building models from bi-quad data

src/main/java/BiCamDSI.java

@@ -197,6 +197,24 @@ public class BiCamDSI {
 		return selection;
 	}
 
+	public double [][] filterDisparityStrength(
+			double  min_disparity,
+			double [] disparity,
+			double [] strength,
+			boolean [] selected){
+		int num_tiles = disparity.length;
+		double [][] fds = new double [2][num_tiles];
+		for (int nTile = 0; nTile < num_tiles; nTile++) {
+			fds[0][nTile] = Double.NaN;
+			if ((strength[nTile] > 0.0) && (disparity[nTile] >= min_disparity) && ((selected == null) || selected[nTile])) {
+				fds[0][nTile] = disparity[nTile];
+				fds[1][nTile] = strength[nTile];
+			}
+		}
+		return fds;
+	}
+
+
 	/**
 	 * Filter selection by expending, then shrinking (fills small gaps) shrinking (combined with
 	 * previous step) and expanding again (removes small clusters)

src/main/java/BiQuadParameters.java

@@ -128,6 +128,9 @@ public class BiQuadParameters {
 	public int     rf_shrink_near =           8;       // Shrink selection after expanding
 	public int     rf_post_expand_near =      4;       // Expand selection after shrinking
 
+	public double  rf_min_disp =              0.02;    // Minimal tile disparity to keep in scan
+	public boolean rf_remove_unselected =     true;    // Remove tiles that are not selected
+
 	public int     ml_hwidth =                 2;      // Half-width of the ML tiles to export (0-> 1x1, 1->3x3, 2 -> 5x5)
 	public double  ml_disparity_sweep  =       2.0;    // Disparity sweep around ground truth, each side
 	public int     ml_sweep_steps =            5;      // Number of disparity sweep steps
@@ -325,6 +328,11 @@ public class BiQuadParameters {
 		gd.addNumericField("Expand selection after shrinking (non-infinity regions only)",                         this.rf_post_expand_near,  0,3,"",
 				"Last step of expand-shrink-expand filtering (1 - only vert/hor, 2 -vert/hor/diagonal)");
 
+		gd.addNumericField("Minimal usable disparity for tile to be preserved",                                    this.rf_min_disp,  4,6,"pix",
+				"Minimal disparity (in master camera pixels) for the tile to be saved for plane extraction");
+		gd.addCheckbox    ("Remove tiles that are not selected",                                                   this.rf_remove_unselected,
+				"Remove (set strength to 0.0, disparity to Double.NaN for all tiles that are not selected");
+
         gd.addTab("ML","Parameters related to the ML files generation for the dual-quad camera rig");
 
 		gd.addNumericField("Half-width of the ML tiles to export (0-> 1x1, 1->3x3, 2 -> 5x5)",                    this.ml_hwidth,  0,3,"",
@@ -443,6 +451,9 @@ public class BiQuadParameters {
 		this.rf_shrink_near=         (int)  gd.getNextNumber();
 		this.rf_post_expand_near=    (int)  gd.getNextNumber();
 
+		this.rf_min_disp=                   gd.getNextNumber();
+		this.rf_remove_unselected=          gd.getNextBoolean();
+
 		this.ml_hwidth=               (int) gd.getNextNumber();
 		this.ml_disparity_sweep=            gd.getNextNumber();
 		this.ml_sweep_steps=          (int) gd.getNextNumber();
@@ -549,6 +560,9 @@ public class BiQuadParameters {
 		properties.setProperty(prefix+"rf_shrink_near",            this.rf_shrink_near+"");
 		properties.setProperty(prefix+"rf_post_expand_near",       this.rf_post_expand_near+"");
 
+		properties.setProperty(prefix+"rf_min_disp",               this.rf_min_disp+"");
+		properties.setProperty(prefix+"rf_remove_unselected",      this.rf_remove_unselected+"");
+
 		properties.setProperty(prefix+"ml_hwidth",                 this.ml_hwidth+"");
 		properties.setProperty(prefix+"ml_disparity_sweep",        this.ml_disparity_sweep+"");
 		properties.setProperty(prefix+"ml_sweep_steps",            this.ml_sweep_steps+"");
@@ -654,6 +668,9 @@ public class BiQuadParameters {
 		if (properties.getProperty(prefix+"rf_shrink_near")!=null)          this.rf_shrink_near=Integer.parseInt(properties.getProperty(prefix+"rf_shrink_near"));
 		if (properties.getProperty(prefix+"rf_post_expand_near")!=null)     this.rf_post_expand_near=Integer.parseInt(properties.getProperty(prefix+"rf_post_expand_near"));
 
