fixed old bug, used macro correlation

src/main/java/AlignmentCorrection.java

@@ -141,6 +141,7 @@ public class AlignmentCorrection {
 		}
 
 		ArrayList<Sample> samples_list = selectInfinityTiles(
+			    clt_parameters.fcorr_radius,       // 	final double fcorr_radius,
 				clt_parameters.fcorr_inf_vert,// final boolean use_vertical,
 				min_strength,
 				max_diff,
@@ -195,33 +196,44 @@ public class AlignmentCorrection {
 						mismatch_corr_coefficiants, // double [][][] corr,
 						"");// String prefix)
 			}
-/*			
-			if (disparity_corr_coefficiants == null) {
-				disparity_corr_coefficiants = mismatch_corr_coefficiants;
-				if (debugLevel > -1){
-					System.out.println("infinityCorrection(): using only coefficient increments from infinityMismatchCorrection");
+		return mismatch_corr_coefficiants;
 	}
 
-			} else { 
-				for (int i = 0; i < disparity_corr_coefficiants.length; i++){
-					for (int j = 0; j < disparity_corr_coefficiants[i].length; j++){
-						for (int k = 0; k < disparity_corr_coefficiants[i][j].length; k++){
-							disparity_corr_coefficiants[i][j][k] += mismatch_corr_coefficiants[i][j][k];
-						}
-					}
-				}
-				if (debugLevel > -1){
-					System.out.println("infinityCorrection(): combining coefficient increments from infinityCorrection and infinityMismatchCorrection");
+	/**
+	 * Discard correction data outside of the center image area
+	 * @param fcorr_radius fraction of the image to use (1.0 - 100%) 
+	 * @param tilesX width in tiles 
+	 * @param tilesY height in tiles
+	 * @return boolean array in linescan order
+	 */
+	public boolean[] getCenterMask(
+			double     fcorr_radius,
+			int tilesX,
+			int tilesY)
+	{
+		boolean [] mask = new boolean [tilesX * tilesY];
+		
+		int y0 = (int)  (0.5 * tilesY*(1.0 - fcorr_radius));
+		int y1 = (int)  (0.5 * tilesY*(1.0 + fcorr_radius));
+		int x0 = (int)  (0.5 * tilesX*(1.0 - fcorr_radius));
+		int x1 = (int)  (0.5 * tilesX*(1.0 + fcorr_radius));
+		if (y0 < 0)      y0 = 0;
+		if (y1 > tilesY) y1 = tilesY;
+		if (x0 < 0)      x0 = 0;
+		if (x1 > tilesX) x1 = tilesX;
+		for (int ty = y0; ty < y1; ty++){
+			for (int tx = x0; tx < x1; tx++){
+				mask[tx + tilesX * ty] = true;
 			}
 		}
-*/			
-//		}
-		return mismatch_corr_coefficiants;
+		return mask;
 	}
 	
+	
 	/**
 	 * Select infinity tiles from a single or multiple image sets
 	 * Next parameters are made separate to be able to modify them between different runs keeping clt_parameters
+	 * @param fcorr_radius do not use peripheral tiles
 	 * @param min_strength minimal correlation strength to use tile
 	 * @param max_diff maximal disparity difference between tiles and previous approximation to use tiles
 	 * @param max_iterations maximal number of iterations to find disparity surface
@@ -236,6 +248,7 @@ public class AlignmentCorrection {
 	 * @return per sub-camera, per direction (x,y) 6 quadratic polynomial coefficients, same format as fine_geometry_correction()
 	 */
 	public ArrayList<Sample> selectInfinityTiles(
+		    final double fcorr_radius,
 			final boolean use_vertical,
 			final double min_strength,
 			final double max_diff,
@@ -250,6 +263,7 @@ public class AlignmentCorrection {
 	{
 		final int numTiles =            disp_strength[0].length;
 		final int tilesY =              numTiles/tilesX;
+		final boolean []  center_mask = getCenterMask(fcorr_radius, tilesX, tilesY);
 		double [] disparity_poly = new double[6];
 		PolynomialApproximation pa = new PolynomialApproximation();
 		double thresholdLin = 1.0E-20;  // threshold ratio of matrix determinant to norm for linear approximation (det too low - fail)
@@ -275,7 +289,7 @@ public class AlignmentCorrection {
 			for (int num_set = 0; num_set < disp_strength.length/NUM_SLICES; num_set++){
 				int disp_index = NUM_SLICES * num_set;
 				int str_index = NUM_SLICES * num_set + 1;
-				for (int nTile = 0; nTile < numTiles; nTile++){
+				for (int nTile = 0; nTile < numTiles; nTile++) if (center_mask[nTile]){
 					if ((disp_strength[str_index][nTile] > min_strength) && 
 							//							  (Math.abs(disp_strength[disp_index][nTile] - disp_surface[nTile]) < max_diff)){
 							((disp_strength[disp_index][nTile] - disp_surface[nTile]) < max_diff)){
@@ -1505,6 +1519,7 @@ public class AlignmentCorrection {
 	  
