Implemented ground plane extraction (so far hard-coded parameters) and

rendering rectified 3D model to that plane

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

@@ -1768,7 +1768,7 @@ public class ErsCorrection extends GeometryCorrection {
 		int tiles2 = tilesX2 * tilesY2; 
 		
 		if (debug_level > 0) {
-			String title3 =     scene_QuadClt.getImageName()+"-pXpYD_comprison";
+			String title3 =     scene_QuadClt.getImageName()+"-pXpYD_comparison";
 			String [] titles3 = {"orig","restored","diff"};
 			double [][] dbg_img3 = new double [titles3.length][tiles2];
 			for (int i = 0; i < dbg_img3.length; i++) {
@@ -1858,6 +1858,16 @@ public class ErsCorrection extends GeometryCorrection {
 				scene_xyzatr[1]);
 	}
 		
+	public static double [] applyXYZATR( 
+			double [][] reference_xyzatr,
+			double [] scene_xyz) {
+		return applyXYZATR(
+				reference_xyzatr[0],
+				reference_xyzatr[1],
+				scene_xyz);
+	}
+	
+	
 	public static double [][] invertXYZATR(
 			double [][] source_xyzatr){
 		return  invertXYZATR(
@@ -1883,6 +1893,22 @@ public class ErsCorrection extends GeometryCorrection {
 		
 	}
 
+	// is it correct? Made of combineXYZATR()
+	public static double [] applyXYZATR( 
+			double [] reference_xyz,
+			double [] reference_atr,
+			double [] scene_xyz)
+	{
+		Rotation   ref_rotation=   new Rotation(RotationOrder.YXZ, ROT_CONV, reference_atr[0],reference_atr[1],reference_atr[2]); // null
+		Vector3D   ref_offset =    new Vector3D(reference_xyz);
+		Vector3D   scene_offset =  new Vector3D(scene_xyz);
+		Vector3D   offset = ref_offset.add(ref_rotation.applyTo(scene_offset));
+		double []  xyz = offset.toArray();
+		return xyz;
+	}
+	
+	
+	
 	public static double [][] invertXYZATR(
 			double [] source_xyz,
 			double [] source_atr)

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

@@ -100,7 +100,7 @@ public class OpticalFlow {
 		case FAIL_REASON_LMA:        return "FAIL_REASON_LMA";
 		case FAIL_REASON_INTERSCENE: return "FAIL_REASON_INTERSCENE";
 		case FAIL_REASON_MIN:        return "FAIL_REASON_MIN";
-		case FAIL_REASON_MAX:        return "FAIL_REASON_MAXv";
+		case FAIL_REASON_MAX:        return "FAIL_REASON_MAX";
 		case FAIL_REASON_NULL:       return "FAIL_REASON_NULL";
 		case FAIL_REASON_EMPTY:      return "FAIL_REASON_EMPTY";
 		case FAIL_REASON_ROLL:       return "FAIL_REASON_ROLL";
@@ -5796,8 +5796,39 @@ public class OpticalFlow {
 		} // if (generate_mapped) {
 		
 		// debugging 3D model
-
+		int [] whs = new int[3];
+		double [] x0y0 = new double[2];		
 		if (export3d) { //combo_dsn_final had strength 1.0e-4 where it should not? Reset it?
+			/* */
+    		boolean   use_lma =         true;  // ;
+    		double    discard_low =     0.01;  // fraction of all pixels
+    		double    discard_high =    0.5;   // fraction of all pixels
+    		double    discard_adisp =   0.2;   // discard above/below this fraction of average height 
+    		double    discard_rdisp =   0.02;  // discard above/below this fraction of average height
+    		double    pix_size =        0.005; // hdr_x0y0,       // in meters
+    		int       max_image_width = 3200;  // increase pixel size as a power of 2 until image fits
+//    		boolean   crop_empty =      true;
+//    		int       crop_extra =      20;
+//    		int [] tex_pals = {0,1,2};
+
+//    		int tex_palette_start = 0; //
+//    		int tex_palette_end =  12; 
+			int []    hdr_whs = new int[3];
+			double [] hdr_x0y0 = new double[2];		
+			double [][] to_ground_xyxatr = quadCLTs[ref_index].getGround(
+					use_lma,         // boolean use_lma,
+					discard_low,     // double discard_low,    // fraction of all pixels
+					discard_high,    // double discard_high,   // fraction of all pixels
+					discard_adisp,   // double discard_adisp,  // discard above/below this fraction of average height 
+					discard_rdisp,   // double discard_rdisp   // discard above/below this fraction of average height
+					pix_size,        // double pix_size,       // in meters
+					max_image_width, // int    max_image_width // increase pixel size as a power of 2 until image fits
+		    		hdr_x0y0,        // double [] x0y0,        // initialize to double[2] to return width, height
+		    		hdr_whs,         // int [] whs,            // initialize to int[3] to return {width, height, scale reduction}
+		    		debugLevel);     // int debug_level
+			
+		    /**/	
+			
 			boolean ok_3d = TexturedModel.output3d( // quadCLTs have same image name, and everything else
 					clt_parameters,      // CLTParameters                            clt_parameters,
 					colorProcParameters, // ColorProcParameters                      colorProcParameters,

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

@@ -59,6 +59,7 @@ import com.elphel.imagej.cameras.ColorProcParameters;
 import com.elphel.imagej.cameras.EyesisCorrectionParameters;
 import com.elphel.imagej.cameras.ThermalColor;
 import com.elphel.imagej.common.DoubleGaussianBlur;
+import com.elphel.imagej.common.PolynomialApproximation;
 import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.correction.CorrectionColorProc;
 import com.elphel.imagej.correction.EyesisCorrections;
@@ -219,6 +220,276 @@ public class QuadCLTCPU {
     	return z_avg;
     }
     
