Debugged rendering sequence for center virtual view

src/main/java/com/elphel/imagej/common/ShowDoubleFloatArrays.java

@@ -169,12 +169,9 @@ import ij.process.ImageProcessor;
 	  int num_slices =  pixels[0].length;
 	  
 	  double [][] dpixels = new double [num_frames*num_slices][];
-//	  System.out.println("pixels.length="+pixels.length+" pixels[0].length="+pixels[0].length);
 	  for (int f = 0; f < num_frames; f++) {
-//		  System.out.println("f="+f);
 		  for (int s = 0; s < num_slices; s ++) {
 			  int indx = s + f * num_slices;
-//			  System.out.println("f="+f+" s="+s+" indx="+indx);
 			  dpixels[indx] = pixels[f][s];
 		  }
 	  }

src/main/java/com/elphel/imagej/tileprocessor/Interscene.java

@@ -2019,6 +2019,7 @@ public class Interscene {
 					null,                // final Rectangle   full_woi_in,      // show larger than sensor WOI (or null)
 					clt_parameters,      // CLTParameters     clt_parameters,
 					mb_ref_disparity,    // double []         disparity_ref,
+					null,                // double [][]       ref_pXpYD,    // alternative to disparity_ref when reference is not uniform
 					// motion blur compensation 
 					mb_tau,              // double            mb_tau,      // 0.008; // time constant, sec
 					mb_max_gain,         // double            mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel
@@ -2040,6 +2041,7 @@ public class Interscene {
 					null,                // final Rectangle   full_woi_in,      // show larger than sensor WOI (or null)
 					clt_parameters,      // CLTParameters     clt_parameters,
 					mb_ref_disparity,    // double []         disparity_ref,
+					null,                // double [][]       ref_pXpYD,    // alternative to disparity_ref when reference is not uniform
 					// motion blur compensation 
 					mb_tau,              // double            mb_tau,      // 0.008; // time constant, sec
 					mb_max_gain,         // double            mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel

src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java

@@ -876,6 +876,8 @@ public class QuadCLT extends QuadCLTCPU {
 					null,               // final Rectangle   full_woi_in,      // show larger than sensor WOI in tiles (or null)
 					 clt_parameters,    // CLTParameters     clt_parameters,
 					 disparity_ref,     // double []         disparity_ref,
+					null, // double [][]       ref_pXpYD,    // alternative to disparity_ref when reference is not uniform
+
 					 OpticalFlow.ZERO3, // final double []   scene_xyz, // camera center in world coordinates
 					 OpticalFlow.ZERO3, // final double []   scene_atr, // camera orientation relative to world frame
 					 ref_scene,         // final QuadCLT     scene,
@@ -1254,6 +1256,7 @@ public class QuadCLT extends QuadCLTCPU {
 			final Rectangle   full_woi_in,      // show larger than sensor WOI in tiles (or null)
 			CLTParameters     clt_parameters,
 			double []         disparity_ref,
+			double [][]       ref_pXpYD,    // alternative to disparity_ref when reference is not uniform
 			final double []   scene_xyz, // camera center in world coordinates
 			final double []   scene_atr, // camera orientation relative to world frame
 			final QuadCLT     scene,
@@ -1269,6 +1272,7 @@ public class QuadCLT extends QuadCLTCPU {
 				full_woi_in,      // show larger than sensor WOI in tiles (or null)
 				clt_parameters,
 				disparity_ref,
+				ref_pXpYD,   // double [][]       ref_pXpYD,    // alternative to disparity_ref when reference is not uniform
 				// motion blur compensation 
 				0.0, // double            mb_tau,      // 0.008; // time constant, sec
 				0.0, // mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel
@@ -1313,6 +1317,7 @@ public class QuadCLT extends QuadCLTCPU {
 			final Rectangle   full_woi_in,      // show larger than sensor WOI in tiles (or null)
 			CLTParameters     clt_parameters,
 			double []         disparity_ref,
+			double [][]       ref_pXpYD,    // alternative to disparity_ref when reference is not uniform
   			// motion blur compensation 
 			double            mb_tau,      // 0.008; // time constant, sec
 			double            mb_max_gain, // 5.0;   // motion blur maximal gain (if more - move second point more than a pixel
@@ -1328,6 +1333,17 @@ public class QuadCLT extends QuadCLTCPU {
 			int               threadsMax,
 			final int         debugLevel){
 		double [][] pXpYD;
+		if (ref_pXpYD != null) { // cuas mode, ref_pXpYD defines offset reference scene
+			pXpYD=OpticalFlow.transformToScenePxPyD(
+					ref_pXpYD, // final double [][] reference_pXpYD,   // invalid tiles - NaN in disparity. Should be no nulls, no NaN disparity
+					scene_xyz, // final double []   scene_xyz,         // camera center in world (reference) coordinates
+					scene_atr, // final double []   scene_atr,         // camera orientation relative to world (reference) frame
+					ref_scene, // final QuadCLT     reference_QuadClt)
+					scene);    // final QuadCLT     scene_QuadClt)
+			scene.getErsCorrection().setupERS(); // NEW - did not help
+//			ref_scene.getErsCorrection().setupERS(); // just in case - setup using instance parameters - inside
+
+		} else {
 			if ((scene_xyz == null) || (scene_atr == null)) {
 				scene_xyz = new double[3];
 				scene_atr = new double[3];
@@ -1349,6 +1365,7 @@ public class QuadCLT extends QuadCLTCPU {
 						ref_scene,     // final QuadCLT     reference_QuadClt, // now - may be null - for testing if scene is rotated ref
 						threadsMax);   // int               threadsMax)
 			}
+		}
 		int rendered_width = scene.getErsCorrection().getSensorWH()[0];
 		if (full_woi_in != null) {
 			rendered_width = full_woi_in.width * GPUTileProcessor.DTT_SIZE;