Working on pole detection

src/main/java/BiQuadParameters.java

@@ -151,6 +151,9 @@ public class BiQuadParameters {
 	public double     pf_new_diff =               0.5;    // Minimal disparity (in master camera pixels) difference between the new suggested and the already tried/measured one
 	public int        pf_min_new =                5;      // Minimal number of he new tiles during rig refine for plane filter
 
+	public double     lonefg_rstrength =          0.4;    // Minimal relative strength of the lone FG tiles
+	public double     lonefg_disp_incr =          1.0;    // Maximal disparity of the lone FG tile over maximum of its neighbors
+
 	public boolean    ltavg_en =                  true;   // apply low texture correlation averaging
 	public int        ltavg_radius =              1;      // low texture averaging radius
 	public  boolean   ltavg_dens_strong =         true;   // density calculation - consider only strong tiles
@@ -470,7 +473,14 @@ public class BiQuadParameters {
 		gd.addNumericField("Minimal refined tiles during plane filter",                                           this.pf_min_new,  0,3,"",
 				"Repeat refine antill less tiles are updated");
 
-		gd.addTab("LT Avg","Low texture correlatinaveraging");
+
+		gd.addMessage("Remove lone FG tiles, that have disparity exceeding maximal neighbor by a margin");
+		gd.addNumericField("Minimal relative strength of the lone FG tiles",                                      this.lonefg_rstrength,  4,6,"",
+				"Tile will be removed if it is closer than closest neighbor and is weaker than that neighbor or this value");
+		gd.addNumericField("Maximal disparity of the lone FG tile over maximum of its neighbors",                 this.lonefg_disp_incr,  4,6,"pix",
+				"Tile will be removed if it has disparity higher by this margin that highest neighbor and is weak enough");
+
+		gd.addTab("LT Avg","Low texture correlation averaging");
 
 		gd.addCheckbox    ("Apply low texture correlation averaging",                                             this.ltavg_en,
 				"Improve low textures by averaging 2-d correlation results");
@@ -731,6 +741,9 @@ public class BiQuadParameters {
 		this.pf_new_diff=                   gd.getNextNumber();
 		this.pf_min_new=              (int) gd.getNextNumber();
 
+		this.lonefg_rstrength=              gd.getNextNumber();
+		this.lonefg_disp_incr=              gd.getNextNumber();
+
 		this.ltavg_en=                      gd.getNextBoolean();
 		this.ltavg_radius=            (int) gd.getNextNumber();
 		this.ltavg_dens_strong=             gd.getNextBoolean();
@@ -918,6 +931,8 @@ public class BiQuadParameters {
 		properties.setProperty(prefix+"pf_new_diff",               this.pf_new_diff+"");
 		properties.setProperty(prefix+"pf_min_new",                this.pf_min_new+"");
 
+		properties.setProperty(prefix+"lonefg_rstrength",          this.lonefg_rstrength+"");
+		properties.setProperty(prefix+"lonefg_disp_incr",          this.lonefg_disp_incr+"");
 
 		properties.setProperty(prefix+"ltavg_en",                  this.ltavg_en+"");
 		properties.setProperty(prefix+"ltavg_radius",              this.ltavg_radius+"");
@@ -1107,7 +1122,8 @@ public class BiQuadParameters {
 		if (properties.getProperty(prefix+"pf_new_diff")!=null)             this.pf_new_diff=Double.parseDouble(properties.getProperty(prefix+"pf_new_diff"));
 		if (properties.getProperty(prefix+"pf_min_new")!=null)              this.pf_min_new=Integer.parseInt(properties.getProperty(prefix+"pf_min_new"));
 
-
+		if (properties.getProperty(prefix+"lonefg_rstrength")!=null)        this.lonefg_rstrength=Double.parseDouble(properties.getProperty(prefix+"lonefg_rstrength"));
+		if (properties.getProperty(prefix+"lonefg_disp_incr")!=null)        this.lonefg_disp_incr=Double.parseDouble(properties.getProperty(prefix+"lonefg_disp_incr"));
 
 		if (properties.getProperty(prefix+"ltavg_en")!=null)                this.ltavg_en=Boolean.parseBoolean(properties.getProperty(prefix+"ltavg_en"));
 		if (properties.getProperty(prefix+"ltavg_radius")!=null)            this.ltavg_radius=Integer.parseInt(properties.getProperty(prefix+"ltavg_radius"));
@@ -1298,6 +1314,9 @@ public class BiQuadParameters {
 		bqp.pf_new_diff=                this.pf_new_diff;
 		bqp.pf_min_new=                 this.pf_min_new;
 
+		bqp.lonefg_rstrength=           this.lonefg_rstrength;
+		bqp.lonefg_disp_incr=           this.lonefg_disp_incr;
+
 		bqp.ltavg_en=                   this.ltavg_en;
 		bqp.ltavg_radius=               this.ltavg_radius;
 		bqp.ltavg_dens_strong=          this.ltavg_dens_strong;

src/main/java/BiScan.java

 /**
- ** BiCamScan - calss to represent bultiple bi-quad camera measurements
+ ** BiCamScan - class to represent multiple bi-quad camera measurements
  **
  ** Copyright (C) 2018 Elphel, Inc.
  **
@@ -36,7 +36,7 @@ public class BiScan {
 	boolean [] strong_trusted; // sufficient strength without neighbors
 	boolean [] trusted;
 	boolean [] cond_trusted;
-	boolean [] disabled_measurement; // should disable source also
+	boolean [] disabled_measurement; // should disable source, not this!
 	int     [] src_index;       // index of the source scan which measured data is used here (applies to disparity_measured, strength_measured, disabled_measurement
 	int        list_index = -1;
 	int        scan_type = -1;
@@ -100,7 +100,7 @@ public class BiScan {
 		//    	disabled[nTile] =       true;
 		//    	if ((src_index[nTile] >= 0) && (src_index[nTile] != list_index)) {
 		if (src_index[nTile] >= 0) {
-			biCamDSI.getBiScan(src_index[nTile]).disabled_measurement[nTile] = false; // may be source tile or this tile
+			biCamDSI.getBiScan(src_index[nTile]).disabled_measurement[nTile] = true; // false; // may be source tile or this tile
 		}
 	}
     /**
@@ -1267,6 +1267,71 @@ public class BiScan {
 		return numTrustedAll;
 	}
 
