%f\t",SignedCharToDouble_grid(GridPT3[matlab_index].ortho_ncc[1]));
                    //printf("%f\t",GridPT3[matlab_index].Height);
                    temp_height[matlab_index] = GridPT3[matlab_index].Height;
                    temp_ncc[matlab_index] = SignedCharToDouble_grid(GridPT3[matlab_index].Mean_ortho_ncc);
                    /*for(int ti = 0 ; ti < proinfo->number_of_images; ti++)
                        fprintf(outfile_roh[ti],"%f\t",GridPT3[matlab_index].ortho_ncc[ti]);*/
                    /*fprintf(outfile_flag,"%d\t",GridPT3[matlab_index].Matched_flag);*/
                    
                }/*
                else
                {
                    fprintf(outfile_h,"-1000.0\t");
                    fprintf(outMean_ortho,"-1.0\t");
                    
                    for(int ti = 0 ; ti < proinfo->number_of_images; ti++)
                        fprintf(outfile_roh[ti],"-1.0\t");
                }
                  */
            }
            //fprintf(outfile_min,"\n");
            //fprintf(outfile_max,"\n");
            //fprintf(outfile_h,"\n");
            //fprintf(outMean_ortho_asc,"\n");
            /*for(int ti = 0 ; ti < proinfo->number_of_images; ti++)
                fprintf(outfile_roh[ti],"\n");*/
            /*fprintf(outfile_flag,"\n");*/
        }

        fwrite(temp_height,sizeof(float),temp_S.height*temp_S.width,outfile_h);
        fwrite(temp_ncc,sizeof(float),temp_S.height*temp_S.width,outMean_ortho);
        free(temp_height);
        free(temp_ncc);
        //fclose(outfile_min);
        //fclose(outfile_max);
        fclose(outfile_h);
        fclose(outMean_ortho);
        //fclose(outMean_ortho_asc);
        /*for(int ti = 0 ; ti < proinfo->number_of_images; ti++)
            fclose(outfile_roh[ti]);*/
        /*fclose(outfile_flag);*/
    }
}

void echo_print_nccresults(char *save_path,int row,int col,int level, int iteration, NCCresult *nccresult, CSize *Size_Grid2D, char *add_str)
{
    int k,j;
    FILE *outfile_min, *outfile_max, *outfile_h; //*outfile_roh, *outfile_diff, *outfile_peak, *outINCC, *outGNCC, *outcount
    CSize temp_S;
    char t_str[500];
    
    sprintf(t_str,"%s/txt/nccresult_roh1_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    outfile_min = fopen(t_str,"w");
    sprintf(t_str,"%s/txt/nccresult_roh2_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    outfile_max = fopen(t_str,"w");
    
    sprintf(t_str,"%s/txt/nccresult_max_NCC_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    outfile_h   = fopen(t_str,"w");
    
    // sprintf(t_str,"%s/txt/nccresult_max_NCC_pos_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    // outfile_roh = fopen(t_str,"w");
    /*
    sprintf(t_str,"%s/txt/nccresult_peaks_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    outfile_peak    = fopen(t_str,"w");
    sprintf(t_str,"%s/txt/nccresult_diff_level_%d_%d_%d_iter_%d_%s.txt",save_path,row,col,level,iteration,add_str);
    outfile_diff    = fopen(t_str,"w");\*/
    /*sprintf(t_str,"%s/txt/INCC_level_%d_%d_%d_iter_%d.txt",save_path,row,col,level,iteration);
    outINCC = fopen(t_str,"w");
    sprintf(t_str,"%s/txt/GNCC_level_%d_%d_%d_iter_%d.txt",save_path,row,col,level,iteration);
    outGNCC = fopen(t_str,"w");
    
    sprintf(t_str,"%s/txt/rohcount_level_%d_%d_%d_iter_%d.txt",save_path,row,col,level,iteration);
    outcount    = fopen(t_str,"w");
    */
    temp_S.height   = Size_Grid2D->height;
    temp_S.width    = Size_Grid2D->width;
        
    for(k=0;k<temp_S.height;k++)
    {
        for(j=0;j<temp_S.width;j++)
        {
            int matlab_index    = k*temp_S.width + j;
           
        fprintf(outfile_min,"%f\t",SignedCharToDouble_result(nccresult[matlab_index].result0));
            fprintf(outfile_max,"%f\t",SignedCharToDouble_result(nccresult[matlab_index].result1));
            fprintf(outfile_h,"%d\t",nccresult[matlab_index].NumOfHeight); 
            //fprintf(outfile_roh,"%d\t",nccresult[matlab_index].max_WNCC_pos);
            //fprintf(outfile_peak,"%f\t",nccresult[matlab_index].result4);
            
            
            //fprintf(outINCC,"%f\t",nccresult[matlab_index].INCC);
            //fprintf(outGNCC,"%f\t",nccresult[matlab_index].GNCC);
            //fprintf(outcount,"%d\t",nccresult[matlab_index].roh_count);
        }
        fprintf(outfile_min,"\n");
        fprintf(outfile_max,"\n");
        fprintf(outfile_h,"\n");
        //fprintf(outfile_roh,"\n");
        //fprintf(outfile_peak,"\n");
        //fprintf(outfile_diff,"\n");
        
        //fprintf(outINCC,"\n");
        //fprintf(outGNCC,"\n");
        //fprintf(outcount,"\n");
    }

    fclose(outfile_min);
    fclose(outfile_max);
    fclose(outfile_h);
    //fclose(outfile_roh);
    //fclose(outfile_peak);
    //fclose(outfile_diff);
    
    //fclose(outINCC);
    //fclose(outGNCC);
    //fclose(outcount);
}

int AdjustParam(ProInfo *proinfo, LevelInfo &rlevelinfo, int NumofPts, double **ImageAdjust, uint8 total_pyramid, D3DPOINT* ptslists)
{
    const int reference_id = rlevelinfo.reference_id;
    const int Pyramid_step = *rlevelinfo.Pyramid_step;
    CSize LImagesize(rlevelinfo.py_Sizes[reference_id][Pyramid_step].width, rlevelinfo.py_Sizes[reference_id][Pyramid_step].height);
    const double left_IA[2] = {ImageAdjust[reference_id][0], ImageAdjust[reference_id][1]};
   
    double subA[9][6] = {0};
    double TsubA[6][9] = {0};
    double InverseSubA[6][6] = {0};

    Set6by6Matrix(subA,TsubA,InverseSubA);

    D3DPOINT *Coord           = ps2wgs_3D(*rlevelinfo.param,NumofPts,ptslists);

    int iter_count = 0;
    for(int ti = 1 ; ti < proinfo->number_of_images ; ti++)
    {
        if(proinfo->check_selected_image[ti])
        {
            bool check_stop = false;
            iter_count = 1;
            while(!check_stop && iter_count < 10)
            {
                int count_pts = 0;

                std::vector<double> weights_X(NumofPts, 0.0);
                std::vector<double> weights_Y(NumofPts, 0.0);
                std::vector<double> max_rohs(NumofPts, 0.0);

                const double b_factor             = pwrtwo(total_pyramid-Pyramid_step+1);
                const int Half_template_size   = (int)(*rlevelinfo.Template_size/2.0);
                int patch_size = (2*Half_template_size+1) * (2*Half_template_size+1);

#pragma omp parallel reduction(+:count_pts)
                {
                    Matrix left_patch_vecs(3, patch_size);
                    Matrix right_patch_vecs(3, patch_size);
                    
#pragma omp for schedule(guided)
                    for(long i = 0; i<NumofPts ; i++)
                    {
                        double t_sum_weight_X, t_sum_weight_Y, t_sum_max_roh;
                        //calculation image coord from object coord by RFM in left and right image
                        D2DPOINT Left_Imagecoord_p   = GetObjectToImageRPC_single(rlevelinfo.RPCs[reference_id],2,left_IA,Coord[i]);
                        D2DPOINT Left_Imagecoord     = OriginalToPyramid_single(Left_Imagecoord_p,rlevelinfo.py_Startpos[reference_id],Pyramid_step);
                        
                        CSize RImagesize(rlevelinfo.py_Sizes[ti][Pyramid_step].width, rlevelinfo.py_Sizes[ti][Pyramid_step].height);
                        
                        D2DPOINT Right_Imagecoord_p  = GetObjectToImageRPC_single(rlevelinfo.RPCs[ti],2,ImageAdjust[ti],Coord[i]);
                        D2DPOINT Right_Imagecoord    = OriginalToPyramid_single(Right_Imagecoord_p,rlevelinfo.py_Startpos[ti],Pyramid_step);
                        