+		if (properties.getProperty(prefix+"rf_min_disp")!=null)             this.rf_min_disp=Double.parseDouble(properties.getProperty(prefix+"rf_min_disp"));
+		if (properties.getProperty(prefix+"rf_remove_unselected")!=null)    this.rf_remove_unselected=Boolean.parseBoolean(properties.getProperty(prefix+"rf_remove_unselected"));
+
 		if (properties.getProperty(prefix+"ml_disparity_sweep")!=null)      this.ml_disparity_sweep=Double.parseDouble(properties.getProperty(prefix+"ml_disparity_sweep"));
 		if (properties.getProperty(prefix+"ml_sweep_steps")!=null)          this.ml_sweep_steps=Integer.parseInt(properties.getProperty(prefix+"ml_sweep_steps"));
 		if (properties.getProperty(prefix+"ml_keep_aux")!=null)             this.ml_keep_aux=Boolean.parseBoolean(properties.getProperty(prefix+"ml_keep_aux"));
@@ -757,6 +774,9 @@ public class BiQuadParameters {
 		bqp.rf_shrink_near=             this.rf_shrink_near;
 		bqp.rf_post_expand_near=        this.rf_post_expand_near;
 
+		bqp.rf_min_disp=                this.rf_min_disp;
+		bqp.rf_remove_unselected=       this.rf_remove_unselected;
+
 		bqp.ml_hwidth=                  this.ml_hwidth;
 		bqp.ml_disparity_sweep=         this.ml_disparity_sweep;
 		bqp.ml_sweep_steps=             this.ml_sweep_steps;

src/main/java/CLTPass3d.java

@@ -392,7 +392,8 @@ public class CLTPass3d{
 		 * @return line-scan array of per-tile horizontal pairs correlation strength by reference (not a copy)
 		 */
 		public double [] getOriginalStrength(){
-			return disparity_map[ImageDtt.DISPARITY_STRENGTH_INDEX];
+			if (disparity_map != null) return disparity_map[ImageDtt.DISPARITY_STRENGTH_INDEX];
+			else return getStrength(); // after replacing with rig data
 		}
 		/**
 		 * Get horizontal pairs correlation strength for vertical features. Not a copy

src/main/java/Eyesis_Correction.java

@@ -590,6 +590,8 @@ private Panel panel1,
 //			addButton("Rig enhance",                panelClt4, color_conf_process);
 			addButton("Ground truth",               panelClt4, color_conf_process);
 			addButton("ML export",                  panelClt4, color_conf_process);
+			addButton("Rig planes",                 panelClt4, color_conf_process);
+
 
 			add(panelClt4);
 		}
@@ -4598,6 +4600,14 @@ private Panel panel1,
     	enhanceByRig();
 
     	return;
+    	/* ======================================================================== */
+    } else if (label.equals("CLT planes")) {
+    	DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
+    	EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
+    	rigPlanes();
+        return;
+
+
 /* ======================================================================== */
     } else if (label.equals("ML export")) {
         DEBUG_LEVEL=MASTER_DEBUG_LEVEL;
@@ -5020,8 +5030,32 @@ private Panel panel1,
 		return true;
 	}
 