+	/**
+	 * Remove stray tiles that are closer than closest neighbor and weaker than it or
+	 *  trusted_strength * min_rstrength
+	 * @param trusted_strength absolute raw strength to trust
+	 * @param min_rstrength minimal strength to allow lone FG, relative to trusted_strength
+	 * @param max_disp_inc maximal disparity difference between this tile and the nearest neighbor
+	 * @param dbg_x
+	 * @param dbg_y
+	 * @param debugLevel
+	 * @return number of disabled tiles
+	 */
+
+	int  trimWeakLoneFG(
+		    final double     trusted_strength, // trusted correlation strength
+			final double     min_rstrength,   // strength floor - relative to trusted
+			final double     max_disp_inc,
+			final int        dbg_x,
+			final int        dbg_y,
+			final int        debugLevel
+			) {
+		final AtomicInteger ai_trimmed = new AtomicInteger(0);
+		final double min_strength = trusted_strength * min_rstrength;
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+		final int num_tiles = tnImage.sizeX * tnImage.sizeY;
+		final Thread[] threads = ImageDtt.newThreadArray(biCamDSI.threadsMax);
+		final AtomicInteger ai = new AtomicInteger(0);
+		final double [][] ds = getDisparityStrength( // already has disabled zeroed
+	    		false,   // final boolean only_strong,
+	    		false,   // final boolean only_trusted,
+	    		true) ;  // final boolean only_enabled);
+
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				@Override
+				public void run() {
+					for (int nTile = ai.getAndIncrement(); nTile < num_tiles; nTile = ai.getAndIncrement()) if (!Double.isNaN(ds[0][nTile])){
+						double max_disp = 0;
+						double max_disp_w = 0;
+						double d_lim = ds[0][nTile] - max_disp_inc;
+						double w =     ds[1][nTile];
+						for (int dir = 0; dir < 8; dir++) {
+							int nTile1 = tnImage.getNeibIndex(nTile, dir);
+							if ((nTile1 >=0) && (ds[0][nTile1] > max_disp)){
+								 max_disp =   ds[0][nTile1];
+								 max_disp_w = ds[1][nTile1];
+							}
+							if (max_disp > d_lim) {
+								break;
+							}
+						}
+						if ((max_disp <= d_lim) && ((w < max_disp_w) || (w < min_strength))) {
+							disableTile(nTile);
+							ai_trimmed.getAndIncrement();
+							if (debugLevel > -4) {
+								System.out.println("trimWeakLoneFG: removing tile "+nTile+" ("+(nTile%tnImage.sizeX)+":"+(nTile/tnImage.sizeX));
+							}
+						}
+					}
+				}
+			};
+		}
+		ImageDtt.startAndJoin(threads);
+		return ai_trimmed.get();
+	}
+
 	// FG edge should be strong
 	// Trimming(disabling) weak (trusted but not strong_trusted) tiles if on any one side:
 	// a) there are no same plane or closer tiles

src/main/java/Eyesis_Correction.java

@@ -4254,10 +4254,14 @@ private Panel panel1,
 /// ============================================
 
     } else if (label.equals("CLT 3D") || label.equals("CLT Extrinsics") || label.equals("CLT Poly corr")) {
+
     	boolean adjust_extrinsics = label.equals("CLT Extrinsics") || label.equals("CLT Poly corr");
     	boolean adjust_poly = label.equals("CLT Poly corr");
     	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
     	EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
+
+    	clt3d(adjust_extrinsics, adjust_poly);
+/*
         if (QUAD_CLT == null){
         	QUAD_CLT = new  QuadCLT (
         			QuadCLT.PREFIX,
@@ -4327,6 +4331,7 @@ private Panel panel1,
         			true,
         			PROPERTIES);
         }
+*/
         return;
     } else if (label.equals("AUX Extrinsics") || label.equals("AUX Poly corr")) {
     	boolean adjust_extrinsics = label.equals("AUX Extrinsics") || label.equals("AUX Poly corr");
@@ -5125,11 +5130,11 @@ private Panel panel1,
 	    	if (configPath.equals("ABORT")) return false;
 
 	        	if (DEBUG_LEVEL > -2){
-	        		System.out.println("++++++++++++++ Enhancing single-camera DSI by the dual-camera rig using planes ++++++++++++++");
+	        		System.out.println("++++++++++++++ Generating GT data for street poles ++++++++++++++");
 	        	}
 	    		TWO_QUAD_CLT.processPoles( // actually there is no sense to process multiple image sets. Combine with other processing?
-//	    				QUAD_CLT, // QuadCLT quadCLT_main,
-//	    				QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
+	    				QUAD_CLT, // QuadCLT quadCLT_main,
+	    				QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
 	    				TWO_QUAD_CLT.biCamDSI_persistent, // BiCamDSI                                       biCamDSI,
 	    				CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,
 	    				THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch
@@ -5157,14 +5162,98 @@ private Panel panel1,
 		QUAD_CLT.resetGroundTruthByRig();
 		return true;
 	}
+
+//	boolean adjust_extrinsics = label.equals("CLT Extrinsics") || label.equals("CLT Poly corr");
+//	boolean adjust_poly = label.equals("CLT Poly corr");
+	public boolean clt3d(
+			boolean adjust_extrinsics,
+			boolean adjust_poly
+			) {
+		if (QUAD_CLT == null){
+			QUAD_CLT = new  QuadCLT (
+					QuadCLT.PREFIX,
+					PROPERTIES,
+					EYESIS_CORRECTIONS,
+					CORRECTION_PARAMETERS);
+			if (DEBUG_LEVEL > 0){
+				System.out.println("Created new QuadCLT instance, will need to read CLT kernels");
+			}
+		}
+		String configPath=getSaveCongigPath();
+		if (configPath.equals("ABORT")) return false;
+
+		EYESIS_CORRECTIONS.initSensorFiles(DEBUG_LEVEL);
+		int numChannels=EYESIS_CORRECTIONS.getNumChannels();
+		CHANNEL_GAINS_PARAMETERS.modifyNumChannels(numChannels);
+
+		if (!QUAD_CLT.CLTKernelsAvailable()){
+			if (DEBUG_LEVEL > 0){
+				System.out.println("Reading CLT kernels");
+			}
+			QUAD_CLT.readCLTKernels(
+					CLT_PARAMETERS,
+					THREADS_MAX,
+					UPDATE_STATUS, // update status info
+					DEBUG_LEVEL);
+
+			if (DEBUG_LEVEL > 1){
+				QUAD_CLT.showCLTKernels(
+						THREADS_MAX,
+						UPDATE_STATUS, // update status info
+						DEBUG_LEVEL);
+			}
+		}
+
+		if (!QUAD_CLT.geometryCorrectionAvailable()){
+			if (DEBUG_LEVEL > 0){
+				System.out.println("Calculating geometryCorrection");
+			}
+			if (!QUAD_CLT.initGeometryCorrection(DEBUG_LEVEL+2)){
+				return false;
+			}
+		}
+
+		QUAD_CLT.processCLTQuads3d(
+				adjust_extrinsics, // boolean adjust_extrinsics,
+				adjust_poly,       // boolean adjust_poly,
+				CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,
+				DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,
+				//        		NONLIN_PARAMETERS, //EyesisCorrectionParameters.NonlinParameters       nonlinParameters,
+				COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
+				CHANNEL_GAINS_PARAMETERS, //CorrectionColorProc.ColorGainsParameters     channelGainParameters,
+				RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters             rgbParameters,
+				EQUIRECTANGULAR_PARAMETERS, // EyesisCorrectionParameters.EquirectangularParameters equirectangularParameters,
+				//        		CONVOLVE_FFT_SIZE, //int          convolveFFTSize, // 128 - fft size, kernel size should be size/2
+				THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch
+				UPDATE_STATUS, //final boolean    updateStatus,
+				DEBUG_LEVEL); //final int        debugLevel);
+
+
+
+
+		if (configPath!=null) {
+			saveTimestampedProperties( // save config again
+					configPath,      // full path or null
+					null, // use as default directory if path==null
+					true,
+					PROPERTIES);
+		}
+		return true;
+	}
+
 	public boolean enhanceByRig( boolean use_planes) {
 		long startTime=System.nanoTime();
 		if ((QUAD_CLT == null) || (QUAD_CLT.tp == null) || (QUAD_CLT.tp.clt_3d_passes == null)) {
-			String msg = "DSI data is not available. Please run \"CLT 3D\" first";
+			boolean OK = clt3d(
+					false, // boolean adjust_extrinsics,
+					false); // boolean adjust_poly);
+			if (! OK) {
+				String msg = "DSI data is not available and \"CLT 3D\" failed";
 				IJ.showMessage("Error",msg);
 				System.out.println(msg);
 				return false;
 			}
+		}
 		if (!prepareRigImages()) return false;
     	String configPath=getSaveCongigPath();
     	if (configPath.equals("ABORT")) return false;