 	  
 		public double [][][] lazyEyeCorrection(
+				final double fcorr_radius,
 				final double min_strength_in,
 				final double max_diff,
 //				final double comp_strength_var,
@@ -1538,6 +1553,7 @@ public class AlignmentCorrection {
 			final int num_scans = scans_14.length/NUM_ALL_SLICES;
 		    final int num_tiles = scans_14[0].length;
 		    final int tilesY = num_tiles/tilesX; 
+			final boolean []  center_mask = getCenterMask(fcorr_radius, tilesX, tilesY);
 		    final double [][] scans = new double [num_scans * NUM_SLICES][];
 		    final int [] indices_14_10 = {0,1,2,3,5,6,8,9,11,12};
 		    final double [][] comp_strength_rms = new double [num_scans][num_tiles];
@@ -1546,9 +1562,6 @@ public class AlignmentCorrection {
 		    		scans[ns * NUM_SLICES + i] = scans_14[ns * NUM_ALL_SLICES + indices_14_10[i]];
 		    	}
 		    }
-//		    (new showDoubleFloatArrays()).showArrays(scans_14, tilesX, tilesY, true, "scans14");
-//		    (new showDoubleFloatArrays()).showArrays(scans, tilesX, tilesY, true, "scans10");
-		    
 		    
 		    for (int ns = 0; ns < num_scans; ns++){
 		    	for (int nTile = 0; nTile < num_tiles; nTile++){
@@ -1563,24 +1576,6 @@ public class AlignmentCorrection {
 		    		comp_strength_rms[ns][nTile] = Math.sqrt(s2 - s1*s1);
 		    	}
 		    }
-/*
-		    for (int ns = 0; ns < num_scans; ns++){
-		    	for (int nTile = 0; nTile < num_tiles; nTile++){
-		    		double s1=0.0, s2=0.0;
-		    		for (int pair = 0; pair <4; pair++){
-		    			double s = scans_14[ns * NUM_ALL_SLICES + 4 + 3 * pair][nTile];
-		    			if (pair == 0){
-		    				s1 = s;
-		    				s2 = s;
-		    			} else {
-		    				s1= Math.min(s, s1);
-		    				s2= Math.max(s, s2);
-		    			}
-		    		}
-		    		comp_strength_rms[ns][nTile] = s2 - s1;
-		    	}
-		    }
-*/
 	/* 
 	 * None of comp_strength_rms methods works to detect potential outliers for horizontal/vertical features
 	 */
@@ -1809,6 +1804,7 @@ public class AlignmentCorrection {
 			
 			// create list for infinity data
 			ArrayList<Sample> inf_samples_list = selectInfinityTiles(
+				    clt_parameters.fcorr_radius,       // 	final double fcorr_radius,
 					clt_parameters.fcorr_inf_vert,// final boolean use_vertical,
 					0.0, // any > 0.0
 					max_diff, // max_diff, //clt_parameters.fcorr_inf_diff
@@ -1836,7 +1832,7 @@ public class AlignmentCorrection {
 	    		total_weights[0] += s.weight;
 	    	}
 			