+	public boolean rigPlanes() {
+		if ((QUAD_CLT == null) || (QUAD_CLT.tp == null) || (QUAD_CLT.tp.clt_3d_passes == null)) {
+			String msg = "DSI data is not available. Please run \"CLT 3D\" first";
+			IJ.showMessage("Error",msg);
+			System.out.println(msg);
+			return false;
+		}
+		if (!prepareRigImages()) return false;
+    	String configPath=getSaveCongigPath();
+    	if (configPath.equals("ABORT")) return false;
+
+    	if (DEBUG_LEVEL > -2){
+    		System.out.println("++++++++++++++ Extracting  planes using a dual-quad camera rig DSI data ++++++++++++++");
+    	}
+		QUAD_CLT.showCLTPlanes(
+				CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,
+				THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch
+				UPDATE_STATUS, //final boolean    updateStatus,
+				DEBUG_LEVEL); //final int        debugLevel);
+		return true;
+
+	}
 
 	public boolean enhanceByRig() {
+		long startTime=System.nanoTime();
+
 		if ((QUAD_CLT == null) || (QUAD_CLT.tp == null) || (QUAD_CLT.tp.clt_3d_passes == null)) {
 			String msg = "DSI data is not available. Please run \"CLT 3D\" first";
 			IJ.showMessage("Error",msg);
@@ -5055,10 +5089,15 @@ private Panel panel1,
     				true,
     				PROPERTIES);
     	}
+		System.out.println("enhanceByRig(): Processing finished at "+
+				  IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
+				Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
+
     	return true;
 	}
 
 	public boolean exportMLData() {
+		long startTime=System.nanoTime();
 		if ((QUAD_CLT == null) || (QUAD_CLT.tp == null) || (QUAD_CLT.tp.clt_3d_passes == null)) {
 			String msg = "DSI data is not available. Please run \"CLT 3D\" first";
 			IJ.showMessage("Error",msg);
@@ -5092,10 +5131,13 @@ private Panel panel1,
     				true,
     				PROPERTIES);
     	}
+		System.out.println("exportMLData(): Processing finished at "+
+				  IJ.d2s(0.000000001*(System.nanoTime()-startTime),3)+" sec, --- Free memory="+
+				Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
+
     	return true;
 	}
 
-
 	public boolean infinityRig() {
 		if (!prepareRigImages()) return false;
     	String configPath=getSaveCongigPath();

src/main/java/MeasuredLayers.java

@@ -1101,7 +1101,10 @@ public class MeasuredLayers {
 					if (weight[indxe_center] >= mlfp.strength_sure) { // tile does not need filtering
 						ds[0][indx] = disp[indxe_center];
 						ds[1][indx] = weight[indxe_center];
-
+						if (Double.isNaN(ds[0][indx])){
+							System.out.println("**** this is a BUG6 in getDisparityStrengthML() ****"); // all smpl_d are NaNs
+//							break;
+						}
 					} else {
 						int num_in_sample = 0;
 						double sum_wnd = 0.0;
@@ -1124,6 +1127,10 @@ public class MeasuredLayers {
 									int indxs = sy * mlfp.smplSide + sx;
 									smpl_sel[indxs] = true;
 									smpl_d[indxs] = disp[indxe];
+									if (Double.isNaN(smpl_d[indxs])){
+										System.out.println("**** this is a BUG5 in getDisparityStrengthML() ****"); // all smpl_d are NaNs
+//										break;
+									}
 									smpl_w[indxs] = weight[indxe] * smpl_weights[indxs];
 									sum_wnd += smpl_weights[indxs];
 									num_in_sample ++;
@@ -1292,15 +1299,27 @@ public class MeasuredLayers {
 										tiltXY = atiltXY[0]; // common for all tiles (such as constant disparity)
 									} else if (atiltXY[indx] != null){
 										tiltXY = atiltXY[indx];
+										if (Double.isNaN(tiltXY[0]) || Double.isNaN(tiltXY[1])){
+											System.out.println("**** this is a BUG4A in getDisparityStrengthML() ****");
+											System.out.println("atilt["+indx+"]= {"+tiltXY[0]+","+tiltXY[1]+"}");
+											tiltXY[0] = 0.0;
+											tiltXY[1] = 0.0;
+										}
+
 									}
 								}
 