+    // cac 
+    public double [][] getGround(
+    		boolean use_lma,
+    		double discard_low,    // fraction of all pixels
+    		double discard_high,   // fraction of all pixels
+    		double discard_adisp,  // discard above/below this fraction of average height 
+    		double discard_rdisp,  // discard above/below this fraction of average height
+    		double pix_size,       // in meters
+    		int    max_image_width,// increase pixel size as a power of 2 until image fits
+    		double [] x0y0,        // initialize to double[2] to return width, height
+    		int [] whs,            // initialize to int[3] to return {width, height, scale reduction}
+    		int debug_level
+    		) {
+    	double [] z_tilts = null;
+    	final int tilesX=getTileProcessor().getTilesX();
+    	final int tilesY=getTileProcessor().getTilesY();
+    	double hist_rlow =    0.4;
+    	double hist_rhigh =   2.0;
+    	int min_good =       20; //number of good tiles
+    	int min_good_quad =  20; // number of good tiles per quadrantto calculate tilts
+    	int gap_frac2=       20;
+    	double rel_hight =  0.2; // when calculating scale, ignore objects far from plane 
+    	int num_bins = 1000;
+    	double [][] dls = getDLS();
+    	if (dls==null) {
+    		return null;
+    	}
+    	double [][] ds = new double [][] {dls[use_lma?1:0], dls[2]};
+    	double sw=0, swd=0;
+    	for (int i = 0; i < ds[0].length; i++) if (!Double.isNaN(ds[0][i])){
+    		sw +=   ds[1][i];
+    		swd +=  ds[0][i] * ds[1][i];
+    	}
+    	double disp_avg = swd/sw;
+    	double hist_low =  hist_rlow *  disp_avg;
+    	double hist_high = hist_rhigh * disp_avg;
+    	double k = num_bins / (hist_high - hist_low);
+    	double [] hist = new double [num_bins];
+    	sw = 0;
+    	swd = 0;
+    	for (int i = 0; i < ds[0].length; i++) if (!Double.isNaN(ds[0][i])){
+    		double d = ds[0][i];
+    		double w = ds[1][i];
+    		int bin = (int) (k * (d - hist_low));
+    		if ((bin >= 0) && (bin < num_bins)) {
+    			sw += w;
+    			swd += w * d;
+    			hist[bin] += w;
+    		}
+    	}
+    	if (sw == 0) {
+    		if (debug_level > -3) {
+    			System.out.println("Could not find ground - sum weights==0.0");
+    		}
+    		return null;
+    	}
+    	double dl = discard_low * sw;
+    	double dh = discard_high * sw;
+    	double sh = 0.0;
+    	int indx = 0;
+    	for (; indx < num_bins; indx++) {
+    		sh+= hist[indx]; 
+    		if (sh >= dl) break;
+    	}
+    	double shp = sh- hist[indx];
+    	//    	double thr_low = shp + (dl - shp)/(sh-shp);
+    	// step back from the overshoot indx
+    	double thr_low = hist_low+ (indx - (sh - dl)/(sh-shp))/num_bins *(hist_high-hist_low);
+    	indx = num_bins-1;
+    	sh = 0.0;
+    	for (; indx >= 0; indx--) {
+    		sh += hist[indx]; 
+    		if (sh >= dh) {
+    			break;
+    		}
+    	}
+    	shp = sh- hist[indx];
+    	//    	double thr_high = shp - (dh-shp)/(sh - shp); // both negative
+//    	double thr_high = hist_low+ (shp + (dh - shp)/(sh-shp))/num_bins *(hist_high-hist_low);
+    	double thr_high = hist_low+ (indx + (sh - dh)/(sh-shp))/num_bins *(hist_high-hist_low);
+    	int numgood = 0;
+    	boolean [] good = new boolean[ds[0].length];
+    	sw = 0.0;
+    	swd = 0.0;
+    	for (int i = 0; i < ds[0].length; i++) if (
+    			(ds[1][i] > 0) && (ds[0][i] >= thr_low) && (ds[0][i] <= thr_high)) {
+    		good[i] = true;
+    		numgood++;
+    		sw += ds[1][i];
+    		swd += ds[1][i] * ds[0][i];
+    	}
+
+    	if (numgood < min_good) {
+    		if (debug_level > -3) {
+    			System.out.println("Could not find ground - number of good tiles = "+numgood+" < "+min_good);
+    		}
+    		return null; // too few good 
+    	}
+    	double z_avg= getGeometryCorrection().getZFromDisparity(swd/sw);
+    	int gap_x_0 = tilesX/2 - tilesX/gap_frac2; 
+    	int gap_x_1 = tilesX/2 + tilesX/gap_frac2; 
+    	int gap_y_0 = tilesY/2 - tilesY/gap_frac2; 
+    	int gap_y_1 = tilesY/2 + tilesY/gap_frac2; 
+    	int [][] num_good_quad = new int [2][2];
+    	for (int i = 0; i < good.length; i++) if (good[i]){
+    		int ty = i / tilesX;
+    		if ((ty <= gap_y_0) || (ty >= gap_y_1)) {
+    			int tx = i % tilesX;
+    			if ((tx <= gap_x_0) || (tx >= gap_x_1)) {
+    				int indx_y = (ty > tilesY/2)? 1:0;
+    				int indx_x = (tx > tilesX/2)? 1:0;
+    				num_good_quad[indx_y][indx_x]++;
+    			}
+    		}
+    	}
+    	int num_good_quads = 0;
+    	for (int i = 0; i < num_good_quad.length; i++) {
+    		for (int j = 0; j < num_good_quad[i].length; j++) {
+    			if (num_good_quad[i][j] > min_good_quad) {
+    				num_good_quads++;
+    			}
+    		}    		
+    	}
+    	if (num_good_quads < 3) {
+    		if (debug_level > -3) {
+    			System.out.println("There are less than 3 quadrants ("+num_good_quads+") having more than "+min_good_quad+" tiles");
+    			System.out.println("Using only level "+z_avg+", ignoring tilt."); 
+    		}
+    		z_tilts = new double[] {z_avg, 0.0, 0.0}; // no tilts
+    		//    		return new double[] {z_avg, 0.0, 0.0}; // no tilts
+    	} else {
+    		// fit plane
+    		double [] ref_disparity = ds[0].clone();
+    		for (int i = 0; i < ref_disparity.length; i++) {
+    			if (!good[i]) {
+    				ref_disparity[i] = Double.NaN;
+    			}
+    		}
+
+    		double [][] wxyz = OpticalFlow.transformToWorldXYZ(
+    				ref_disparity,  // final double []   disparity_ref, // invalid tiles - NaN in disparity
+    				(QuadCLT) this, // final QuadCLT     quadClt, // now - may be null - for testing if scene is rotated ref
+    				THREADS_MAX);   // int               threadsMax)
+    		numgood = 0;
+    		for (int i = 0; i < wxyz.length; i++) if (wxyz[i] != null) {
+    			numgood++;	
+    		}
+    		double [][][] mdata = new double [numgood][][];
+    		int mindx = 0;
+    		for (int i = 0; i < wxyz.length; i++) if (wxyz[i] != null){
+    			mdata[mindx] = new double[3][];
+    			mdata[mindx][0] = new double [2];
+    			mdata[mindx][0][0] =  wxyz[i][0];
+    			mdata[mindx][0][1] =  wxyz[i][1];
+    			mdata[mindx][1] = new double [1];
+    			mdata[mindx][1][0] =  wxyz[i][2]; 
+    			mdata[mindx][2] = new double [1];
+    			mdata[mindx][2][0] =  ds[1][i];
+    			mindx++;
+    		}    	
+    		PolynomialApproximation pa = new PolynomialApproximation();
+    		double[][] approx2d = pa.quadraticApproximation(
+    				mdata,
+    				true,       // boolean forceLinear,  // use linear approximation
+    				null,       // double [] damping, null OK
+    				-1);        // debug level
+    		z_tilts= new double [] { approx2d[0][2], approx2d[0][0], approx2d[0][1]};
+    		if (debug_level > -3) {
+    			System.out.println("Found ground plane: level="+z_tilts[0]+", tiltX="+z_tilts[1]+", tiltY="+z_tilts[2]);
+    		}
+    		
+    	}
+//    	ground - negative Z. picture right - positive X, picture up - positive Y
+//      positive tiltX - to the right higher ground (lower altitude above it) or camera tilted left
+//      positive tiltY - picture up - higher ground (or camera tilted back)
+    	
+    	double [][] ground_xyxatr = new double [][] {
+    		{0,          0,          z_tilts[0]},
+    		{Math.asin(z_tilts[1]), -Math.asin(z_tilts[2]), 0.0}};
+// It is approximate for small angles. OK for now    		
+    	double [][] to_ground_xyxatr = ErsCorrection.invertXYZATR(ground_xyxatr);
+    	// recalculate coordinates for all pixels including weak ones
+    	double [] ref_disparity = dls[0].clone();
+    	for (int i = 0; i < ref_disparity.length; i++) {
+    		if (Double.isNaN(ref_disparity[i])) ref_disparity[i] = 0.0;
+    	}
+		double [][] wxyz = OpticalFlow.transformToWorldXYZ(
+				ref_disparity,          // final double []   disparity_ref, // invalid tiles - NaN in disparity
+				(QuadCLT) this, // final QuadCLT     quadClt, // now - may be null - for testing if scene is rotated ref
+				THREADS_MAX);   // int               threadsMax)
+    	double [][] plane_xyz=new double[wxyz.length][];
+    	double [] x_min_max = null; // new int[2];
+    	double [] y_min_max = null; // new int[2];
+    	for (int i = 0; i < wxyz.length; i++) if (wxyz[i] != null) {
+    		double [] wxyz3=new double[] {wxyz[i][0],wxyz[i][1],wxyz[i][2]};
+    		plane_xyz[i] =ErsCorrection.applyXYZATR(
+    				to_ground_xyxatr, // double [][] reference_xyzatr,
+    				wxyz3); // double [][] scene_xyzatr)
+    		double x = plane_xyz[i][0];
+    		double y = plane_xyz[i][1];
+    		double z = plane_xyz[i][2];
+    		if (Math.abs(z)/Math.abs(z_tilts[0]) > rel_hight){
+    			continue; // outlier Z
+    		}
+    		
+    		if (x_min_max == null) x_min_max = new double[] {x,x};
+    		if (y_min_max == null) y_min_max = new double[] {y,y};
+    		if      (x < x_min_max[0]) x_min_max[0] = x;
+    		else if (x > x_min_max[1]) x_min_max[1] = x;
+    		if      (y < y_min_max[0]) y_min_max[0] = y;
+    		else if (y > y_min_max[1]) y_min_max[1] = y;
+    	}
+    	if (x0y0!=null) {
+    		x0y0[0] = x_min_max[0];
+    		x0y0[1] = y_min_max[0];
+    	}
+    	int scale = 0;
+    	double use_pix_size = pix_size;
+    	int width, height;
+    	do {
+    		scale = (scale==0) ? 1 : scale * 2;
+    		use_pix_size = scale * pix_size;
+    		width =  (int) Math.floor((x_min_max[1]-x_min_max[0])/use_pix_size) + 1;
+    		height = (int) Math.floor((y_min_max[1]-y_min_max[0])/use_pix_size) + 1;
+    	} while ((width > max_image_width) || (height > max_image_width));
+    	if (whs != null) {
+    		whs[0] = width;
+    		whs[1] = height;
+    		whs[2] = scale;
+    	}
+		if (debug_level > -2) {
+			System.out.println("Parameters for rendering:top left corner=["+x0y0[0]+"m, "+x0y0[1]+"m]");
+			System.out.println("                        : width="+whs[0]+"pix, height="+whs[1]+"pix, scale level="+whs[2]);
+			System.out.println("                        : pixel size: ="+(1000*use_pix_size)+"mm");
+		}
+    	
+    	double [] dronexyz =ErsCorrection.applyXYZATR(
+    			to_ground_xyxatr, // double [][] reference_xyzatr,
+				new double [3] ); // double [][] scene_xyzatr)
+		if (debug_level > -2) {
+			System.out.println("Drone position relative to the ground plane: x="+
+		dronexyz[0]+"m, y="+dronexyz[1]+"m, z="+dronexyz[2]+"m");
+		}
+    	
+//		double pix_size,       // in meters
+//		int    max_image_width // increase pixel size as a power of 2 until image fits 
+    	
+    	// testing world coordinates -> plane coordinates
+    	/*
+    	mindx = 0;
+    	for (int i = 0; i < wxyz.length; i++) if (wxyz[i] != null){
+			mdata[mindx] = new double[3][];
+			mdata[mindx][0] = new double [2];
+			mdata[mindx][0][0] =  plane_xyz[i][0];
+			mdata[mindx][0][1] =  plane_xyz[i][1];
+			mdata[mindx][1] = new double [1];
+			mdata[mindx][1][0] =  plane_xyz[i][2]; 
+			mdata[mindx][2] = new double [1];
+			mdata[mindx][2][0] =  ds[1][i];
+			mindx++;
+    	}    	
+		double[][] approx2d_1 = pa.quadraticApproximation(
+				mdata,
+				true,       // boolean forceLinear,  // use linear approximation
+				null,       // double [] damping, null OK
+				-1);        // debug level
+    	*/
+    	return to_ground_xyxatr; // from the camera coordinates to in-plane coordiantes
+    }
+    
     public double [][] getDLS(){ // get disparity, disparity_lma, strength
     	if (dsi == null) {
 //    		System.out.println("dsi== null, use spawnQuadCLT(), restoreFromModel(), ... to set it");
@@ -12706,7 +12977,7 @@ public class QuadCLTCPU {
 