                        if(Left_Imagecoord.m_Y  > Half_template_size*b_factor + 10 && Left_Imagecoord.m_X  > Half_template_size*b_factor + 10 && Left_Imagecoord.m_Y  < LImagesize.height - Half_template_size*b_factor - 10 && Left_Imagecoord.m_X  < LImagesize.width - Half_template_size*b_factor - 10 && Right_Imagecoord.m_Y > Half_template_size*b_factor + 10 && Right_Imagecoord.m_X > Half_template_size*b_factor + 10 && Right_Imagecoord.m_Y < RImagesize.height - Half_template_size*b_factor - 10 && Right_Imagecoord.m_X < RImagesize.width - Half_template_size*b_factor - 10)
                        {
                            long index_l = (long)Left_Imagecoord.m_Y*(long)LImagesize.width + (long)Left_Imagecoord.m_X;
                            long index_r = (long)Right_Imagecoord.m_Y*(long)RImagesize.width + (long)Right_Imagecoord.m_X;
                            if( (index_l > 0 && index_l < (long)LImagesize.height*(long)LImagesize.width) && (index_r > 0 && index_r < (long)RImagesize.height*(long)RImagesize.width) )
                            {
                                double ori_diff = rlevelinfo.py_OriImages[reference_id][index_l] - rlevelinfo.py_OriImages[ti][index_r];
                                
                                if(postNCC(rlevelinfo, ori_diff, Left_Imagecoord, Right_Imagecoord, subA, TsubA, InverseSubA, Half_template_size, reference_id, ti, &t_sum_weight_X, &t_sum_weight_Y, &t_sum_max_roh, left_patch_vecs, right_patch_vecs))
                                {
                                    weights_X[i] = t_sum_weight_X;
                                    weights_Y[i] = t_sum_weight_Y;
                                    max_rohs[i] = t_sum_max_roh;
                                    count_pts++;
                                }
                            }
                        }
                    } // end omp for
                } // end omp parallel

                double sum_weight_X = 0;
                double sum_weight_Y = 0;
                double sum_max_roh = 0;
                for(const auto& v : weights_X)
                    sum_weight_X += v;
                for(const auto& v : weights_Y)
                    sum_weight_Y += v;
                for(const auto& v: max_rohs)
                    sum_max_roh += v;

                printf("in AdjustParam, count_pts is %d\n", count_pts);
                if(count_pts > 10)
                {
                    double shift_X             = sum_weight_X/sum_max_roh*pwrtwo(Pyramid_step);
                    double shift_Y             = sum_weight_Y/sum_max_roh*pwrtwo(Pyramid_step);
                    if(fabs(shift_Y) < 0.1 && fabs(shift_X) < 0.1)
                        check_stop = true;
         
                    printf("ti %d\t%d\t%f\t%f\t%f\t%f\n",ti, iter_count,shift_X,shift_Y,ImageAdjust[ti][1],ImageAdjust[ti][0]);
                    
                    shift_X             += ImageAdjust[ti][1];
                    shift_Y             += ImageAdjust[ti][0];

                    ImageAdjust[ti][1]      = shift_X;
                    ImageAdjust[ti][0]      = shift_Y;
                }
                else
                    check_stop = true;

                iter_count++;
            }
        }
    }
    
    free(Coord);
    
    
    
    return iter_count;
}


bool postNCC(LevelInfo &rlevelinfo, const double Ori_diff, const D2DPOINT left_pt, const D2DPOINT right_pt, double subA[][6], double TsubA[][9], double InverseSubA[][6], uint8 Half_template_size, const int reference_ID, const int target_ID, double *sum_weight_X, double *sum_weight_Y, double *sum_max_roh, Matrix &left_patch_vecs, Matrix &right_patch_vecs)
{
    bool check_pt = false;
 
    CSize leftsize = rlevelinfo.py_Sizes[reference_ID][*rlevelinfo.Pyramid_step];
    CSize rightsize = rlevelinfo.py_Sizes[target_ID][*rlevelinfo.Pyramid_step];
 
    const int half_mask_size = 1;
    double result_rho[9]  = {};
    
    uint8 cell_count = 0;

    for(int j=0;j<9;j++)
        result_rho[j]       = -1.00;

    for(long mask_row = - half_mask_size ; mask_row <= half_mask_size ; mask_row++)
    {
        for(long mask_col = - half_mask_size ; mask_col <= half_mask_size ; mask_col++)
        {
            int Count_N[3] = {0};
            double rot_theta = (double)(Ori_diff*(*rlevelinfo.bin_angle)*PI/180.0);
        
            for(long row = -Half_template_size; row <= Half_template_size ; row++)
            {
                for(long col = -Half_template_size; col <= Half_template_size ; col++)
                {
                    double radius2  = (double)(row*row + col*col);
                    if(radius2 <= (Half_template_size-1)*(Half_template_size-1))
                    {
                        double pos_row_left      = (left_pt.m_Y + row);
                        double pos_col_left      = (left_pt.m_X + col);

                        double temp_col        = (cos(-rot_theta)*col - sin(-rot_theta)*row);
                        double temp_row        = (sin(-rot_theta)*col + cos(-rot_theta)*row);
                        double pos_row_right     = (right_pt.m_Y + temp_row + mask_row);
                        double pos_col_right     = (right_pt.m_X + temp_col + mask_col);

                        if(pos_row_right-3 >= 0 && pos_row_right+3 < rightsize.height && pos_col_right-3 >= 0 && pos_col_right+3 < rightsize.width &&
                           pos_row_left-3 >= 0 && pos_row_left+3 < leftsize.height && pos_col_left-3 >= 0 && pos_col_left+3 < leftsize.width)
                        {
                            //interpolate left_patch
                            double dx = pos_col_left - (int) (pos_col_left);
                            double dy = pos_row_left - (int) (pos_row_left);
                            long position = (long int) (pos_col_left) + (long int) (pos_row_left) * (long)leftsize.width;
                            
                            double left_patch = InterpolatePatch(rlevelinfo.py_Images[reference_ID], position, leftsize, dx, dy);
                            left_patch_vecs(0, Count_N[0]) = left_patch;

                            //interpolate right_patch
                            dx = pos_col_right - (int) (pos_col_right);
                            dy = pos_row_right - (int) (pos_row_right);
                            position = (long int) (pos_col_right) + (long int) (pos_row_right) * (long)rightsize.width;
                            
                            double right_patch = InterpolatePatch(rlevelinfo.py_Images[target_ID], position, rightsize, dx, dy);
                            right_patch_vecs(0, Count_N[0]) = right_patch;
                            
                            //end
                            Count_N[0]++;

                            int size_1        = (int)(Half_template_size/2);
                            if( row >= -Half_template_size + size_1 && row <= Half_template_size - size_1)
                            {
                                if( col >= -Half_template_size + size_1 && col <= Half_template_size - size_1)
                                {
                                    left_patch_vecs(1, Count_N[1]) = left_patch;
                                    right_patch_vecs(1, Count_N[1]) = right_patch;
                                    Count_N[1]++;
                                }
                            }

                            int size_2        = size_1 + (int)((size_1/2.0) + 0.5);
                            if( row >= -Half_template_size + size_2 && row <= Half_template_size - size_2)
                            {
                                if( col >= -Half_template_size + size_2 && col <= Half_template_size - size_2)
                                {
                                    left_patch_vecs(2, Count_N[2]) = left_patch;
                                    right_patch_vecs(2, Count_N[2]) = right_patch;
                                    Count_N[2]++;
                                }
                            }
                        }
                    }
                }  // end col loop
            }  // end row loop

            if(Count_N[0] > 0 && Count_N[1] && Count_N[2])
            {
                double count_rho = 0;
                double temp_rho = 0;
                for (int k=0; k<3; k++)
                {
                    if (Count_N[k] > 0)
                    {
                        double ncc = Correlate(left_patch_vecs.row(k),right_patch_vecs.row(k),Count_N[k]);
                        if (ncc != -99)
                        {
                            count_rho++;
                            temp_rho += ncc;
                        }
                    }
                }

                if (count_rho > 0)
                    temp_rho = temp_rho/count_rho;
                else
                    temp_rho = -1;

                long grid_index           = (mask_row+1)*3 + (mask_col+1);
                if(grid_index < 9)
                    result_rho[grid_index] = temp_rho;
                cell_count++;
            }