-								if ((tiltXY != null) && (tiltXY[0] != 0.0) && (tiltXY[1] != 0.0)){
+								if ((tiltXY != null) && (tiltXY[0] != 0.0) && (tiltXY[1] != 0.0)){ // {NaN,NaN}
 									for (int sy = 0; sy < mlfp.smplSide; sy++){
 										for (int sx = 0; sx < mlfp.smplSide; sx++){
 											int indxs = sy * mlfp.smplSide + sx;
 											if (smpl_w[indxs] > 0.0) {
 												smpl_d[indxs] -= tiltXY[0]* (sx - smpl_dcenter) + tiltXY[1]* (sy - smpl_dcenter);
+												if (Double.isNaN(smpl_d[indxs])){
+													System.out.println("**** this is a BUG4 in getDisparityStrengthML() ****"); // all smpl_d are NaNs
+//													break;
+												}
+
 											}
 										}
 									}
@@ -1310,6 +1329,11 @@ public class MeasuredLayers {
 								// calculate
 								double sd=0.0, sd2 = 0.0, sw = 0.0;
 								for (int i = 0; i < smplLen; i++) if (smpl_sel[i]) {
+									if (Double.isNaN(smpl_d[i])){
+										System.out.println("**** this is a BUG3 in getDisparityStrengthML() ****"); // all smpl_d are NaNs
+//										break;
+									}
+
 									double dw = smpl_d[i] * smpl_w[i];
 									sd += dw;
 									sd2 += dw * smpl_d[i];
@@ -1330,7 +1354,7 @@ public class MeasuredLayers {
 										//remove_far_only
 									}
 									if (iworst < 0){
-										System.out.println("**** this is a BUG2 in getDisparityStrengthML() ****");
+										System.out.println("**** this is a BUG2 in getDisparityStrengthML() ****"); // all smpl_d are NaNs
 										break;
 									}
 									// remove worst sample

src/main/java/QuadCLT.java

@@ -6926,7 +6926,7 @@ public class QuadCLT {
 				  debugLevelInner);
 
 // Save tp.clt_3d_passes.size() to roll back without restarting the program
-          tp.saveCLTPasses();
+          tp.saveCLTPasses(false); // not rig, and reset rig data
           Runtime runtime = Runtime.getRuntime();
           runtime.gc();
           System.out.println("--- Free memory="+runtime.freeMemory()+" (of "+runtime.totalMemory()+")");

src/main/java/SuperTiles.java

@@ -1587,7 +1587,7 @@ public class SuperTiles{
 			threads[ithread] = new Thread() {
 				@Override
 				public void run() {
-					double [][][] plane_tilts = null; // used only forworld_plane_norm != null
+					double [][][] plane_tilts = null; // used only for world_plane_norm != null
 					// to get tile disparities needed to calculate tilts
 					for (int nsTile = ai.getAndIncrement(); nsTile < nStiles; nsTile = ai.getAndIncrement()) {
 //						int dl =  (nsTile == debug_stile) ? 3 : 0;

src/main/java/TilePlanes.java

@@ -1054,7 +1054,8 @@ public class TilePlanes {
 			Matrix normal_col = new Matrix(world_normal_xyz,3); // 3x1
 
 			// find world coordinates of the center of tile intersection with the plane
-			for (int lTile = 0; lTile < tile_disp_strengths[1].length; lTile++) if (tile_disp_strengths[1][lTile] > 0.0){
+			// disparity 0.0 is invalid, but it somehow got here
+			for (int lTile = 0; lTile < tile_disp_strengths[1].length; lTile++) if ((tile_disp_strengths[1][lTile] > 0.0) && (tile_disp_strengths[0][lTile] > 0.0)){
 				int tY = lTile / stSize2;
 				int tX = lTile % stSize2;
 				double px = px_py[0] + tX - stCenter;
@@ -1092,7 +1093,15 @@ public class TilePlanes {
 				double [] txty = {
 						-pn.get(1, 0)/pn.get(0, 0)*stSize,
 						-pn.get(2, 0)/pn.get(0, 0)*stSize};
-				tile_tilts[lTile] = txty;
+
+				if (Double.isNaN(txty[0]) || Double.isNaN(txty[1])){
+					System.out.println("**** this is a BUG in getDisparityTilts() ****");
+					System.out.println("txty= {"+txty[0]+","+txty[1]+"}");
+					jacobian.print(10, 5);
+					txty = null;
+				}
+				tile_tilts[lTile] = txty; // some are nulls?
+
 			}
 
