refactoring, fighting small bugs

src/main/java/BiScan.java

@@ -650,6 +650,9 @@ public class BiScan {
 						double [] smpl_w =           new double  [smpl_len];
 						double [] smpl_w_narrow =    new double  [smpl_len];
 						double [] smpl_p =           new double  [smpl_len]; // plane disparity,
+						double [] smpl_wsw= smpl_w_narrow;
+						double [][] weights_sw = weights_narrow;
+
 						int nall = 0;
 						double sw = 0, swd = 0;
 						for (int dy = -smpl_radius; dy <= smpl_radius; dy++) {
@@ -796,6 +799,8 @@ public class BiScan {
 									fourq_min,          // int                     fourq_min,         // each of the 4 corners should have at least this number of tiles.
 									fourq_corner,       // int [] 	               fourq_corner, //  array specifying corner number (0..3), -1 - gap. null when not used
 									debugLevel);        // int                     debugLevel)
+							smpl_wsw = smpl_w;
+							weights_sw = weights;
 							//						if ( (fit_rslt == null) ||  (fit_rslt[0] > (smpl_arms + smpl_rrms * fit_rslt[1]))){
 							if ( (fit_rslt == null) ||  (fit_rslt[0] > max_rms)){
 								continue; // narrow selection - too high rms
@@ -845,17 +850,18 @@ public class BiScan {
 									for (int dx = -smpl_radius; dx <= smpl_radius; dx++) { // if ((dx != 0) || (dy != 0)){
 										int adx = (dx > 0)? dx:(-dx);
 										int smpl_indx = smpl_center + dy*smpl_side + dx;
-										if (smpl_w[smpl_indx] > 0.0) {
-											s0+= weights[ady][adx];
-											s1+= weights[ady][adx] * smpl_w[smpl_indx];
+										if (smpl_wsw[smpl_indx] > 0.0) { // either smpl_w_narrow or smpl_w
+											s0+= weights_sw[ady][adx];
+//											s1+= weights[ady][adx] * smpl_w[smpl_indx];
+											s1+= smpl_wsw[smpl_indx]; // already was multiplied by weights[ady][adx]
 										}
 									}
 								}
 								//boost_low_density, // false weight of low density tiles is reduced, true - boosted
-								double w = s1;
-								if (boost_low_density > 0.0) {
-									w/= Math.pow(s0, boost_low_density);
-								}
+								double w = s1/s0;
+//								if (boost_low_density > 0.0) {
+//									w/= Math.pow(s0, boost_low_density);
+//								}
 								if (strength_pow != 1.0) {
 									w = Math.pow(w, 1.0 / strength_pow);
 								}
@@ -865,6 +871,11 @@ public class BiScan {
 									System.out.println("suggestNewScan(): nTile="+nTile+" w="+w);
 									System.out.println("suggestNewScan(): nTile="+nTile+" w="+w);
 								}
+								if (nTile == 66945) {
+									System.out.println("suggestNewScan(): nTile="+nTile+" w="+w);
+									System.out.println("suggestNewScan(): nTile="+nTile+" w="+w);
+								}
+
 							}
 						}
 					}
@@ -2206,7 +2217,17 @@ public class BiScan {
 		double [][] ds = {disparity,strength}; // strength may be null
 		return ds;
 	}
-
+	/**
+	 * Extend low texture areas horizontally if both ends are OK: either belong to the low texture areas selection (lt_sel)
+	 * or are trusted and closer or the same (to the provided tolerance)
+	 * @param tolerance strong limit should not have disparity lower by more than tolerance than low textured area
+	 * @param ds_lt disparity/strength for the low textured area
+	 * @param d_single disparity measured for the single-tile correlation
+	 * @param lt_sel low -textured selection
+	 * @param exp_sel expanded selection (does not intersect with lt_sel
+	 * @param trusted trusted tiles selection
+	 * @return extended disparity/strength data
+	 */
 	  public double [][] getLTExpanded(
 			  final double      tolerance,
 			  final double [][] ds_lt,

src/main/java/PoleProcessor.java

@@ -32,6 +32,7 @@ import java.util.concurrent.atomic.AtomicInteger;
 public class PoleProcessor {
 	final static double THRESHOLD_LIN = 1.0E-20;  // threshold ratio of matrix determinant to norm for linear approximation (det too low - fail)
 	final static double THRESHOLD_QUAD = 1.0E-30; // threshold ratio of matrix determinant to norm for quadratic approximation (det too low - fail)
+	TwoQuadCLT twoQuadCLT; // to call caller methods
 	BiCamDSI biCamDSI;
 	ArrayList<PoleCluster> pole_clusters = new ArrayList<PoleCluster>();
 	int tilesX;
@@ -92,27 +93,27 @@ public class PoleProcessor {
 			return String.format("{%3d, %3d, %2d, %2d}: %7.5f",	eBox.x, eBox.y, eBox.width,eBox.height, target_disparity);
 		}
 		//-1 - definitely not,+1 - definitely yes, 0 - uncertain
-		public int poleFilter() {
+		public int poleFilter(
+				PoleProcessorParameters poleProcessorParameters
+				) {
 
 
-//			int min_mask = 10; // good - min 12
-			int min_height = 10; // good - min 12
-			boolean headlessOK = false;
-			double min_fraction = 0.5;    // worst 0.3478 , next - 0.57
-			double min_frac_height = 0.5;    // worst 0.25 , next - 0.556
-			double min_frac_box =    0.7;    // worst 0.75 , next - 0.556
-			double min_disparity = 0.3;
-			double max_disparity = 3.05; // (2.95 - 3.15)
-//			if (!disabled) return 0;
+//			int min_height = 10; // good - min 12
+//			boolean headlessOK = false;
+//			double min_fraction = 0.5;    // worst 0.3478 , next - 0.57
+//			double min_frac_height = 0.5;    // worst 0.25 , next - 0.556
+//			double min_frac_box =    0.7;    // worst 0.75 , next - 0.556
+//			double min_disparity = 0.3;
+//			double max_disparity = 3.05; // (2.95 - 3.15)
 
 			if (disabled)                                                              return -1;
-			if (eBox.height < min_height)            return -1;
-			if (!headlessOK && (getNumTiles() == 0)) return -1; // skip headless clusters
-			if (getFractSelected() < min_fraction)   return -1;
-			if (getFractHeight() < min_frac_height)  return -1;
-			if (getFractBoxHeight() < min_frac_box)  return -1;
-			if (getTargetDisparity() < min_disparity)return -1;
-			if (getTargetDisparity() > max_disparity)return -1;
+			if (!poleProcessorParameters.filter_headlessOK && (getNumTiles() == 0))    return -1; // skip headless clusters
+			if (eBox.height <          poleProcessorParameters.filter_min_height)      return -1;
+			if (getFractSelected() <   poleProcessorParameters.filter_min_fraction)    return -1;
+			if (getFractHeight() <     poleProcessorParameters.filter_min_frac_height) return -1;
+			if (getFractBoxHeight() <  poleProcessorParameters.filter_min_frac_box)    return -1;
+			if (getTargetDisparity() < poleProcessorParameters.filter_min_disparity)   return -1;
+			if (getTargetDisparity() > poleProcessorParameters.filter_max_disparity)   return -1;
 			return 0;
 		}
 
@@ -902,14 +903,16 @@ public class PoleProcessor {
 
 	public PoleProcessor (
 			BiCamDSI   biCamDSI,
+			TwoQuadCLT twoQuadCLT,
 			int tilesX,
 			int tilesY)
 	{
 		this.biCamDSI = biCamDSI;
 		this.tilesX = tilesX;
 		this.tilesY = tilesY;
+		this.twoQuadCLT = twoQuadCLT;
 	}
-
+/*
 	public double [][] conditionDisparityStrength(
 			final BiScan biScan,
 			final double     trusted_strength, // trusted correlation strength
@@ -951,7 +954,44 @@ public class PoleProcessor {
 		ImageDtt.startAndJoin(threads);
 		return cond_ds;
 	}
+*/
+	public double [][] conditionDisparityStrength(
+			final double [][] disparity_strength,
+			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 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;
+	}
 
 
 
@@ -1109,13 +1149,14 @@ public class PoleProcessor {
 
 
 	public int removeFilteredClusters(
+			PoleProcessorParameters poleProcessorParameters,
 			ArrayList<PoleCluster> clusters,
 			int debugLevel)
 	{
 		int original_size = clusters.size();
 		for (int nClust = 0; nClust < clusters.size(); nClust++) {
 			PoleCluster cluster = clusters.get(nClust);
-			if (cluster.poleFilter() < 0) {
+			if (cluster.poleFilter(poleProcessorParameters) < 0) {
 				if (debugLevel > -2) {
 					System.out.println("Removing filtered out cluster: "+cluster.toString());
 				}
@@ -1240,6 +1281,7 @@ public class PoleProcessor {
 	}
 
 	double [][] exportPoleDisparityStrength(
+			PoleProcessorParameters poleProcessorParameters,
 			int filter_value,
 			ArrayList<PoleCluster> clusters)
 	{
@@ -1248,7 +1290,7 @@ public class PoleProcessor {
 		double [][] ds = new double [2][num_tiles];
 		for (int i = 0; i < num_tiles; i++) ds[0][i]=Double.NaN;
 		for (PoleCluster cluster: clusters) {
-			if ((filter_value >= 0) && (cluster.poleFilter() < filter_value)) continue;
+			if ((filter_value >= 0) && (cluster.poleFilter(poleProcessorParameters) < filter_value)) continue;
 			double disparity = cluster.getTargetDisparity(); // getMeanDisp();
 			double strength =  cluster.getAverageStrength(true);
 