 		  // Save KML and ratings files if they do not exist (so not to overwrite edited ones), make them world-writable
 		  writeKml        (null, debugLevel);
-		  writeRatingFile (debugLevel);
+///		  writeRatingFile (debugLevel); broke!
 
 
 		  Runtime.getRuntime().gc();
@@ -15113,7 +15384,6 @@ public class QuadCLTCPU {
 
 	  public boolean writePreview(
 			  double [] data,
-//			  boolean   overwrite, // correctionsParameters.thumb_overwrite
 			  int debugLevel
 			  )
 	  {
@@ -15148,7 +15418,6 @@ public class QuadCLTCPU {
 				  (debugLevel > -2) ? debugLevel : 1); // int debugLevel (print what it saves)
 		  return true;
 	  }
-
 	  public boolean writeLwirPreview(
 			  final CLTParameters  clt_parameters,
 			  double []            data,
@@ -15156,6 +15425,23 @@ public class QuadCLTCPU {
 			  int                  tex_palette,
 			  String               suffix,
 			  int                  debugLevel) {
+		  return writeLwirPreview(
+				  clt_parameters,
+				  data,
+				  getTileProcessor().getTilesX() *getTileProcessor().getTileSize(),
+				  scene,
+				  tex_palette,
+				  suffix,
+				  debugLevel);
+	  }
+	  public boolean writeLwirPreview(
+			  final CLTParameters  clt_parameters,
+			  double []            data,
+			  int                  width,
+			  QuadCLT              scene,
+			  int                  tex_palette,
+			  String               suffix,
+			  int                  debugLevel) {
 		  if (scene == null) {
 			  scene = (QuadCLT) this;
 		  }
@@ -15164,7 +15450,7 @@ public class QuadCLTCPU {
 			  rendered_texture[1][i] = Double.isNaN(rendered_texture[0][i])? 0.0: 1.0;
 		  }
 		  double [] minmax = scene.getColdHot(); // used in linearStackToColor (from this current scene)
-		  int width = getTileProcessor().getTilesX() *getTileProcessor().getTileSize(); 
+//		  int width = getTileProcessor().getTilesX() *getTileProcessor().getTileSize(); 
 		  int height = data.length/width;
 		  String set_name = getImageName();
 		  if (set_name == null ) {
@@ -15207,7 +15493,7 @@ public class QuadCLTCPU {
 	  }
 	  