-	    	for (int nTile = 0; nTile < num_tiles; nTile++) {
+	    	for (int nTile = 0; nTile < num_tiles; nTile++) if (center_mask[nTile]){
 	    		total_weights[1]+= inf_and_ly[1 * NUM_SLICES + 1][nTile];
 	    	}
 			
@@ -1855,7 +1851,7 @@ public class AlignmentCorrection {
 	    	}
 			
 			// Supplement list with the lazy eye scans data - use all tiles
-			for (int nTile = 0; nTile < num_tiles; nTile++) {
+			for (int nTile = 0; nTile < num_tiles; nTile++) if (center_mask[nTile]) {
 				double w = inf_and_ly[1 * NUM_SLICES + 1][nTile];
 				if (w > 0.0) {
 					inf_samples_list.add(new Sample(1,nTile,w));
@@ -2124,6 +2120,7 @@ public class AlignmentCorrection {
 			
 			
 			ArrayList<Sample> inf_samples_list = selectInfinityTiles(
+				    clt_parameters.fcorr_radius,       // 	final double fcorr_radius,
 					clt_parameters.fcorr_inf_vert,// final boolean use_vertical,
 					0.0, // any > 0.0
 					clt_parameters.fcorr_inf_diff, // max_diff, //clt_parameters.fcorr_inf_diff

src/main/java/CLTPass3d.java

@@ -67,6 +67,19 @@ public class CLTPass3d{
 		{
 			this.tileProcessor = tileProcessor;
 		}
+		
+		public CLTPass3d (TileProcessor tileProcessor, int mode)
+		{
+			this.tileProcessor = tileProcessor;
+			switch (mode){
+			case 0:
+				tile_op =   new int [tileProcessor.getTilesY()][tileProcessor.getTilesX()];
+				disparity = new double [tileProcessor.getTilesY()][tileProcessor.getTilesX()];
+				break;
+				
+			}
+		}
+
 		public TileProcessor getTileProcessor()
 		{
 			return this.tileProcessor;

src/main/java/GeometryCorrection.java

@@ -633,7 +633,8 @@ public class GeometryCorrection {
 			double rri = 1.0;
 			for (int j = 0; j < a.length; j++){
 				rri *= ri;
-				rD2rND += a[j]*(rri - a[j]); // BUG here !!!! - fix later, will need to re-adjust all fine corr
+//				rD2rND += a[j]*(rri - a[j]); // BUG here !!!! - fix later, will need to re-adjust all fine corr
+				rD2rND += a[j]*(rri - 1.0); // Fixed
 			}
 			double pXid = pXci * rD2rND;  
 			double pYid = pYci * rD2rND;
@@ -672,7 +673,7 @@ public class GeometryCorrection {
 			double rri = 1.0;
 			for (int j = 0; j < a.length; j++){
 				rri *= ri;
-				rD2rND += a[j]*(rri - a[j]);
+				rD2rND += a[j]*(rri - 1.0);
 			}
 			double pXid = pXci * rD2rND;  
 			double pYid = pYci * rD2rND;

src/main/java/ImageDtt.java

@@ -3606,12 +3606,12 @@ public class ImageDtt {
 		} else { // copy by 1
 			for (int i = 0; i < transform_size2; i++){
 				int pi = ctile_top + i;
-				if      (pi < 0)       pi = 0;
-				else if (pi >= height) pi = height - 1;
+				if      (pi < 0)       pi &= 1;
+				else if (pi >= height) pi = height - 2 + (pi & 1);
 				for (int j = 0; j < transform_size2; j++){
 					int pj = ctile_left + j;
-					if      (pj < 0)      pj = 0;
-					else if (pj >= width) pj = width - 1;
+					if      (pj < 0)      pj &= 1;
+					else if (pj >= width) pj = width - 2 + (pj & 1);
 					tile_in[transform_size2 * i + j] = image_data[chn][pi * width + pj];
 				}			
 			}			