@@ -1273,6 +1315,7 @@ public class PoleProcessor {
 
 
 	double [][] dbgClusterLayers( // layer and eBox should be set
+			PoleProcessorParameters poleProcessorParameters,
 			boolean show_bbox,
 			boolean show_ebox,
 			boolean show_lines,
@@ -1302,7 +1345,7 @@ public class PoleProcessor {
 		}
 		for (PoleCluster cluster: clusters) if (headlessOK ||(cluster.getNumTiles() > 0)){ // skip headless clusters
 			int layer = cluster.getLayer();
-			if (filter && (cluster.poleFilter() <0)) continue;
+			if (filter && (cluster.poleFilter(poleProcessorParameters) <0)) continue;
 			double disp = cluster.getTargetDisparity(); // getMeanDisparity();
 			Rectangle [] rectangles = {show_bbox?cluster.getBBox():null,show_ebox?cluster.getEBox():null};
 			for (int nbox = 0; nbox< rectangles.length; nbox++) if (rectangles[nbox] != null) {
@@ -1338,7 +1381,7 @@ public class PoleProcessor {
 		if (show_lines) {
 			int ends = 1;
 			for (PoleCluster cluster: clusters) if (headlessOK ||(cluster.getNumTiles() > 0)){
-				if (filter && (cluster.poleFilter() <0)) continue;
+				if (filter && (cluster.poleFilter(poleProcessorParameters) <0)) continue;
 				double [] pole_line = cluster.getPoleLine();
 				if (pole_line != null) {
 					int layer = cluster.getLayer();
@@ -1360,7 +1403,7 @@ public class PoleProcessor {
 		}
 		if (show_masks) {
 			for (PoleCluster cluster: clusters) if (headlessOK ||(cluster.getNumTiles() > 0)){
-				if (filter && (cluster.poleFilter() <0)) continue;
+				if (filter && (cluster.poleFilter(poleProcessorParameters) <0)) continue;
 				double [] pole_line = cluster.getPoleLine();
 				if (pole_line != null) {
 					int layer = cluster.getLayer();
@@ -1394,7 +1437,7 @@ public class PoleProcessor {
 		if (show_rdisparity || show_strength) {
 			int offs_strength =  show_rdisparity ? num_layers:0;
 			for (PoleCluster cluster: clusters) if (headlessOK ||(cluster.getNumTiles() > 0)){
-				if (filter && (cluster.poleFilter() <0)) continue;
+				if (filter && (cluster.poleFilter(poleProcessorParameters) <0)) continue;
 				int layer = cluster.getLayer();
 				double [][] ds = cluster.getDsPairs(selected_only);
 				int [] nTiles =  cluster.getDsTiles(selected_only);
@@ -1655,10 +1698,11 @@ public class PoleProcessor {
 	}
 
 	public void printClusterStats(
+			PoleProcessorParameters poleProcessorParameters,
 			final int min_filter,
 			final ArrayList<PoleCluster> clusters)
 	{
-		int [][] real_poles = {
+		int [][] real_poles = { // just for the specific image set - 1526905730_462795
 				{232,109},
 				{233,109},
 				{226,109},
@@ -1674,7 +1718,7 @@ public class PoleProcessor {
 
 		for (int nClust = 0; nClust < clusters.size(); nClust++) {
 			PoleCluster cluster = clusters.get(nClust);
-			if (cluster.poleFilter() >= min_filter) {
+			if (cluster.poleFilter(poleProcessorParameters) >= min_filter) {
 				boolean real_pole = false;
 				for (int i = 0; i < real_poles.length; i++) {
 					if ((real_poles[i][0] == cluster.eBox.x) && (real_poles[i][1] == cluster.eBox.y)) {
@@ -1691,7 +1735,7 @@ public class PoleProcessor {
 
 
 				System.out.println(String.format("%1s  %1s: %3d {%3d,%3d,%3d,%3d} %6.4f %3d (%3d) frac=%6.4f str=%7.5f str_mask=%7.5f frac_height=%5.3f fract_box =%5.3f gap=%2d x0=%6.3f/%6.3f rms=%8.6f, rstrength=%7.4f",
-						((cluster.poleFilter() > 0)?"*":" "),
+						((cluster.poleFilter(poleProcessorParameters) > 0)?"*":" "),
 						(real_pole?"#":"-"),
 						nClust, box.x, box.y, box.width, box.height, cluster.getTargetDisparity(), cluster.getSelectionSize(), cluster.getMaskSize(),cluster.getFractSelected(),
 						meas_strength, mask_strength,cluster.getFractHeight() , cluster.getFractBoxHeight(), cluster.getFreeStemGap(),
@@ -1702,13 +1746,6 @@ public class PoleProcessor {
 		}
 	}
 
-
-
-
-
-
-
-
 	public void sortClustersByDisparity(
 			ArrayList<PoleCluster> clusters)
 	{
@@ -1722,4 +1759,920 @@ public class PoleProcessor {
 
