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imagej-elphel
Commit 0777a4a7 authored by Andrey Filippov's avatar Andrey Filippov
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comparing disp_dist and ers between java and gpu

parent 1b16c1e5
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Showing with 127 additions and 41 deletions
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ 0777a4a7
......@@ -789,6 +789,7 @@ public class CLTParameters {
public boolean gpu_save_ports_xy = false; // debug feature - save calculated ports X,Y to compare with Java-generated
public boolean gpu_show_jtextures = true; // debug feature - show Java-generated textures from non-overlapping in GPU (will not generate if false)
public boolean gpu_show_extra = true; // show low-res data for macro
public boolean gpu_show_geometry = true; // show geometry correction
public boolean gpu_use_main = false; // accelerate tile processor for the main quad camera
public boolean gpu_use_main_macro = false; // accelerate tile processor for the main quad camera in macro mode
......@@ -1591,6 +1592,7 @@ public class CLTParameters {
properties.setProperty(prefix+"gpu_save_ports_xy", this.gpu_save_ports_xy +"");
properties.setProperty(prefix+"gpu_show_jtextures", this.gpu_show_jtextures +"");
properties.setProperty(prefix+"gpu_show_extra", this.gpu_show_extra +"");
properties.setProperty(prefix+"gpu_show_geometry", this.gpu_show_geometry +"");
properties.setProperty(prefix+"gpu_use_main", this.gpu_use_main +"");
properties.setProperty(prefix+"gpu_use_main_macro", this.gpu_use_main_macro +"");
......@@ -2377,6 +2379,7 @@ public class CLTParameters {
if (properties.getProperty(prefix+"gpu_save_ports_xy")!=null) this.gpu_save_ports_xy=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_save_ports_xy"));
if (properties.getProperty(prefix+"gpu_show_jtextures")!=null) this.gpu_show_jtextures=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_show_jtextures"));
if (properties.getProperty(prefix+"gpu_show_extra")!=null) this.gpu_show_extra=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_show_extra"));
if (properties.getProperty(prefix+"gpu_show_geometry")!=null) this.gpu_show_geometry=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_show_geometry"));
if (properties.getProperty(prefix+"gpu_use_main")!=null) this.gpu_use_main=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_use_main"));
if (properties.getProperty(prefix+"gpu_use_main_macro")!=null) this.gpu_use_main_macro=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_use_main_macro"));
......@@ -3326,6 +3329,7 @@ public class CLTParameters {
gd.addCheckbox ("Debug feature - save calculated ports X,Y to compare with Java-generated", this.gpu_save_ports_xy);
gd.addCheckbox ("Show Java-generated textures from non-overlapping in GPU (will not generate if false)", this.gpu_show_jtextures);
gd.addCheckbox ("Show low-res data for macro (will not generate if false)", this.gpu_show_extra);
gd.addCheckbox ("Show per-tile geometry corrected tile coordinates and disparity derivatives", this.gpu_show_geometry);
gd.addCheckbox ("Accelerate tile processor for the main quad camera", this.gpu_use_main);
gd.addCheckbox ("Accelerate tile processor for the main quad camera in macro mode", this.gpu_use_main_macro);
......@@ -4085,6 +4089,7 @@ public class CLTParameters {
this.gpu_save_ports_xy= gd.getNextBoolean();
this.gpu_show_jtextures= gd.getNextBoolean();
this.gpu_show_extra= gd.getNextBoolean();
this.gpu_show_geometry= gd.getNextBoolean();
this.gpu_use_main= gd.getNextBoolean();
this.gpu_use_main_macro= gd.getNextBoolean();
......