src/main/java/MacroCorrelation.java

@@ -23,6 +23,12 @@
  **
  */
 
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.Comparator;
+import java.util.concurrent.atomic.AtomicInteger;
+
+
 public class MacroCorrelation {
 	TileProcessor tp; // pixel tile processor
 	TileProcessor mtp; // macro tile processor
@@ -339,7 +345,7 @@ public class MacroCorrelation {
 			EyesisCorrectionParameters.CLTParameters clt_parameters,
 			GeometryCorrection                       geometryCorrection,			  
 			final double                             trustedCorrelation,
-			final double                             disp_far,   // limit results to the disparity range
+			final double                             disp_far,   // limit results to the disparity range, far - start with 1 step above 0 (was valid for all)
 			final double                             disp_near,
 			final double                             minStrength,
 			final double                             unique_tolerance,
@@ -373,7 +379,217 @@ public class MacroCorrelation {
 		
 	}
 
+	public ArrayList <CLTPass3d> prepareMeasurementsFromMacro(
+			final ArrayList <CLTPass3d> macro_passes, // macro correlation measurements
+			// in pixels
+			final double                disp_far,   // limit results to the disparity range
+			final double                disp_near,
+			final double                minStrength,
+			final double                mc_trust_fin, //          =   0.3;   // When consolidating macro results, exclude high residual disparity
+			final double                mc_trust_sigma, //        =   0.2;   // Gaussian sigma to reduce weight of large residual disparity
+			final double                mc_ortho_weight, //       =   0.5;   // Weight from ortho neighbor supertiles
+			final double                mc_diag_weight, //        =   0.25;  // Weight from diagonal neighbor supertiles
+			final double                mc_gap, //                =   0.4;   // Do not remove measurements farther from the kept ones
+			final boolean               usePoly,  // use polynomial method to find max), valid if useCombo == false
+			final boolean               sort_disparity,  // sort results for increasing disparity (false - decreasing strength)
+			final int                   dbg_x,
+			final int                   dbg_y,
+			final int                   debugLevel)
+	
+	{
+		class DispStrength{
+			double disparity;
+			double strength;
+			DispStrength (double disparity, double strength){
+				this.disparity = disparity;
+				this.strength = strength;
+			}
+			double [] toArray(){
+				double [] arr = {disparity, strength};
+				return arr;
+			}
+			public String toString(){
+				return String.format("disparity=%7.3f strength=%7.4f",disparity, strength);
+			}
+		}
+		final int mTilesX = mtp.getTilesX();
+		final int mTilesY = mtp.getTilesY();
+		final int mTiles = mTilesX * mTilesY; 
+		final ArrayList <CLTPass3d> measurements = new ArrayList <CLTPass3d>();
+		final TileNeibs tnSurface = new TileNeibs(mtp.getTilesX(), mtp.getTilesY());
+		final Thread[] threads = ImageDtt.newThreadArray(tp.threadsMax);
+		final int []  max_meas = new int [threads.length]; // maximal numer of measurements per tile
+		final int []  num_meas = new int [threads.length]; // maximal numer of measurements per tile
+		final AtomicInteger ai_thread = new AtomicInteger(0);
+		final AtomicInteger ai = new AtomicInteger(0);
+		final int dbg_tile = dbg_x + dbg_y * mTilesX;
+		final double [][][] macro_ds = new double [mTiles][][];
+		final int firstPass = 0;
+		final int lastPassPlus1 = macro_passes.size();
+		final int disparity_index = usePoly ? ImageDtt.DISPARITY_INDEX_POLY : ImageDtt.DISPARITY_INDEX_CM;
+		final double disp_far8 = disp_far/tp.getTileSize();   // here tp, not mtp
+		final double disp_near8 = disp_near/tp.getTileSize();   // here tp, not mtp
+		final double corr_magic_scale = mtp.getMagicScale();
+		//mtp.clt_3d_passes
+		
+		final double [] neib_weights = {
+				mc_ortho_weight,
+				mc_diag_weight,
+				mc_ortho_weight,
+				mc_diag_weight,
+				mc_ortho_weight,
+				mc_diag_weight,
+				mc_ortho_weight,
+				mc_diag_weight,
+				1.0};