        }  // end mask_col loop
    }  // end mask_row loop

    double t_weight_X   = 0;
    double t_weight_Y   = 0;
    double t_max_roh    = 0;
    double XX[6]          = {};
    double ATLT[6]        = {};
    if(cell_count == 9)
    {
        double demnum;
        double max_X        = 100;
        double max_Y        = 100;
        double max_roh      = 0;
        bool find_index_1   = false;
        bool find_index_2   = false;
        bool find_index     = false;

        for(int i=0;i<6;i++)
        {
            for(int j=0;j<1;j++)
            {
                double sum = 0.0;
                for(int k=0;k<9;k++)
                    sum += TsubA[i][k]*result_rho[k*1 + j];
                ATLT[i*1 + j] = sum;
            }
        }

        for(int i=0;i<6;i++)
        {
            for(int j=0;j<1;j++)
            {
                double sum = 0.0;
                for(int k=0;k<6;k++)
                    sum += InverseSubA[i][k]*ATLT[k*1 + j];
                XX[i*1 + j] = sum;
            }
        }

        demnum      = -pow(XX[4],2.0) + 4*XX[3]*XX[5];
        if(demnum > 0 && XX[3] < 0)
        {
            max_X = (- 2*XX[5]*XX[1] + XX[2]*XX[4])/demnum;
            max_Y = (- 2*XX[2]*XX[3] + XX[1]*XX[4])/demnum;
            max_roh =  XX[0]                + XX[1]*max_X           + XX[2]*max_Y
                + XX[3]*max_X*max_X + XX[4]*max_X*max_Y + XX[5]*max_Y*max_Y;
            if(fabs(max_X) <= 1.0)
                find_index_1 = true;
            if(fabs(max_Y) <= 1.0)
                find_index_2 = true;
            if (*rlevelinfo.Pyramid_step >= 2)
                find_index  = find_index_1 & find_index_2 & (max_roh > 0.80);
            else
                find_index  = find_index_1 & find_index_2 & (max_roh > 0.90);

            if(find_index)
            {
                t_weight_X += max_X*max_roh;
                t_weight_Y += max_Y*max_roh;
                t_max_roh  += max_roh;

                check_pt = true;
            }
        }
    }

    if(check_pt)
    {
        *sum_weight_X   = t_weight_X;
        *sum_weight_Y   = t_weight_Y;
        *sum_max_roh    = t_max_roh;
    }
    else
    {
        *sum_weight_X   = 0;
        *sum_weight_Y   = 0;
        *sum_max_roh    = 0;
    }
    
    return check_pt;
}

bool check_kernel_size(ProInfo *proinfo, const CSize *Subsetsize, const int Template_size, const int pyramid_step)
{
    bool ret = false;
    int count_image = 0;
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
    {
        if(Subsetsize[ti].height > Template_size/2*pwrtwo(pyramid_step) && Subsetsize[ti].width > Template_size/2*pwrtwo(pyramid_step))
        {
            proinfo->check_selected_image[ti] = true;
            count_image++;
        }
        else
            proinfo->check_selected_image[ti] = false;
    }
    
    if(!proinfo->check_selected_image[0])
    {
        printf("SubsetImage : Subset of reference image is too small to cover the kernel size!!\n");
        ret = false;
    }
    else if(count_image < 2)
    {
        printf("SubsetImage : not enough image taken to matching (less than 2)!!\n");
        ret = false;
    }
    else
        ret = true;
    return ret;
}

bool check_image_boundary(const ProInfo *proinfo,LevelInfo &plevelinfo, const D2DPOINT pos_xy_m,const D2DPOINT pos_xy,const double minH,const double maxH,const int H_template_size)
{
    bool check = true;
    int selected_images = 0;
    const int buff_pixel = 1;
    bool check_reference = true;
    
    for(int ti = 0 ; ti < proinfo->number_of_images ; ti++)
    {
        if(proinfo->check_selected_image[ti])
        {
            bool bleft_s, bleft_e;
            D3DPOINT temp_gp;
            D2DPOINT temp;
            D2DPOINT photo;    
            
            //min height
            temp_gp.m_Z = minH;
            if(proinfo->sensor_type == SB)
            {
                temp_gp.m_X = pos_xy.m_X;
                temp_gp.m_Y = pos_xy.m_Y;
                temp        = GetObjectToImageRPC_single(plevelinfo.RPCs[ti],*plevelinfo.NumOfIAparam,plevelinfo.ImageAdjust[ti],temp_gp);
            }
            else
            {
                temp_gp.m_X = pos_xy_m.m_X;
                temp_gp.m_Y = pos_xy_m.m_Y;

                photo  = GetPhotoCoordinate_single(temp_gp,proinfo->frameinfo.Photoinfo[ti],proinfo->frameinfo.m_Camera, proinfo->frameinfo.Photoinfo[ti].m_Rm);
                temp            = PhotoToImage_single(photo, proinfo->frameinfo.m_Camera.m_CCDSize, proinfo->frameinfo.m_Camera.m_ImageSize);
            }
            temp        = OriginalToPyramid_single(temp,plevelinfo.py_Startpos[ti],*plevelinfo.Pyramid_step);

            if(temp.m_X > H_template_size +buff_pixel && temp.m_X < plevelinfo.py_Sizes[ti][*plevelinfo.Pyramid_step].width - H_template_size -buff_pixel && temp.m_Y > H_template_size +buff_pixel && temp.m_Y < plevelinfo.py_Sizes[ti][*plevelinfo.Pyramid_step].height- H_template_size -buff_pixel)
                bleft_s     = true;
            else
                bleft_s     = false;

            //max height
            temp_gp.m_Z = maxH;
            if(proinfo->sensor_type == SB)
            {
                temp_gp.m_X = pos_xy.m_X;
                temp_gp.m_Y = pos_xy.m_Y;
                temp        = GetObjectToImageRPC_single(plevelinfo.RPCs[ti],*plevelinfo.NumOfIAparam,plevelinfo.ImageAdjust[ti],temp_gp);
            }
            else
            {
                temp_gp.m_X = pos_xy_m.m_X;
                temp_gp.m_Y = pos_xy_m.m_Y;

                photo  = GetPhotoCoordinate_single(temp_gp,proinfo->frameinfo.Photoinfo[ti],proinfo->frameinfo.m_Camera, proinfo->frameinfo.Photoinfo[ti].m_Rm);
                temp            = PhotoToImage_single(photo, proinfo->frameinfo.m_Camera.m_CCDSize, proinfo->frameinfo.m_Camera.m_ImageSize);
            }
            temp        = OriginalToPyramid_single(temp,plevelinfo.py_Startpos[ti],*plevelinfo.Pyramid_step);

            if(temp.m_X > H_template_size +buff_pixel && temp.m_X < plevelinfo.py_Sizes[ti][*plevelinfo.Pyramid_step].width - H_template_size -buff_pixel && temp.m_Y > H_template_size +buff_pixel && temp.m_Y < plevelinfo.py_Sizes[ti][*plevelinfo.Pyramid_step].height- H_template_size -buff_pixel)
                bleft_e     = true;
            else
                bleft_e     = false;
            
            if( bleft_s && bleft_e)
                selected_images++;
            else if(ti == 0)
                check_reference = false;
        }
    }
    
    if(!check_reference)
        check = false;
    else
    {
        if(selected_images >= 2)
            check   = true;
        else
            check   = false;
    }

    return check;

}



double CalMemorySize_Post(CSize DEM_size, CSize Final_DEMsize)
{
    long int Memory = 0;
    
    long int DEM_values = (long)(sizeof(float)*DEM_size.width*DEM_size.height);
    
    printf("DEM_value %f\t%d\t%d\n",DEM_values/1024.0/1024.0/1024.0,DEM_size.width,DEM_size.height);
    
    long int value = (long)(sizeof(float)*(long)Final_DEMsize.width*(long)Final_DEMsize.height);
    printf("value %f\t%d\t%d\n",value/1024.0/1024.0/1024.0,Final_DEMsize.width,Final_DEMsize.height);
    
    long int value_pt = (long)(sizeof(unsigned char)*(long)Final_DEMsize.width*(long)Final_DEMsize.height);
    printf("value_pt %f\n",value_pt/1024.0/1024.0/1024.0);
    
    Memory = DEM_values + value + value_pt;
    
    double result = (double)(Memory/1024.0/1024.0/1024.0);
    printf("DEM total memory %f\n",result);
    
    return result;
}

double CalMemorySize_Post_MT(CSize DEM_size, CSize Final_DEMsize)
{
    long int Memory = 0;
    
    long int DEM_values = (long)(sizeof(float)*DEM_size.width*DEM_size.height);
    
    printf("DEM_value %f\t%d\t%d\n",DEM_values/1024.0/1024.0/1024.0,DEM_size.width,DEM_size.height);
    
    long int value = (long)(sizeof(signed char)*(long)Final_DEMsize.width*(long)Final_DEMsize.height)*2;
    printf("value %f\t%d\t%d\n",value/1024.0/1024.0/1024.0,Final_DEMsize.width,Final_DEMsize.height);
    
    long int value_pt = (long)(sizeof(unsigned char)*(long)Final_DEMsize.width*(long)Final_DEMsize.height)*2;
    printf("value_pt %f\n",value_pt/1024.0/1024.0/1024.0);
    