src/main/java/PoleProcessor.java

+/**
+ ** PoleProcessor - handling poles like street lights and other vertical objects
+ ** common in artificial environments
+ **
+ ** Copyright (C) 2018 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  PoleProcessor.java is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ ** -----------------------------------------------------------------------------**
+ **
+ */
+import java.awt.Rectangle;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.concurrent.atomic.AtomicInteger;
+
+
+public class PoleProcessor {
+	BiCamDSI biCamDSI;
+	ArrayList<PoleCluster> pole_clusters = new ArrayList<PoleCluster>();
+	int tilesX;
+	int tilesY;
+
+	class PoleCluster{
+		double mean_disp = 0.0;
+		double mean_x =    0.0;
+		double mean_y =    0.0;
+		double strength =  0.0;
+		ArrayList <Integer> tiles = new ArrayList<Integer>();
+		Rectangle bBox = new Rectangle();
+		Rectangle eBox; // not calculated, assigned by caller
+		int    layer =     -1;
+		double  getMeanDisp() {return mean_disp;}
+		double  getStrength() {return strength;} // to get average strength - need to divide by getNumTiles()
+		double  getMeanX()    {return mean_x;}
+		double  getMeanY()    {return mean_y;}
+		int     getNumTiles() {return tiles.size();}
+		ArrayList<Integer>  getTiles() {return tiles;}
+		public Rectangle getBBox() {return bBox;}
+		public Rectangle getEBox() {return eBox;}
+		public void trimEBoxBottom(int height) {eBox.height = height;}
+
+		public void setEBox(
+				int ext_left,
+				int ext_right,
+				int ext_up,
+				int ext_down)
+		{
+			this.eBox = new Rectangle(
+					bBox.x - ext_left,
+					bBox.y - ext_up,
+					bBox.width +  ext_right + ext_left,
+					bBox.height + ext_up +   ext_down);
+			if (eBox.x < 0) {
+				eBox.width+=eBox.x;
+				eBox.x = 0;
+			}
+			if (eBox.y < 0) {
+				eBox.height +=eBox.y;
+				eBox.y = 0;
+			}
+			if ((eBox.x + eBox.width) >= tilesX) {
+				eBox.width = tilesX - eBox.x;
+			}
+			if ((eBox.y + eBox.height) >= tilesY) {
+				eBox.height = tilesY - eBox.y;
+			}
+		}
+		public boolean intersects(PoleCluster cluster) {
+			return this.eBox.intersects(cluster.eBox);
+		}
+
+		public void setLayer(int layer) {this.layer = layer;}
+
+		public int getLayer() {return layer;}
+
+		void addCluster(
+				double [][] norm_ds,
+				PoleCluster cluster)
+		{
+			for (int otherTile:cluster.getTiles()) {
+				addTile(norm_ds, otherTile);
+			}
+			// merge eBox-es if any
+			if ((eBox != null) && (cluster.eBox !=null)) {
+				eBox.add(cluster.eBox);
+			}
+		}
+
+
+		void addTile(
+				double [][] norm_ds,
+				int nTile)
+		{
+			if (tiles.indexOf(nTile) >=0) {
+				System.out.println("*** BUG in PoleCluster.addTile("+nTile+") - tile already exists here ***");
+				return; //
+			}
+			if (norm_ds[1][nTile] <= 0) {
+				System.out.println("*** BUG in PoleCluster.addTile("+nTile+") - strength= "+norm_ds[1][nTile]+" ***");
+				return; //
+			}
+			TileNeibs  tnImage = biCamDSI.tnImage;
+			int tileX = nTile % tnImage.sizeX;
+			int tileY = nTile / tnImage.sizeX;
+			mean_disp = (mean_disp * strength + norm_ds[0][nTile] * norm_ds[1][nTile])/(strength + norm_ds[1][nTile]);
+			mean_x =    (mean_x *    strength + tileX *             norm_ds[1][nTile])/(strength + norm_ds[1][nTile]);
+			mean_y =    (mean_y *    strength + tileY *             norm_ds[1][nTile])/(strength + norm_ds[1][nTile]);
+			strength += norm_ds[1][nTile];
+			if (tiles.isEmpty() || ( tileX < bBox.x))  bBox.x = tileX;
+			if (tiles.isEmpty() || ((tileX - bBox.x) > (bBox.width -1)))  bBox.width = tileX - bBox.x + 1;
+			if (tiles.isEmpty() || ( tileY < bBox.y))  bBox.y = tileY;
+			if (tiles.isEmpty() || ((tileY - bBox.y) > (bBox.height -1)))  bBox.height = tileY - bBox.y + 1;
+			tiles.add(nTile);
+		}
+		// remove would be trikier - will need to recalculate bBox
+		void removeTile(
+				double [][] norm_ds,
+				int nTile)
+		{
+			int indx = tiles.indexOf(nTile);
+			if (indx < 0) {
+				System.out.println("*** BUG in PoleCluster.removeTile("+nTile+") - tile does not belong here ***");
+				return; //
+			}
+			TileNeibs  tnImage = biCamDSI.tnImage;
+			int tileX = nTile % tnImage.sizeX;
+			int tileY = nTile / tnImage.sizeX;
+			mean_disp = (mean_disp * strength - norm_ds[0][nTile] * norm_ds[1][nTile])/(strength - norm_ds[1][nTile]);
+			mean_x =    (mean_x *    strength - tileX *             norm_ds[1][nTile])/(strength - norm_ds[1][nTile]);
+			mean_y =    (mean_y *    strength - tileY *             norm_ds[1][nTile])/(strength - norm_ds[1][nTile]);
+			strength -= norm_ds[1][nTile];
+			tiles.remove(indx);
+			// re-calculate bounding box
+			for (int i = 0; i < tiles.size(); i++ ) {
+				int nt = tiles.get(i);
+				tileX = nt % tnImage.sizeX;
+				tileY = nt / tnImage.sizeX;
+				if ((i==0) || ( tileX < bBox.x))  bBox.x = tileX;
+				if ((i==0) || ((tileX - bBox.x) > (bBox.width -1)))  bBox.width = tileX - bBox.x + 1;
+				if ((i==0) || ( tileY < bBox.y))  bBox.y = tileX;
+				if ((i==0) || ((tileY - bBox.y) > (bBox.height -1)))  bBox.height = tileY - bBox.y + 1;
+			}
+		}
+
+
+	}
+
+
+
+	public PoleProcessor (
+			BiCamDSI   biCamDSI,
+			int tilesX,
+			int tilesY)
+	{
+		this.biCamDSI = biCamDSI;
+		this.tilesX = tilesX;
+		this.tilesY = tilesY;
+	}
+
+	public double [][] conditionDisparityStrength(
+			final BiScan biScan,
+			final double     trusted_strength, // trusted correlation strength
+			final double     strength_rfloor,
+			final double     strength_pow
+			) {
+		final double     strength_floor = trusted_strength * strength_rfloor;
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+		final int num_tiles = tnImage.sizeX * tnImage.sizeY;
+		final Thread[] threads = ImageDtt.newThreadArray(biCamDSI.threadsMax);
+		final AtomicInteger ai = new AtomicInteger(0);
+		final double [][] cond_ds = new double [2] [num_tiles];
+		final double [][] disparity_strength = biScan.getDisparityStrength(
+				false, // only_strong,
+				false, // only_trusted,
+				true); // only_enabled);
+//		final AtomicInteger ai_num_seeds = new AtomicInteger(0);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				@Override
+				public void run() {
+					for (int nTile = ai.getAndIncrement(); nTile < num_tiles; nTile = ai.getAndIncrement()) {
+						if (!Double.isNaN(disparity_strength[0][nTile]) &&(disparity_strength[1][nTile] > strength_floor)){
+							double w = disparity_strength[1][nTile] - strength_floor;