src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java
View file @ 0777a4a7
......@@ -190,6 +190,38 @@ public class GPUTileProcessor {
this.task = task;
this.disp_dist = new float [NUM_CAMS][4];
}
/**
* Initialize from the float array (read from the GPU)
* @param flt float array containig tasks data
* @param indx task number to use
*/
public TpTask(float [] flt, int indx, boolean use_aux)
{
task = Float.floatToIntBits(flt[indx++]);
int txy = Float.floatToIntBits(flt[indx++]);
ty = txy >> 16;
tx = txy & 0xffff;
if (use_aux) {
xy_aux = new float[NUM_CAMS][2];
for (int i = 0; i < NUM_CAMS; i++) {
xy_aux[i][0] = flt[indx++];
xy_aux[i][1] = flt[indx++];
}
} else {
xy = new float[NUM_CAMS][2];
for (int i = 0; i < NUM_CAMS; i++) {
xy[i][0] = flt[indx++];
xy[i][1] = flt[indx++];
}
}
target_disparity = flt[indx++];
disp_dist = new float [NUM_CAMS][4];
for (int i = 0; i < NUM_CAMS; i++) {
for (int j = 0; j < 4; j++) {
disp_dist[i][j] = flt[indx++];
}
}
}
// convert this class instance to float array to match layout of the C struct
public float [] asFloatArray(boolean use_aux) {
......@@ -896,6 +928,19 @@ public class GPUTileProcessor {
}
cuMemcpyHtoD(gpu_tasks, Pointer.to(ftasks), TPTASK_SIZE * num_task_tiles * Sizeof.FLOAT);
}
public TpTask [] getTasks (boolean use_aux)
{
float [] ftasks = new float [TPTASK_SIZE * num_task_tiles];
cuMemcpyDtoH(Pointer.to(ftasks), gpu_tasks, TPTASK_SIZE * num_task_tiles * Sizeof.FLOAT);
TpTask [] tile_tasks = new TpTask[num_task_tiles];
for (int i = 0; i < num_task_tiles; i++) {
tile_tasks[i] = new TpTask(ftasks, i* TPTASK_SIZE, use_aux);
}
return tile_tasks;
}
/*
public void setCorrIndices(int [] corr_indices)
{
......@@ -1364,6 +1409,7 @@ public class GPUTileProcessor {
* @param tp_tasks array of tasks that contain masks of the required pairs
* @return each element has (tile_number << 8) | (pair_number & 0xff)
*/
@Deprecated
public int [] getCorrTasks(
TpTask [] tp_tasks) {
int tilesX = img_width / DTT_SIZE;
......@@ -1390,12 +1436,12 @@ public class GPUTileProcessor {
}
return iarr;
}
/**
* Prepare contents pointers for calculation of the texture tiles (RGBA, 16x16)
* @param tp_tasks array of tasks that contain masks of the required pairs
* @return each element has (tile_number << 8) | (1 << LIST_TEXTURE_BIT)
*/
@Deprecated
public int [] getTextureTasks(
TpTask [] tp_tasks) {
int tilesX = img_width / DTT_SIZE;
......@@ -2214,7 +2260,8 @@ public class GPUTileProcessor {
}
return fimg;
}
@Deprecated
public void getTileSubcamOffsets(
final TpTask[] tp_tasks, // will use // modify to have offsets for 8 cameras
final GeometryCorrection geometryCorrection_main,
......