    Memory = DEM_values + value + value_pt;
    
    double result = (double)(Memory/1024.0/1024.0/1024.0);
    printf("MT total memory %f\n",result);
    
    return result;
}

double CalMemorySize_Post_LSF(CSize DEM_size, CSize Final_DEMsize)
{
    long int Memory = 0;
    
    long int DEM_values = (long)(sizeof(float)*DEM_size.width*DEM_size.height);
    
    printf("DEM_value %f\t%d\t%d\n",DEM_values/1024.0/1024.0/1024.0,DEM_size.width,DEM_size.height);
    
    long int value = (long)(sizeof(float)*(long)Final_DEMsize.width*(long)Final_DEMsize.height);
    printf("value %f\t%d\t%d\n",value/1024.0/1024.0/1024.0,Final_DEMsize.width,Final_DEMsize.height);
    
    long int value_pt = (long)(sizeof(LSFINFO)*(long)Final_DEMsize.width*(long)Final_DEMsize.height);
    printf("value_pt %f\n",value_pt/1024.0/1024.0/1024.0);
    
    Memory = DEM_values + value + value_pt;
    
    double result = (double)(Memory/1024.0/1024.0/1024.0) + 5.0;
    printf("LSF total memory %f\n",result);
    
    return result;
}

void MergeTiles(const ProInfo *info, const int iter_row_start, const int t_col_start, const int iter_row_end, const int t_col_end, int buffer, const int final_iteration, float *DEM, const CSize Final_DEMsize, double *FinalDEM_boundary)
{
    const int find_level = 0;
    const double grid_size = info->DEM_resolution;

    printf("MergeTile boundary %f\t%f\t%f\t%f\n",FinalDEM_boundary[0],FinalDEM_boundary[1],FinalDEM_boundary[2],FinalDEM_boundary[3]);
    
    buffer  = floor(buffer/grid_size);

    printf("dem size %d\t%d\t%d\n",Final_DEMsize.width,Final_DEMsize.height,buffer);
    
    long DEM_data_size = (long)Final_DEMsize.height*(long)Final_DEMsize.width;
#pragma omp parallel for schedule(guided)
    for(long index = 0 ; index < DEM_data_size ; index++)
        DEM[index] = Nodata;
    
    //setting DEM value
    for(int row = iter_row_start ; row <= iter_row_end ; row ++)
    {
        for(int col = t_col_start ; col <= t_col_end ; col++)
        {
            char t_str[500];
            sprintf(t_str,"%s/txt/matched_pts_%d_%d_%d_%d.txt",info->save_filepath,row,col,find_level,final_iteration);
            FILE *pfile   = fopen(t_str,"r");
            if(pfile)
            {
                printf("matched tiles %s\n",t_str);
                fseek(pfile,0,SEEK_END);
                long int size = ftell(pfile);
                fseek(pfile,0L,SEEK_SET);
                if(size > 0)
                {
                    char h_t_str[500];
                    sprintf(h_t_str,"%s/txt/headerinfo_row_%d_col_%d.txt",info->save_filepath,row,col);
                    FILE *p_hfile     = fopen(h_t_str,"r");
                    if(p_hfile)
                    {
                        long row_size,col_size;
                        double t_boundary[4];
                        while(!feof(p_hfile))
                        {
                            int t_row,t_col,t_level;
                            double t_grid_size;
                            
                            fscanf(p_hfile,"%d\t%d\t%d\t%lf\t%lf\t%lf\t%ld\t%ld\n",
                                   &t_row,&t_col,&t_level,&t_boundary[0],&t_boundary[1],&t_grid_size,&col_size,&row_size);
                        }
                        
                        printf("header %f\t%f\t%ld\t%ld\t%f\t%d\n",t_boundary[0],t_boundary[1],col_size,row_size,grid_size,buffer);
                        
                        char hv_t_str[500];
                        sprintf(hv_t_str,"%s/txt/tin_h_level_%d_%d_%d_iter_%d_final.txt",info->save_filepath,row,col,find_level,final_iteration);
                        FILE *p_hvfile    = fopen(hv_t_str,"rb");
                        
                        if(p_hvfile)
                        {
                            float* temp_height = (float*)malloc(sizeof(float)*col_size*row_size);
                            fread(temp_height,sizeof(float),col_size*row_size,p_hvfile);
                            
                            #pragma omp parallel for schedule(guided)
                            for(long iter_row = 0 ; iter_row < row_size ; iter_row ++)
                            {
                                for(long iter_col = 0 ; iter_col < col_size ; iter_col++)
                                {
                                    long t_col = (long)( (t_boundary[0] + grid_size*iter_col - FinalDEM_boundary[0])  /grid_size);
                                    long t_row = (long)( (FinalDEM_boundary[3] - (t_boundary[1] + grid_size*iter_row))/grid_size);
                                    long index = t_row*(long)Final_DEMsize.width + t_col;
                                    
                                    if(t_col >= 0 && t_col < Final_DEMsize.width && t_row >= 0 && t_row < Final_DEMsize.height &&
                                       iter_row > buffer && iter_row < row_size - buffer &&
                                       iter_col > buffer && iter_col < col_size - buffer)
                                    {
                                        float DEM_value = temp_height[iter_row*col_size + iter_col];
                                        if(DEM_value > -1000)
                                            DEM[index] = DEM_value;
                                    }
                                }
                            }
                            free(temp_height);
                            fclose(p_hvfile);
                        }
                        fclose(p_hfile);
                    }
                }
                fclose(pfile);
            }
        }
    }
    
    char DEM_str[500];
    sprintf(DEM_str, "%s/%s_dem_header_tin.txt", info->save_filepath, info->Outputpath_name);
    
    printf("name %s\t%f\t%f\t%f\t%d\t%d\n",DEM_str,FinalDEM_boundary[0],FinalDEM_boundary[3],grid_size,Final_DEMsize.width,Final_DEMsize.height);
    
    FILE *poutheader = fopen(DEM_str,"w");
    fprintf(poutheader,"%f\t%f\t%f\t%d\t%d\n",FinalDEM_boundary[0],FinalDEM_boundary[3],grid_size,Final_DEMsize.width,Final_DEMsize.height);
    fclose(poutheader);
}

CSize DEM_final_Size(const char *save_path, const int row_start, const int col_start,const int row_end, const int col_end, const double grid_resolution, double *boundary)
{
    CSize final_size;
    
    double minX, maxX, minY, maxY, minHeight, maxHeight;
    minX = 10000000;
    minY = 10000000;
    maxX = -10000000;
    maxY = -10000000;
    
    minHeight = 100000;
    maxHeight = -100000;
    
    printf("DEM grid = %lf\n",grid_resolution);
    int count_matched_files = 0;
    
    for(int index_file = 0 ; index_file <= row_end*col_end ; index_file++)
    {
        const int row = (int)(floor(index_file/col_end)) + 1;
        const int col = index_file%col_end+1;
        
        if(row >= row_start && row <= row_end && col >= col_start &&  col <= col_end)
        {
            char t_str[500];
            double minmaxBR[6];
            sprintf(t_str,"%s/txt/matched_BR_row_%d_col_%d.txt",save_path,row,col);
            FILE *pfile = fopen(t_str,"r");
            if(pfile)
            {
                sprintf(t_str,"%s/txt/headerinfo_row_%d_col_%d.txt",save_path,row,col);
                FILE *p_hfile     = fopen(t_str,"r");
                if(p_hfile)
                {
                    int row_size,col_size;
                    double t_boundary[4] = {0.0};
                    double t_grid_size;
                    
                    while(!feof(p_hfile))
                    {
                        int t_row,t_col,t_level;
                        fscanf(p_hfile,"%d\t%d\t%d\t%lf\t%lf\t%lf\t%d\t%d\n",
                        &t_row,&t_col,&t_level,&t_boundary[0],&t_boundary[1],&t_grid_size,&col_size,&row_size);
                    }
                    
                    t_boundary[2] = t_boundary[0] + col_size*t_grid_size;
                    t_boundary[3] = t_boundary[1] + row_size*t_grid_size;
                    
                    count_matched_files++;
                    fscanf(pfile,"%lf\t%lf\t%lf\t%lf\t%lf\t%lf\n",&minmaxBR[0],&minmaxBR[1],&minmaxBR[2],&minmaxBR[3],&minmaxBR[4],&minmaxBR[5]);
                    printf("t_bounary %f\t%f\t%f\t%f\n",minmaxBR[0] - t_boundary[0],t_boundary[2] - minmaxBR[2],minmaxBR[1] - t_boundary[1],t_boundary[3] - minmaxBR[3]);

                    if(minmaxBR[0] >= t_boundary[0] - t_grid_size  && minmaxBR[2] <= t_boundary[2] + t_grid_size && minmaxBR[1] >= t_boundary[1] - t_grid_size && minmaxBR[3] <= t_boundary[3] + t_grid_size)
                    {
                        if(minX > minmaxBR[0])
                            minX     = minmaxBR[0];
                        if(minY > minmaxBR[1])
                            minY     = minmaxBR[1];
                        
                        if(maxX < minmaxBR[2])
                            maxX     = minmaxBR[2];
                        if(maxY < minmaxBR[3])
                            maxY     = minmaxBR[3];
                        