+		final double kexp = (mc_trust_sigma == 0.0) ? 0.0: (0.5/mc_trust_sigma/mc_trust_sigma);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					int this_thread = ai_thread.getAndIncrement();
+
+					for (int mTile0 = ai.getAndIncrement(); mTile0 < mTiles; mTile0 = ai.getAndIncrement()) {
+						int dl = (mTile0 == dbg_tile) ? debugLevel : -1;
+						if (dl > 0){
+							System.out.println("prepareMeasurementsFromMacro() mTile0="+mTile0);
+						}
+						ArrayList<DispStrength> ds_list = new ArrayList<DispStrength>();
+						for (int ipass = firstPass;  ipass <lastPassPlus1; ipass++ ){
+							CLTPass3d pass = macro_passes.get(ipass);
+							if ( pass.isMeasured()) { // current tile has valid data
+								for (int dir = 0; dir < neib_weights.length; dir++){ // 8 - center
+									int mTile = tnSurface.getNeibIndex(mTile0, dir);
+									if ((mTile >= 0) && (neib_weights[dir] != 0.0)) {
+										int mty = mTile / mTilesX; 
+										int mtx = mTile % mTilesX;
+										if (pass.tile_op[mty][mtx] != 0 ) { // current tile has valid data
+											double mdisp =         pass.disparity_map[disparity_index][mTile];
+											double strength =      pass.disparity_map[ImageDtt.DISPARITY_STRENGTH_INDEX][mTile];
+											double adiff =      Math.abs(mdisp);
+											if ((strength >= minStrength) && (adiff <= mc_trust_fin)){
+												double disp = mdisp/corr_magic_scale +  pass.disparity[mty][mtx];
+												if ((disp >= disp_far8) && (disp <= disp_near8)) {
+													double weight = strength * neib_weights[dir];
+													if (mc_trust_sigma != 0.0){
+														weight *= Math.exp(-kexp*mdisp*mdisp);
+													}
+													ds_list.add(new DispStrength(disp, weight));
+												}
+											}
+										}
+									}
+								}
+							}
+						}
+						// sort by strength copy to new list then remove all that are closer than usePoly, repeat until not empty
+						Collections.sort(ds_list, new Comparator<DispStrength>() {
+							@Override
+							public int compare(DispStrength lhs, DispStrength rhs) {
+								// descending
+								return (lhs.strength > rhs.strength) ? -1 : (lhs.strength < rhs.strength) ? 1 : 0;
+							}
+						});
+						ArrayList<DispStrength> ds_list_keep = new ArrayList<DispStrength>();
+
+						while (!ds_list.isEmpty()){
+							DispStrength ds_kept = ds_list.remove(0);
+							ds_list_keep.add(ds_kept); // move strongest
+							for (int i = ds_list.size(); i > 0; i--){
+								DispStrength ds = ds_list.remove(0);
+								if (Math.abs(ds_kept.disparity-ds.disparity) >= mc_gap){
+									ds_list.add(ds);
+								}
+							}
+						}
+						if (!ds_list_keep.isEmpty()){
+							if (sort_disparity){
+								Collections.sort(ds_list_keep, new Comparator<DispStrength>() {
+									@Override
+									public int compare(DispStrength lhs, DispStrength rhs) {
+										// ascending
+										return (lhs.disparity < rhs.disparity) ? -1 : (lhs.disparity > rhs.disparity) ? 1 : 0;
+									}
+								});
+							}
+							macro_ds[mTile0] = new double[ds_list_keep.size()][];
+							int indx=0;
+							for (DispStrength ds:ds_list_keep){
+								macro_ds[mTile0][indx++] = ds.toArray();	
+							}
+							if (max_meas[this_thread] < ds_list_keep.size()){
+								max_meas[this_thread] = ds_list_keep.size();
+								if (debugLevel > -1){ // (dl > 0){
+									System.out.println("prepareMeasurementsFromMacro() mTile0="+mTile0+" max_meas["+this_thread+"]="+max_meas[this_thread]);
+								}
+							}
+							num_meas[this_thread] += ds_list_keep.size();
+						}
+
+					}
+				}
+			};
+		}
+		ImageDtt.startAndJoin(threads);
+		int longest = 0;
+		int total_meas = 0;
+		for (int i = 0; i < max_meas.length; i++){
+			if (longest < max_meas[i]) {
+				longest = max_meas[i];
+				total_meas +=num_meas[i];
+			}
+		}
+
+		if (debugLevel > -1){
+			System.out.println("prepareMeasurementsFromMacro(): longest="+longest+" total_meas="+total_meas);
+		}
+		
+		int op = ImageDtt.setImgMask(0, 0xf);
+		op =     ImageDtt.setPairMask(op,0xf);
+		op =     ImageDtt.setForcedDisparity(op,true);
+		final int fop = op;
+		ai.set(0);
+		ai_thread.set(0);
+		for (int i = 0; i < longest; i++){
+			measurements.add(new CLTPass3d(tp, 0 )); // mode 0 - initialize tile_op and disparity arrays
+		}
 		