 	}
 
+
+	  public double [][] processPoles(
+			  QuadCLT            quadCLT_main,  // tiles should be set
+			  QuadCLT            quadCLT_aux,
+//			  BiScan                                         biScan,
+			  double [][]                                    src_ds, // source disparity, strength pair
+			  boolean []                                     selection, // source tile selection, will be modified
+			  EyesisCorrectionParameters.CLTParameters       clt_parameters,
+			  final int                                      threadsMax,  // maximal number of threads to launch
+			  final boolean                                  updateStatus,
+			  final int                                      globalDebugLevel)
+	  {
+		  final int debugLevel = globalDebugLevel; // (globalDebugLevel > -2) ? clt_parameters.poles.poles_debug_level:globalDebugLevel;
+		  double [][] norm_ds = conditionDisparityStrength(
+//				  biScan, // final BiScan biScan,
+				  src_ds, //
+				  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) * clt_parameters.poles.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 =  findSeeds(
+				  norm_ds,           // final double [][] norm_ds,
+				  seed_min_strength, // final double     min_strength,     // after subtracting floor and possible applying pow
+				  clt_parameters.poles.seed_down,         // final int        seed_down,
+				  clt_parameters.poles.seed_aover,        // final double     seed_aover,
+				  clt_parameters.poles.seed_rover,        // final double     seed_rover,
+				  clt_parameters.poles.max_disparity);     // final double     max_disparity);
+
+		  ArrayList<PoleProcessor.PoleCluster> pole_clusters= initPoleClusters(
+				  clt_parameters.poles.max_dx, // final double max_dx,
+				  clt_parameters.poles.max_dy, // final double max_dy,
+				  clt_parameters.poles.max_dd, // final double max_dd,
+				  seeds, // boolean []   bseeds,
+				  norm_ds, // double [][]  norm_ds,
+				  debugLevel); //final int    debugLevel)
+
+		  extendClusters(
+				  clt_parameters.poles.ext_side,       // int ext_left,
+				  clt_parameters.poles.ext_side,       // int ext_right,
+				  clt_parameters.poles.ext_up,         // int ext_up,
+				  clt_parameters.poles.ext_down,       // int ext_down,
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+		  cutClusterBottoms(
+				  norm_ds, // final double [][] norm_ds,
+				  clt_parameters.poles.pedestal_strength, // final double      pedestal_strength,     // bottom tiles should be at least this strong (normalized strength)
+				  clt_parameters.poles.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)
+
+		  int num_merged=mergeOverlappingClusters(
+				  clt_parameters.poles.merge_extended,   // boolean     extended,
+				  clt_parameters.poles.merge_rtolerance, // 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 = assignClustersToLayers(
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+
+		  measurePoles(
+				  quadCLT_main,  // QuadCLT            quadCLT_main,  // tiles should be set
+				  quadCLT_aux, // QuadCLT            quadCLT_aux,
+				  //				  BiCamDSI                                       biCamDSI,
+				  clt_parameters, // EyesisCorrectionParameters.CLTParameters       clt_parameters,
+				  pole_clusters, // ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+				  threadsMax,    // final int                                      threadsMax,  // maximal number of threads to launch
+				  updateStatus, // final boolean                                  updateStatus,
+				  debugLevel); //final int                                      debugLevel)
+
+
+
+		  if (debugLevel > -2) {
+			  double [][] dbg_layers = dbgClusterLayers( // layer and eBox should be set
+					  clt_parameters.poles, //PoleProcessorParameters poleProcessorParameters
+					  true,  // boolean show_bbox,
+					  true,  // boolean show_ebox,
+					  false, // boolean show_lines,
+					  false, // boolean show_masks,
+					  false, // boolean selected_only,
+					  true,  // boolean show_rdisparity,
+					  true,  // boolean show_strength,
+					  false, // boolean filter,
+					  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,
+					  quadCLT_main.tp.getTilesX(),
+					  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
+					  true,
+					  "CLUSTER-BOX-MEAS");
+		  }
+		  // split clusters if measurements horizontal profile has multiple maximums
+		  for (int nTry = 0; nTry < 10; nTry++) {
+			  int num_split = splitClusters(
+					  norm_ds,          // double [][] norm_ds,
+					  clt_parameters.poles.split_min_dist,   // int min_dist,          // minimal distance between local maximums
+					  clt_parameters.poles.split_must_zero,      // boolean must_zero,     // zero histogram should exist between local maximum to split
+					  pole_clusters,  // ArrayList<PoleCluster> clusters,
+					  debugLevel);    //  	int debugLevel)
+			  if (debugLevel > -2) {
+				  System.out.println("splitClusters() -> "+num_split+" clusters split in two");
+			  }
+			  if (num_split == 0) { // one pass splits only in two, what if there are more (unlikely, but still)
+				  break;
+			  }
+		  }
+
+		  calcPoleLines(
+				  clt_parameters.poles.max_diff,  // final double max_diff,
+				  clt_parameters.poles.max_tilt,  // final double max_tilt,
+				  clt_parameters.poles.max_rms,   // final double max_rms,
+				  clt_parameters.poles.min_tiles, // final int    min_tiles,
+				  clt_parameters.poles.damp_tilt, // final double damp_tilt,
+				  pole_clusters, // final ArrayList<PoleCluster> clusters,
+				  debugLevel); // final int debugLevel)
+
+		  createPoleMasks(
+				  norm_ds, // final double [][] norm_ds,
+				  clt_parameters.poles.min_neibs, // final int         min_neibs,
+				  clt_parameters.poles.use_seed, // final boolean     use_seed,
+				  clt_parameters.poles.hwidth, // final double      width,
+				  clt_parameters.poles.disp_aover, // final double      disp_aover,
+				  clt_parameters.poles.disp_rover, // final double      disp_rover,
+				  pole_clusters, // final ArrayList<PoleCluster> clusters,
+				  debugLevel); // final int debugLevel)
+		  final boolean trim_bottoms  = true; // false; // true;
+		  filterByMask(
+				  trim_bottoms,   // final boolean trim_bottoms,
+				  pole_clusters); // final ArrayList<PoleCluster> clusters)
+
+
+		  if (debugLevel > -2) {
+			  System.out.println(" === unfiltered \"pole\" clusters ===");
+			  printClusterStats(
+					  clt_parameters.poles, //PoleProcessorParameters poleProcessorParameters
+					  -1, // minimal filter value
+					  pole_clusters);
+		  }
+
+		  filterByRightLeftSeparation(
+				  clt_parameters.poles.sep_min_strength, // final double min_strength,
+				  clt_parameters.poles.sep_disp_adiff,   // final double disp_adiff,
+				  clt_parameters.poles.sep_disp_rdiff,   // final double disp_rdiff,
+				  norm_ds,                               // final double [][] norn_ds,
+				  pole_clusters);                        //	final ArrayList<PoleCluster> clusters)
+		  int num_removed =removeFilteredClusters(
+				  clt_parameters.poles, //PoleProcessorParameters poleProcessorParameters
+				  pole_clusters,                         // ArrayList<PoleCluster> clusters,
+				  debugLevel);                           // int debugLevel)
+		  if (debugLevel > -2) {
+			  System.out.println("Removed "+num_removed+" filtered out pole clusters");
+		  }
+		  sortClustersByDisparity(pole_clusters);
+		  // re-assign layers
+		  num_layers = assignClustersToLayers(
+				  		pole_clusters);                  // ArrayList<PoleCluster> clusters)
+		  if (debugLevel > -2) {
+			  System.out.println("Reassigned layers: "+num_layers);
+		  }
+
+		  double max_target_diff = applyMeasuredDisparity(
+				  clt_parameters.poles.disparity_scale,  // final double disparity_scale, // target disparity to differential disparity scale (baseline ratio)
+				  clt_parameters.poles.diff_power,       // final double diff_power,      // bias towards higher disparities - (disparity+offset) is raised to this power and applied to weight
+				  //                                                    if 0.0 - do not apply value to weight
+				  clt_parameters.poles.diff_offset,      // final double diff_offset,     // add to measured differential disparity before raising to specified power
+				  clt_parameters.poles.cut_bottom,       // final int    cut_bottom,      // cut few tile rows from the very bottom - they may be influenced by ground objects
+				  clt_parameters.poles.keep_bottom,      //final double keep_bottom,      // do not cut more that this fraction of the bounding box height
+				  pole_clusters,                         // final ArrayList<PoleCluster> clusters,
+				  debugLevel);                           // final int debugLevel)         // debug level
+		  if (debugLevel > -2) {
+			  System.out.println("applyMeasuredDisparity() -> "+max_target_diff+" (max_diff)");
+		  }
+		  if (debugLevel > -2) {
+			  debugClusterImages(
+					  clt_parameters.poles ,             //   PoleProcessorParameters              poleProcessorParameters,
+                      quadCLT_main,                      // QuadCLT                              quadCLT_main,  //
+                      pole_clusters,                     // ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+                      norm_ds,                           // double [][]                          norm_ds
+                      debugLevel);                       // int                                  debugLevel
+		  }
+		  for (int nRefine = 0; nRefine <  clt_parameters.poles.max_refines; nRefine ++) {
+			  measurePoles(
+					  quadCLT_main,  // QuadCLT            quadCLT_main,  // tiles should be set
+					  quadCLT_aux, // QuadCLT            quadCLT_aux,
+					  //				  BiCamDSI                                       biCamDSI,
+					  clt_parameters, // EyesisCorrectionParameters.CLTParameters       clt_parameters,
+					  pole_clusters, // ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+					  threadsMax,    // final int                                      threadsMax,  // maximal number of threads to launch
+					  updateStatus, // final boolean                                  updateStatus,
+					  debugLevel + 0); //final int                                      debugLevel)
+
+			  max_target_diff = applyMeasuredDisparity(
+					  clt_parameters.poles.disparity_scale,  // final double disparity_scale, // target disparity to differential disparity scale (baseline ratio)
+					  clt_parameters.poles.diff_power,       // final double diff_power,      // bias towards higher disparities - (disparity+offset) is raised to this power and applied to weight
+					  //                                                    if 0.0 - do not apply value to weight
+					  clt_parameters.poles.diff_offset,      // final double diff_offset,     // add to measured differential disparity before raising to specified power
+					  clt_parameters.poles.cut_bottom,       // final int    cut_bottom,      // cut few tile rows from the very bottom - they may be influenced by ground objects
+					  clt_parameters.poles.keep_bottom,      // final double keep_bottom,      // do not cut more that this fraction of the bounding box height
+					  pole_clusters,                         // final ArrayList<PoleCluster> clusters,
+					  debugLevel);                           // final int debugLevel)         // debug level
+			  if (debugLevel > -2) {
+				  System.out.println("applyMeasuredDisparity() -> "+max_target_diff+" (max_diff)");
+			  }
+
+
+			  if (debugLevel > 0) {
+				  double [][] dbg_layers = dbgClusterLayers( // layer and eBox should be set
+						  clt_parameters.poles, //PoleProcessorParameters poleProcessorParameters
+						  true,  // boolean show_bbox,
+						  true,  // boolean show_ebox,
+						  false, // boolean show_lines,
+						  false, // boolean show_masks,
+						  false, // boolean selected_only,
+						  true,  // boolean show_rdisparity,
+						  true,  // boolean show_strength,
+						  false, // boolean filter,
+						  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,
+						  quadCLT_main.tp.getTilesX(),
+						  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
+						  true,
+						  "CLUSTER-BOX-MEAS-REFINE_"+nRefine);
+				  // select measured:
+				  filterByMask(
+						  false,          // trim_bottoms,   // final boolean trim_bottoms,
+						  pole_clusters); // final ArrayList<PoleCluster> clusters)
+
+
+			  }
+
+			  if ((debugLevel > -2) && ((nRefine >= ( clt_parameters.poles.max_refines -1)) || (debugLevel > -1))){
+				  debugClusterRefineImages(
+						  nRefine,                           // int                                  nRefine,
+						  clt_parameters.poles ,             //   PoleProcessorParameters              poleProcessorParameters,
+	                      quadCLT_main,                      // QuadCLT                              quadCLT_main,  //
+	                      pole_clusters,                     // ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+	                      norm_ds);                          // double [][]                          norm_ds
+			  }
+		  } // for (int nRefine = 0; nRefine < max_refines; nRefine ++) {
+		  double [][] poleDisparityStrength = exportPoleDisparityStrength(
+				  clt_parameters.poles, //PoleProcessorParameters poleProcessorParameters
+					0, // -1, // int filter_value,
+					pole_clusters); // ArrayList<PoleCluster> clusters)
+/*		  double [][] all_ds = 	biScan.getDisparityStrength(
+					false, // only_strong,
+					false, // only_trusted,
+					false); // true); // only_enabled);
+*/
+		  double [][] all_ds = 	{src_ds[0].clone(),src_ds[1].clone()};
+
+		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
+			  if (    !Double.isNaN(poleDisparityStrength[0][nTile]) &&
+					  !(poleDisparityStrength[0][nTile] < all_ds[0][nTile]) &&
+					   (poleDisparityStrength[0][nTile] > 0.0)) {