 	  
-	  
+	/** broke  
 	  public boolean writeRatingFile( // USED in lwir
 			  int debugLevel
 			  )
@@ -15234,7 +15520,7 @@ public class QuadCLTCPU {
 		  List<String> lines = Arrays.asList(correctionsParameters.default_rating+"");
 		  Path path = Paths.get(fname);
 		  try {
-			  Files.write(path,lines, Charset.forName("UTF-8"));
+			  Files.write(path,lines); // , Charset.forName("UTF-8"));
 		  } catch (IOException e1) {
 			  // TODO Auto-generated catch block
 			  e1.printStackTrace();
@@ -15252,7 +15538,8 @@ public class QuadCLTCPU {
 		  }
 		  return true;
 	  }
-	  
+
+	  */
 	  public void setPassAvgRBGA( // get image from a single pass, return relative path for x3d // USED in lwir
 			  CLTParameters           clt_parameters,
 			  int        scanIndex,

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

@@ -40,6 +40,7 @@ import com.elphel.imagej.common.ShowDoubleFloatArrays;
 import com.elphel.imagej.correction.EyesisCorrections;
 import com.elphel.imagej.gpu.TpTask;
 import com.elphel.imagej.x3d.export.GlTfExport;
+import com.elphel.imagej.x3d.export.Render3D;
 import com.elphel.imagej.x3d.export.TriMesh;
 import com.elphel.imagej.x3d.export.WavefrontExport;
 import com.elphel.imagej.x3d.export.X3dOutput;
@@ -2450,6 +2451,7 @@ public class TexturedModel {
 			final boolean                            updateStatus,
 			final int                                debugLevel)
 	{
+		final boolean render_hdr =        true; //false; // true; // generate textures w/o normalization to generate undistorted 
 		final boolean batch_mode =        clt_parameters.multiseq_run; // batch_run;
 		final boolean gltf_emissive =     clt_parameters.gltf_emissive;
 		final boolean use_alpha_blend =   clt_parameters.gltf_alpha_blend;
@@ -2695,6 +2697,7 @@ public class TexturedModel {
 			scenes_sel[i] = true;
 		}
 
+		double [][][][] lin_text0 = render_hdr ? new double [1][][][] : null;
 