 //			if (debugLevel > 1) {

src/main/java/TileProcessor.java

@@ -33,6 +33,7 @@ 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 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;
 	private int      tilesY;
 	private double   corr_magic_scale =    0.85;  // reported correlation offset vs. actual one (not yet understood)
@@ -103,23 +104,51 @@ public class TileProcessor {
 	public void resetCLTPasses(){
 		clt_3d_passes = new ArrayList<CLTPass3d>();
 		clt_3d_passes_size = 0;
+		clt_3d_passes_rig_size = 0;
 		Runtime runtime = Runtime.getRuntime();
 	    runtime.gc();
 		System.out.println("--- Free memory="+runtime.freeMemory()+" (of "+runtime.totalMemory()+")");
 	}
 
-	public void saveCLTPasses(){
+	public void saveCLTPasses(boolean rig){
+		if (rig) clt_3d_passes_rig_size = clt_3d_passes.size();
+		else {
+			rig_disparity_strength = null; // invalidate
+			clt_3d_passes_rig_size = 0;
 			clt_3d_passes_size = clt_3d_passes.size();
 		}
+	}
 
 	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
+			clt_3d_passes_rig_size = 0;
+		}
 		clt_3d_passes_size = keep;
 		trimCLTPasses();
 	}
 
+	public void trimCLTPasses(boolean rig){
+		if (!rig) {
+//			rig_disparity_strength = null; // invalidate
+			clt_3d_passes_rig_size = 0;
+		}
+		trimCLTPasses();
+	}
+
 
 	public void trimCLTPasses(){
-		while (clt_3d_passes.size() > clt_3d_passes_size){
+		int keep_size = clt_3d_passes_size;
+		if (clt_3d_passes_rig_size > keep_size) {
+			keep_size = clt_3d_passes_rig_size;
+			System.out.println("trimCLTPasses(): using dual-quad camera rig data");
+		} else {
+//			rig_disparity_strength = null; // invalidate
+//			clt_3d_passes_rig_size = 0;
+			System.out.println("trimCLTPasses(): using master camera data");
+		}
+
+		while (clt_3d_passes.size() > keep_size){
 			clt_3d_passes.remove(clt_3d_passes_size);
 		}
 		Runtime runtime = Runtime.getRuntime();
@@ -127,10 +156,13 @@ public class TileProcessor {
 		System.out.println("--- Free memory="+runtime.freeMemory()+" (of "+runtime.totalMemory()+")");
 	}
 
-	public void removeNonMeasurement(){
+	public void removeNonMeasurement(){ // executed during expansion (CLT 3D)
 		for (int i = clt_3d_passes.size()-1; i > 0; i--) if (!clt_3d_passes.get(i).isMeasured()){
 			clt_3d_passes.remove(i);
 		}
+		// just in case - invalidate (should be done anyway)
+		rig_disparity_strength = null; // invalidate
+		clt_3d_passes_rig_size = 0;
 	}
 
 
@@ -628,6 +660,46 @@ public class TileProcessor {
 		return combo_pass;
 	}
 
+	/**
+	 * Create a minimal composite scan from provided data (dual-quad rig. So no Hor/Vert
+	 * @param disparity target disparity from the rig
+	 * @param strength correlation strength from the rig
+	 * @param selected filtered selected
+	 * @param debugLevel debug level
+	 * @return an instance of CLTPass3d to be added to the list and used instead of the master camera DSI
+	 */
+
+	public CLTPass3d compositeScan(
+			 final double []             disparity,
+			 final double []             strength,
+			 final boolean []            selected,
+			 final int                   debugLevel)
+	{
+		CLTPass3d combo_pass =new CLTPass3d(this);
+
+		final int tlen = tilesX * tilesY;
+//		final int disparity_index = usePoly ? ImageDtt.DISPARITY_INDEX_POLY : ImageDtt.DISPARITY_INDEX_CM;
+//		combo_pass.tile_op =              new int [tilesY][tilesX]; // for just non-zero
+//		combo_pass.disparity_map =        new double [ImageDtt.DISPARITY_TITLES.length][];
+//		for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
+
+		// for now - will copy from the best full correlation measurement
+//		combo_pass.texture_tiles =        new double [tilesY][tilesX][][];
+//		combo_pass.max_tried_disparity =  new double [tilesY][tilesX];
+		combo_pass.is_combo =             true;
+		combo_pass.calc_disparity =       disparity.clone(); //new double [tlen];
+		combo_pass.calc_disparity_combo = disparity.clone(); //new double [tlen];
+		combo_pass.calc_disparity_hor =   new double [tlen];
+		combo_pass.calc_disparity_vert =  new double [tlen];
+		combo_pass.strength =             strength.clone(); // new double [tlen];
+		combo_pass.strength_hor =         new double [tlen];
+		combo_pass.strength_vert =        new double [tlen];
+
+		combo_pass.setSelected(selected);
+		return combo_pass;
+	}
+
+
 	/**
 	 * Create next measurement scan that can handle multiple disparities, using quad correlations only
 	 * @param passes