+				  all_ds[0][nTile] = poleDisparityStrength[0][nTile]; // should not be 0.0 - eigenvalues will get NaN and get stuck
+				  all_ds[1][nTile] = poleDisparityStrength[1][nTile];
+			  }
+		  }
+
+//		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
+//			  if (Double.isNaN(all_ds[0][nTile]) || (all_ds[0][nTile] < 0.001)) {
+//				  all_ds[0][nTile] = Double.NaN;
+//				  all_ds[1][nTile] = 0.0;
+//			  }
+//		  }
+
+
+//		  if (debugLevel> -2) {
+//			  biScan.showScan(quadCLT_main.image_name+"-POLES", poleDisparityStrength);
+//			  biScan.showScan(quadCLT_main.image_name+"-ALL-AND-POLES", all_ds);
+//		  }
+//		  System.out.println("quadCLT_main.tp.clt_3d_passes_size="+quadCLT_main.tp.clt_3d_passes_size+", quadCLT_main.tp.clt_3d_passes.size()="+quadCLT_main.tp.clt_3d_passes.size());
+//		  CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes.size() -1); // get really last one
+
+//		  boolean [] selection = scan_last.getSelected();
+		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
+			  if (!Double.isNaN(poleDisparityStrength[0][nTile])) {
+				  selection[nTile] = true; // add to source selection
+			  }
+		  }
+		  return all_ds;
+/*
+		  quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
+		  CLTPass3d rig_scan = quadCLT_main.tp.compositeScan(
+				  all_ds[0],  // final double []             disparity,
+				  all_ds[1],  // final double []             strength,
+				  selection,                  // final boolean []            selected,
+				  debugLevel);                // final int                   debugLevel)
+		  rig_scan.texture_tiles = scan_last.texture_tiles;
+		  // scan_last
+		  quadCLT_main.tp.clt_3d_passes.add(rig_scan);
+		  quadCLT_main.tp.saveCLTPasses(true);       // rig pass
+		  return true;
+*/
+	  }
+
+	  public void debugClusterRefineImages(
+			  int                                  nRefine,
+			  PoleProcessorParameters              poleProcessorParameters,
+			  QuadCLT                              quadCLT_main,  // tiles should be set
+			  ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+			  double [][]                          norm_ds )
+	  {
+		  boolean filter_poles = true;
+		  double [][] dbg_layers_meas = dbgClusterLayers( // layer and eBox should be set
+				  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+				  false, // boolean show_bbox,
+				  false, // boolean show_ebox,
+				  false, // boolean show_lines,
+				  false, // boolean show_masks,
+				  false, // boolean selected_only,
+				  true,  // boolean show_rdisparity,
+				  true,  // boolean show_strength,
+				  filter_poles, // boolean filter,
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+		  double [][] dbg_layers_selected = dbgClusterLayers( // layer and eBox should be set
+				  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+				  false, // boolean show_bbox,
+				  false, // boolean show_ebox,
+				  false, // boolean show_lines,
+				  false, // boolean show_masks,
+				  true,  // boolean selected_only,
+				  true,  // boolean show_rdisparity,
+				  true,  // boolean show_strength,
+				  filter_poles, // boolean filter,
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+		  double [][] dbg_layers_masks = dbgClusterLayers( // layer and eBox should be set
+				  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+				  false,  // boolean show_bbox,
+				  false,  // boolean show_ebox,
+				  false,  // boolean show_lines,
+				  true,   // boolean show_masks,
+				  false,  // boolean selected_only,
+				  false,  // boolean show_rdisparity,
+				  false,  // boolean show_strength,
+				  filter_poles, // boolean filter,
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+		  double [][] dbg_layers_frames = dbgClusterLayers( // layer and eBox should be set
+				  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+				  true, // boolean show_bbox,
+				  true, // boolean show_ebox,
+				  true, // boolean show_lines,
+				  false, // boolean show_masks,
+				  false,  // boolean selected_only,
+				  false,  // boolean show_rdisparity,
+				  false,  // boolean show_strength,
+				  filter_poles, // boolean filter,
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+		  double [][] dbg_layers1 = new double [4 * dbg_layers_meas.length+2][];
+		  String [] titles = new String [4 * dbg_layers_meas.length+2];
+		  int nl = dbg_layers_meas.length/2;
+		  for (int i = 0; i < dbg_layers_meas.length; i++) {
+			  dbg_layers1[4* i + 0] = dbg_layers_meas[i];
+			  dbg_layers1[4* i + 1] = dbg_layers_selected[i];
+			  dbg_layers1[4* i + 2] = dbg_layers_masks [i % dbg_layers_frames.length];
+			  dbg_layers1[4* i + 3] = dbg_layers_frames[i % dbg_layers_frames.length];
+			  if ( i < nl) {
+				  titles[4* i + 0] ="d_full-"+i;
+				  titles[4* i + 1] ="d_sel-"+i;
+				  titles[4* i + 2] ="sel-"+i;
+				  titles[4* i + 3] ="frames-"+i;
+			  } else {
+				  titles[4* i + 0] ="s_full-"+ (i%nl);
+				  titles[4* i + 1] ="s_sel-"+  (i%nl);
+				  titles[4* i + 2] ="sel-"+ (i%nl);
+				  titles[4* i + 3] ="frames-"+ (i%nl);
+			  }
+		  }
+		  dbg_layers1[4 * dbg_layers_meas.length + 0] = norm_ds[0];
+		  dbg_layers1[4 * dbg_layers_meas.length + 1] = norm_ds[1];
+		  titles[4 * dbg_layers_meas.length + 0] = "disparity";
+		  titles[4 * dbg_layers_meas.length + 1] = "str-norm";
+
+		  (new showDoubleFloatArrays()).showArrays(
+				  dbg_layers1,
+				  quadCLT_main.tp.getTilesX(),
+				  dbg_layers1[0].length/quadCLT_main.tp.getTilesX(),
+				  true,
+				  "MEAS-COMBO-REFINE_"+nRefine,
+				  titles);
+
+		  printClusterStats(
+				  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+				  0, // minimal filter value
+				  pole_clusters);
+	  }
+
+
+	  public void debugClusterImages(
+			  PoleProcessorParameters              poleProcessorParameters,
+			  QuadCLT                              quadCLT_main,  // tiles should be set
+			  ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+			  double [][]                          norm_ds,
+			  int debugLevel)
+	  {
+		  if (debugLevel > -1) {
+			  {
+				  double [][] dbg_layers = dbgClusterLayers( // layer and eBox should be set
+						  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+						  true,  // boolean show_bbox,
+						  true,  // boolean show_ebox,
+						  true,  // boolean show_lines,
+						  false, // boolean show_masks,
+						  true,  // boolean selected_only,
+						  true,  // boolean show_rdisparity,
+						  true,  // boolean show_strength,
+						  false, // boolean filter,
+						  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,
+						  quadCLT_main.tp.getTilesX(),
+						  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
+						  true,
+						  "LINES-BOX-MEAS");
+			  }
+
+
+			  {
+				  double [][] dbg_layers = dbgClusterLayers( // layer and eBox should be set
+						  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+						  false, // boolean show_bbox,
+						  false, // boolean show_ebox,
+						  true,  // boolean show_lines,
+						  false, // boolean show_masks,
+						  true,  // boolean selected_only,
+						  true,  // boolean show_rdisparity,
+						  true,  // boolean show_strength,
+						  false, // boolean filter,
+						  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,
+						  quadCLT_main.tp.getTilesX(),
+						  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
+						  true,
+						  "LINES-MEAS");
+			  }
+
+			  {
+				  double [][] dbg_layers = dbgClusterLayers( // layer and eBox should be set
+						  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+						  false, // boolean show_bbox,
+						  false, // boolean show_ebox,
+						  false, // boolean show_lines,
+						  false, // boolean show_masks,
+						  true,  // boolean selected_only,
+						  true,  // boolean show_rdisparity,
+						  true,  // boolean show_strength,
+						  false, // boolean filter,
+						  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,
+						  quadCLT_main.tp.getTilesX(),
+						  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
+						  true,
+						  "MEAS-SEL");
+			  }
+		  }
+		  {
+			  boolean filter_poles = true;
+			  double [][] dbg_layers_meas = dbgClusterLayers( // layer and eBox should be set
+					  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+					  false, // boolean show_bbox,
+					  false, // boolean show_ebox,
+					  false, // boolean show_lines,
+					  false, // boolean show_masks,
+					  false, // boolean selected_only,
+					  true,  // boolean show_rdisparity,
+					  true,  // boolean show_strength,
+					  filter_poles, // boolean filter,
+					  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+			  double [][] dbg_layers_selected = dbgClusterLayers( // layer and eBox should be set
+					  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+					  false, // boolean show_bbox,
+					  false, // boolean show_ebox,
+					  false, // boolean show_lines,
+					  false, // boolean show_masks,
+					  true,  // boolean selected_only,
+					  true,  // boolean show_rdisparity,
+					  true,  // boolean show_strength,
+					  filter_poles, // boolean filter,
+					  pole_clusters); // ArrayList<PoleCluster> clusters)
+			  double [][] dbg_layers_masks = dbgClusterLayers( // layer and eBox should be set
+					  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+					  false,  // boolean show_bbox,
+					  false,  // boolean show_ebox,
+					  false,  // boolean show_lines,
+					  true,   // boolean show_masks,
+					  false,  // boolean selected_only,
+					  false,  // boolean show_rdisparity,
+					  false,  // boolean show_strength,
+					  filter_poles, // boolean filter,
+					  pole_clusters); // ArrayList<PoleCluster> clusters)
+			  double [][] dbg_layers_frames = dbgClusterLayers( // layer and eBox should be set
+					  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+					  true, // boolean show_bbox,
+					  true, // boolean show_ebox,
+					  true, // boolean show_lines,
+					  false, // boolean show_masks,
+					  false,  // boolean selected_only,
+					  false,  // boolean show_rdisparity,
+					  false,  // boolean show_strength,
+					  filter_poles, // boolean filter,
+					  pole_clusters); // ArrayList<PoleCluster> clusters)
+
+			  double [][] dbg_layers1 = new double [4 * dbg_layers_meas.length+2][];
+			  String [] titles = new String [4 * dbg_layers_meas.length+2];
+			  int nl = dbg_layers_meas.length/2;
+			  for (int i = 0; i < dbg_layers_meas.length; i++) {
+				  dbg_layers1[4* i + 0] = dbg_layers_meas[i];
+				  dbg_layers1[4* i + 1] = dbg_layers_selected[i];
+				  dbg_layers1[4* i + 2] = dbg_layers_masks [i % dbg_layers_frames.length];
+				  dbg_layers1[4* i + 3] = dbg_layers_frames[i % dbg_layers_frames.length];
+				  if ( i < nl) {
+					  titles[4* i + 0] ="d_full-"+i;
+					  titles[4* i + 1] ="d_sel-"+i;
+					  titles[4* i + 2] ="sel-"+i;
+					  titles[4* i + 3] ="frames-"+i;
+				  } else {
+					  titles[4* i + 0] ="s_full-"+ (i%nl);
+					  titles[4* i + 1] ="s_sel-"+  (i%nl);
+					  titles[4* i + 2] ="sel-"+ (i%nl);
+					  titles[4* i + 3] ="frames-"+ (i%nl);
+				  }
+			  }
+			  dbg_layers1[4 * dbg_layers_meas.length + 0] = norm_ds[0];
+			  dbg_layers1[4 * dbg_layers_meas.length + 1] = norm_ds[1];
+			  titles[4 * dbg_layers_meas.length + 0] = "disparity";
+			  titles[4 * dbg_layers_meas.length + 1] = "str-norm";
+
+			  (new showDoubleFloatArrays()).showArrays(
+					  dbg_layers1,
+					  quadCLT_main.tp.getTilesX(),
+					  dbg_layers1[0].length/quadCLT_main.tp.getTilesX(),
+					  true,
+					  "MEAS-COMBO",
+					  titles);
+			  System.out.println(" === filtered \"pole\" clusters ===");
+			  printClusterStats(
+					  poleProcessorParameters, //PoleProcessorParameters poleProcessorParameters
+					  0, // minimal filter value
+					  pole_clusters);
+		  }
+
+	  }
+
+
+	  public void measurePoles(
+			  QuadCLT            quadCLT_main,  // tiles should be set
+			  QuadCLT            quadCLT_aux,
+			  EyesisCorrectionParameters.CLTParameters       clt_parameters,
+			  ArrayList<PoleProcessor.PoleCluster> pole_clusters,
+			  final int                                      threadsMax,  // maximal number of threads to launch
+			  final boolean                                  updateStatus,
+			  final int                                      debugLevel)
+	  {
+		  double [][] layers_to_measure = getClusterLayers(
+				  pole_clusters); // ArrayList<PoleCluster> clusters)
+	  /*
+		  if (debugLevel > -1) {
+			  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.getTargetDisparity();
+				  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 = dbgClusterLayers( // layer and eBox should be set
+					  true, // boolean show_bbox,
+					  true, // boolean show_ebox,
+					  false, // boolean show_lines,
+					  false, // boolean show_masks,
+					  false, // boolean selected_only,
+					  false, // boolean show_rdisparity,
+					  false, // boolean show_strength,
+					  false, // boolean filter,
+					  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);//
+
+		  if (debugLevel > -1) {
+			  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)
+
+			  if (debugLevel > 0) {
+				  showMeasuredPoles(
+						  "MEASURED_POLES-AVG"+num_avg, // String        title,
+						  quadCLT_main.tp.getTilesX(),  // tilesX, // int           tilesX,
+						  measured_poles);              // double [][][] measured_poles);
+			  }
+		  }
+
+		  if (debugLevel > -1) {
+			  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);
+		  }
+
+		  addMeasuredTiles(
+				  true,                   // final boolean       reset_data,
+				  measured_poles_fittest, // final double [][][] measured_layers,
+				  pole_clusters);         // final ArrayList<PoleCluster> clusters
+
+
+	  }
+
+
+
+	  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;
+	  }
+
+	  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 =  twoQuadCLT.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;
+
+	  }
+
+
 }