+							if (strength_pow != 1.0) {
+								w = Math.pow(w, strength_pow);
+							}
+							cond_ds[0][nTile] = disparity_strength[0][nTile];
+							cond_ds[1][nTile] = w;
+
+						} else {
+							cond_ds[0][nTile] = Double.NaN;
+							cond_ds[1][nTile] = 0.0;
+						}
+					}
+				}
+			};
+		}
+		ImageDtt.startAndJoin(threads);
+		return cond_ds;
+	}
+
+
+
+
+	public boolean [] findSeeds(
+			final double [][] norm_ds,
+			final double      min_strength,     // after subtracting floor and possible applying pow
+			final int         seed_down,
+			final double      seed_aover,
+			final double      seed_rover,
+			final double      max_disparity
+			) {
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+		final int num_tiles = tnImage.sizeX * tnImage.sizeY;
+		final Thread[] threads = ImageDtt.newThreadArray(biCamDSI.threadsMax);
+		final AtomicInteger ai = new AtomicInteger(0);
+		final boolean [] seeds = new boolean [num_tiles];
+//		final AtomicInteger ai_num_seeds = new AtomicInteger(0);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				@Override
+				public void run() {
+					for (int nTile = ai.getAndIncrement(); nTile < num_tiles; nTile = ai.getAndIncrement()) if (norm_ds[1][nTile] > min_strength){
+						double d_head = norm_ds[0][nTile];
+						if ((d_head <= max_disparity) && (d_head > seed_aover)) {
+							double sw = 0.0;
+							double swd = 0.0;
+							int nTile1 = nTile; // tnImage.getNeibIndex(indx, TileNeibs.DIR_DOWN);
+							for (int i = 0; i < seed_down; i++) {
+								nTile1 = tnImage.getNeibIndex(nTile1, TileNeibs.DIR_DOWN);
+								if ((nTile1 >= 0) && (norm_ds[1][nTile1] > 0.0) && !Double.isNaN(norm_ds[0][nTile1])) {
+									double w = norm_ds[1][nTile1];
+									sw += w;
+									swd += w * norm_ds[0][nTile1];
+								}
+							}
+							if (sw > 0.0){
+								swd /= sw; // weighted average of the disparities right below
+								double threshold = swd + seed_aover + seed_rover * d_head;
+								if (d_head >= threshold) {
+									seeds[nTile] = true;
+//									ai_num_seeds.getAndIncrement();
+								}
+							}
+						}
+					}
+				}
+			};
+		}
+		ImageDtt.startAndJoin(threads);
+		return seeds;
+	}
+
+	public ArrayList<PoleCluster> initPoleClusters(
+			final double max_dx,
+			final double max_dy,
+			final double max_dd,
+			boolean []   bseeds,
+			double [][]  norm_ds,
+			final int    debugLevel)
+	{
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+		ArrayList<PoleCluster> clusters = new ArrayList<PoleCluster>();
+		for (int nTile = 0; nTile < bseeds.length; nTile++) if (bseeds[nTile]){
+			double this_disp = norm_ds[0][nTile];
+			int tileX = nTile % tnImage.sizeX;
+			int tileY = nTile / tnImage.sizeX;
+			label_gotit: {
+				for (PoleCluster cluster: clusters) {
+					if (
+							!(Math.abs(cluster.getMeanDisp() - this_disp) > max_dd) && // to allow Double.NaN
+							!(Math.abs(cluster.getMeanX() - tileX) > max_dx) &&
+							!(Math.abs(cluster.getMeanY() - tileY) > max_dy)) {
+						cluster.addTile(norm_ds, nTile);
+						break label_gotit;
+					}
+				}
+				// did not find, need to create a new cluster
+				PoleCluster cluster = new PoleCluster();
+				cluster.addTile(norm_ds, nTile);
+				clusters.add(cluster);
+			}
+		}
+		sortClustersByDisparity(clusters);
+		return clusters;
+	}
+
+	public void extendClusters(
+			int ext_left,
+			int ext_right,
+			int ext_up,
+			int ext_down,
+			ArrayList<PoleCluster> clusters)
+	{
+		for (PoleCluster cluster: clusters) {
+			// Assign extended bounding box to each cluster
+			cluster.setEBox(
+					ext_left,
+					ext_right,
+					ext_up,
+					ext_down);
+		}
+	}
+
+
+	public void cutClusterBottoms(
+			final double [][] norm_ds,
+			final double      pedestal_strength,     // bottom tiles should be at least this strong (normalized strength)
+			final double      pedestal_disp_over,         // bottom tiles should have disparity at least by this above cluster
+			final ArrayList<PoleCluster> clusters)
+	{
+
+		// can be multithreaded
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+//		final int num_tiles = tnImage.sizeX * tnImage.sizeY;
+		final Thread[] threads = ImageDtt.newThreadArray(biCamDSI.threadsMax);
+		final AtomicInteger ai = new AtomicInteger(0);
+		final int num_clust = clusters.size();
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				@Override
+				public void run() {
+					for (int nClust = ai.getAndIncrement(); nClust < num_clust; nClust = ai.getAndIncrement()) {
+						PoleCluster cluster = clusters.get(nClust);
+						Rectangle bBox = cluster.getBBox(); // never extends beyond ?
+						Rectangle eBox = cluster.getEBox();
+						int nTile = eBox.x + tilesX * eBox.y;
+						double disp_marg = cluster.getMeanDisp() + pedestal_disp_over;
+						for (int dy = bBox.y - eBox.y + bBox.height; dy < eBox.height; dy++) {
+							// label
+							label_still_some_far_weak:{
+							for ( int dx = 0; dx < eBox.width;  dx++) {
+								int nTile1 = tnImage.getNeibIndex(nTile, dx, dy); // should always be inside image
+								if (    (norm_ds[1][nTile1] < pedestal_strength) ||
+										(norm_ds[0][nTile1] < disp_marg)) {
+									break label_still_some_far_weak;
+								}
+							}
+							// found pedestal - trim eBox
+							cluster.trimEBoxBottom(dy);
+							break;
+						}
+
+						}
+
+
+					}
+				}
+			};
+		}
+		ImageDtt.startAndJoin(threads);
+	}
+
+
+
+	public int assignClustersToLayers(
+			ArrayList<PoleCluster> clusters)
+	{
+
+		ArrayList<ArrayList<PoleCluster>> layer_lists = new ArrayList<ArrayList<PoleCluster>>();
+
+		for (PoleCluster cluster: clusters) {
+			// Assign extended bounding box to each cluster
+			// see if this cluster fits to any of the existing layers
+			label_layers:{
+				for (int nlayer = 0; nlayer < layer_lists.size(); nlayer++) {
+					ArrayList<PoleCluster> layer = layer_lists.get(nlayer);
+					// see if current cluster intersects with any on this layer
+					label_clusters: {
+						for (PoleCluster other_cluster: layer){
+							if (cluster.intersects(other_cluster)) {
+								break label_clusters; // this layer won't work
+							}
+						}
+						// Layer OK
+						cluster.setLayer(nlayer);
+						layer.add(cluster);
+						break label_layers;
+					}
+				}
+				// need new layer
+				cluster.setLayer(layer_lists.size());
+				ArrayList<PoleCluster> new_layer = new ArrayList<PoleCluster>();