src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java
View file @ 0777a4a7
......@@ -3052,21 +3052,13 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
* 5) return port center X and Y
* line_time
*/
double [] imu = null;
if (disp_dist != null) {
imu = extrinsic_corr.getIMU(); // currently it is common for all channels
if ((deriv_rots == null) && ((imu[0] != 0.0) || (imu[1] != 0.0) ||(imu[2] != 0.0))){
// get deriv_rots - they are needed
// if (use_rig_offsets) {
// deriv_rots = extrinsic_corr.getRotDeriveMatrices(getRigMatrix);
// } else {
deriv_rots = extrinsic_corr.getRotDeriveMatrices();
// }
deriv_rots = extrinsic_corr.getRotDeriveMatrices();
}
}
if ((disp_dist == null) && (pXYderiv != null)) {
disp_dist = new double [numSensors][4];
}
......@@ -3097,7 +3089,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
double pYci0 = pYc - disparity * rXY[i][1];
// rectilinear, end of dealing with possibly other (master) camera, below all is for this camera distortions
// Convert a 2-d non-distorted vector to 3d at fl_pix distance in z direction
double [][] avi = {{pXci0}, {pYci0},{fl_pix}};
Matrix vi = new Matrix(avi); // non-distorted sensor channel view vector in pixels (z -along the common axis)
......@@ -3111,20 +3102,10 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
double pXci = rvi.get(0, 0) * norm_z;
double pYci = rvi.get(1, 0) * norm_z;
// debug
double norm_z_dbg = fl_pix/vi.get(2, 0);
double pXci_dbg = vi.get(0, 0) * norm_z_dbg;
double pYci_dbg = vi.get(1, 0) * norm_z_dbg;
// Re-apply distortion
double rNDi = Math.sqrt(pXci*pXci + pYci*pYci); // in pixels
// Rdist/R=A8*R^7+A7*R^6+A6*R^5+A5*R^4+A*R^3+B*R^2+C*R+(1-A6-A7-A6-A5-A-B-C)");
double ri = rNDi* ri_scale; // relative to distortion radius
// double rD2rND = (1.0 - distortionA8 - distortionA7 - distortionA6 - distortionA5 - distortionA - distortionB - distortionC);
double rNDi_dbg = Math.sqrt(pXci_dbg*pXci_dbg + pYci_dbg*pYci_dbg); // in pixels
double ri_dbg = rNDi_dbg* ri_scale; // relative to distortion radius
double rD2rND = 1.0;
double rri = 1.0;
......@@ -3137,7 +3118,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
double pXid = pXci * rD2rND;
double pYid = pYci * rD2rND;
pXY[i][0] = pXid + this.pXY0[i][0];
pXY[i][1] = pYid + this.pXY0[i][1];
......@@ -3173,7 +3153,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
}
}
double delta_t = 0.0;
// double [] imu = null;
double [][] dpXci_pYci_imu_lin = new double[2][3]; // null
if (disp_dist != null) {
disp_dist[i] = new double [4]; // dx/d_disp, dx_d_ccw_disp
......@@ -3184,7 +3163,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
{ 0.0, 0.0, 0.0}}; // what is last element???
Matrix dd0 = new Matrix(add0);
Matrix dd1 = rots[i].times(dd0).getMatrix(0, 1,0,1).times(norm_z); // get top left 2x2 sub-matrix
//// Matrix dd1 = dd0.getMatrix(0, 1,0,1); // get top left 2x2 sub-matrix
// now first column of 2x2 dd1 - x, y components of derivatives by disparity, second column - derivatives by ortho to disparity (~Y in 2d correlation)
// unity vector in the direction of radius
double c_dist = pXci/rNDi;
......@@ -3206,12 +3184,7 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
disp_dist[i][1] = dd2.get(0, 1);
disp_dist[i][2] = dd2.get(1, 0); // d_py/d_disp
disp_dist[i][3] = dd2.get(1, 1);
// imu = extrinsic_corr.getIMU(i); // currently it is common for all channels