src/main/java/PoleProcessorParameters.java

@@ -94,7 +94,8 @@ public class PoleProcessorParameters {
 
 
 	public void dialogQuestions(GenericJTabbedDialog gd) {
-		gd.addCheckbox    ("Enable poles detection and usage",                                                                   this.poles_en,"Enable poles detection and usege to improve DSI");
+		gd.addCheckbox    ("Enable poles detection and usage",                                                                   this.poles_en,
+				"Run automatically when creating ground truth data. If disable you may run it with \"Poles GT\" command button");
 		gd.addMessage("Creating initial pole seeds (tops need to be detected and available in the available DSI");
 		gd.addNumericField("Pole relative (to trusted tiles strength) to qualify for the pole seed",                             this.seed_rsrength,  3,6,"",
 				"Pole top seed relative strength (fraction of the strong trusted value that may change with correlation fat zero or other parameters");

src/main/java/TileProcessor.java

@@ -32,6 +32,11 @@ import java.util.concurrent.atomic.AtomicInteger;
 public class TileProcessor {
 	public ArrayList <CLTPass3d> clt_3d_passes = null;
 	public double [][] rig_disparity_strength =  null; // Disparity and strength created by a two-camera rig, with disparity scale and distortions of the main camera
+	public double [][] rig_pre_poles_ds =        null; // Rig disparity and strength before processing poles
+	public double [][] rig_post_poles_ds =       null; // Rig disparity and strength after processing poles
+	public boolean [] rig_pre_poles_sel =        null; // Rig tile selection before processing poles
+	public boolean [] rig_post_poles_sel =       null; // Rig tile selection after processing poles
+
 	public int       clt_3d_passes_size =     0; //clt_3d_passes size after initial processing
 	public int       clt_3d_passes_rig_size = 0; //clt_3d_passes size after initial processing and rig processing
 	private int      tilesX;
@@ -114,6 +119,11 @@ public class TileProcessor {
 		if (rig) clt_3d_passes_rig_size = clt_3d_passes.size();
 		else {
 			rig_disparity_strength = null; // invalidate
+			rig_pre_poles_ds =       null;
+			rig_post_poles_ds =      null;
+			rig_pre_poles_sel =      null;
+			rig_post_poles_sel =     null;
+
 			clt_3d_passes_rig_size = 0;
 			clt_3d_passes_size = clt_3d_passes.size();
 		}
@@ -122,6 +132,10 @@ public class TileProcessor {
 	public void trimCLTPasses(int keep){
 		if (keep < clt_3d_passes_size) { // keep rig data if only rig scan is removed
 			rig_disparity_strength = null; // invalidate
+			rig_pre_poles_ds =       null;
+			rig_post_poles_ds =      null;
+			rig_pre_poles_sel =      null;
+			rig_post_poles_sel =     null;
 			clt_3d_passes_rig_size = 0;
 		}
 		clt_3d_passes_size = keep;
@@ -162,6 +176,11 @@ public class TileProcessor {
 		}
 		// just in case - invalidate (should be done anyway)
 		rig_disparity_strength = null; // invalidate
+		rig_pre_poles_ds =       null;
+		rig_post_poles_ds =      null;
+		rig_pre_poles_sel =      null;
+		rig_post_poles_sel =     null;
+
 		clt_3d_passes_rig_size = 0;
 	}
 