+				new_layer.add(cluster);
+				layer_lists.add(new_layer);
+			}
+		}
+		return layer_lists.size();
+	}
+
+	public int mergeOverlappingClusters(
+			boolean     extended,
+			double      disp_tolerance,
+			double [][] norm_ds,
+			ArrayList<PoleCluster> clusters,
+			int debugLevel)
+	{
+		int num_merge = 0;
+		for (int nCluster = 0; nCluster < clusters.size(); nCluster++) {
+			PoleCluster cluster = clusters.get(nCluster);
+			double this_disp = cluster.getMeanDisp();
+			Rectangle this_box = extended?cluster.getEBox():cluster.getBBox();
+			for (int nOther = 0; nOther < nCluster; nOther++) {
+				PoleCluster other_cluster = clusters.get(nOther);
+				double other_disp = other_cluster.getMeanDisp();
+				Rectangle other_box = extended?other_cluster.getEBox():other_cluster.getBBox();
+				if (this_box.intersects(other_box) && (Math.abs(other_disp - this_disp) < disp_tolerance)) {
+					if (debugLevel > -2) {
+						System.out.println("Merging cluster  " +nCluster+ " to cluster " +nOther);
+						System.out.println("Merging cluster   ("+this_box.x+","+this_box.y+","+this_box.width+","+this_box.height+") disp="+this_disp+
+								" to cluster ("+other_box.x+","+other_box.y+","+other_box.width+","+other_box.height+") disp="+other_disp);
+					}
+					other_cluster.addCluster(norm_ds, cluster);
+					clusters.remove(nCluster);
+					nCluster--; // so when incremented by for() it will stay the same
+					num_merge++;
+					if (debugLevel > -2) {
+						other_disp = other_cluster.getMeanDisp();
+						other_box =  extended ? other_cluster.getEBox(): other_cluster.getBBox();
+						System.out.println("Combined cluster: ("+other_box.x+","+other_box.y+","+other_box.width+","+other_box.height+") disp="+other_disp);
+					}
+					break;
+				}
+			}
+		}
+		return num_merge;
+	}
+
+
+
+	double [][] dbgClusterLayers( // layer and eBox should be set
+			boolean show_bbox,
+			boolean show_ebox,
+			ArrayList<PoleCluster> clusters)
+	{
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+		int tilesX = tnImage.sizeX;
+		int tilesY = tnImage.sizeY;
+		int num_tiles =  tilesY*tilesX;
+		int num_layers = 0;
+		for (PoleCluster cluster: clusters){
+			int cl = cluster.getLayer();
+			if (cl > num_layers) num_layers = cl;
+		}
+		num_layers++;
+		double [][] dbg_layers = new double [num_layers][num_tiles];
+		for (int i = 0; i < num_layers; i++) {
+			for (int j=0; j < num_tiles; j++) {
+				dbg_layers[i][j] = Double.NaN;
+			}
+		}
+		for (PoleCluster cluster: clusters){
+			int layer = cluster.getLayer();
+			double disp = cluster.getMeanDisp();
+			Rectangle [] rectangles = {show_bbox?cluster.getBBox():null,show_ebox?cluster.getEBox():null};
+			for (int nbox = 0; nbox< rectangles.length; nbox++) {
+				Rectangle box = new Rectangle(rectangles[nbox]);
+				if (box.x < 0) {
+					box.width+=box.x;
+					box.x = 0;
+				}
+				if (box.y < 0) {
+					box.height +=box.y;
+					box.y = 0;
+				}
+				if ((box.x + box.width) >= tilesX) {
+					box.width = tilesX - box.x;
+				}
+				if ((box.y + box.height) >= tilesY) {
+					box.height = tilesY - box.y;
+				}
+				int nTile = box.y * tilesX + box.x;
+				for (int dx = 0; dx < box.width;dx++) {
+					if (tnImage.getNeibIndex(nTile, dx, 0) < 0 ) {
+						System.out.println("dbgClusterLayers() bug 1: box.x ="+box.x+", box.width="+box.width+"box.y ="+box.y+", box.height="+box.height+"dx="+dx);
+						continue;
+					}
+					dbg_layers[layer][tnImage.getNeibIndex(nTile, dx, 0)] = disp; // should never be out of bounds
+					if (tnImage.getNeibIndex(nTile, dx, box.height -1) < 0 ) {
+						System.out.println("dbgClusterLayers() bug 2: box.x ="+box.x+", box.width="+box.width+"box.y ="+box.y+", box.height="+box.height+"dx="+dx);
+						continue;
+					}
+					dbg_layers[layer][tnImage.getNeibIndex(nTile, dx, box.height -1)] = disp; // should never be out of bounds
+				}
+				for (int dy = 1; dy < box.height - 1; dy++) {
+					if (tnImage.getNeibIndex(nTile, 0, dy) < 0 ) {
+						System.out.println("dbgClusterLayers() bug 3: box.x ="+box.x+", box.width="+box.width+"box.y ="+box.y+", box.height="+box.height+"dy="+dy);
+						continue;
+					}
+					dbg_layers[layer][tnImage.getNeibIndex(nTile, 0,            dy)] = disp; // should never be out of bounds
+					if (tnImage.getNeibIndex(nTile, box.width -1, dy) < 0 ) {
+						System.out.println("dbgClusterLayers() bug 4: box.x ="+box.x+", box.width="+box.width+"box.y ="+box.y+", box.height="+box.height+"dy="+dy);
+						continue;
+					}
+					dbg_layers[layer][tnImage.getNeibIndex(nTile, box.width -1, dy)] = disp; // should never be out of bounds
+				}
+			}
+		}
+		return dbg_layers;
+	}
+
+
+	double [][] getClusterLayers( // layer and eBox should be set
+			ArrayList<PoleCluster> clusters)
+	{
+		final TileNeibs  tnImage = biCamDSI.tnImage;
+		int tilesX = tnImage.sizeX;
+		int tilesY = tnImage.sizeY;
+		int num_tiles =  tilesY*tilesX;
+		int num_layers = 0;
+		for (PoleCluster cluster: clusters){
+			int cl = cluster.getLayer();
+			if (cl > num_layers) num_layers = cl;
+		}
+		num_layers++;
+		double [][] dbg_layers = new double [num_layers][num_tiles];
+		for (int i = 0; i < num_layers; i++) {
+			for (int j=0; j < num_tiles; j++) {
+				dbg_layers[i][j] = Double.NaN;
+			}
+		}
+		for (PoleCluster cluster: clusters){
+			int layer = cluster.getLayer();
+			double disp = cluster.getMeanDisp();
+			Rectangle box = new Rectangle(cluster.getEBox());
+			if (box.x < 0) {
+				box.width+=box.x;
+				box.x = 0;
+			}
+			if (box.y < 0) {
+				box.height +=box.y;
+				box.y = 0;
+			}
+			if ((box.x + box.width) >= tilesX) {
+				box.width = tilesX - box.x;
+			}
+			if ((box.y + box.height) >= tilesY) {
+				box.height = tilesY - box.y;
+			}
+			int nTile = box.y * tilesX + box.x;
+			for (int dy = 0; dy < box.height; dy++) {
+				for (int dx = 0; dx < box.width;dx++) {
+					dbg_layers[layer][tnImage.getNeibIndex(nTile, dx, dy)] = disp; // should never be out of bounds
+				}
+			}
+		}
+		return dbg_layers;
+	}
+
+
+	public void sortClustersByDisparity(
+			ArrayList<PoleCluster> clusters)
+	{
+		Collections.sort(clusters, new Comparator<PoleCluster>() {
+			@Override
+			public int compare(PoleCluster lhs, PoleCluster rhs) {
+				// -1 - less than, 1 - greater than, 0 - equal
+				return (rhs.mean_disp > lhs.mean_disp) ? -1 : (rhs.mean_disp < lhs.mean_disp ) ? 1 : 0;
+			}
+		});
+
+	}
+
+}