 		double[][][] faded_textures = getInterCombinedTextures( // return ImagePlus[] matching tileClusters[], with alpha
 				clt_parameters,      // final CLTParameters  clt_parameters,
@@ -2708,7 +2711,18 @@ public class TexturedModel {
 				renormalize,         // final boolean        re-normalize,  // false - use normalizations from previous scenes to keep consistent colors
 				max_disparity_lim,   // final double         max_disparity_lim,   //  100.0;  // do not allow stray disparities above this
 				min_trim_disparity,  // final double         min_trim_disparity,  //  2.0;  // do not try to trim texture outlines with lower disparities
+				lin_text0, // 			final double [][][][] lin_textures, // null or [1][][][] to return non-normalized textures
 				debugLevel);         // final int            debug_level)
+		double [][][] lin_textures = (lin_text0 != null) ? lin_text0[0] : null;
+		if (no_alpha && (lin_textures!= null)){
+			for (int nslice = 0; nslice < lin_textures.length; nslice++) {
+				int nalpha = lin_textures[nslice].length-1;
+				for (int i = 0; i < lin_textures[nslice][nalpha].length ; i++) {
+					lin_textures[nslice][nalpha][i] = Double.isNaN(lin_textures[nslice][0][i])? 0.0: 1.0;
+				}
+			}
+		}
+		
 		ImagePlus[] combined_textures = getInterCombinedTextures( // return ImagePlus[] matching tileClusters[], with alpha
 				clt_parameters,      // final CLTParameters  clt_parameters,
 				no_alpha,            // final boolean        no_alpha,
@@ -2875,7 +2889,7 @@ public class TexturedModel {
 				}
 				//				String texturePath = imp_texture_cluster.getTitle()+".png";
 				String texturePath = imp_texture_cluster.getOriginalFileInfo().fileName;
-
+				int lin_width =      imp_texture_cluster.getWidth();
 				double [] scan_disparity = tileClusters[nslice].getSubDisparity(sub_i); // limited to cluster bounds
 				boolean [] scan_selected = tileClusters[nslice].getSubSelected(sub_i); // limited to cluster bounds
 				int [] scan_border_int =   tileClusters[nslice].getSubBorderInt(sub_i); // limited to cluster bounds
@@ -2927,6 +2941,8 @@ public class TexturedModel {
 								wfOutput,               // output WSavefront if not null
 								tri_meshes,             // ArrayList<TriMesh> tri_meshes,
 								texturePath,
+								(lin_textures == null) ? null: lin_textures[nslice], //			  double [][]        lin_texture,        // null or rendering rectilinear hdr image
+								lin_width, // int                lin_width,
 								"shape_id-"+cluster_index, // id
 								null,                   // class
 								roi,                    // scan.getTextureBounds(),
@@ -2963,7 +2979,90 @@ public class TexturedModel {
 			}
 			// if (imp_textures[nslice] != null)
 		} // for (int nslice = 0; nslice < tileClusters.length; nslice++){
-
+		if (render_hdr) {
+    		boolean   use_lma =         true;  // ;
+    		double    discard_low =     0.01;  // fraction of all pixels
+    		double    discard_high =    0.5;   // fraction of all pixels
+    		double    discard_adisp =   0.2;   // discard above/below this fraction of average height 
+    		double    discard_rdisp =   0.02;  // discard above/below this fraction of average height
+    		double    pix_size =        0.005; // hdr_x0y0,       // in meters
+    		int       max_image_width = 3200;  // increase pixel size as a power of 2 until image fits
+    		boolean   crop_empty =      true;
+    		int       crop_extra =      20;
+    		int [] tex_pals = {0,1,2};
+
+    		int tex_palette_start = 0; 
+    		int tex_palette_end =  12; 
+			int []    hdr_whs = new int[3];
+			double [] hdr_x0y0 = new double[2];		
+			double [][] to_ground_xyxatr = scenes[ref_index].getGround(
+					use_lma,         // boolean use_lma,
+					discard_low,     // double discard_low,    // fraction of all pixels
+					discard_high,    // double discard_high,   // fraction of all pixels
+					discard_adisp,   // double discard_adisp,  // discard above/below this fraction of average height 
+					discard_rdisp,   // double discard_rdisp   // discard above/below this fraction of average height
+					pix_size,        // double pix_size,       // in meters
+					max_image_width, // int    max_image_width // increase pixel size as a power of 2 until image fits
+		    		hdr_x0y0,        // double [] x0y0,        // initialize to double[2] to return width, height
+		    		hdr_whs,         // int [] whs,            // initialize to int[3] to return {width, height, scale reduction}
+		    		debugLevel);     // int debug_level
+			
+			Render3D render3D = new Render3D (
+					//x3d_dir,               // String x3d_dir,
+					//ref_scene.correctionsParameters.getModelName(ref_scene.getImageName()), // String model_name,
+					scenes[ref_index],     // QuadCLT      ref_scene,    // all coordinates relative to this scene
+					to_ground_xyxatr,      // double [][]  plane_xyzatr, // projection plane center relative to reference scene
+					pix_size * hdr_whs[2], // double       pixel_size,   // in meters
+					hdr_x0y0,              // double []    x0_y0,        // usually negative - top-left point of the output render
+					hdr_whs[0],            // int          out_width,    // output rendered image width in pixels
+					hdr_whs[1]);           // int          out_height);   // output rendered image height in pixels
+			boolean            last_is_alpha = true; // last channel in textures slices is alpha
+			double [][] full_render =render3D.render3dPlane(
+					tri_meshes,            // final ArrayList<TriMesh> tri_meshes,
+					last_is_alpha,         // final boolean            last_is_alpha,
+					scenes[ref_index],     //final QuadCLT            ref_scene,    // all coordinates relative to this scene
+					debugLevel);           //int                      debugLevel)
+//			String model_name = ref_scene.correctionsParameters.getModelName(ref_scene.getImageName());
+			String suffix ="-RECT"; 
+			if (clt_parameters.tex_um) {
+				suffix+="-UM"+(clt_parameters.tex_um_sigma)+"_"+(clt_parameters.tex_um_weight);
+			}
+			suffix +="-PIX"+pix_size * hdr_whs[2];
+			scenes[ref_index].saveDoubleArrayInModelDirectory(
+					suffix+"-FULL", // String      suffix,
+					null, // String []   labels, // or null
+					full_render, // double [][] data,
+					hdr_whs[0], // int            width, // int tilesX,
+					hdr_whs[1]); // int            height, // int tilesY,
+	        if (crop_empty || (crop_extra > 0)) {
+	        	int []  wh = new int[2];
+	        	double [][] img_cropped = Render3D.cropRectified(
+	        			crop_empty,    // boolean crop_empty,
+	        			last_is_alpha, // boolean last_is_alpha,
+	        			crop_extra,    // int     crop_extra,
+	        			hdr_whs[0],    // int     width,
+	        			wh,            // int []  wh, // should be initialized to int [2]
+	        			full_render);  // double [][] img_src) 
+				scenes[ref_index].saveDoubleArrayInModelDirectory(
+						suffix+"-CROP", // String      suffix,
+						null,           // String []   labels, // or null
+						img_cropped,    // double [][] data,
+						wh[0],          // int            width, // int tilesX,
+						wh[1]);         // int            height, // int tilesY,
+//				for (int tex_palette = tex_palette_start; tex_palette <= tex_palette_end; tex_palette++) {
+				for (int tex_palette: tex_pals) {
+				scenes[ref_index].writeLwirPreview(
+						clt_parameters, // final CLTParameters  clt_parameters,
+						img_cropped[0], // double []            data,
+						wh[0],          // int            width, // int tilesX,
+						null, // QuadCLT              scene,
+						tex_palette, // int                  tex_palette,
+						suffix+"-CROP"+"-PAL"+tex_palette, // +tex_palette, // String               suffix,
+						debugLevel); // int                  debugLevel)
+				}
+	        }
+		}
+		
 		if (dbg_mesh_imgs != null) {
 			ShowDoubleFloatArrays.showArrays(
 					dbg_mesh_imgs,
@@ -3045,9 +3144,8 @@ public class TexturedModel {
 			System.out.println("**** output3d(): likely a bug (not copied?), temporary fix ***");
 			correctionsParameters.use_set_dirs = true; 
 		}
-
 		ref_scene.writeKml        (null, debugLevel);
-		ref_scene.writeRatingFile (debugLevel);
+///		ref_scene.writeRatingFile (debugLevel); broke
 		Runtime.getRuntime().gc();
 		System.out.println("output3d(): generating 3d output files  finished at "+
 				IJ.d2s(0.000000001*(System.nanoTime()-startStepTime),3)+" sec, --- Free memory25="+Runtime.getRuntime().freeMemory()+" (of "+Runtime.getRuntime().totalMemory()+")");
@@ -6992,6 +7090,7 @@ public class TexturedModel {
 			final boolean        renormalize,
 			final double         max_disparity_lim,
 			final double         min_trim_disparity,
+			final double [][][][] lin_textures, // null or [1][][][] to return non-normalized textures
 			final int            debugLevel)
 	{
 		// TODO: ***** scenes with high motion blur also have high ERS to be corrected ! *****
@@ -7386,7 +7485,20 @@ public class TexturedModel {
 					tex_um_sigma,            // final double um_sigma,
 					tex_um_weight);          // final double um_weight)
 		}
-
+		if (lin_textures != null) {
+			// duplicate texture before normalization
+			lin_textures[0] = new double [faded_textures.length][][];
+			for (int slice = 0; slice < faded_textures.length; slice++) { // slices
+				if (faded_textures[slice] != null) {
+					lin_textures[0][slice] = new double[faded_textures[slice].length][];
+					for (int chn = 0; chn < faded_textures[slice].length; chn++) {
+						if (faded_textures[slice][chn] != null) {
+							lin_textures[0][slice][chn] = faded_textures[slice][chn].clone(); 
+						}
+					}
+				}
+			}
+		}
 		if (save_interm_textures || save_um_texture0) {
 			double [][] dbg_textures = new double [faded_textures.length * faded_textures[0].length][faded_textures[0][0].length];
 			String [] dbg_titles = new String[dbg_textures.length];
@@ -7508,7 +7620,7 @@ public class TexturedModel {
 			double [] inverted_table = QuadCLTCPU.invertHistogramNormalization(
 					norm_table, // double [] direct_table, // last is <1.0, first > 0
 					tex_hist_bins); //  int       num_bins)
-			QuadCLTCPU.applyTexturesNormHist(
+			QuadCLTCPU.applyTexturesNormHist( // does not modify alpha if any
 					hist_ignore_alpha, // final boolean       ignore_alpha
 					faded_textures,    // final double [][][] textures, //  [nslices][nchn][i]
 					cold_hot,          // final double []     min_max,
@@ -7527,7 +7639,7 @@ public class TexturedModel {
 				dbg_titles[i] = dbg_subtitles[i % dbg_subtitles.length] + "-" + (i / dbg_subtitles.length);
 			}
 			if (save_preview) {
-				ref_scene.writePreview( // may movbe to different (earlier) stage of processing, (search for "-combined_textures")
+				ref_scene.writePreview( // may move to different (earlier) stage of processing, (search for "-combined_textures")
 						dbg_textures[0], // double [] data,
 						debugLevel); // int debugLevel
 // Trying different palettes				