src/main/java/TwoQuadCLT.java

@@ -1217,13 +1217,17 @@ if (debugLevel > -100) return true; // temporarily !
 			  EyesisCorrectionParameters.CLTParameters       clt_parameters,
 			  final int                                      threadsMax,  // maximal number of threads to launch
 			  final boolean                                  updateStatus,
-			  final int                                      debugLevel)
+			  final int                                      globalDebugLevel)
 	  {
+		  // -1 and above - follow clt_parameters.poles.poles_debug_level, -2 and below - follow global debug level
+		  final int debugLevel = (globalDebugLevel > -2) ? clt_parameters.poles.poles_debug_level:globalDebugLevel;
 		  if ((quadCLT_main == null) ||
 				  (quadCLT_main.tp == null) ||
 				  (quadCLT_main.tp.clt_3d_passes == null) ||
 				  (biCamDSI_persistent== null) ||
-				  (biCamDSI_persistent.biScans== null)) {
+				  (biCamDSI_persistent.biScans== null) ||
+				  (quadCLT_main.tp.rig_pre_poles_ds == null)
+				  ) {
 			  String msg = "Data is not available. Please run \"Ground truth\" first";
 			  IJ.showMessage("Error",msg);
 			  System.out.println(msg);
@@ -1237,587 +1241,38 @@ if (debugLevel > -100) return true; // temporarily !
 		  if (poleProcessor_persistent == null) {
 			  poleProcessor_persistent = new PoleProcessor(
 					  biCamDSI_persistent,
+					  this, //	TwoQuadCLT twoQuadCLT,
 					  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)
-
-
-		  measurePoles(
-				  quadCLT_main,  // QuadCLT            quadCLT_main,  // tiles should be set
-				  quadCLT_aux, // QuadCLT            quadCLT_aux,
-				  //				  BiCamDSI                                       biCamDSI,
-				  clt_parameters, // EyesisCorrectionParameters.CLTParameters       clt_parameters,
-				  pole_clusters, // ArrayList<PoleProcessor.PoleCluster> pole_clusters,
-				  threadsMax,    // final int                                      threadsMax,  // maximal number of threads to launch
-				  updateStatus, // final boolean                                  updateStatus,
-				  debugLevel); //final int                                      debugLevel)
-
-
-
-		  if (debugLevel > -2) {
-			  double [][] dbg_layers = pp.dbgClusterLayers( // layer and eBox should be set
-					  true,  // boolean show_bbox,
-					  true,  // boolean show_ebox,
-					  false, // boolean show_lines,
-					  false, // boolean show_masks,
-					  false, // boolean selected_only,
-					  true,  // boolean show_rdisparity,
-					  true,  // boolean show_strength,
-					  false, // boolean filter,
-					  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,
-					  quadCLT_main.tp.getTilesX(),
-					  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
-					  true,
-					  "CLUSTER-BOX-MEAS");
-		  }
-		  // split clusters if measurements horizontal profile has multiple maximums
-		  final int split_min_dist = 3;   // minimal distance between local maximums to split
-		  final boolean must_zero = false; // true; // false; // there should be complete zero-strength on the profile to enable split
-		  for (int nTry = 0; nTry < 10; nTry++) {
-			  int num_split = pp.splitClusters(
-					  norm_ds,          // double [][] norm_ds,
-					  split_min_dist,   // int min_dist,          // minimal distance between local maximums
-					  must_zero,      // boolean must_zero,     // zero histogram should exist between local maximum to split
-					  pole_clusters,  // ArrayList<PoleCluster> clusters,
-					  debugLevel);    //  	int debugLevel)
-			  if (debugLevel > -2) {
-				  System.out.println("splitClusters() -> "+num_split+" clusters split in two");
-			  }
-			  if (num_split == 0) { // one pass splits only in two, what if there are more (unlikely, but still)
-				  break;
-			  }
-		  }
-
-
-		  final double max_diff =  2.0;
-		  final double max_tilt =  0.1;
-		  final double max_rms =   1.0;
-		  final int    min_tiles = 3;
-		  final double damp_tilt = 0.1;
-
-		  pp.calcPoleLines(
-				  max_diff,  // final double max_diff,
-				  max_tilt,  // final double max_tilt,
-				  max_rms,   // final double max_rms,
-				  min_tiles, // final int    min_tiles,
-				  damp_tilt, // final double damp_tilt,
-				  pole_clusters, // final ArrayList<PoleCluster> clusters,
-				  debugLevel); // final int debugLevel)
-
-		  final boolean     use_seed =   true;
-		  final double      hwidth =     0.75;
-		  final double      disp_aover = 0.2;
-		  final double      disp_rover = 0.05;
-		  final int         min_neibs =  3; // minimal number of neighbors to keep tile in the pole mask
-		  pp.createPoleMasks(
-				  norm_ds, // final double [][] norm_ds,
-				  min_neibs, // final int         min_neibs,
-
-				  use_seed, // final boolean     use_seed,
-				  hwidth, // final double      width,
-				  disp_aover, // final double      disp_aover,
-				  disp_rover, // final double      disp_rover,
-				  pole_clusters, // final ArrayList<PoleCluster> clusters,
-				  debugLevel); // final int debugLevel)
-		  final boolean trim_bottoms  = true; // false; // true;
-		  pp.filterByMask(
-				  trim_bottoms,   // final boolean trim_bottoms,
-				  pole_clusters); // final ArrayList<PoleCluster> clusters)
-
-
-		  if (debugLevel > -2) {
-			  System.out.println(" === unfiltered \"pole\" clusters ===");
-			  pp.printClusterStats(
-					  -1, // minimal filter value
-					  pole_clusters);
-		  }
-
-		  final double sep_min_strength = 0.07;
-		  final double sep_disp_adiff = 0.15;
-		  final double sep_disp_rdiff = 0.05;
-
-		  pp.filterByRightLeftSeparation(
-				  sep_min_strength, // final double min_strength,
-				  sep_disp_adiff, // final double disp_adiff,
-				  sep_disp_rdiff, // final double disp_rdiff,
-				  norm_ds, // final double [][] norn_ds,
-				  pole_clusters); // 	final ArrayList<PoleCluster> clusters)
-		  int num_removed =pp.removeFilteredClusters(
-				  pole_clusters, // ArrayList<PoleCluster> clusters,
-				  debugLevel); // int debugLevel)
-		  if (debugLevel > -2) {
-			  System.out.println("Removed "+num_removed+" filtered out pole clusters");
-		  }
-		  pp.sortClustersByDisparity(pole_clusters);
-		  // re-assign layers
-		  num_layers = pp.assignClustersToLayers(
-				  		pole_clusters); // ArrayList<PoleCluster> clusters)
-		  if (debugLevel > -2) {
-			  System.out.println("Reaasigned layers: "+num_layers);
-		  }
-		  final double disparity_scale =   0.3; // 2;  // target disparity to differential disparity scale (baseline ratio)
-		  final double diff_power =        1.0;  // bias towards higher disparities - (disparity+offset) is raised to this power and applied to weight
-		  //                                      if 0.0 - do not apply value to weight
-		  final double diff_offset =       0.5;  // add to measured differential disparity before raising to specified power
-		  final int    cut_bottom =        2;    // cut few tile rows from the very bottom - they may be influenced by ground objects
-		  final double keep_bottom =       0.1;  // do not cut more that this fraction of the bounding box height
-
-		  double max_target_diff = pp.applyMeasuredDisparity(
-				  disparity_scale,  // final double disparity_scale, // target disparity to differential disparity scale (baseline ratio)
-				  diff_power,       // final double diff_power,      // bias towards higher disparities - (disparity+offset) is raised to this power and applied to weight
-				  //                                                    if 0.0 - do not apply value to weight
-				  diff_offset,      // final double diff_offset,     // add to measured differential disparity before raising to specified power
-				  cut_bottom,       // final int    cut_bottom,      // cut few tile rows from the very bottom - they may be influenced by ground objects
-				  keep_bottom,      //final double keep_bottom,      // do not cut more that this fraction of the bounding box height
-				  pole_clusters,    // final ArrayList<PoleCluster> clusters,
-				  debugLevel);      // final int debugLevel)         // debug level
-		  if (debugLevel > -2) {
-			  System.out.println("applyMeasuredDisparity() -> "+max_target_diff+" (max_diff)");
-		  }
-		  if (debugLevel > -2) {
-			  if (debugLevel > -1) {
-				  {
-					  double [][] dbg_layers = pp.dbgClusterLayers( // layer and eBox should be set
-							  true,  // boolean show_bbox,
-							  true,  // boolean show_ebox,
-							  true,  // boolean show_lines,
-							  false, // boolean show_masks,
-							  true,  // boolean selected_only,
-							  true,  // boolean show_rdisparity,
-							  true,  // boolean show_strength,
-							  false, // boolean filter,
-							  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,
-							  quadCLT_main.tp.getTilesX(),
-							  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
-							  true,
-							  "LINES-BOX-MEAS");
-				  }
-
-
-				  {
-					  double [][] dbg_layers = pp.dbgClusterLayers( // layer and eBox should be set
-							  false, // boolean show_bbox,
-							  false, // boolean show_ebox,
-							  true,  // boolean show_lines,
-							  false, // boolean show_masks,
-							  true,  // boolean selected_only,
-							  true,  // boolean show_rdisparity,
-							  true,  // boolean show_strength,
-							  false, // boolean filter,
-							  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,
-							  quadCLT_main.tp.getTilesX(),
-							  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
-							  true,
-							  "LINES-MEAS");
-				  }
-
-				  {
-					  double [][] dbg_layers = pp.dbgClusterLayers( // layer and eBox should be set
-							  false, // boolean show_bbox,
-							  false, // boolean show_ebox,
-							  false, // boolean show_lines,
-							  false, // boolean show_masks,
-							  true,  // boolean selected_only,
-							  true,  // boolean show_rdisparity,
-							  true,  // boolean show_strength,
-							  false, // boolean filter,
-							  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,
-							  quadCLT_main.tp.getTilesX(),
-							  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
-							  true,
-							  "MEAS-SEL");
-				  }
-			  }
-			  {
-				  boolean filter_poles = true;
-				  double [][] dbg_layers_meas = pp.dbgClusterLayers( // layer and eBox should be set
-						  false, // boolean show_bbox,
-						  false, // boolean show_ebox,
-						  false, // boolean show_lines,
-						  false, // boolean show_masks,
-						  false, // boolean selected_only,
-						  true,  // boolean show_rdisparity,
-						  true,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-
-				  double [][] dbg_layers_selected = pp.dbgClusterLayers( // layer and eBox should be set
-						  false, // boolean show_bbox,
-						  false, // boolean show_ebox,
-						  false, // boolean show_lines,
-						  false, // boolean show_masks,
-						  true,  // boolean selected_only,
-						  true,  // boolean show_rdisparity,
-						  true,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-				  double [][] dbg_layers_masks = pp.dbgClusterLayers( // layer and eBox should be set
-						  false,  // boolean show_bbox,
-						  false,  // boolean show_ebox,
-						  false,  // boolean show_lines,
-						  true,   // boolean show_masks,
-						  false,  // boolean selected_only,
-						  false,  // boolean show_rdisparity,
-						  false,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-				  double [][] dbg_layers_frames = pp.dbgClusterLayers( // layer and eBox should be set
-						  true, // boolean show_bbox,
-						  true, // boolean show_ebox,
-						  true, // boolean show_lines,
-						  false, // boolean show_masks,
-						  false,  // boolean selected_only,
-						  false,  // boolean show_rdisparity,
-						  false,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-
-				  double [][] dbg_layers1 = new double [4 * dbg_layers_meas.length+2][];
-				  String [] titles = new String [4 * dbg_layers_meas.length+2];
-				  int nl = dbg_layers_meas.length/2;
-				  for (int i = 0; i < dbg_layers_meas.length; i++) {
-					  dbg_layers1[4* i + 0] = dbg_layers_meas[i];
-					  dbg_layers1[4* i + 1] = dbg_layers_selected[i];
-					  dbg_layers1[4* i + 2] = dbg_layers_masks [i % dbg_layers_frames.length];
-					  dbg_layers1[4* i + 3] = dbg_layers_frames[i % dbg_layers_frames.length];
-					  if ( i < nl) {
-						  titles[4* i + 0] ="d_full-"+i;
-						  titles[4* i + 1] ="d_sel-"+i;
-						  titles[4* i + 2] ="sel-"+i;
-						  titles[4* i + 3] ="frames-"+i;
-					  } else {
-						  titles[4* i + 0] ="s_full-"+ (i%nl);
-						  titles[4* i + 1] ="s_sel-"+  (i%nl);
-						  titles[4* i + 2] ="sel-"+ (i%nl);
-						  titles[4* i + 3] ="frames-"+ (i%nl);
-					  }
-				  }
-				  dbg_layers1[4 * dbg_layers_meas.length + 0] = norm_ds[0];
-				  dbg_layers1[4 * dbg_layers_meas.length + 1] = norm_ds[1];
-				  titles[4 * dbg_layers_meas.length + 0] = "disparity";
-				  titles[4 * dbg_layers_meas.length + 1] = "str-norm";
-
-				  (new showDoubleFloatArrays()).showArrays(
-						  dbg_layers1,
-						  quadCLT_main.tp.getTilesX(),
-						  dbg_layers1[0].length/quadCLT_main.tp.getTilesX(),
-						  true,
-						  "MEAS-COMBO",
-						  titles);
-				  System.out.println(" === filtered \"pole\" clusters ===");
-				  pp.printClusterStats(
-						  0, // minimal filter value
-						  pole_clusters);
-			  }
-		  }
-		  final int max_refines = 20;
-
-		  for (int nRefine = 0; nRefine < max_refines; nRefine ++) {
-			  measurePoles(
+		  boolean [] selection =  quadCLT_main.tp.rig_pre_poles_sel.clone();
+		  double [][] poles_ds = pp.processPoles(
 				  quadCLT_main,  // QuadCLT            quadCLT_main,  // tiles should be set
-					  quadCLT_aux, // QuadCLT            quadCLT_aux,
-					  //				  BiCamDSI                                       biCamDSI,
+				  quadCLT_aux,   //QuadCLT            quadCLT_aux,
+//				  biScan, // BiScan                                         biScan,
+				  quadCLT_main.tp.rig_pre_poles_ds, //  double [][]                                    src_ds, // source disparity, strength pair
+				  selection, // boolean []                                     selection, // source tile selection, will be modified
 				  clt_parameters, // EyesisCorrectionParameters.CLTParameters       clt_parameters,
-					  pole_clusters, // ArrayList<PoleProcessor.PoleCluster> pole_clusters,
 				  threadsMax,  // final int                                      threadsMax,  // maximal number of threads to launch
 				  updateStatus, // final boolean                                  updateStatus,
-					  debugLevel + 0); //final int                                      debugLevel)
-
-			  max_target_diff = pp.applyMeasuredDisparity(
-					  disparity_scale,  // final double disparity_scale, // target disparity to differential disparity scale (baseline ratio)
-					  diff_power,       // final double diff_power,      // bias towards higher disparities - (disparity+offset) is raised to this power and applied to weight
-					  //                                                    if 0.0 - do not apply value to weight
-					  diff_offset,      // final double diff_offset,     // add to measured differential disparity before raising to specified power
-					  cut_bottom,       // final int    cut_bottom,      // cut few tile rows from the very bottom - they may be influenced by ground objects
-					  keep_bottom,      //final double keep_bottom,      // do not cut more that this fraction of the bounding box height
-					  pole_clusters,    // final ArrayList<PoleCluster> clusters,
-					  debugLevel);      // final int debugLevel)         // debug level
-			  if (debugLevel > -2) {
-				  System.out.println("applyMeasuredDisparity() -> "+max_target_diff+" (max_diff)");
-			  }
+				  debugLevel); // final int                                      globalDebugLevel)
 