                        if(minHeight > minmaxBR[4])
                            minHeight = minmaxBR[4];
                        if(maxHeight < minmaxBR[5])
                            maxHeight = minmaxBR[5];
                    }
                    fclose(p_hfile);
                }
                fclose(pfile);
            }
        }
    }
    
    if(count_matched_files < 1)
    {
        printf("No matched tiles. Please check overlapped area or image quality!!\n");
        exit(1);
    }
    
    boundary[0] = minX - 10*grid_resolution;
    boundary[1] = minY - 10*grid_resolution;
    boundary[2] = maxX + 10*grid_resolution;
    boundary[3] = maxY + 10*grid_resolution;
    
    final_size.width = (int)((maxX - minX)/grid_resolution) + 1;
    final_size.height = (int)((maxY - minY)/grid_resolution) + 1;
    
    printf("DEM_final_Size %d\t%d\n",final_size.width,final_size.height);
    printf("BR %f\t%f\t%f\t%f\t%f\t%f\n",boundary[0],boundary[1],boundary[2],boundary[3],minHeight,maxHeight);
    
    return final_size;
}

void NNA_M(const ProInfo *proinfo, const TransParam _param, const int row_start, const int col_start, const int row_end, const int col_end, int buffer_clip, const int final_iteration, const int divide, const CSize Final_DEMsize, float* DEM_values, float* value, unsigned char* value_pt, const double *FinalDEM_boundary)
{
    time_t total_ST = 0, total_ET = 0;
    double total_gap;

    printf("DEM grid = %lf\n",proinfo->DEM_resolution);
    
    double minX,maxX, minY, maxY,DEM_minX,DEM_maxY;
    minX = FinalDEM_boundary[0];
    minY = FinalDEM_boundary[1];
    maxX = FinalDEM_boundary[2];
    maxY = FinalDEM_boundary[3];
  
    long DEM_rows, DEM_cols;
    long col_count = Final_DEMsize.width;
    long row_count = Final_DEMsize.height;
    
    char DEM_header[500];
    sprintf(DEM_header, "%s/%s_dem_header_tin.txt", proinfo->save_filepath,proinfo->Outputpath_name);
    FILE *fheader = fopen(DEM_header,"r");
    double dummy;
    fscanf(fheader,"%lf\t%lf\t%lf\t%ld\t%ld",&DEM_minX,&DEM_maxY,&dummy,&DEM_cols,&DEM_rows);
    printf("%f\t%f\t%ld\t%ld\n",DEM_minX,DEM_maxY,DEM_cols,DEM_rows);
    fclose(fheader);
    
    remove(DEM_header);
    
    total_ST = time(0);
    
    for(long i=0;i<row_count;i++)
    {
        for(long j=0;j<col_count;j++)
            value[i*col_count + j] = Nodata;
    }
    
    long total_search_count = 0;
    long DEM_data_size = DEM_cols*DEM_rows;
    #pragma omp parallel for schedule(guided) reduction(+:total_search_count)
    for(long ix=0;ix<DEM_data_size;ix++)
    {
        long row = floor(ix/DEM_cols);
        long col = ix%DEM_cols;
        
        double t_x = DEM_minX + col*proinfo->DEM_resolution;
        double t_y = DEM_maxY - row*proinfo->DEM_resolution;
        double t_z = DEM_values[row*DEM_cols + col];
        
        if(t_x >= minX && t_x < maxX && t_y >= minY && t_y < maxY)
        {
            long d_row = (long)((maxY - t_y)/proinfo->DEM_resolution);
            long d_col = (long)((t_x - minX)/proinfo->DEM_resolution);
            
            long t_index = d_row*col_count + d_col;
            
            if(t_index < col_count*row_count && d_row < row_count && d_col < col_count)
            {
                value[t_index] = t_z;
                value_pt[t_index] = 0;
                if(t_z > -1000)
                {
                    value_pt[t_index] = 2;
                    total_search_count++;
                }
            }
        }
    }
    free(DEM_values);
    
    printf("Done tfile write\n");
   
    buffer_clip  = floor(buffer_clip/proinfo->DEM_resolution);
    
    for(int index_file = 0 ; index_file <= row_end*col_end ; index_file++)
    {
        long row = floor(index_file/col_end) + 1;
        long col = index_file%col_end + 1;
        
        if(row >= row_start && row <= row_end && col >= col_start &&  col <= col_end)
        {
            char t_str[500];
            sprintf(t_str,"%s/txt/matched_pts_%ld_%ld_0_%d.txt",proinfo->save_filepath,row,col,final_iteration);
            FILE *pfile   = fopen(t_str,"rb");
            if(pfile)
            {
                long int size;
                fseek(pfile,0,SEEK_END);
                size = ftell(pfile);
                fseek(pfile,0L,SEEK_SET);
                if(size > 0)
                {
                    char h_t_str[500];
                    char c_t_str[500];
                    
                    sprintf(h_t_str,"%s/txt/headerinfo_row_%ld_col_%ld.txt",proinfo->save_filepath,row,col);
                    FILE *p_hfile     = fopen(h_t_str,"r");
                    
                    sprintf(c_t_str,"%s/txt/count_row_%ld_col_%ld.txt",proinfo->save_filepath,row,col);
                    FILE *c_hfile     = fopen(c_t_str,"r");
                    
                    if(p_hfile)
                    {
                        long row_size, col_size;
                        double t_boundary[4];
                        while(!feof(p_hfile))
                        {
                            int t_row,t_col,t_level;
                            double t_grid_size;
                            
                            fscanf(p_hfile,"%d\t%d\t%d\t%lf\t%lf\t%lf\t%ld\t%ld\n",
                                   &t_row,&t_col,&t_level,&t_boundary[0],&t_boundary[1],&t_grid_size,&col_size,&row_size);
                        }
                        
                        long count_MPs;
                        fscanf(c_hfile,"%ld\n",&count_MPs);
                        D3DPOINTSAVE *temp_pts = (D3DPOINTSAVE*)malloc(sizeof(D3DPOINTSAVE)*count_MPs);
                        fread(temp_pts,sizeof(D3DPOINTSAVE),count_MPs,pfile);
                        printf("read count_MPs %ld\t%d\n",count_MPs,buffer_clip);
                        
                        long count_read = 0;
                        long count_out = 0;
#pragma omp parallel for schedule(guided) reduction(+:count_read,count_out)
                        for(long int t_i = 0 ; t_i < count_MPs ; t_i++)
                        {
                            //if(temp_pts[t_i].flag != 1)
                            {
                                long pos_col = (long)((temp_pts[t_i].m_X - minX)/proinfo->DEM_resolution);
                                long pos_row = (long)((maxY - temp_pts[t_i].m_Y)/proinfo->DEM_resolution);
                                
                                long clip_pos_col = (long)((temp_pts[t_i].m_X - t_boundary[0])/proinfo->DEM_resolution);
                                long clip_pos_row = (long)((temp_pts[t_i].m_Y - t_boundary[1])/proinfo->DEM_resolution);
                                
                                if(pos_row >= 0 && pos_row < row_count && pos_col >= 0 && pos_col < col_count &&
                                   clip_pos_col > buffer_clip && clip_pos_col < col_size - buffer_clip &&
                                   clip_pos_row > buffer_clip && clip_pos_row < row_size - buffer_clip)
                                {
                                    long t_index = pos_row*col_count + pos_col;
                                    value[t_index] = temp_pts[t_i].m_Z;
                                    value_pt[t_index] = 1;
                                    
                                    count_read++;
                                }
                            }
                        }
                        printf("read_done count_MPs %ld\t%ld\n",count_read,count_out);
                        
                        free(temp_pts);
                        fclose(p_hfile);
                    }
                    else
                    {
                        printf("No header file exist : %s\n",h_t_str);
                        printf("Removed %s\n",t_str);
                        printf("Please reprocess!!\n");
                        remove(t_str);
                        exit(1);
                    }
                }
                fclose(pfile);
            }
        }
    }
    
    printf("Done read matched pts\n");
    total_ET = time(0);
    total_gap = difftime(total_ET,total_ST);
    printf("time[m] = %5.2f\n",total_gap/60.0);
    