src/main/java/com/elphel/imagej/x3d/export/Render3D.java

+/**
+ ** Render3D - render 3D view to the specified plane
+ **
+ ** Copyright (C) 2023 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  Render3D.java is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ ** -----------------------------------------------------------------------------**
+ **
+ */
+package com.elphel.imagej.x3d.export;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.concurrent.atomic.AtomicInteger;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
+import org.apache.commons.math3.util.FastMath;
+
+import com.elphel.imagej.tileprocessor.ErsCorrection;
+import com.elphel.imagej.tileprocessor.ImageDtt;
+import com.elphel.imagej.tileprocessor.QuadCLT;
+
+public class Render3D {
+	static final int  THREADS_MAX = 100;  // maximal number of threads to launch
+	static double []  ZERO3 = new double[3];
+	final double [][] toground;
+	final double [][] tocam;
+	final QuadCLT     ref_scene;
+	final double      pixel_per_m;  // pixels per meter
+	final int         out_width;    // output rendered image width in pixels
+	final int         out_height;   // output rendered image height in pixels
+//	final String      x3d_dir;
+//	final String      model_name;
+	final Vector3D    ground_origin;
+	final Vector3D    ground_x;
+	final Vector3D    ground_y;
+	final Vector3D    ground_normal;
+	final Vector3D    ground_normal_unit;
+	final double      above_ground;
+	final double []   xy_offs;
+
+	
+	public Render3D (
+//			String       x3d_dir,
+//			String       model_name,
+			QuadCLT      ref_scene,    // all coordinates relative to this scene
+			double [][]  toground, // projection plane center relative to reference scene
+			double       pixel_size,   // in meters
+			double []    x0_y0,        // usually negative - top-left point of the output render
+			int          out_width,    // output rendered image width in pixels
+			int          out_height){   // output rendered image height in pixels
+//		this.x3d_dir = x3d_dir;
+//		this.model_name = model_name;
+		this.ref_scene =  ref_scene;
+		this.pixel_per_m = 1.0 / pixel_size; 
+		this.out_width =  out_width; 
+		this.out_height = out_height; 
+		this.toground = toground;
+		this.tocam = ErsCorrection.invertXYZATR(this.toground);
+//		double [][] test1 = ErsCorrection.invertXYZATR(this.tocam); //OK
+//		double [][] test2 = ErsCorrection.invertXYZATR(test1); // OK
+		// ground plane x0, y0 in camera coordinates
+		ground_origin = new Vector3D(ErsCorrection.applyXYZATR(tocam, new double [] {x0_y0[0],      x0_y0[1],     0.0}));
+		Vector3D v3x1 = new Vector3D(ErsCorrection.applyXYZATR(tocam, new double [] {x0_y0[0] + 1.0,x0_y0[1],     0.0}));
+		Vector3D v3y1 = new Vector3D(ErsCorrection.applyXYZATR(tocam, new double [] {x0_y0[0],      x0_y0[1]+1.0, 0.0}));
+		ground_x = v3x1.subtract(this.ground_origin).normalize(); // unity in plane X direction
+		ground_y = v3y1.subtract(this.ground_origin).normalize(); // unity in plane Y direction
+		ground_normal = ground_origin.subtract(
+				ground_x.scalarMultiply(ground_origin.dotProduct(ground_x))).subtract(
+						ground_y.scalarMultiply(ground_origin.dotProduct(ground_y)));
+		ground_normal_unit = ground_normal.normalize(); // unitary vector normal and away from the ground plane
+		above_ground = ground_normal.getNorm();
+		xy_offs = new double[] {ground_x.dotProduct(ground_origin), ground_y.dotProduct(ground_origin)};
+//		double [] test_gp=projectToPlanePixels(ground_origin);
+	}
+	
+	public double [] projectToPlaneLinear(Vector3D v3) { // get ground place pixel coordinate from camera x,y,z
+		double   z =        ground_normal_unit.dotProduct(v3);
+		Vector3D in_plane = v3.scalarMultiply(above_ground/z);
+		double [] xy = new double[3];
+		xy[0] = ground_x.dotProduct(in_plane) - xy_offs[0]; 
+		xy[1] = ground_y.dotProduct(in_plane) - xy_offs[1];
+		xy[2] = z; 
+		return xy;
+	}
+	
+	public double [] projectToPlanePixels(Vector3D v3) { // get ground place pixel coordinate from camera x,y,z
+		double   z =        ground_normal_unit.dotProduct(v3);
+		Vector3D in_plane = v3.scalarMultiply(above_ground/z);
+		double [] xy = new double[3];
+		xy[0] = pixel_per_m * (ground_x.dotProduct(in_plane) - xy_offs[0]); 
+		xy[1] = pixel_per_m * (ground_y.dotProduct(in_plane) - xy_offs[1]); 
+		xy[2] = pixel_per_m * z; // positive distance from the camera in pixels (same linear scale)
+		return xy;
+	}
+	public static double cross2 (double [] v1, double [] v2) {
+		return v1[0]*v2[1]-v1[1]*v2[0];
+	}
+	public static boolean cross2ccw (double [] v1, double [] v2) {
+		return (v1[0]*v2[1]-v1[1]*v2[0]) > 0;
+	}
+
+	public static double dot2 (double [] v1, double [] v2) {
+		return v1[0]*v2[0]+v1[1]*v2[1];
+	}
+	public static double [] normalize2 (double [] v) {
+		double l = FastMath.sqrt (v[0] * v[0] + v[1]*v[1]);
+		return new double[] {v[0]/l,v[1]/l};
+	}
+	
+	public static double [] orthonormSingle2(double [] v1, double [] v2) {
+		double p11 = dot2(v1, v1);
+		double p12 = dot2(v1, v2);
+		double p22 = dot2(v2, v2);
+		double k = p12/p11;
+		double a =  p11/(p22*p11 - p12 * p12);
+		return new double[] {a * (v2[0] - v1[0]*k),a * (v2[1] - v1[1]*k)}; 
+	}
+	
+	/**
+	 *  p = v1 * (orthonorm2(v1,v2)[0]).dot(p)) + v2 * (orthonorm2(v1,v2)[1]).dot(p))
+	 * @param v1
+	 * @param v2
+	 * @return
+	 */
+	public static double [][] orthonorm2(double [] v1, double [] v2) {
+		return new double [][] {orthonormSingle2(v2,v1), orthonormSingle2(v1,v2)};
+	}
+	
+	public static double [][] cropRectified(
+			boolean crop_empty,
+			boolean last_is_alpha,
+			int     crop_extra,
+			int     width,
+			int []  wh, // should be initialized to int [2]
+			double [][] img_src){
+		int height = img_src[0].length/width;
+		int indx_alpha = img_src.length - 1;
+		int marg_top=0,marg_left=0,marg_bottom=0,marg_right=0;
+		if (crop_empty) {
+			int [][] xy_min_max= null; // new int[2][2];
+			for (int iy = 0; iy<height; iy++) {
+				for (int ix=0; ix<width; ix++) {
+					int indx=iy * width +ix;
+					if (last_is_alpha? (img_src[indx_alpha][indx] > 0.0) : !Double.isNaN(img_src[0][indx])) {
+						if (xy_min_max == null) {
+							xy_min_max=new int [][] {{ix,ix},{iy,iy}};
+						} else {
+							if      (ix < xy_min_max[0][0]) xy_min_max[0][0] = ix;
+							else if (ix > xy_min_max[0][1]) xy_min_max[0][1] = ix;
+							if      (iy < xy_min_max[1][0]) xy_min_max[1][0] = iy;
+							else if (iy > xy_min_max[1][1]) xy_min_max[1][1] = iy;
+						}
+					}
+				}
+			}
+			marg_top =  xy_min_max[1][0];
+			marg_left = xy_min_max[0][0];
+			marg_bottom = height - 1 - xy_min_max[1][1]; 
+			marg_right =  width -  1 - xy_min_max[0][1]; 
+		}
+		marg_top +=     crop_extra;
+		marg_left +=    crop_extra;
+		marg_bottom +=  crop_extra; 
+		marg_right +=   crop_extra;
+		int out_width =  width - marg_left - marg_right;
+		int out_height = height - marg_top - marg_bottom;
+		wh[0] = out_width;
+		wh[1] = out_height;
+		double [][] img_cropped = new double [img_src.length][out_width*out_height];
+		for (int row = 0; row < out_height; row++) {
+			for (int chn = 0; chn < img_cropped.length; chn++) {
+				System.arraycopy(
+						img_src[chn],
+						(row + marg_top) * width + marg_left,
+						img_cropped[chn],
+						row * out_width ,
+						out_width);
+			}
+		}
+		return img_cropped;
+	}
+	
+	public  double [][] render3dPlane(
+			final ArrayList<TriMesh> tri_meshes,
+			final boolean            last_is_alpha,
+			final QuadCLT            ref_scene,    // all coordinates relative to this scene
+			int                      debugLevel){  // debug level
+		// TODO: add crop - add to the caller
+		if ((tri_meshes == null) || tri_meshes.isEmpty() || (tri_meshes.get(0).getTexturePixels() == null)) {
