diff --git a/src/ofxTriangulate.cpp b/src/ofxTriangulate.cpp
index 4ad4f7b..6110f9a 100644
--- a/src/ofxTriangulate.cpp
+++ b/src/ofxTriangulate.cpp
@@ -10,7 +10,8 @@
 using namespace ofxRay;
 using namespace ofxGraycode;
 
-void ofxTriangulate::Triangulate(DataSet data, Camera camera, Projector projector, ofMesh & mesh, float maxLength) {
+//--------
+void ofxTriangulate::Triangulate(DataSet data, Camera camera, Projector projector, ofMesh & mesh, float maxLength, bool giveColor, bool giveTexCoord) {
 	
 	mesh.clear();
 	float maxLength2=maxLength*maxLength;
@@ -19,27 +20,50 @@ void ofxTriangulate::Triangulate(DataSet data, Camera camera, Projector projecto
 	for (it = data.begin(); it != data.end(); ++it) {
 		DataSet::const_iterator::reference r = *it;
 		if ((*it).active) {
-			
 			ofVec2f camXY = r.getCameraXYNorm();
 			ofVec2f projXY = r.getProjectorXYNorm();
 			
+			camXY = camera.undistortCoordinate(camXY);
+			
 			Ray cray = camera.castCoordinate(camXY);
 			Ray pray = projector.castCoordinate(projXY);
 			Ray intersect = cray.intersect(pray);
 			
-			if (intersect.getLengthSquared() > maxLength2){
+			const auto lengthSquared = intersect.getLengthSquared();
+			if (lengthSquared > maxLength2){
 				continue;
 			}
-			//ofVec3f xyz = intersect.getMidpoint();
-			ofVec3f xyz = intersect.s;
+			ofVec3f xyz = intersect.getMidpoint();
 			
 			mesh.addVertex(xyz);
-			mesh.addTexCoord(camXY);
-			mesh.addColor(ofFloatColor(projXY.x, projXY.y, 0.0f));
+			
+			if (giveColor) {
+				mesh.addColor(ofFloatColor(projXY.x, projXY.y, 0.0f));
+			}
+			
+			if (giveTexCoord) {
+				mesh.addTexCoord(camXY);
+			}
 		}
 	}
 }
+//--------
+bool ofxTriangulate::Triangulate(int cameraPixelIndex, int projectorPixelIndex, const ofxRay::Camera& camera, const ofxRay::Projector& projector, ofVec3f& worldXYZResult, float maxLength) {
+	const ofVec2f cameraCoordinate = camera.getCoordinateFromIndex(cameraPixelIndex);
+	const ofVec2f projectorCoordinate = projector.getCoordinateFromIndex(projectorPixelIndex);
+	Ray cameraRay = camera.castCoordinate(cameraCoordinate);
+	Ray projectorRay = projector.castCoordinate(projectorCoordinate);
+	Ray intersect = cameraRay.intersect(projectorRay);
+	
+	if (intersect.getLength() <= maxLength) {
+		worldXYZResult = intersect.getMidpoint();
+		return true;
+	} else {
+		return false;
+	}
+}
 
+//--------
 void ofxTriangulate::Triangulate(DataSet data1, DataSet data2, Camera & camera1, Camera & camera2, ofMesh & mesh, float maxLength){
 	mesh.clear();
 	float maxLength2=maxLength*maxLength;
@@ -55,10 +79,11 @@ void ofxTriangulate::Triangulate(DataSet data1, DataSet data2, Camera & camera1,
 	}
 }
 
+//--------
 ofVec3f ofxTriangulate::Triangulate(int cam1PixelIndex, int cam2PixelIndex, Camera & camera1, Camera & camera2) {
 
-	ofVec2f cam1XYNorm = camera1.getNormFromIndex(cam1PixelIndex);
-	ofVec2f cam2XYNorm = camera2.getNormFromIndex(cam2PixelIndex);
+	ofVec2f cam1XYNorm = camera1.getCoordinateFromIndex(cam1PixelIndex);
+	ofVec2f cam2XYNorm = camera2.getCoordinateFromIndex(cam2PixelIndex);
 	ofxRay::Ray cray1 = camera1.castCoordinate(cam1XYNorm);
 	ofxRay::Ray cray2 = camera2.castCoordinate(cam2XYNorm);
 	ofxRay::Ray intersect = cray1.intersect(cray2);
diff --git a/src/ofxTriangulate.h b/src/ofxTriangulate.h
index 241656c..fdea438 100644
--- a/src/ofxTriangulate.h
+++ b/src/ofxTriangulate.h
@@ -16,7 +16,16 @@
 
 class ofxTriangulate {
 public:
-	static void Triangulate(ofxGraycode::DataSet, ofxRay::Camera, ofxRay::Projector, ofMesh & mesh, float maxLength);
+	
+	///1 x Camera, 1 x Projector. Triangulate an ofxGraycode::DataSet
+	static void Triangulate(ofxGraycode::DataSet, ofxRay::Camera, ofxRay::Projector, ofMesh & mesh, float maxLength = std::numeric_limits<float>::max(), bool giveColor=true, bool giveTexCoord=true);
+	
+	///1 x Camera, 1 x Projector. Triangulate an individual point
+	static bool Triangulate(int cameraPixelIndex, int projectorPixelIndex, const ofxRay::Camera&, const ofxRay::Projector&, ofVec3f& worldXYZResult, float maxLength = std::numeric_limits<float>::max());
+	
+	///2 x Camera. Triangulate a single point
 	static ofVec3f Triangulate(int cam1PixelIndex, int cam2PixelIndex, ofxRay::Camera & camera1, ofxRay::Camera & camera2);
+	
+	///2 x Camera. Triangulate a pair of ofxGraycode::DataSet's
 	static void Triangulate(ofxGraycode::DataSet data1, ofxGraycode::DataSet data2, ofxRay::Camera & camera1, ofxRay::Camera & camera2, ofMesh & mesh, float maxLength);
 };