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/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_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