    //IDW Interpolation
    total_ST = time(0);
    long total_interpolated = 0;
    const int row_interval    = 50;
    if(total_search_count > 0 && !proinfo->check_Matchtag)
    {
#pragma omp parallel for schedule(guided) reduction(+:total_interpolated)
        for(long count = 0;count < row_count*col_count;count++)
        {
            long pos_row = floor(count/col_count);
            long pos_col = count%col_count;
            
            int check = 1;
            
            double query[2] = {pos_col*proinfo->DEM_resolution + minX, maxY - pos_row*proinfo->DEM_resolution};
            long pos_index = pos_row*col_count + pos_col;
            
            if (pos_col >= 0 && pos_col < col_count && pos_row >= 0 && pos_row < row_count)
            {
                if(value_pt[pos_index] == 2 && value[pos_index] > - 1000)
                {
                    check = 0;
                    value_pt[pos_index] = 0;
                }
            }
            
            if(!check)
            {
                //IDW Interpolation
                double height = FindNebPts_F_M_IDW(value, value_pt, row_count, col_count, proinfo->DEM_resolution, minX, maxY, query[0], query[1],row_interval);
                
                if(height > Nodata)
                {
                    value[pos_index] = height;
                    total_interpolated++;
                }
            }
            
            if(value_pt[pos_index] == 2)
                value_pt[pos_index] = 0;
        }
    }

    if(proinfo->check_Matchtag)
    {
    #pragma omp parallel for schedule(guided)
        for(long count = 0;count < row_count*col_count;count++)
        {
            if(value_pt[count] == 2)
                value_pt[count] = 0;
        }
    }
    
    printf("end interpolation\t%ld\t%ld\n",total_search_count,total_interpolated);
    total_ET = time(0);
    total_gap = difftime(total_ET,total_ST);
    printf("time[m] = %5.2f\n",total_gap/60.0);
    
    total_ST = time(0);
    
    //smoothing
    float *value_sm = (float*)malloc(sizeof(float)*col_count*row_count);
    
#pragma omp parallel for schedule(guided)
    for (long index = 0; index < col_count*row_count; index++)
    {
        long row = floor(index/col_count);
        long col = index%col_count;
        long count_cell = 0;
        long null_count_cell = 0;
        double sum_h = 0;
        double null_sum_h = 0;
        
        for (long t_i = -1; t_i <= 1;t_i++ )
        {
            for (long t_j = -1; t_j <= 1; t_j++)
            {
                long index_row = row + t_i;
                long index_col = col + t_j;
                long int t_index = index_row*col_count + index_col;
                
                if(index_row >= 0 && index_row < row_count && index_col >= 0 && index_col < col_count)
                {
                    if(value[t_index] != Nodata)
                    {
                        count_cell++;
                        sum_h += value[t_index];
                    }
                    
                    if (value[row*col_count + col] == Nodata)
                    {
                        if(value[t_index] != Nodata && t_i != 0 && t_j != 0)
                        {
                            null_count_cell++;
                            null_sum_h += value[index_row*(long)col_count + index_col];
                        }
                    }
                }
            }
        }
        
        if(count_cell > 0)
            value_sm[row*col_count + col] = sum_h / count_cell;
        else
            value_sm[row*col_count + col] = value[row*col_count + col];
        
        if(null_count_cell > 6)
            value_sm[row*col_count + col] = null_sum_h / null_count_cell;
    }
    printf("end smoothing\n");
    total_ET = time(0);
    total_gap = difftime(total_ET,total_ST);
    printf("time[m] = %5.2f\n",total_gap/60.0);
    
    if(!proinfo->check_Matchtag)
    {
        if(divide == 0)
        {
            char GEOTIFF_dem_filename[500];
            sprintf(GEOTIFF_dem_filename, "%s/%s_dem.tif", proinfo->save_filepath, proinfo->Outputpath_name);
            WriteGeotiff(GEOTIFF_dem_filename, value_sm, col_count, row_count, proinfo->DEM_resolution, minX, maxY, _param.projection, _param.utm_zone, _param.bHemisphere, 4);
            
            if(proinfo->check_tif_rounding)
            {
                sprintf(GEOTIFF_dem_filename, "%s/%s_dem_R.tif", proinfo->save_filepath, proinfo->Outputpath_name);
                WriteGeotiff_round(GEOTIFF_dem_filename, value_sm, col_count, row_count, proinfo->DEM_resolution, minX, maxY, _param.projection, _param.utm_zone, _param.bHemisphere, 4);
            }
        }
        else
        {
            char GEOTIFF_dem_filename[500];
            sprintf(GEOTIFF_dem_filename, "%s/%s_%d_dem.tif", proinfo->save_filepath, proinfo->Outputpath_name,divide);
            WriteGeotiff(GEOTIFF_dem_filename, value_sm, col_count, row_count, proinfo->DEM_resolution, minX, maxY, _param.projection, _param.utm_zone, _param.bHemisphere, 4);
            
            if(proinfo->check_tif_rounding)
            {
                sprintf(GEOTIFF_dem_filename, "%s/%s_%d_dem_R.tif", proinfo->save_filepath, proinfo->Outputpath_name,divide);
                WriteGeotiff_round(GEOTIFF_dem_filename, value_sm, col_count, row_count, proinfo->DEM_resolution, minX, maxY, _param.projection, _param.utm_zone, _param.bHemisphere, 4);
            }
        }
    }
    printf("Done writing DEM tif\n");
    free(value_sm);
}

void MergeTiles_Ortho(const ProInfo *info, const int iter_row_start, const int t_col_start, const int iter_row_end,const int t_col_end, int buffer,const int final_iteration, signed char *DEM_ortho, const CSize Final_DEMsize, const double *FinalDEM_boundary)
{
    const int find_level = 0;
    double grid_size = info->DEM_resolution;
    
    printf("MergeOrtho boundary %f\t%f\t%f\t%f\n",FinalDEM_boundary[0],FinalDEM_boundary[1],FinalDEM_boundary[2],FinalDEM_boundary[3]);
    
    buffer  = floor(buffer/grid_size);
    
    printf("dem size %d\t%d\t%d\t%f\n",Final_DEMsize.width,Final_DEMsize.height,buffer,grid_size);
    
    long DEM_data_size = (long)Final_DEMsize.height*(long)Final_DEMsize.width;
#pragma omp parallel for schedule(guided)
    for(long index_a = 0 ; index_a < DEM_data_size ; index_a++)
        DEM_ortho[index_a] = FloatToSignedChar(-1.0);
    
    //setting Ortho NCC value
    for(long row = iter_row_start ; row <= iter_row_end ; row ++)
    {
        for(long col = t_col_start ; col <= t_col_end ; col++)
        {
            char t_str[500];
            sprintf(t_str,"%s/txt/matched_pts_%ld_%ld_%d_%d.txt",info->save_filepath,row,col,find_level,final_iteration);
            FILE *pfile   = fopen(t_str,"r");
            if(pfile)
            {
                fseek(pfile,0,SEEK_END);
                long int size = ftell(pfile);
                fseek(pfile,0L,SEEK_SET);
                if(size > 0)
                {
                    char h_t_str[500];
                    sprintf(h_t_str,"%s/txt/headerinfo_row_%ld_col_%ld.txt",info->save_filepath,row,col);
                    FILE *p_hfile     = fopen(h_t_str,"r");
                    if(p_hfile)
                    {
                        long row_size,col_size;
                        double t_boundary[4];
                        while(!feof(p_hfile))
                        {
                            int t_row,t_col,t_level;
                            double t_grid_size;
                            
                            fscanf(p_hfile,"%d\t%d\t%d\t%lf\t%lf\t%lf\t%ld\t%ld\n",
                                   &t_row,&t_col,&t_level,&t_boundary[0],&t_boundary[1],&t_grid_size,&col_size,&row_size);
                        }
                        
                        char ortho_str[500];
                        sprintf(ortho_str,"%s/txt/tin_ortho_ncc_level_%ld_%ld_%d_iter_%d_final.txt",info->save_filepath,row,col,find_level,final_iteration);
                        FILE *p_orthofile = fopen(ortho_str,"rb");
                        
                        if(p_orthofile)
                        {
                            float* temp_ncc = (float*)malloc(sizeof(float)*col_size*row_size);
                            fread(temp_ncc,sizeof(float),col_size*row_size,p_orthofile);
                            
                            #pragma omp parallel for schedule(guided)
                            for(long iter_row = 0 ; iter_row < row_size ; iter_row ++)
                            {
                                for(long iter_col = 0 ; iter_col < col_size ; iter_col++)
                                {
                                    long t_col = (long)((t_boundary[0] + grid_size*iter_col - FinalDEM_boundary[0])  /grid_size);
                                    long t_row = (long)((FinalDEM_boundary[3] - (t_boundary[1] + grid_size*iter_row))/grid_size);
                                    long index = t_row*(long)Final_DEMsize.width + t_col;
                                    
                                    if(t_col >= 0 && t_col < Final_DEMsize.width && t_row >= 0 && t_row < Final_DEMsize.height &&
                                       iter_row > buffer && iter_row < row_size - buffer &&
                                       iter_col > buffer && iter_col < col_size - buffer)
                                    {
                                        float ortho_value = temp_ncc[iter_row*col_size + iter_col];
                                        if(ortho_value > -1.0)
                                            DEM_ortho[index] = FloatToSignedChar(ortho_value);
                                    }
                                }
                            }
                            free(temp_ncc);
                            fclose(p_orthofile);
                        }
                        