-
-			  if (debugLevel > 0) {
-				  double [][] dbg_layers = pp.dbgClusterLayers( // layer and eBox should be set
-						  true,  // boolean show_bbox,
-						  true,  // boolean show_ebox,
-						  false, // boolean show_lines,
-						  false, // boolean show_masks,
-						  false, // boolean selected_only,
-						  true,  // boolean show_rdisparity,
-						  true,  // boolean show_strength,
-						  false, // boolean filter,
-						  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,
-						  quadCLT_main.tp.getTilesX(),
-						  dbg_layers[0].length/quadCLT_main.tp.getTilesX(),
-						  true,
-						  "CLUSTER-BOX-MEAS-REFINE_"+nRefine);
-				  // select measured:
-				  pp.filterByMask(
-						  false,          // trim_bottoms,   // final boolean trim_bottoms,
-						  pole_clusters); // final ArrayList<PoleCluster> clusters)
-
-
-			  }
-
-
-
-			  if ((debugLevel > -2) && ((nRefine >= (max_refines -1)) || (debugLevel > -1))){
-				  boolean filter_poles = true;
-				  double [][] dbg_layers_meas = pp.dbgClusterLayers( // layer and eBox should be set
-						  false, // boolean show_bbox,
-						  false, // boolean show_ebox,
-						  false, // boolean show_lines,
-						  false, // boolean show_masks,
-						  false, // boolean selected_only,
-						  true,  // boolean show_rdisparity,
-						  true,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-
-				  double [][] dbg_layers_selected = pp.dbgClusterLayers( // layer and eBox should be set
-						  false, // boolean show_bbox,
-						  false, // boolean show_ebox,
-						  false, // boolean show_lines,
-						  false, // boolean show_masks,
-						  true,  // boolean selected_only,
-						  true,  // boolean show_rdisparity,
-						  true,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-				  double [][] dbg_layers_masks = pp.dbgClusterLayers( // layer and eBox should be set
-						  false,  // boolean show_bbox,
-						  false,  // boolean show_ebox,
-						  false,  // boolean show_lines,
-						  true,   // boolean show_masks,
-						  false,  // boolean selected_only,
-						  false,  // boolean show_rdisparity,
-						  false,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-				  double [][] dbg_layers_frames = pp.dbgClusterLayers( // layer and eBox should be set
-						  true, // boolean show_bbox,
-						  true, // boolean show_ebox,
-						  true, // boolean show_lines,
-						  false, // boolean show_masks,
-						  false,  // boolean selected_only,
-						  false,  // boolean show_rdisparity,
-						  false,  // boolean show_strength,
-						  filter_poles, // boolean filter,
-						  pole_clusters); // ArrayList<PoleCluster> clusters)
-
-				  double [][] dbg_layers1 = new double [4 * dbg_layers_meas.length+2][];
-				  String [] titles = new String [4 * dbg_layers_meas.length+2];
-				  int nl = dbg_layers_meas.length/2;
-				  for (int i = 0; i < dbg_layers_meas.length; i++) {
-					  dbg_layers1[4* i + 0] = dbg_layers_meas[i];
-					  dbg_layers1[4* i + 1] = dbg_layers_selected[i];
-					  dbg_layers1[4* i + 2] = dbg_layers_masks [i % dbg_layers_frames.length];
-					  dbg_layers1[4* i + 3] = dbg_layers_frames[i % dbg_layers_frames.length];
-					  if ( i < nl) {
-						  titles[4* i + 0] ="d_full-"+i;
-						  titles[4* i + 1] ="d_sel-"+i;
-						  titles[4* i + 2] ="sel-"+i;
-						  titles[4* i + 3] ="frames-"+i;
-					  } else {
-						  titles[4* i + 0] ="s_full-"+ (i%nl);
-						  titles[4* i + 1] ="s_sel-"+  (i%nl);
-						  titles[4* i + 2] ="sel-"+ (i%nl);
-						  titles[4* i + 3] ="frames-"+ (i%nl);
-					  }
-				  }
-				  dbg_layers1[4 * dbg_layers_meas.length + 0] = norm_ds[0];
-				  dbg_layers1[4 * dbg_layers_meas.length + 1] = norm_ds[1];
-				  titles[4 * dbg_layers_meas.length + 0] = "disparity";
-				  titles[4 * dbg_layers_meas.length + 1] = "str-norm";
-
-				  (new showDoubleFloatArrays()).showArrays(
-						  dbg_layers1,
-						  quadCLT_main.tp.getTilesX(),
-						  dbg_layers1[0].length/quadCLT_main.tp.getTilesX(),
-						  true,
-						  "MEAS-COMBO-REFINE_"+nRefine,
-						  titles);
-
-				  pp.printClusterStats(
-						  0, // minimal filter value
-						  pole_clusters);
-
-			  }
-		  } // for (int nRefine = 0; nRefine < max_refines; nRefine ++) {
-		  double [][] poleDisparityStrength = pp.exportPoleDisparityStrength(
-					-1, // int filter_value,
-					pole_clusters); // ArrayList<PoleCluster> clusters)
-		  double [][] all_ds = 	biScan.getDisparityStrength(
-					false, // only_strong,
-					false, // only_trusted,
-					true); // only_enabled);
-
-/*		  Random rand = new Random();
-		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
-			  if (!Double.isNaN(poleDisparityStrength[0][nTile]) && !(poleDisparityStrength[0][nTile] < all_ds[0][nTile])) {
-				  all_ds[0][nTile] = poleDisparityStrength[0][nTile] + 0.001*rand.nextDouble();
-				  all_ds[1][nTile] = poleDisparityStrength[1][nTile] + 0.001*rand.nextDouble();
-			  }
-		  }
-*/
-		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
-			  if (!Double.isNaN(poleDisparityStrength[0][nTile]) && !(poleDisparityStrength[0][nTile] < all_ds[0][nTile])) {
-				  all_ds[0][nTile] = poleDisparityStrength[0][nTile];
-				  all_ds[1][nTile] = poleDisparityStrength[1][nTile];
-			  }
-		  }
-
-		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
-			  if (Double.isNaN(all_ds[0][nTile]) || (all_ds[0][nTile] < 0.001)) {
-				  all_ds[0][nTile] = Double.NaN;
-				  all_ds[1][nTile] = 0.0;
-			  }
-		  }
-
-
-		  if (debugLevel> -2) {
-			  biScan.showScan(quadCLT_main.image_name+"-POLES-"+scan_index, poleDisparityStrength);
-			  biScan.showScan(quadCLT_main.image_name+"-ALL-AND-POLES-"+scan_index, all_ds);
-		  }
-		  System.out.println("quadCLT_main.tp.clt_3d_passes_size="+quadCLT_main.tp.clt_3d_passes_size+", quadCLT_main.tp.clt_3d_passes.size()="+quadCLT_main.tp.clt_3d_passes.size());
-//		  CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes_size -1); // get last one
+//		  System.out.println("quadCLT_main.tp.clt_3d_passes_size="+quadCLT_main.tp.clt_3d_passes_size+", quadCLT_main.tp.clt_3d_passes.size()="+quadCLT_main.tp.clt_3d_passes.size());
 		  CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes.size() -1); // get really last one
-
-		  boolean [] selection = scan_last.getSelected();
-		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
-			  if (!Double.isNaN(poleDisparityStrength[0][nTile])) {
-				  selection[nTile] = true;
-			  }
-		  }
+//
+//
+//		  boolean [] selection = scan_last.getSelected();
+//		  for (int nTile = 0; nTile < all_ds[0].length; nTile++) {
+//			  if (!Double.isNaN(poleDisparityStrength[0][nTile])) {
+//				  selection[nTile] = true;
+//			  }
+//		  }
 
 		  quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
 		  CLTPass3d rig_scan = quadCLT_main.tp.compositeScan(
-				  all_ds[0],  // final double []             disparity,
-				  all_ds[1],  // final double []             strength,
+				  poles_ds[0],  // final double []             disparity,
+				  poles_ds[1],  // final double []             strength,
 				  selection,                  // final boolean []            selected,
 				  debugLevel);                // final int                   debugLevel)
 		  rig_scan.texture_tiles = scan_last.texture_tiles;
@@ -1827,256 +1282,6 @@ if (debugLevel > -100) return true; // temporarily !
 		  return true;
 	  }
 
-
-	  public void measurePoles(
-			  QuadCLT            quadCLT_main,  // tiles should be set
-			  QuadCLT            quadCLT_aux,
-//			  BiCamDSI                                       biCamDSI,
-			  EyesisCorrectionParameters.CLTParameters       clt_parameters,
-			  ArrayList<PoleProcessor.PoleCluster> pole_clusters,
-			  final int                                      threadsMax,  // maximal number of threads to launch
-			  final boolean                                  updateStatus,
-			  final int                                      debugLevel)
-	  {
-		  PoleProcessor pp = poleProcessor_persistent;
-		  double [][] layers_to_measure = pp.getClusterLayers(
-				  pole_clusters); // ArrayList<PoleCluster> clusters)
-	  /*
-		  if (debugLevel > -1) {
-			  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.getTargetDisparity();
-				  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,
-					  false, // boolean show_lines,
-					  false, // boolean show_masks,
-					  false, // boolean selected_only,
-					  false, // boolean show_rdisparity,
-					  false, // boolean show_strength,
-					  false, // boolean filter,
-					  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);//
-
-		  if (debugLevel > -1) {
-			  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)
-
-			  if (debugLevel > 0) {
-				  showMeasuredPoles(
-						  "MEASURED_POLES-AVG"+num_avg, // String        title,
-						  quadCLT_main.tp.getTilesX(),  // tilesX, // int           tilesX,
-						  measured_poles);              // double [][][] measured_poles);
-			  }
-		  }
-
-		  if (debugLevel > -1) {
-			  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);
-		  }
-
-		  pp.addMeasuredTiles(
-				  true,                   // final boolean       reset_data,
-				  measured_poles_fittest, // final double [][][] measured_layers,
-				  pole_clusters);         // final ArrayList<PoleCluster> clusters
-
-
-	  }
-
-
-
-	  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"
 
@@ -2098,7 +1303,7 @@ if (debugLevel > -100) return true; // temporarily !
 			  return;
 		  }
 