src/main/java/TwoQuadCLT.java

@@ -1215,7 +1215,9 @@ if (debugLevel > -100) return true; // temporarily !
 			  }
 		  }
 		  CLTPass3d scan_bg =   quadCLT_main.tp.clt_3d_passes.get( 0); // get bg scan
-		  CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get(quadCLT_main.tp.clt_3d_passes.size()-1); // get last scan
+//		  quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
+		  // last but not including any rid data
+          CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes_size -1); // get last one
 
 		  // TODO: combine in a single function to always call after groundTruthByRig. Or before use?
 		 boolean [] infinity_select = scan_bg.getSelected(); // null;
@@ -1357,6 +1359,110 @@ if (debugLevel > -100) return true; // temporarily !
 					  "Selections",
 					  titles);
 		 }
+		 // set composite scan
+
+		 boolean [] cond_sel = (clt_parameters.rig.rf_remove_unselected)? selection:null;
+		 double [][] f_rig_disparity_strength =  biCamDSI.filterDisparityStrength(
+				 clt_parameters.rig.rf_min_disp,     // double  min_disparity,
+				 rig_disparity_strength[0],          // double []  disparity,
+				 rig_disparity_strength[1],          // double []  strength)
+				 cond_sel);                          // 	boolean [] selected)
+// CLT ASSIGN needs best texture for each tile. Initially will just copy from teh previous master
+// composite scan, later - fill disparity gaps and re-measure
+
+
+/*
+ *  TODO: interpolate disaprities before measuring to fill gaps?
+	  public double [][][][][] getRigTextures(
+			  boolean                                  need_master,
+			  boolean                                  need_aux,
+			  double []                                disparity, // non-nan - measure
+			  QuadCLT                                  quadCLT_main,  // tiles should be set
+			  QuadCLT                                  quadCLT_aux,
+			  EyesisCorrectionParameters.CLTParameters clt_parameters,
+			  final int                                threadsMax,  // maximal number of threads to launch
+			  final boolean                            updateStatus,
+			  final int                                debugLevel) // throws Exception
+
+ */
+
+
+
+
+		 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,
+				 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
+	  }
+
+	  public double [][][][][] getRigTextures(
+			  boolean                                  need_master,
+			  boolean                                  need_aux,
+			  double []                                disparity, // non-nan - measure
+			  QuadCLT                                  quadCLT_main,  // tiles should be set
+			  QuadCLT                                  quadCLT_aux,
+			  EyesisCorrectionParameters.CLTParameters clt_parameters,
+			  final int                                threadsMax,  // maximal number of threads to launch
+			  final boolean                            updateStatus,
+			  final int                                debugLevel) // throws Exception
+			  {
+		  final int tile_op_all = clt_parameters.tile_task_op; //FIXME Use some constant?
+		  final int tilesX = quadCLT_main.tp.getTilesX();
+		  final int tilesY = quadCLT_main.tp.getTilesY();
+		  final int [][]     tile_op = new int [tilesY][tilesX];
+		  final double [][]  disparity_array = new double [tilesY][tilesX];
+		  boolean [] need_textures = {need_master, need_aux};
+		  final double [][][][][] texture_tiles = new double [need_textures.length][][][][];
+		  for (int ncam = 0; ncam < need_textures.length; ncam++) if (need_textures[ncam]) {
+			  texture_tiles[ncam] = new double [tilesY][tilesX][][];
+			  for (int tileY = 0; tileY < tilesY; tileY++){
+				  for (int tileX = 0; tileX < tilesX; tileX++){
+					  texture_tiles[ncam][tileY][tileX] = null;
+					  int nTile = tileY*tilesX + tileX;
+					  if (!Double.isNaN(disparity[nTile])) {
+						  tile_op[tileY][tileX] = tile_op_all;
+						  disparity_array[tileY][tileX] = disparity[nTile];
+					  }
+				  }
+			  }