                        fclose(p_hfile);
                    }
                }
                fclose(pfile);
            }
        }
    }
}

void NNA_M_MT(const ProInfo *proinfo, const TransParam _param, const int row_start, const int col_start,const int row_end, const int col_end, int buffer_clip, const int final_iteration, const int divide, signed char* Ortho_values, float* value, unsigned char* value_pt, const CSize Final_DEMsize, const double *FinalDEM_boundary)
{
    double minX = FinalDEM_boundary[0];
    // double minY = FinalDEM_boundary[1];
    // double maxX = FinalDEM_boundary[2];
    double maxY = FinalDEM_boundary[3];
    const int max_mt_iteration = 10;
    long col_count = (long)Final_DEMsize.width;
    long row_count = (long)Final_DEMsize.height;
    long data_size = row_count*col_count;
    printf("start null\n");
    long count_null_cell = 0;
    int check_while = 0;
    
    signed char *t_value_orthoncc = (signed char*)malloc(sizeof(signed char)*data_size);
    unsigned char *t_value_pt = (unsigned char*)malloc(sizeof(unsigned char)*data_size);
    
    memcpy(t_value_orthoncc,Ortho_values,sizeof(signed char)*data_size);
    memcpy(t_value_pt,value_pt,sizeof(unsigned char)*data_size);
    
    int iter_check = 0;
    int check_size = 0;
    int max_total_iteration = 3;
    if(proinfo->DEM_resolution > 2)
        max_total_iteration = 3;
    int total_iteration;
    const double th_rate = 0.6;
    int grid_rate = (int)(8.0/(double)proinfo->DEM_resolution);
    if(grid_rate < 1)
        grid_rate = 1;
    
    printf("first grid rate %d\n",grid_rate);
    
    unsigned char *matchtag_check = (unsigned char*)calloc(sizeof(unsigned char),data_size);
    
    for(total_iteration = 1  ; total_iteration <= max_total_iteration ; total_iteration++)
    {
        check_while = 0;
        check_size = total_iteration*grid_rate;
        iter_check = 0;
        while(check_while == 0)
        {
            iter_check ++;
            count_null_cell = 0;
#pragma omp parallel for schedule(guided) reduction(+:count_null_cell)
            for (long index = 0; index < data_size; index++)
            {
                long count_cell = 0;
                long count_matched_cell = 0;
                
                double sum_ortho = 0;
                
                long row = floor(index/col_count);
                long col = index%col_count;
                long grid_pos = row*col_count + col;
                
                if (value_pt[grid_pos] == 0 && value[grid_pos] > -100 && !matchtag_check[grid_pos])
                {
                    long total_size = 0;
                    
                    for (long t_i = -check_size; t_i <= check_size;t_i+=grid_rate )
                    {
                        for (long t_j = -check_size; t_j <= check_size; t_j+=grid_rate)
                        {
                            long index_row = row + t_i;
                            long index_col = col + t_j;
                            long t_index = index_row*col_count + index_col;
                            
                            if(index_row >= 0 && index_row < row_count && index_col >= 0 && index_col < col_count && value[t_index] > -100)
                            {
                                if(value_pt[t_index] == 1 && SignedCharToFloat(Ortho_values[t_index]) > 0.0)
                                {
                                    sum_ortho += SignedCharToFloat(Ortho_values[t_index]);
                                    count_cell++;
                                }
                                
                                if(value_pt[t_index] == 0)
                                    count_matched_cell++;
                                
                                total_size++;
                            }
                        }
                    }
                    
                    if(count_matched_cell == total_size)
                        matchtag_check[grid_pos] = true;
                    
                    if (count_cell >= 7 && count_cell >= total_size*th_rate )
                    {
                        t_value_orthoncc[grid_pos] = FloatToSignedChar(sum_ortho/(double)count_cell);
                        t_value_pt[grid_pos] = 1;
                        count_null_cell ++;
                    }
                }
            }
            
            memcpy(Ortho_values,t_value_orthoncc,sizeof(signed char)*data_size);
            memcpy(value_pt,t_value_pt,sizeof(unsigned char)*data_size);
            
            if(count_null_cell == 0 || iter_check > max_mt_iteration)
                check_while = 1;
        }
    }
    
    memset(matchtag_check,0,sizeof(unsigned char)*data_size);
    
    check_size = 10*grid_rate;
    total_iteration = 0;
    printf("second null\n");
    check_while = 0;
    iter_check = 0;
    while(check_while == 0)
    {
        printf("2nd null iteration %d\t%d\n",check_size,iter_check);
        iter_check ++;
        count_null_cell = 0;
        int count_highnull_cell = 0;
#pragma omp parallel for schedule(guided) reduction(+:count_null_cell,count_highnull_cell)
        for (long index = 0; index < data_size ; index++)
        {
            int count_low_cell = 0;
            int count_high_cell = 0;
            
            int count_matched_cell = 0;
            
            int total_size = 0;
            
            long row = floor(index/col_count);
            long col = index%col_count;
            
            long grid_pos = row*col_count + col;
            
            if (value_pt[grid_pos] == 1 && value[grid_pos] > -100 && !matchtag_check[grid_pos])
            {
                for (long t_i = -check_size; t_i <= check_size;t_i+=grid_rate )
                {
                    for (long t_j = -check_size; t_j <= check_size; t_j+=grid_rate)
                    {
                        long index_row = row + t_i;
                        long index_col = col + t_j;
                        long t_index = index_row*col_count + index_col;
                        
                        if(index_row >= 0 && index_row < row_count && index_col >= 0 && index_col < col_count)
                        {
                            if(value_pt[t_index] == 0)
                            {
                                if(SignedCharToFloat(Ortho_values[t_index]) < 0.0)
                                    count_low_cell++;
                                else if(SignedCharToFloat(Ortho_values[t_index]) > 0.0)
                                    count_high_cell++;
                            }
                            
                            if(value_pt[t_index] == 1)
                                count_matched_cell++;
                            
                            total_size++;
                        }
                    }
                }
                
                if(count_matched_cell == total_size)
                    matchtag_check[grid_pos] = true;
                else
                {
                    if(count_low_cell >= total_size*0.2)
                    {
                        t_value_pt[grid_pos] = 0;
                        count_null_cell ++;
                    }
                    
                    if(count_high_cell >= total_size*0.7)
                    {
                        t_value_pt[grid_pos] = 2;
                        count_highnull_cell++;
                    }
                }
            }
        }
        printf("%ld\t%d\n",count_null_cell,count_highnull_cell);
        if(count_null_cell == 0 || iter_check > max_mt_iteration)
            check_while = 1;
        
        memcpy(value_pt,t_value_pt,sizeof(unsigned char)*data_size);
    }
    
#pragma omp parallel for schedule(guided)
    for (long index = 0; index < data_size ; index++)
    {
        if(t_value_pt[index] > 0)
        {
            t_value_pt[index] = 1;
            value_pt[index] = 1;
        }
    }
    
    memset(matchtag_check,0,sizeof(unsigned char)*data_size);
    
    if(grid_rate > 1)
    {
        printf("last iteration\n");
        
        check_size = 0;
        max_total_iteration = 3;
        total_iteration = 0;
        
        for(total_iteration = 1  ; total_iteration <= max_total_iteration ; total_iteration++)
        {
            check_while = 0;
            check_size = total_iteration;
            iter_check = 0;
            
            while(check_while == 0)
            {
                iter_check ++;
                count_null_cell = 0;
                
#pragma omp parallel for schedule(guided) reduction(+:count_null_cell)
                for (long index = 0; index < data_size ; index++)
                {
                    long count_cell = 0;
                    long count_all_cell = 0;
                    // double sum_h = 0;
                    double sum_ortho = 0;
                    
                    int total_size = 0;
                    
                    long row = floor(index/col_count);
                    long col = index%col_count;
                    
                    long grid_pos = row*col_count + col;
                    if (value_pt[grid_pos] == 0 && value[grid_pos] > -100 && !matchtag_check[grid_pos])
                    {
                        for (long t_i = -check_size; t_i <= check_size;t_i++ )
                        {
                            for (long t_j = -check_size; t_j <= check_size; t_j++)
                            {
                                long index_row = row + t_i;
                                long index_col = col + t_j;
                                long t_index = index_row*col_count + index_col;
                                
                                if(index_row >= 0 && index_row < row_count && index_col >= 0 && index_col < col_count)
                                {
                                    if(value_pt[t_index] > 0 && SignedCharToFloat(Ortho_values[t_index]) > 0.0 && value[t_index] > -100)
                                    {
                                        sum_ortho += SignedCharToFloat(Ortho_values[t_index]);
                                        count_cell++;
                                    }
                                    
                                    if(value_pt[t_index] == 0)
                                        count_all_cell++;
                                    
                                    total_size++;
                                }
                            }
                        }
                        
                        if(count_all_cell == total_size)
                            matchtag_check[grid_pos] = true;
                        
                        if (count_cell >= total_size*th_rate )
                        {
                            t_value_orthoncc[grid_pos] = FloatToSignedChar(sum_ortho/(double)count_cell);
                            
