limiting debug level

			double [] new_from_last_xyz = ers_scene_last_known.getSceneXYZ(scene_ts);

			double [] new_from_last_atr = ers_scene_last_known.getSceneATR(scene_ts);

			/*			

			double [][] last_from_new =     ErsCorrection.invertXYZATR(new_from_last_xyz, new_from_last_atr);

			double [][] vfy_new_from_last = ErsCorrection.invertXYZATR(last_from_new[0], last_from_new[1]);

			System.out.println(new_from_last_xyz[0]+","+new_from_last_xyz[1]+","+new_from_last_xyz[2]+","+

					last_from_new[1][0]+","+last_from_new[1][1]+","+last_from_new[1][2]);

			System.out.println(vfy_new_from_last[0][0]+","+vfy_new_from_last[0][1]+","+vfy_new_from_last[0][2]+","+

					vfy_new_from_last[1][0]+","+vfy_new_from_last[1][1]+","+vfy_new_from_last[1][2]);

/*			

			double [][] last_from_new1 =     ErsCorrection.invertXYZATR(vfy_new_from_last[0],vfy_new_from_last[1]);

			double [][] vfy_new_from_last1 = ErsCorrection.invertXYZATR(last_from_new1[0], last_from_new1[1]);

		}

		// process scenes after reference (if it is not the last

		if (ref_index <  (scenes.length - 1)) {

			for (int i =  ref_index + 1; i < scenes.length ; i++) {

				QuadCLT scene_QuadClt =      scenes[i];

				String last_known_ts =           scenes[i-1].getImageName(); // it should be present in the reference scene scenes

//				String scene_ts =                scenes[i].getImageName(); // it should be present in the scenes[i+1] scenes

//				ErsCorrection ers_scene_last_known = scenes[i-1].getErsCorrection();

				ErsCorrection ers_scene =            scene_QuadClt.getErsCorrection();

				double [] last_known_xyz = ers_reference.getSceneXYZ(last_known_ts);

				double [] last_known_atr = ers_reference.getSceneATR(last_known_ts);

				double [] last_from_new_xyz = ers_scene.getSceneXYZ(last_known_ts);

				double [] last_from_new_atr = ers_scene.getSceneATR(last_known_ts);

				double [][] new_from_last =   ErsCorrection.invertXYZATR(last_from_new_xyz, last_from_new_atr);

				double [] new_from_last_xyz = new_from_last[0]; // ers_scene_last_known.getSceneXYZ(scene_ts);

				double [] new_from_last_atr = new_from_last[1]; // ers_scene_last_known.getSceneATR(scene_ts);

				double [][] combo_XYZATR = new_from_last;

				if (i > ( ref_index + 1)) {

					// combine two rotations and two translations 

					System.out.println("Processing scene "+i+": "+scene_QuadClt.getImageName());

					combo_XYZATR = ErsCorrection.combineXYZATR(

							last_known_xyz,     // double [] reference_xyz,

							last_known_atr,     // double [] reference_atr, // null?

							new_from_last_xyz,  // double [] scene_xyz,

							new_from_last_atr); // double [] scene_atr)

				}

				// before adjusting - save original ERS, restart afterwards

				double [] ers_scene_original_xyz_dt = ers_scene.getErsXYZ_dt();

				double [] ers_scene_original_atr_dt = ers_scene.getErsATR_dt();

				// ers should be correct for both

				scenes_xyzatr[i] = adjustPairsLMA(

						clt_parameters,     // CLTParameters  clt_parameters,			

						reference_QuadClt, // QuadCLT reference_QuadCLT,

						scene_QuadClt, // QuadCLT scene_QuadCLT,

						combo_XYZATR[0], // xyz

						combo_XYZATR[1], // atr

						param_select2,             // final boolean[]   param_select,

						param_regweights2, //  final double []   param_regweights,

						debug_level); // int debug_level)

				ers_reference.addScene(scene_QuadClt.getImageName(),

						scenes_xyzatr[i][0],

						scenes_xyzatr[i][1],

						ers_scene.getErsXYZ_dt(),		

						ers_scene.getErsATR_dt()		

						);

				// restore original ers data

				ers_scene.setErsDt(

						ers_scene_original_xyz_dt, // double []    ers_xyz_dt,

						ers_scene_original_atr_dt); // double []    ers_atr_dt)(ers_scene_original_xyz_dt);

				ers_scene.setupERS();

				if (debug_level > -1) {

					System.out.println("Pass multi scene "+i+" (of "+ scenes.length+") "+

							reference_QuadClt.getImageName() + "/" + scene_QuadClt.getImageName()+" Done.");

				}

				if (delete_scene_asap) {

					scenes[i-1] = null;

				}

				//			Runtime.getRuntime().gc();

				//			System.out.println("Scene "+i+", --- Free memory="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");

			}		

		}

		reference_QuadClt.saveInterProperties( // save properties for interscene processing (extrinsics, ers, ...)

	            null, // String path,             // full name with extension or w/o path to use x3d directory

			  }

		  }

		  ShowDoubleFloatArrays sdfa_instance = null;

		  if (debugLevel>0){

		  if (debugLevel>10){ // was 0, but failed with "17"

			  sdfa_instance = new ShowDoubleFloatArrays(); // just for debugging?

		  }