// ERS linear does not yet use per-port rotations, probably not needed
// double [][] dpXci_pYci_imu_lin = new double[2][3]; // null
if ((imu != null) &&((imu[0] != 0.0) || (imu[1] != 0.0) ||(imu[2] != 0.0) ||(imu[3] != 0.0) ||(imu[4] != 0.0) ||(imu[5] != 0.0))) {
delta_t = dd2.get(1, 0) * disparity * line_time; // positive for top cameras, negative - for bottom
double ers_Xci = delta_t* (dpXci_dtilt * imu[0] + dpXci_dazimuth * imu[1] + dpXci_droll * imu[2]);
......@@ -3229,16 +3202,12 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
}
pXY[i][0] += ers_Xci * rD2rND; // added correction to pixel X
pXY[i][1] += ers_Yci * rD2rND; // added correction to pixel Y
} else {
imu = null;
}
// TODO: calculate derivatives of pX, pY by 3 imu omegas
}
if (pXYderiv != null) {
pXYderiv[2 * i] = new double [CorrVector.LENGTH];
pXYderiv[2 * i+1] = new double [CorrVector.LENGTH];
......@@ -3272,8 +3241,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
// assuming drD2rND_imu* is zero (rD2rND does not depend on imu_*
// hope it will not be needed, as derivatives are used only for filed calibration, handled differently
if (imu != null) {
// dpX_d = delta_t * rD2rND * (dpXci_dtilt * imu[0] + dpXci_dazimuth * imu[1] + dpXci_droll * imu[2]);
// dpX_d = delta_t * rD2rND * (dpYci_dtilt * imu[0] + dpYci_dazimuth * imu[1] + dpYci_droll * imu[2]);
pXYderiv[2 * i + 0][CorrVector.IMU_INDEX+0] = delta_t * rD2rND * dpXci_dtilt; // * imu[0];
pXYderiv[2 * i + 1][CorrVector.IMU_INDEX+0] = delta_t * rD2rND * dpYci_dtilt; // * imu[0];
pXYderiv[2 * i + 0][CorrVector.IMU_INDEX+1] = delta_t * rD2rND * dpXci_dazimuth; // * imu[1];
......@@ -3285,9 +3252,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
pXYderiv[2 * i + 1][CorrVector.IMU_INDEX+4] = delta_t * rD2rND * dpXci_pYci_imu_lin[1][1]; // * imu[5];
pXYderiv[2 * i + 0][CorrVector.IMU_INDEX+5] = delta_t * rD2rND * dpXci_pYci_imu_lin[0][2]; // * imu[5];
pXYderiv[2 * i + 1][CorrVector.IMU_INDEX+5] = delta_t * rD2rND * dpXci_pYci_imu_lin[1][2]; // * imu[5];
// TODO: Add linear egomotion
}
// verify that d/dsym are well, symmetrical
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDttCPU.java
View file @ 0777a4a7
......@@ -191,6 +191,13 @@ public class ImageDttCPU {
"top-aux", "bottom-aux", "left_aux", "right-aux", "diagm-aux", "diago-aux", "hor-aux", "vert-aux",
"inter", "other", "dbg1"};
static String [] GEOM_TITLES_DBG ={
"px0","py0","px1","py1","px2","py2","px3","py3",
"dd0-0","dd0-1","dd0-2","dd0-3",
"dd1-0","dd1-1","dd1-2","dd1-3",
"dd2-0","dd2-1","dd2-2","dd2-3",
"dd3-0","dd3-1","dd3-2","dd3-3"};
public static int ML_OTHER_TARGET = 0; // Offset to target disparity data in ML_OTHER_INDEX layer tile
public static int ML_OTHER_GTRUTH = 2; // Offset to ground truth disparity data in ML_OTHER_INDEX layer tile
public static int ML_OTHER_GTRUTH_STRENGTH = 4; // Offset to ground truth confidence data in ML_OTHER_INDEX layer tile
......@@ -9596,6 +9603,7 @@ public class ImageDttCPU {
final int tilesX=width/transform_size;
final int tilesY=height/transform_size;
final int nTilesInChn=tilesX*tilesY;
final double [][] geom_dbg = new double [24][nTilesInChn];
// clt_data does not need to be for the whole image (no, it is used for textures)
final double [][][][][][][] clt_bidata = (keep_clt_data)? (new double[2][][][][][][]):null;