src/main/java/TileNeibs.java

@@ -25,6 +25,20 @@ import java.util.Arrays;
  */
 
 public class TileNeibs{
+	final static int DIR_N =       0; // UP
+	final static int DIR_NE =      1;
+	final static int DIR_E =       2; // Right
+	final static int DIR_SE =      3;
+	final static int DIR_S =       4; // Down
+	final static int DIR_SW =      5;
+	final static int DIR_W =       6; // Left
+	final static int DIR_NW =      7;
+	final static int DIR_CENTER = -1;
+	final static int DIR_UP =      0; // UP
+	final static int DIR_LEFT =    2; // Right
+	final static int DIR_DOWN =    4; // Down
+	final static int DIR_RIGHT =   6; // Left
+
 	int sizeX;
 	int sizeY;
 	public int dirs = 8;

src/main/java/TwoQuadCLT.java

@@ -33,6 +33,7 @@ public class TwoQuadCLT {
 	public long                                            startSetTime;  // start of set processing
 	public long                                            startStepTime; // start of step processing
 	BiCamDSI                                               biCamDSI_persistent; // may be removed later to save memory, now to be able to continue
+	PoleProcessor                                          poleProcessor_persistent;
 
 	  public void processCLTQuadCorrs(
 			  QuadCLT quadCLT_main,
@@ -1207,18 +1208,328 @@ if (debugLevel > -100) return true; // temporarily !
 