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+//					int this_thread = ai_thread.getAndIncrement();
+					int tileSize = tp.getTileSize();
+					int tilesX = tp.getTilesX();
+					int tilesY = tp.getTilesY();
+					
+					for (int mTile = ai.getAndIncrement(); mTile < mTiles; mTile = ai.getAndIncrement()) {
+						int dl = (mTile == dbg_tile) ? debugLevel : -1;
+						if (dl > 0){
+							System.out.println("prepareMeasurementsFromMacro().1 mTile0="+mTile);
+						}
+						if (macro_ds[mTile] != null){
+							int mty = mTile / mTilesX; 
+							int mtx = mTile % mTilesX;
+							int ty0 = mty * tileSize;
+							int tx0 = mtx * tileSize;
+							int ty1 = ty0 + tileSize; if (ty1 > tilesY) ty1 = tilesY;
+							int tx1 = tx0 + tileSize; if (tx1 > tilesX) tx1 = tilesX;
+							for (int ipass = 0; ipass < macro_ds[mTile].length;ipass++){
+								CLTPass3d pass = measurements.get(ipass);
+								for (int ty = ty0; ty < ty1; ty++){
+									for (int tx = tx0; tx < tx1; tx++){
+										pass.tile_op[ty][tx] = fop;
+										pass.disparity[ty][tx] = macro_ds[mTile][ipass][0]*tileSize;
+									}
+								}
+							}
+						}
+					}
+				}
+			};
+		}
+		ImageDtt.startAndJoin(threads);
+		return measurements;
+	}
 	
 	
 }

src/main/java/TileProcessor.java

@@ -640,11 +640,9 @@ public class TileProcessor {
 	{
 		final int dbg_tile = (debugLevel > 0)? 839: -1; // x = 122, y= 108; -1; // 27669;
 		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];
 		combo_pass.disparity =            new double [tilesY][tilesX];
-//		for (int i = 0; i< ImageDtt.QUAD; i++) combo_pass.disparity_map[ImageDtt.IMG_DIFF0_INDEX + i] = new double[tlen];
 		int op = ImageDtt.setImgMask(0, 0xf);
 		op =     ImageDtt.setPairMask(op,0xf);
 		op =     ImageDtt.setForcedDisparity(op,true);
@@ -679,7 +677,7 @@ public class TileProcessor {
 							double disp_low =  Math.min(disp, pass.disparity[ty][tx]); 
 							double disp_high = Math.max(disp, pass.disparity[ty][tx]);
 //							if ((disp_high - disp_low) > 2 * unique_tolerance) { // suggested correction is not too small
-							if ((disp_high - disp_low) > unique_tolerance) { // suggested correction is not too small
+							if ((disp_high - disp_low) >= unique_tolerance) { // suggested correction is not too small
 								boolean duplicate = false;
 								for (int iother = firstPass;  iother <lastPassPlus1; iother++ ) {
 									CLTPass3d other = passes.get(iother);
@@ -714,8 +712,6 @@ public class TileProcessor {
 	