+		  }
+		  ImageDtt image_dtt = new ImageDtt();
+		  image_dtt.clt_bi_quad (
+				  clt_parameters,                       // final EyesisCorrectionParameters.CLTParameters       clt_parameters,
+				  clt_parameters.fat_zero,              // final double              fatzero,         // May use correlation fat zero from 2 different parameters - fat_zero and rig.ml_fatzero
+				  tile_op,                              // final int [][]            tile_op_main,    // [tilesY][tilesX] - what to do - 0 - nothing for this tile
+				  disparity_array,                      // final double [][]         disparity_array, // [tilesY][tilesX] - individual per-tile expected disparity
+				  quadCLT_main.image_data,              // final double [][][]       image_data_main, // first index - number of image in a quad
+				  quadCLT_aux.image_data,               // final double [][][]       image_data_aux,  // first index - number of image in a quad
+				  quadCLT_main.saturation_imp,          // final boolean [][]        saturation_main, // (near) saturated pixels or null
+				  quadCLT_aux.saturation_imp,           // final boolean [][]        saturation_aux,  // (near) saturated pixels or null
+				  // correlation results - combo will be for the correation between two quad cameras
+				  null,                                 // final double [][][][]     clt_corr_combo,  // [type][tilesY][tilesX][(2*transform_size-1)*(2*transform_size-1)] // if null - will not calculate
+				  null, // disparity_bimap,             // final double [][]    disparity_bimap, // [23][tilesY][tilesX]
+				  null, // ml_data,                     // 	final 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)
+				  texture_tiles[0],                     // final double [][][][]     texture_tiles_main, // [tilesY][tilesX]["RGBA".length()][];  null - will skip images combining
+				  texture_tiles[1],                     // final double [][][][]     texture_tiles_aux,  // [tilesY][tilesX]["RGBA".length()][];  null - will skip images combining
+				  quadCLT_main.tp.getTilesX()*clt_parameters.transform_size, // final int                 width,
+
+				  quadCLT_main.getGeometryCorrection(), // final GeometryCorrection  geometryCorrection_main,
+				  quadCLT_aux.getGeometryCorrection(),  // final GeometryCorrection  geometryCorrection_aux,
+				  quadCLT_main.getCLTKernels(),         // final double [][][][][][] clt_kernels_main, // [channel_in_quad][color][tileY][tileX][band][pixel] , size should match image (have 1 tile around)
+				  quadCLT_aux.getCLTKernels(),          // final double [][][][][][] clt_kernels_aux,  // [channel_in_quad][color][tileY][tileX][band][pixel] , size should match image (have 1 tile around)
+				  clt_parameters.corr_magic_scale,      // final double              corr_magic_scale, // still not understood coefficient that reduces reported disparity value.  Seems to be around 0.85
+				  false, // true,                                 // 	final boolean             keep_clt_data,
+				  threadsMax,                           // final int                 threadsMax,  // maximal number of threads to launch
+				  debugLevel-2);                        // final int                 globalDebugLevel);
+
+		  return texture_tiles;
+
 	  }
 
 	  public void outputMLData(
@@ -1615,7 +1721,9 @@ if (debugLevel > -100) return true; // temporarily !
           }
 
           // Get DSI from the main camera
-          CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes.size() -1); // get last one
+		  quadCLT_main.tp.trimCLTPasses(false); // remove rig composite scan if any
+		  // last but not including any rid data
+          CLTPass3d scan_last = quadCLT_main.tp.clt_3d_passes.get( quadCLT_main.tp.clt_3d_passes_size -1); // get last one
     	  double [][] disparity_bimap = setBimapFromCLTPass3d(
     			  scan_last,      // CLTPass3d                                scan,
     			  quadCLT_main,   // QuadCLT                                  quadCLT_main,  // tiles should be set