if (clt_bidata != null) {
......@@ -9829,7 +9837,15 @@ public class ImageDttCPU {
centerX,
centerY,
disparity_main); // + disparity_corr);
if (geom_dbg != null) {
for (int i = 0; i < quad_main; i++) {
geom_dbg[2 * i + 0][nTile] = centersXY_main[i][0]; // x
geom_dbg[2 * i + 1][nTile] = centersXY_main[i][1]; // y
for (int j = 0; j < 4; j++) {
geom_dbg[2 * quad_main + 4 * i + j][nTile] = disp_dist_main[i][j];
}
}
}
centersXY_aux = geometryCorrection_aux.getPortsCoordinatesAndDerivatives(
geometryCorrection_main, // GeometryCorrection gc_main,
true, // boolean use_rig_offsets,
......@@ -10327,7 +10343,16 @@ public class ImageDttCPU {
};
}
startAndJoin(threads);
if (geom_dbg != null) {
(new ShowDoubleFloatArrays()).showArrays(
geom_dbg,
tilesX,
tilesY,
true,
"geom_dbg",
GEOM_TITLES_DBG);
}
// If it was low-texture mode, use lt_corr to average bi-quad inter-correlation between neighbor tiles and then calculate disparity/strength
if (lt_corr != null) {
//notch_mode
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 0777a4a7
......@@ -24,6 +24,8 @@ package com.elphel.imagej.tileprocessor;
**
*/
import static jcuda.driver.JCudaDriver.cuMemcpyDtoH;
import java.awt.Rectangle;
import java.io.DataOutputStream;
import java.io.FileNotFoundException;
......@@ -42,9 +44,12 @@ import com.elphel.imagej.common.ShowDoubleFloatArrays;
import com.elphel.imagej.correction.CorrectionColorProc;
import com.elphel.imagej.correction.EyesisCorrections;
import com.elphel.imagej.gpu.GPUTileProcessor;
import com.elphel.imagej.gpu.GPUTileProcessor.TpTask;
import ij.ImagePlus;
import ij.ImageStack;
import jcuda.Pointer;
import jcuda.Sizeof;
public class QuadCLT extends QuadCLTCPU {
private GPUTileProcessor.GpuQuad gpuQuad = null;
......@@ -750,6 +755,46 @@ public class QuadCLT extends QuadCLTCPU {
int tilesX = quadCLT_main.getGPU().getImageWidth() / quadCLT_main.getGPU().getDttSize();
int tilesY = quadCLT_main.getGPU().getImageHeight() / quadCLT_main.getGPU().getDttSize();
if (clt_parameters.gpu_show_geometry) {
// GPUTileProcessor.TpTask []
tp_tasks = quadCLT_main.getGPU().getTasks (false); // boolean use_aux)
double [][] geom_dbg = new double [ImageDtt.GEOM_TITLES_DBG.length][tilesX*tilesY];
int num_cams =GPUTileProcessor.NUM_CAMS;
for (int nt = 0; nt < tp_tasks.length; nt++) {
for (int i = 0; i < num_cams; i++) {
GPUTileProcessor.TpTask task = tp_tasks[nt];
int nTile = task.ty * tilesX + task.tx;
geom_dbg[2 * i + 0][nTile] = task.xy[i][0]; // x
geom_dbg[2 * i + 1][nTile] = task.xy[i][1]; // y
for (int j = 0; j < 4; j++) {
geom_dbg[2 * num_cams + 4 * i + j][nTile] = task.disp_dist[i][j];
}
}
}
(new ShowDoubleFloatArrays()).showArrays(
geom_dbg,
tilesX,
tilesY,
true,
name+"-GEOM-DBG-D"+clt_parameters.disparity,
ImageDtt.GEOM_TITLES_DBG);
}
/*
public TpTask [] getTasks (boolean use_aux)
{
float [] ftasks = new float [TPTASK_SIZE * num_task_tiles];
cuMemcpyDtoH(Pointer.to(ftasks), gpu_tasks, TPTASK_SIZE * num_task_tiles * Sizeof.FLOAT);
TpTask [] tile_tasks = new TpTask[num_task_tiles];
for (int i = 0; i < num_task_tiles; i++) {
tile_tasks[i] = new TpTask(ftasks, i* TPTASK_SIZE, use_aux);
}
return tile_tasks;
}
*/
// Read extra data for macro generation: 4 DIFFs, 4 of R, 4 of B, 4 of G
// Available after gpu_diff_rgb_combo is generated in execTextures
......
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