+			return null;
+		}
+		// get total number of triangles
+		int num_tri=0;
+		for (TriMesh tri: tri_meshes) {
+			num_tri += tri.getTriangles().length;
+		}
+		int indx=0;
+		int num_mesh = 0;
+		final int [][] tri_index = new int[num_tri][2];
+		for (TriMesh tri: tri_meshes) {
+			int num_tri_mesh = tri.getTriangles().length;
+			for (int i = 0; i < num_tri_mesh; i++)
+			{
+				tri_index[indx][0] =   num_mesh;
+				tri_index[indx++][1] = i;
+			}
+			num_mesh++;
+		}
+		if (debugLevel > -2) {
+			System.out.println("Prepare to render "+num_tri+" triangles in "+num_mesh+" meshes");
+		}
+		final int z_index = tri_meshes.get(0).getTexturePixels().length;
+		final double [][] full_rendered = new double[z_index][out_width * out_height];
+		int alpha_index = last_is_alpha ? (z_index - 1) : z_index;
+		for (int chn = 0; chn < alpha_index; chn++) {
+			Arrays.fill(full_rendered[chn], Double.NaN);
+		}
+		// create z-buffer array per each thread, in the end - merge them
+		final Thread[] threads = ImageDtt.newThreadArray(THREADS_MAX);
+		final AtomicInteger ai = new AtomicInteger(0);
+		final AtomicInteger ati = new AtomicInteger(0);
+		final double [][][] rendered = new double [threads.length][full_rendered[0].length][];
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					int ti = ati.getAndIncrement();
+					double [][] rend = rendered[ti]; // this thread rendered results
+					for (int indx = ai.getAndIncrement(); indx < tri_index.length; indx = ai.getAndIncrement()) {
+						TriMesh tri=tri_meshes.get(tri_index[indx][0]); // mesh to process;
+						int tri_indx = tri_index[indx][1]; // triangle index in a mesh
+						double [][] texture =       tri.getTexturePixels();
+						int texture_width=          tri.getTextureWidth();
+						int texture_height=         tri.getTextureHeight();
+						double[][] mesh_coord =     tri.getCoordinates();
+						double[][] mesh_tex_coord = tri.getTexCoord();
+						int [] triangle = tri.getTriangles()[tri_indx];
+						double [][] tri_out2=  new double[3][];
+						double [][] tri_text2= new double[3][];
+						double [][] min_max_xyz = new double[3][2];
+						for (int i = 0; i < 3; i++) {
+							tri_out2[i] =  projectToPlanePixels(new Vector3D(mesh_coord[triangle[i]]));
+							//[2] - distance from the camera in "pixels" - same linear scale as on the ground. lower values obscure higher.
+							tri_text2[i] = mesh_tex_coord[triangle[i]];
+							for (int j = 0; j < 3; j++) {
+								if ((i==0) || (tri_out2[i][j] < min_max_xyz[j][0])) min_max_xyz[j][0] = tri_out2[i][j]; 
+								if ((i==0) || (tri_out2[i][j] > min_max_xyz[j][1])) min_max_xyz[j][1] = tri_out2[i][j]; 
+							}
+						}
+						// Check plane direction
+						double [] d01 = new double [] {tri_out2[1][0]-tri_out2[0][0], tri_out2[1][1]-tri_out2[0][1]};
+						double [] d02 = new double [] {tri_out2[2][0]-tri_out2[0][0], tri_out2[2][1]-tri_out2[0][1]};
+						if (!cross2ccw(d02,d01)) {
+							continue;
+						}
+						
+						int ipx_min = (int) Math.floor(min_max_xyz[0][0]);
+						int ipx_max = (int) Math.ceil (min_max_xyz[0][1]);
+						int ipy_min = (int) Math.floor(min_max_xyz[1][0]);
+						int ipy_max = (int) Math.ceil (min_max_xyz[1][1]);
+						// apply bounds
+						if (ipx_min < 0) ipx_min = 0;
+						if (ipy_min < 0) ipy_min = 0;
+						if (ipx_max >= out_width) ipx_max = out_width - 1;
+						if (ipy_max >= out_height) ipy_max = out_height - 1;
+						if ((ipx_min > ipx_max) || (ipy_min > ipy_max)) {
+							continue; // triangle completely outside rendering are
+						}
+						// vector from 1 to 2
+						double [] t01 = new double [] {tri_text2[1][0]-tri_text2[0][0], tri_text2[1][1]-tri_text2[0][1]};
+						double [] t02 = new double [] {tri_text2[2][0]-tri_text2[0][0], tri_text2[2][1]-tri_text2[0][1]};
+						double [][] orto2 = orthonorm2(d01, d02);
+						double [] d12 = new double [] {tri_out2[2][0]-tri_out2[1][0], tri_out2[2][1]-tri_out2[1][1]};
+						for (int ipy = ipy_min; ipy <= ipy_max; ipy++) {
+							for (int ipx = ipx_min; ipx <= ipx_max; ipx++) {
+								// check it is inside triangle
+								double [] d0p = new double[] {ipx-tri_out2[0][0],ipy-tri_out2[0][1]};
+								if (!cross2ccw(d0p,d01)) continue; 
+								if (!cross2ccw(d02,d0p)) continue; 
+								double [] d1p = new double[] {ipx-tri_out2[1][0],ipy-tri_out2[1][1]};
+								if (!cross2ccw(d1p,d12)) continue;
+//
+								int ipix = ipx +(out_height - 1 -ipy) * out_width; // Y goes down
+								// See if the rendered pixel is closer than the closest of the corners
+								if ((rend[ipix] != null ) && (rend[ipix][z_index] < min_max_xyz[2][0])) {
+									continue; 
+								}
+								double kx = dot2(d0p, orto2[0]);
+								double ky = dot2(d0p, orto2[1]);
+								// interpolate z
+
+								double z_interp = tri_out2[0][2] + kx * (tri_out2[1][2]-tri_out2[0][2]) + ky*(tri_out2[1][2]-tri_out2[0][2]);
+								if ((rend[ipix] != null ) && (rend[ipix][z_index] < z_interp)) {
+									continue;
+								}
+								
+								// Get corresponding texture coordinates
+								double text_x = tri_text2[0][0] + kx * t01[0] + ky*t02[0]; // texture relative coordinates (0,1)
+								double text_y = tri_text2[0][1] + kx * t01[1] + ky*t02[1]; // y - up!
+								double px = text_x * texture_width - 0.5; // (0.0,0.0) - center of top-left texture pixel
+								double py = (1.0-text_y) * texture_height -0.5;
+								int ipx0 = (int) Math.floor(px);
+								int ipy0 = (int) Math.floor(py);
+								double fx = px - ipx0;
+								double fy = py - ipy0;
+								int ipx1 = ipx0+1;
+								int ipy1 = ipy0+1;
+								if ((ipx1 < 0) || (ipy1 < 0) || (ipx0 >= texture_width) || (ipy0 >= texture_width)) {
+									continue; // outside bounds
+								}
+								// limit if just on the edge
+								if (ipx0 < 0) ipx0=ipx1;
+								if (ipy0 < 0) ipy0=ipy1;
+								if (ipx1 >= texture_width)  ipx1=ipx0;
+								if (ipy1 >= texture_height) ipy1=ipy0;
+								int indx00 = ipx0+texture_width*ipy0;
+								int indx10 = ipx1+texture_width*ipy0;
+								int indx01 = ipx0+texture_width*ipy1;
+								int indx11 = ipx1+texture_width*ipy1;
+								double [] pix_val = new double[z_index+1];
+								pix_val[z_index] = z_interp;
+								for (int chn = 0; chn < z_index; chn++) {
+									pix_val[chn] =
+											(1.0 - fy) * (1.0 - fx) * texture[chn][indx00] + 
+											(1.0 - fy) * (      fx) * texture[chn][indx10] + 
+											(      fy) * (1.0 - fx) * texture[chn][indx01] + 
+											(      fy) * (      fx) * texture[chn][indx11]; 
+								}
+								// handle alpha
+								if (last_is_alpha && (pix_val[z_index-1] < 0.5)) {
+									continue; // low alpha -> transparent
+								}
+								rend[ipix] = pix_val;
+							}
+						}
+						// min_max_xyz[2]
+						//num_col_chn
+						// projectToPlanePixels
+						// getCoordinates()
+						//getTexCoord()
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		// merge partial renders:
+		ai.set(0);
+		for (int ithread = 0; ithread < threads.length; ithread++) {
+			threads[ithread] = new Thread() {
+				public void run() {
+					for (int indx = ai.getAndIncrement(); indx < full_rendered[0].length; indx = ai.getAndIncrement()) {
+						double z = Double.NaN;
+						for (int sub_render = 0; sub_render < rendered.length; sub_render++) if (rendered[sub_render][indx] != null){
+							if (!(rendered[sub_render][indx][z_index] <= z)) { // OK previous NaN
+								z = rendered[sub_render][indx][z_index];
+								for (int chn = 0; chn < z_index; chn++) {
+									full_rendered[chn][indx] = rendered[sub_render][indx][chn];
+								}
+							}
+						}
+					}
+				}
+			};
+		}		      
+		ImageDtt.startAndJoin(threads);
+		return full_rendered;
+	}
+}