 		  return true;
 	  }
-	  public void processPoles(
-//			  QuadCLT            quadCLT_main,  // tiles should be set
-//			  QuadCLT            quadCLT_aux,
+	  public boolean processPoles(
+			  QuadCLT            quadCLT_main,  // tiles should be set
+			  QuadCLT            quadCLT_aux,
 			  BiCamDSI                                       biCamDSI,
 			  EyesisCorrectionParameters.CLTParameters       clt_parameters,
 			  final int                                      threadsMax,  // maximal number of threads to launch
 			  final boolean                                  updateStatus,
 			  final int                                      debugLevel)// throws Exception
 	  {
-		  System.out.println("**** Nothing here yet ****");
+		  if ((quadCLT_main == null) ||
+				  (quadCLT_main.tp == null) ||
+				  (quadCLT_main.tp.clt_3d_passes == null) ||
+				  (biCamDSI_persistent== null) ||
+				  (biCamDSI_persistent.biScans== null)) {
+			  String msg = "Data is not available. Please run \"Ground truth\" first";
+			  IJ.showMessage("Error",msg);
+			  System.out.println(msg);
+			  return false;
+		  }
+		  int scan_index = biCamDSI_persistent.biScans.size()-1;
+		  BiScan biScan =  biCamDSI_persistent.biScans.get(scan_index);
+		  biScan.showScan(quadCLT_main.image_name+"LastBiScan-"+scan_index, null);
+		  if (poleProcessor_persistent == null) {
+			  poleProcessor_persistent = new PoleProcessor(
+					  biCamDSI_persistent,
+					  quadCLT_main.tp.getTilesX(),
+					  quadCLT_main.tp.getTilesY());
+		  }
+		  PoleProcessor pp = poleProcessor_persistent;
+
+		  final double     seed_rsrength = 0.8;
+		  final int        seed_down =     5;
+		  final double     seed_aover =    0.2;
+		  final double     seed_rover =    0.05;
+		  final double     max_disparity = 5.0;
+		  double [][] norm_ds = pp.conditionDisparityStrength(
+				  biScan, // final BiScan biScan,
+				  clt_parameters.rig.pf_trusted_strength, // final double     trusted_strength, // trusted correlation strength
+				  clt_parameters.rig.pf_strength_rfloor, // final double     strength_rfloor,
+				  clt_parameters.rig.pf_strength_pow); // final double     strength_pow,
+		  double seed_min_strength = clt_parameters.rig.pf_trusted_strength* (1.0 - clt_parameters.rig.pf_strength_rfloor) * seed_rsrength;
+		  if (clt_parameters.rig.pf_strength_pow != 1.0) {
+			  seed_min_strength = Math.pow(seed_min_strength, clt_parameters.rig.pf_strength_pow);
+		  }
+
+		  boolean [] seeds =  pp.findSeeds(
+				  norm_ds,           // final double [][] norm_ds,
+				  seed_min_strength, // final double     min_strength,     // after subtracting floor and possible applying pow
+				  seed_down,         // final int        seed_down,
+				  seed_aover,        // final double     seed_aover,
+				  seed_rover,        // final double     seed_rover,
+				  max_disparity);     // final double     max_disparity);
+
+		  double max_dd = 0.1;
+		  double max_dx = 5;
+		  double max_dy = Double.NaN;
+
+		  int ext_side =  2;
+		  int ext_up =    2;
+		  int ext_down = 30;
+
+		  double      pedestal_strength =  0.15;
+		  double      pedestal_disp_over = 0.3;
+
+		  ArrayList<PoleProcessor.PoleCluster> pole_clusters= pp.initPoleClusters(
+				  max_dx, // final double max_dx,
+				  max_dy, // final double max_dy,
+				  max_dd, // final double max_dd,
+				  seeds, // boolean []   bseeds,
+				  norm_ds, // double [][]  norm_ds,
+				  debugLevel); //final int    debugLevel)
+
+		  pp.extendClusters(
+				  ext_side,       // int ext_left,
+				  ext_side,       // int ext_right,
+				  ext_up,         // int ext_up,
+				  ext_down,       // int ext_down,
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+		  pp.cutClusterBottoms(
+				  norm_ds, // final double [][] norm_ds,
+				  pedestal_strength, // final double      pedestal_strength,     // bottom tiles should be at least this strong (normalized strength)
+				  pedestal_disp_over, // final double      pedestal_disp_over,         // bottom tiles should have disparity at least by this above cluster
+				  pole_clusters); // final ArrayList<PoleCluster> clusters)
+		  boolean     extended = false; // merge if only original clusters intersect
+		  double      disp_tolerance = 1.5; // max_dd;
+
+
+		  int num_merged=pp.mergeOverlappingClusters(
+				  extended, // boolean     extended,
+				  disp_tolerance, // double      disp_tolerance,
+				  norm_ds, // double [][] norm_ds,
+				  pole_clusters, // ArrayList<PoleCluster> clusters,
+				  debugLevel); // int debugLevel)
+		  if (debugLevel > -2) {
+			  System.out.println("Merged "+num_merged+" clusters");
+		  }
+
+
+		  int num_layers = pp.assignClustersToLayers(
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+		  double [][] layers_to_measure = pp.getClusterLayers(
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+
+		  if (debugLevel > -2) {
+			  double [][] disparity_strength = biScan.getDisparityStrength(
+					  false, // only_strong,
+					  false, // only_trusted,
+					  true); // only_enabled);
+			  double [][] dbg_seeds = new double [2][seeds.length];
+			  int num_seeds = 0;
+			  for (int i = 0; i < dbg_seeds[0].length; i++ ) {
+				  if (seeds[i]){
+					  dbg_seeds[0][i] = disparity_strength[0][i];
+					  dbg_seeds[1][i] = 1.0; // same contrast
+					  num_seeds++;
+				  } else {
+					  dbg_seeds[0][i] = Double.NaN;
+				  }
+			  }
+
+			  double [][] dbg_clust = new double [2][seeds.length];
+			  for (int i = 0; i < dbg_seeds[0].length; i++ ) {
+				  dbg_clust[0][i] = Double.NaN;
+				  dbg_clust[1][i] = Double.NaN;
+			  }
+			  for (int nclust = 0; nclust < pole_clusters.size(); nclust++) {
+				  PoleProcessor.PoleCluster cluster = pole_clusters.get(nclust);
+				  double d = cluster.getMeanDisp();
+				  ArrayList<Integer> tiles = cluster.getTiles();
+				  for (int i: tiles) {
+					  dbg_clust[0][i] = d;
+					  dbg_clust[1][i] = 0.01*nclust;
+				  }
+			  }
+
+			  biScan.showScan(quadCLT_main.image_name+"-Seeds-"+scan_index, dbg_seeds);
+			  biScan.showScan(quadCLT_main.image_name+"-Clusters-"+scan_index, dbg_clust);
+			  biScan.showScan(quadCLT_main.image_name+"-norm_ds-"+scan_index, norm_ds);
+			  System.out.println("findSeeds() detected "+num_seeds+" tiles as poles seeds");
+			  System.out.println("initPoleClusters() detected "+pole_clusters.size()+" clusters as poles seeds");
+			  System.out.println("assignClustersToLayers() detected "+num_layers+" layers to probe poles seeds");
+			  int tilesX = quadCLT_main.tp.getTilesX();
+			  double [][] dbg_layers = pp.dbgClusterLayers( // layer and eBox should be set
+						true, // boolean show_bbox,
+						true, // boolean show_ebox,
+						pole_clusters); // ArrayList<PoleCluster> clusters)
+
+			  double [][] dbg_layers1 = new double [dbg_layers.length+2][];
+			  for (int i = 0; i <dbg_layers.length; i++) {
+				  dbg_layers1[i] = dbg_layers[i];
+			  }
+			  dbg_layers1[dbg_layers.length + 0] = norm_ds[0];
+			  dbg_layers1[dbg_layers.length + 1] = norm_ds[1];
+
+			  (new showDoubleFloatArrays()).showArrays(
+					  dbg_layers1,
+					  tilesX,
+					  dbg_layers[0].length/tilesX,
+					  true,
+					  "CLUSTER-BOXES");
+			  (new showDoubleFloatArrays()).showArrays(
+					  layers_to_measure,
+					  tilesX,
+					  layers_to_measure[0].length/tilesX,
+					  true,
+					  "LAYERS_TO_MEASURE");
+		  }
+// Just measuring poles with different averaging
+		  double high_disp_tolerance = 0.3;
+		  double low_disp_tolerance =  0.3;
+		  double min_strength = 0.15;
+		  double [][][] measured_poles = measurePoles(
+				  quadCLT_main,        // QuadCLT                                        quadCLT_main,  // tiles should be set
+				  quadCLT_aux,         // QuadCLT                                        quadCLT_aux,
+				  layers_to_measure,   // double [][]                              poles_ds,
+				  clt_parameters,      // EyesisCorrectionParameters.CLTParameters clt_parameters,
+				  false,               // boolean                                  notch_mode, // use pole-detection mode for inter-camera correlation
+				  0,                   // int                                      lt_rad,          // low texture mode - inter-correlation is averaged between the neighbors before argmax-ing, using (2*notch_mode+1)^2 square
+				  threadsMax,          //final int        threadsMax,  // maximal number of threads to launch
+				  updateStatus,        // final boolean    updateStatus,
+				  debugLevel);         // final int        debugLevel);
+
+		  measured_poles = removeDisparityMismatch(
+				  measured_poles,      // double [][][] ds_src,
+				  high_disp_tolerance, // double high_disp_tolerance,
+				  low_disp_tolerance,  //double low_disp_tolerance );
+				  min_strength);       //double min_strength);//
+
+		  showMeasuredPoles(
+				  "MEASURED_POLES-CENTER", // String        title,
+				  quadCLT_main.tp.getTilesX(),  // tilesX, // int           tilesX,
+				  measured_poles);              // double [][][] measured_poles);
+		  double [][][] measured_poles_strongest =  poleAddStrongest(
+				  measured_poles, // double [][][] ds_src,
+				  null); // double [][][] ds_other)
+		  double [][][] measured_poles_fittest =  poleAddFittest(
+				  measured_poles, // double [][][] ds_src,
+				  null); // double [][][] ds_other)
+
+
+		  for (int num_avg = 0; num_avg < 5; num_avg++) {
+			  measured_poles = measurePoles(
+					  quadCLT_main,        // QuadCLT                                        quadCLT_main,  // tiles should be set
+					  quadCLT_aux,         // QuadCLT                                        quadCLT_aux,
+					  layers_to_measure,   // double [][]                              poles_ds,
+					  clt_parameters,      // EyesisCorrectionParameters.CLTParameters clt_parameters,
+					  true,                // boolean                                  notch_mode, // use pole-detection mode for inter-camera correlation
+					  num_avg,             // int                                      lt_rad,          // low texture mode - inter-correlation is averaged between the neighbors before argmax-ing, using (2*notch_mode+1)^2 square
+					  threadsMax,          //final int        threadsMax,  // maximal number of threads to launch
+					  updateStatus,        // final boolean    updateStatus,
+					  debugLevel);         // final int        debugLevel);
+
+			  measured_poles = removeDisparityMismatch(
+					  measured_poles,      // double [][][] ds_src,
+					  high_disp_tolerance, // double high_disp_tolerance,
+					  low_disp_tolerance,  //double low_disp_tolerance );
+					  min_strength);       //double min_strength);//
+
+			  measured_poles_strongest =  poleAddStrongest(
+					  measured_poles_strongest, // double [][][] ds_src,
+					  measured_poles); // double [][][] ds_other)
+			  measured_poles_fittest =  poleAddFittest(
+					  measured_poles_fittest, // double [][][] ds_src,
+					  measured_poles); // double [][][] ds_other)
+
+
+			  showMeasuredPoles(
+					  "MEASURED_POLES-AVG"+num_avg, // String        title,
+					  quadCLT_main.tp.getTilesX(),  // tilesX, // int           tilesX,
+					  measured_poles);              // double [][][] measured_poles);
+		  }
+
+		  showMeasuredPoles(
+				  "MEASURED_POLES-STRONGEST", // String        title,
+				  quadCLT_main.tp.getTilesX(),  // tilesX, // int           tilesX,
+				  measured_poles_strongest);              // double [][][] measured_poles);
+		  showMeasuredPoles(
+				  "MEASURED_POLES-FITTEST", // String        title,
+				  quadCLT_main.tp.getTilesX(),  // tilesX, // int           tilesX,
+				  measured_poles_fittest);              // double [][][] measured_poles);
+
+		  return true;
+	  }
+
+	  public double [][][] removeDisparityMismatch(
+			  double [][][] ds_src,
+			  double high_disp_tolerance,
+			  double low_disp_tolerance,
+			  double min_strength)
+	  {
+		  double [][][] ds = new double [ds_src.length][2][];
+		  for (int i =0; i <ds.length; i++) {
+			  ds[i][0] = ds_src[i][0].clone();
+			  ds[i][1] = ds_src[i][1].clone();
+			  for (int nTile = 0; nTile < ds[i][0].length; nTile++) {
+				  if (    (ds_src[i][1][nTile] <  min_strength) ||
+						  (ds_src[i][0][nTile] >  high_disp_tolerance) ||
+						  (ds_src[i][0][nTile] < -low_disp_tolerance)) {
+					  ds[i][0][nTile] = Double.NaN;
+					  ds[i][1][nTile] = 0.0;
+				  }
+			  }
+
+		  }
+		  return ds;
+	  }
+
+	  public double [][][] poleAddStrongest(
+			  double [][][] ds_src,
+			  double [][][] ds_other)
+	  {
+		  int num_layers = (ds_src == null) ?  ds_other.length : ds_src.length;
+		  double [][][] ds = new double [num_layers][2][];
+		  boolean just_clone = (ds_src == null) || (ds_other == null);
+		  if (ds_src == null) {
+			  ds_src = ds_other;
+		  }
+		  for (int i =0; i <ds.length; i++) {
+			  ds[i][0] = ds_src[i][0].clone();
+			  ds[i][1] = ds_src[i][1].clone();
+			  if (!just_clone) {
+				  for (int nTile = 0; nTile < ds[i][0].length; nTile++) {
+					  if (ds_other[i][1][nTile] > ds[i][1][nTile]) {
+						  ds[i][0][nTile] = ds_other[i][0][nTile];
+						  ds[i][1][nTile] = ds_other[i][1][nTile];
+					  }
+				  }
+			  }
+		  }
+		  return ds;
 	  }
 