-		  double [][] rig_disparity_strength =  quadCLT_main.getGroundTruthByRig();
+		  double [][] rig_disparity_strength =  quadCLT_main.getGroundTruthByRig(); // saved pair
 
 		  if (rig_disparity_strength == null) {
 			  if (use_planes) {
@@ -2134,7 +1339,7 @@ if (debugLevel > -100) return true; // temporarily !
           final int tilesX = quadCLT_main.tp.getTilesX();
           final int tilesY = quadCLT_main.tp.getTilesY();
           BiCamDSI biCamDSI = new BiCamDSI( tilesX, tilesY, threadsMax);
-         boolean [][] dbg_sel = (debugLevel > -2)? new boolean [8][]:null;// was 4
+          boolean [][] dbg_sel = (debugLevel > -4)? new boolean [8][]:null;// was 4
           if (dbg_sel!=null) dbg_sel[0] = infinity_select;
           if (dbg_sel!=null) dbg_sel[1] = was_select;
           if (clt_parameters.rig.ltfar_en) {
@@ -2231,7 +1436,7 @@ if (debugLevel > -100) return true; // temporarily !
 				 selection_lone,                     // boolean [] selection2,
 				 null,                               // boolean [] enable,
 				 false);                             // boolean    invert_enable)
-		 // restore master camera selections (poles may be remode by a filter
+		 // restore master camera selections (poles may be removed by a filter
 		 if (clt_parameters.rig.rf_master_infinity) {
 			 selection = biCamDSI.combineSelections(
 					 selection, // boolean [] selection1,
@@ -2251,8 +1456,8 @@ if (debugLevel > -100) return true; // temporarily !
 			 double [][] dbg_img = new double[7][selection.length];
 			 for (int nTile = 0; nTile < selection.length;nTile++) {
 				 dbg_img[0][nTile] = (dbg_sel[0][nTile]? 1.0:0.0) + (dbg_sel[1][nTile]?2.0:0.0);
-				 dbg_img[1][nTile] = (dbg_sel[2][nTile]? 1.0:0.0) + (dbg_sel[3][nTile]?1.0:0.0);
-				 dbg_img[2][nTile] = (dbg_sel[4][nTile]? 1.0:0.0) + (dbg_sel[5][nTile]?1.0:0.0);
+				 dbg_img[1][nTile] = (dbg_sel[2][nTile]? 1.0:0.0) + (dbg_sel[3][nTile]?2.0:0.0);
+				 dbg_img[2][nTile] = (dbg_sel[4][nTile]? 1.0:0.0) + (dbg_sel[5][nTile]?2.0:0.0);
 				 dbg_img[3][nTile] = (dbg_sel[6][nTile]? 1.0:0.0);
 				 dbg_img[4][nTile] = (dbg_sel[7][nTile]? 1.0:0.0);
 				 dbg_img[5][nTile] = (selection[nTile]? 1.0:0.0);
@@ -2280,7 +1485,7 @@ if (debugLevel > -100) return true; // temporarily !
 
 
 /*
- *  TODO: interpolate disaprities before measuring to fill gaps?
+ *  TODO: interpolate disparities before measuring to fill gaps?
 	  public double [][][][][] getRigTextures(
 			  boolean                                  need_master,
 			  boolean                                  need_aux,
@@ -2294,10 +1499,53 @@ if (debugLevel > -100) return true; // temporarily !
 
  */
 
+		 quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
+//		 quadCLT_main.tp.rig_pre_poles_ds =        f_rig_disparity_strength; // Rig disparity and strength before processing poles
+//		 quadCLT_main.tp.rig_pre_poles_sel =        selection; // Rig tile selection before processing poles
+		 quadCLT_main.tp.rig_pre_poles_ds =        rig_disparity_strength; // Rig disparity and strength before processing poles
+		 quadCLT_main.tp.rig_pre_poles_sel =        selection; // Rig tile selection before processing poles
 
+		 if (debugLevel > -4) {
+			 System.out.println("Saved quadCLT_main.tp.rig_pre_poles_ds and quadCLT_main.tp.rig_pre_poles_sel");
+		 }
+		 // process poles if enabled
+		 if (clt_parameters.poles.poles_en) {
+			 if (debugLevel > -4) {
+				 System.out.println("Processing poles");
+			 }
 
+			  if (poleProcessor_persistent == null) {
+				  poleProcessor_persistent = new PoleProcessor(
+						  biCamDSI_persistent,
+						  this, //	TwoQuadCLT twoQuadCLT,
+						  quadCLT_main.tp.getTilesX(),
+						  quadCLT_main.tp.getTilesY());
+			  }
+			  PoleProcessor pp = poleProcessor_persistent;
+			  selection =  quadCLT_main.tp.rig_pre_poles_sel.clone();
+			  double [][] poles_ds = pp.processPoles(
+					  quadCLT_main,  // QuadCLT            quadCLT_main,  // tiles should be set
+					  quadCLT_aux,   //QuadCLT            quadCLT_aux,
+//					  biScan, // BiScan                                         biScan,
+					  quadCLT_main.tp.rig_pre_poles_ds, //  double [][]                                    src_ds, // source disparity, strength pair
+					  selection, // boolean []                                     selection, // source tile selection, will be modified
+					  clt_parameters, // EyesisCorrectionParameters.CLTParameters       clt_parameters,
+					  threadsMax,  // final int                                      threadsMax,  // maximal number of threads to launch
+					  updateStatus, // final boolean                                  updateStatus,
+					  debugLevel); // final int                                      globalDebugLevel)
+				 quadCLT_main.tp.rig_post_poles_ds =        poles_ds; // Rig disparity and strength before processing poles
+				 quadCLT_main.tp.rig_post_poles_sel =       selection; // Rig tile selection before processing poles
+				 if (debugLevel > -4) {
+					 System.out.println("Saved quadCLT_main.tp.rig_post_poles_ds and quadCLT_main.tp.rig_post_poles_sel");
+				 }
+
+				 f_rig_disparity_strength = poles_ds;
+		 } else {
+			 if (debugLevel > -4) {
+				 System.out.println("Skipped processing poles");
+			 }
+		 }
 
-		 quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
 		 CLTPass3d rig_scan = quadCLT_main.tp.compositeScan(
 				 f_rig_disparity_strength[0],  // final double []             disparity,
 				 f_rig_disparity_strength[1],  // final double []             strength,
@@ -2863,7 +2111,7 @@ if (debugLevel > -100) return true; // temporarily !
 	  {
 		  final int num_tries_strongest_by_fittest = 5;
 		  final int num_full_cycles =       clt_parameters.rig.pf_en_trim_fg? 3 : 1;  // Number of full low-texture cycles that include growing flat LT and trimmin weak FG over BG
-		  final int num_cross_gaps_cycles = 20; // maximalnumger of adding new tiles cycles while "crossing the gaps)
+		  final int num_cross_gaps_cycles = 20; // maximal number of adding new tiles cycles while "crossing the gaps)
 		  final int min_cross_gaps_new =    20; // minimal number of the new added tiles
 		  final int refine_inter = 2; // 3; // 3 - dx, 2 - disparity
 		  final int tilesX = quadCLT_main.tp.getTilesX();
@@ -3190,7 +2438,7 @@ if (debugLevel > -100) return true; // temporarily !
 				  }
 
 
-				  //FIXME: 	show only for 	last_cycle
+				  //FIXME: 	show only for the last_cycle
 				  if (clt_parameters.show_map &&  (debugLevel > 0) && clt_parameters.rig.rig_mode_debug){
 					  double [][] dbg_img = new double[disparity_bimap.length][];
 					  for (int layer = 0; layer < disparity_bimap.length; layer ++) if (disparity_bimap[layer] != null){
@@ -3270,7 +2518,7 @@ if (debugLevel > -100) return true; // temporarily !
 		  biCamDSI_persistent = biCamDSI; // save for pole detection
 		  if (clt_parameters.rig.ltavg_en) {
 			  if (debugLevel > -2) {
-				  System.out.println("groundTruthByRigPlanes(): Pprocessing low-textured areas with multi-tile correlation averaging");
+				  System.out.println("groundTruthByRigPlanes(): Processing low-textured areas with multi-tile correlation averaging");
 			  }
 			  // next method adds to the list of BiScans
 //			  double [][] ds_avg =
@@ -4174,7 +3422,7 @@ if (debugLevel > -100) return true; // temporarily !
 					  clt_parameters.tileX, // final int        dbg_x,
 					  clt_parameters.tileY, // final int        dbg_y,
 					  debugLevel+0);          // final int        debugLevel
-			  if (debugLevel > 0) {
+			  if (debugLevel > -4) {
 				  biScan.showScan(quadCLT_main.image_name+"-preexpand"+biScan.list_index, ds_preexpanded);
 			  }
 
@@ -4185,8 +3433,8 @@ if (debugLevel > -100) return true; // temporarily !
 				  }
 
 			  }
-			  if (debugLevel > 0) {
-				  biScan.showScan(quadCLT_main.image_name+"-combo-expand"+biScan.list_index, ds_preexpanded);
+			  if (debugLevel > -4) {// 0) {
+				  biScan.showScan(quadCLT_main.image_name+"-combo-expand"+biScan.list_index, ds_preexpanded); // already wrong strength
 			  }
 
 //			  double [][] ds_expanded =
@@ -4198,7 +3446,21 @@ if (debugLevel > -100) return true; // temporarily !
 					  expanded_lt,      // final boolean []  exp_sel,
 					  weak);            // final boolean []  trusted);
 			  // TODO use fillAndSmooth() to calculate new weights (keeping disparity as it was)
-			  if (debugLevel > -2) {
+/*
+			  double [][] avg_ds_strength = biScan.fillAndSmooth(
+					  ds_preexpanded[0],    // final double [] src_disparity,
+					  ds_preexpanded[1],    // final double [] src_strength, // if not null will be used for weighted pull
+					  lt_select,            // final boolean [] selection,
+					  0.0,                  // only gaps neib_pull, // final double     neib_pull, // pull to weighted average relative to pull to the original disparity value. If 0.0 - will only update former NaN-s
+					  max_iter,             // final int max_iterations,
+					  min_change,           // final double min_change,
+					  clt_parameters.tileX, // final int        dbg_x,
+					  clt_parameters.tileY, // final int        dbg_y,
+					  debugLevel+0);        // final int        debugLevel
+
+			  avg_ds[1] = avg_ds_strength[1];
+*/
+			  if (debugLevel > -4) { //-2) {
 				  biScan.showScan(quadCLT_main.image_name+"-lt-expanded"+biScan.list_index, avg_ds);
 			  }
 
@@ -5997,7 +5259,7 @@ if (debugLevel > -100) return true; // temporarily !
 
 	  }
 
-	  private double [][] measureRig(
+	  double [][] measureRig(
 			  QuadCLT                                  quadCLT_main,  // tiles should be set
 			  QuadCLT                                  quadCLT_aux,
 			  int [][]                                 tile_op, // common for both amin and aux