src/main/java/com/elphel/imagej/x3d/export/TriMesh.java

@@ -51,21 +51,37 @@ public class TriMesh {
 			{{0,0},{1,0},{ 1,1}}};// TRI_RIGHT_DOWN 
 	
 	public String texture_image;
+	public double [][] texture_pixels=null;       // alternative texture representation [chn][pix]
+	public int         texture_width;             // texture width when provided as an array
 	public double [][] worldXYZ;
 	public double [][] texCoord;
 	public int [][]    triangles;
 	public TriMesh (
 			String texture_image,
+			double [][] texture_pixels,
+			int         texture_width,
 			double [][] worldXYZ,
 			double [][] texCoord,
 			int [][] triangles) {
-		this.texture_image = texture_image;
+		this.texture_image =  texture_image;
+		this.texture_pixels = texture_pixels;
+		this.texture_width =  texture_width;
 		this.worldXYZ = worldXYZ;
 		this.texCoord = texCoord;
-		this.triangles = triangles;
+		this.triangles = (triangles!=null) ? triangles :new int[0][]; // maybe not needed?
 	}
 	public String getImage() {return texture_image;}
 	int [][] getTriangles()  {return triangles;}
+	
+	public double [][] getTexturePixels(){
+		return texture_pixels;
+	}
+	public int getTextureWidth() {
+		return texture_width;
+	}
+	public int getTextureHeight() {
+		return texture_pixels[0].length/texture_width;
+	}
 	double [][] getTexCoord() {
 		return texCoord;
 	}
@@ -2276,6 +2292,8 @@ public class TriMesh {
 		  if (tri_meshes != null) {
 			  tri_meshes.add(new TriMesh(
 					  texturePath, // String texture_image,
+					  null,        // double [][] texture_pixels,
+					  0,           // lin_width, // int         texture_width,
 					  worldXYZ,    // double [][] worldXYZ,
 					  texCoord,    // double [][] texCoord,
 					  triangles)); // int [][] triangles					  
@@ -2293,6 +2311,8 @@ public class TriMesh {
 			  WavefrontExport    wfOutput,           // output WSavefront if not null
 			  ArrayList<TriMesh> tri_meshes,
 			  String             texturePath,
+			  double [][]        lin_texture,        // null or rendering rectilinear hdr image
+			  int                lin_width,
 			  String             id,
 			  String             class_name,
 			  Rectangle          bounds,
@@ -2503,6 +2523,8 @@ public class TriMesh {
 		  if (tri_meshes != null) {
 			  tri_meshes.add(new TriMesh(
 					  texturePath, // String texture_image,
+					  lin_texture, // double [][] texture_pixels,
+					  lin_width, // int         texture_width,
 					  worldXYZ,    // double [][] worldXYZ,
 					  texCoord,    // double [][] texCoord,
 					  triangles)); // int [][] triangles