+	  public double [][][] poleAddFittest(
+			  double [][][] ds_src,
+			  double [][][] ds_other)
+	  {
+		  int num_layers = (ds_src == null) ?  ds_other.length : ds_src.length;
+		  double [][][] ds = new double [num_layers][2][];
+		  boolean just_clone = (ds_src == null) || (ds_other == null);
+		  if (ds_src == null) {
+			  ds_src = ds_other;
+		  }
+		  for (int i =0; i <ds.length; i++) {
+			  ds[i][0] = ds_src[i][0].clone();
+			  ds[i][1] = ds_src[i][1].clone();
+			  if (!just_clone) {
+				  for (int nTile = 0; nTile < ds[i][0].length; nTile++) {
+					  if (Double.isNaN(ds[i][0][nTile]) || (Math.abs(ds_other[i][0][nTile]) < Math.abs(ds[i][0][nTile]))) {
+						  ds[i][0][nTile] = ds_other[i][0][nTile];
+						  ds[i][1][nTile] = ds_other[i][1][nTile];
+					  }
+				  }
+			  }
+		  }
+		  return ds;
+	  }
+
+
+
 	  //  improve DSI acquired for a single camera by use of a pair
 	  // Run this after "CLT 3D"
 
@@ -2038,6 +2349,16 @@ if (debugLevel > -100) return true; // temporarily !
 			  //
 			  for (int num_cycle = 0; num_cycle < num_cross_gaps_cycles; num_cycle++) {
 				  BiScan last_scan = biCamDSI.getLastBiScan(BiScan.BISCAN_SINGLECORR);
+				  if (clt_parameters.rig.lonefg_disp_incr > 0.0) {
+					  int removed_lone = last_scan.trimWeakLoneFG(
+							  clt_parameters.rig.pf_trusted_strength, // final double    trusted_strength, // trusted correlation strength
+							  clt_parameters.rig.lonefg_rstrength,  // final double     min_rstrength,   // strength floor - relative to trusted
+							  clt_parameters.rig.lonefg_disp_incr ,//final double     max_disp_inc,
+							  clt_parameters.tileX,                   // final int        dbg_x,
+							  clt_parameters.tileY,                   // final int        dbg_y,
+							  debugLevel+2);                            // final int        debugLevel);
+					  System.out.println("trimWeakLoneFG() -> "+removed_lone);
+				  }
 				  int [] trusted_stats = last_scan.calcTrusted(   // finds strong trusted and validates week ones if they fit planes
 						  clt_parameters.rig.pf_trusted_strength, // final double     trusted_strength, // trusted correlation strength
 						  clt_parameters.rig.pf_strength_rfloor,  // final double     strength_rfloor,   // strength floor - relative to trusted
@@ -2450,7 +2771,7 @@ if (debugLevel > -100) return true; // temporarily !
 			  return false;
 		  }
 		  int scan_index = biCamDSI_persistent.biScans.size()-1;
-		  boolean show_smooth =     true;
+		  boolean show_smooth =     false;
 		  boolean keep_unreliable = false;
 		  boolean keep_weak =       false;
 		  boolean keep_strong =     false;
@@ -5056,6 +5377,79 @@ if (debugLevel > -100) return true; // temporarily !
 	  }
 
 
+
+	  private void showMeasuredPoles(
+			  String        title,
+			  int           tilesX,
+			  double [][][] measured_poles) {
+		  int num_layers = measured_poles.length;
+		  String [] titles = new String[2 * num_layers];
+		  double [][] dbg_img = new double[2 * num_layers][];
+		  for (int i = 0; i < num_layers; i++) {
+			  titles[i] =            "disparity_"+i;
+			  titles[i+num_layers] = "strength_"+i;
+			  dbg_img[i] =            measured_poles[i][0];
+			  dbg_img[i+num_layers] = measured_poles[i][1];
+		  }
+		  (new showDoubleFloatArrays()).showArrays(
+				  dbg_img,
+				  tilesX,
+				  dbg_img[0].length/tilesX,
+				  true,
+				  title,
+				  titles);
+
+	  }
+
+	  private double [][][] measurePoles(
+			  QuadCLT                                  quadCLT_main,  // tiles should be set
+			  QuadCLT                                  quadCLT_aux,
+			  double [][]                              poles_ds,
+			  EyesisCorrectionParameters.CLTParameters clt_parameters,
+			  boolean                                  notch_mode, // use pole-detection mode for inter-camera correlation
+			  int                                      lt_rad,          // low texture mode - inter-correlation is averaged between the neighbors before argmax-ing, using (2*notch_mode+1)^2 square
+			  final int                                threadsMax,  // maximal number of threads to launch
+			  final boolean                            updateStatus,
+			  final int                                debugLevel)
+	  {
+		  int num_layers = poles_ds.length;
+		  int tile_op_all = clt_parameters.tile_task_op; //FIXME Use some constant?
+		  int tilesX =quadCLT_main.tp.getTilesX();
+		  int tilesY =quadCLT_main.tp.getTilesY();
+		  double [][][] measuredDisparityStrength = new double [num_layers][2][]; // num_tiles];
+		  for (int layer = 0; layer < num_layers; layer++) {
+			  int [][] tile_op = new int [tilesY][tilesX];
+			  double [][] disparity_array = new double [tilesY][tilesX];
+			  for (int tileY = 0; tileY<tilesY;tileY++) {
+				  for (int tileX = 0; tileX<tilesX;tileX++) {
+					  int nTile = tileY * tilesX + tileX;
+					  disparity_array[tileY][tileX] = poles_ds[layer][nTile];
+					  if (!Double.isNaN(poles_ds[layer][nTile])) {
+						  tile_op[tileY][tileX] = tile_op_all;
+					  }
+				  }
+			  }
+			  double [][] disparity_bimap =  measureRig(
+					  quadCLT_main,        // QuadCLT                                        quadCLT_main,  // tiles should be set
+					  quadCLT_aux,         // QuadCLT                                        quadCLT_aux,
+					  tile_op,             // int [][]                                       tile_op, // common for both amin and aux
+					  disparity_array,     // double [][]                                    disparity_array,
+	    			  null, // double [][]                                    ml_data,         // data for ML - 10 layers - 4 center areas (3x3, 5x5,..) per camera-per direction, 1 - composite, and 1 with just 1 data (target disparity)
+					  clt_parameters,      // EyesisCorrectionParameters.CLTParameters       clt_parameters,
+					  clt_parameters.fat_zero, // double                                         fatzero,
+					  notch_mode,          //  final boolean             notch_mode,      // use notch filter for inter-camera correlation to detect poles
+					  lt_rad,              // final int  // low texture mode - inter-correlation is averaged between the neighbors before argmax-ing, using
+					  true,                // boolean                                  no_int_x0,       // do not offset window to integer maximum - used when averaging low textures to avoid "jumps" for very wide
+					  threadsMax,          //final int        threadsMax,  // maximal number of threads to launch
+					  updateStatus,        // final boolean    updateStatus,
+					  debugLevel);         // final int        debugLevel);
+			  measuredDisparityStrength[layer][0] = disparity_bimap[ImageDtt.BI_DISP_CROSS_INDEX];
+			  measuredDisparityStrength[layer][1] = disparity_bimap[ImageDtt.BI_STR_CROSS_INDEX];
+		  }
+		  return measuredDisparityStrength;
+
+	  }
+
 	  private double [][] measureRig(
 			  QuadCLT                                  quadCLT_main,  // tiles should be set
 			  QuadCLT                                  quadCLT_aux,