 	
 	
-	
-	
 	/**
 	 * Verify that selected points are not all on the same line 
 	 * @param sel 2-d sample selection in linescan order
@@ -7357,7 +7353,8 @@ public class TileProcessor {
 			for (int x = 0; (x < width) && (indx <= maxIndex); x++){
 				if (indices[y][x] >=0){
 					// center coordinates for 8*8 tile is [3.5,3.5]
-					double disp = disparity[(bounds.y + y) * tilesX + (bounds.x + x)];
+//					double disp = disparity[(bounds.y + y) * tilesX + (bounds.x + x)];
+					double disp = (disparity == null)? min_disparity:( disparity[(bounds.y + y) * tilesX + (bounds.x + x)]);
 					if      (disp < min_disparity) disp = min_disparity;
 					else if (disp > max_disparity) disp = max_disparity;
 					indexedDisparity[indx] =disp;
@@ -7370,7 +7367,7 @@ public class TileProcessor {
 
 	
 	public double [][] getCoords( // get world XYZ in meters for indices
-			double [] disparity,
+			double [] disparity, // null - use min_disparity
 			double min_disparity,
 			double max_disparity,
 			Rectangle bounds,
@@ -7390,7 +7387,7 @@ public class TileProcessor {
 					// center coordinates for 8*8 tile is [3.5,3.5]
 					double px = (bounds.x + x + 0.5) * tile_size - 0.5;
 					double py = (bounds.y + y + 0.5) * tile_size - 0.5;
-					double disp = disparity[(bounds.y + y) * tilesX + (bounds.x + x)];
+					double disp = (disparity == null)? min_disparity:( disparity[(bounds.y + y) * tilesX + (bounds.x + x)]);
 					if      (disp < min_disparity) disp = min_disparity;
 					else if (disp > max_disparity) disp = max_disparity;
 					coordinate[indx] = geometryCorrection.getWorldCoordinates(
@@ -7528,7 +7525,7 @@ public class TileProcessor {
 		String [] titles = {"disparity","triangles"};
 		double [][] dbg_img = new double [titles.length][tilesX*tilesY*tile_size*tile_size];
 		for (int i = 0; i < selected.length; i++ ){
-			double d = selected[i]?disparity[i]:Double.NaN;
+			double d = selected[i]? ((disparity.length >1) ? disparity[i] : disparity[0]):Double.NaN;
 			int y = i / tilesX;
 			int x = i % tilesX;
 			for (int dy = 0; dy <tile_size; dy ++){

src/main/java/X3dOutput.java

@@ -64,7 +64,7 @@ public class X3dOutput {
 		this.clt_3d_passes = clt_3d_passes;
 	}
 	// init document, bounding box, backdrop
-	public void generateBackground()
+	public void generateBackground(boolean use_backdrop)
 	{
 		try {
 
@@ -98,6 +98,7 @@ public class X3dOutput {
         Element el_Bgnd = x3dDoc.createElement("Background");
         el_Bgnd.setAttribute("class","Background");
         el_Bgnd.setAttribute("id",   "Background");
+        if (use_backdrop) {
         	el_Bgnd.setAttribute("frontUrl",   bgnd_pass.texture);
         	// temporarily - add same picture to all other sides. Actually - any square will work, make some
         	// perspective grids/ colors to simplify orientation when looking wrong way
@@ -106,6 +107,7 @@ public class X3dOutput {
         	el_Bgnd.setAttribute("rightUrl",   bgnd_pass.texture);
         	el_Bgnd.setAttribute("topUrl",   bgnd_pass.texture);
         	el_Bgnd.setAttribute("bottomUrl",   bgnd_pass.texture);
+        }
 		el_Scene.appendChild(el_Bgnd);
 	}