                            t_value_pt[grid_pos] = 1;
                            
                            count_null_cell ++;
                        }
                    }
                }
                memcpy(Ortho_values,t_value_orthoncc,sizeof(signed char)*data_size);
                memcpy(value_pt,t_value_pt,sizeof(unsigned char)*data_size);
                
                if(count_null_cell == 0 || iter_check > max_mt_iteration)
                    check_while = 1;
            }
        }
    }
    free(matchtag_check);
    
    free(t_value_orthoncc);
    free(Ortho_values);
    
    printf("end last iteration\n");
#pragma omp parallel for schedule(guided)
    for (long index = 0; index < data_size ; index++)
    {
        int count_null_grid = 0;
        int count_match_grid = 0;
        
        long row = floor(index/col_count);
        long col = index%col_count;
        // long count_cell = 0;
        // long null_count_cell = 0;
        
        long p_index = row*col_count + col;
        
        if(value[p_index] > Nodata)
        {
            for (long t_i = -1; t_i <= 1;t_i++ )
            {
                for (long t_j = -1; t_j <= 1; t_j++)
                {
                    long index_row = row + t_i;
                    long index_col = col + t_j;
                    long t_index = index_row*col_count + index_col;
                    
                    if(index_row >= 0 && index_row < row_count && index_col >= 0 && index_col < col_count)
                    {
                        if (value_pt[p_index] == 0 && value_pt[t_index] > 0)
                            count_match_grid++;
                        
                        if (value_pt[p_index] == 1 && value_pt[t_index] == 0)
                            count_null_grid++;
                    }
                }
            }
        }
        
        if(count_match_grid >= 8)
            t_value_pt[p_index] = 1;
        if(count_null_grid >= 8)
            t_value_pt[p_index] = 0;
    }
    
    free(value);
    free(value_pt);
    
    printf("end smoothing\n");
    printf("end null\n");
    
    char GEOTIFF_matchtag_filename[500];
    if(divide == 0)
        sprintf(GEOTIFF_matchtag_filename, "%s/%s_matchtag.tif", proinfo->save_filepath, proinfo->Outputpath_name);
    else
        sprintf(GEOTIFF_matchtag_filename, "%s/%s_%d_matchtag.tif", proinfo->save_filepath, proinfo->Outputpath_name,divide);
    
    WriteGeotiff(GEOTIFF_matchtag_filename, t_value_pt, col_count, row_count, proinfo->DEM_resolution, minX, maxY, _param.projection, _param.utm_zone, _param.bHemisphere, 1);
    
    free(t_value_pt);
}

double FindNebPts_F_M_IDW(const float *input, const unsigned char *matching_flag, const long row_size, const long col_size, const double grid, const double minX, const double maxY, const double X, const double Y, const int row_interval)
{
    double result;
    
    long row,col;
    int check_stop = 0;

    typedef struct tagKV
    {
        double diff;
        double height;
        
        tagKV(double diff, double height):diff(diff),height(height)
        {
        }
    }KV;
    
    vector<KV> Kernel;
    
    double col_pos = ((X - minX)/grid);
    double row_pos = ((maxY - Y)/grid);
    
    long interval = 1;
    int numpts = 0;
    int count1(0), count2(0), count3(0), count4(0);
    while (check_stop == 0)
    {
        //top
        row = interval;
        for(col = -interval ; col <= interval ; col++)
        {
            long grid_pos = ((row_pos+row)*col_size + (col_pos+col));
            if(grid_pos >= 0 && grid_pos < row_size*col_size &&
               row_pos+row >= 0 && row_pos+row < row_size && col_pos+col >= 0 && col_pos+col < col_size && col != 0 && row != 0)
            {
                if(input[grid_pos] != Nodata && matching_flag[grid_pos] == 1)
                {
                    numpts++;
                    if (row >= 0 && row <=interval && col >= 0 && col <= interval)
                        count1++;
                    
                    if (row >= 0 && row <=interval && col < 0 && col >= -interval)
                        count2++;
                    
                    if (row < 0 && row >= -interval && col < 0 && col >= -interval)
                        count3++;
                    
                    if (row < 0 && row >= -interval && col >= 0 && col <= interval)
                        count4++;
                    
                    double dis_X = (col*grid);
                    double dis_Y = (row*grid);
                    KV t_kv(sqrt(dis_X*dis_X + dis_Y*dis_Y), input[grid_pos]);
                    Kernel.push_back(t_kv);
                }
            }
        }
        
        //bottom
        row = -interval;
        for(col = -interval ; col <= interval ; col++)
        {
            long grid_pos = ((row_pos+row)*col_size + (col_pos+col));
            if(grid_pos >= 0 && grid_pos < row_size*col_size &&
               row_pos+row >= 0 && row_pos+row < row_size && col_pos+col >= 0 && col_pos+col < col_size && col != 0 && row != 0)
            {
                if(input[grid_pos] != Nodata && matching_flag[grid_pos] == 1)
                {
                    numpts++;
                    
                    if (row >= 0 && row <=interval && col >= 0 && col <= interval)
                        count1++;
                    
                    if (row >= 0 && row <=interval && col < 0 && col >= -interval)
                        count2++;
                    
                    if (row < 0 && row >= -interval && col < 0 && col >= -interval)
                        count3++;
                    
                    if (row < 0 && row >= -interval && col >= 0 && col <= interval)
                        count4++;
                    
                    double dis_X = (col*grid);
                    double dis_Y = (row*grid);
                    KV t_kv(sqrt(dis_X*dis_X + dis_Y*dis_Y), input[grid_pos]);
                    Kernel.push_back(t_kv);
                }
            }
        }
        
        //right
        col = interval;
        for(row = -interval+1 ; row <= interval-1 ; row++)
        {
            int grid_pos = (int)((row_pos+row)*col_size + (col_pos+col));
            if(grid_pos >= 0 && grid_pos < row_size*col_size &&
               row_pos+row >= 0 && row_pos+row < row_size && col_pos+col >= 0 && col_pos+col < col_size && col != 0 && row != 0)
            {
                if(input[grid_pos] != Nodata && matching_flag[grid_pos] == 1)
                {
                    numpts++;
                    
                    if (row >= 0 && row <=interval && col >= 0 && col <= interval)
                        count1++;
                    
                    if (row >= 0 && row <=interval && col < 0 && col >= -interval)
                        count2++;
                    
                    if (row < 0 && row >= -interval && col < 0 && col >= -interval)
                        count3++;
                    
                    if (row < 0 && row >= -interval && col >= 0 && col <= interval)
                        count4++;
                   
                    double dis_X = (col*grid);
                    double dis_Y = (row*grid);
                    KV t_kv(sqrt(dis_X*dis_X + dis_Y*dis_Y), input[grid_pos]);
                    Kernel.push_back(t_kv);
                }
            }
        }
        
        //left
        col = -interval;
        for(row = -interval+1 ; row <= interval-1 ; row++)
        {
            int grid_pos = (int)((row_pos+row)*col_size + (col_pos+col));
            if(grid_pos >= 0 && grid_pos < row_size*col_size &&
               row_pos+row >= 0 && row_pos+row < row_size && col_pos+col >= 0 && col_pos+col < col_size && col != 0 && row != 0)
            {
                if(input[grid_pos] != Nodata && matching_flag[grid_pos] == 1)
                {
                    numpts++;
                    
                    if (row >= 0 && row <=interval && col >= 0 && col <= interval)
                        count1++;
                    
                    if (row >= 0 && row <=interval && col < 0 && col >= -interval)
                        count2++;
                    
                    if (row < 0 && row >= -interval && col < 0 && col >= -interval)
                        count3++;
                    
                    if (row < 0 && row >= -interval && col >= 0 && col <= interval)
                        count4++;
                    
                    double dis_X = (col*grid);
                    double dis_Y = (row*grid);
                    KV t_kv(sqrt(dis_X*dis_X + dis_Y*dis_Y), input[grid_pos]);
                    Kernel.push_back(t_kv);
                }
            }
        }
        
        if (interval >= row_interval || ((numpts) >= 10 && count1 >= 2 && count2 >= 2 && count3 >= 2 && count4 >= 2))
            check_stop = 1;
        else
            interval = interval + 1;
    }
    
    double sum1(0), sum2(0);
    double p = 1.5;

    vector<KV>::iterator it;
    
    for(it = Kernel.begin(); it != Kernel.end() ; ++it)
    {
        double height = it->height;
        double diff = it->diff;
        sum1 += (height/pow(diff,p));
        sum2 += (1.0/pow(diff,p));
    }
    
    if(sum2 > 0)
        result = sum1/sum2;
    else
        result = Nodata;
   
    Kernel.clear();
    vector<KV>().swap(Kernel);
 
    return result;
}


// Find the interpolated value of a patch given the nominal position and the X and Y offsets 
// along with the image itself