comparing disp_dist and ers between java and gpu (0777a4a7) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/CLTParameters.java

+5 −0

src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java

+49 −2

Original line number	Original line	Diff line number	Diff line
	@@ -190,6 +190,38 @@ public class GPUTileProcessor {
	this.task = task;		this.task = task;
	this.disp_dist = new float [NUM_CAMS][4];		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		// convert this class instance to float array to match layout of the C struct
	public float [] asFloatArray(boolean use_aux) {		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);		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)		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		* @param tp_tasks array of tasks that contain masks of the required pairs
	* @return each element has (tile_number << 8) \| (pair_number & 0xff)		* @return each element has (tile_number << 8) \| (pair_number & 0xff)
	*/		*/
			@Deprecated
	public int [] getCorrTasks(		public int [] getCorrTasks(
	TpTask [] tp_tasks) {		TpTask [] tp_tasks) {
	int tilesX = img_width / DTT_SIZE;		int tilesX = img_width / DTT_SIZE;
	@@ -1390,12 +1436,12 @@ public class GPUTileProcessor {
	}		}
	return iarr;		return iarr;
	}		}

	/**		/**
	* Prepare contents pointers for calculation of the texture tiles (RGBA, 16x16)		* Prepare contents pointers for calculation of the texture tiles (RGBA, 16x16)
	* @param tp_tasks array of tasks that contain masks of the required pairs		* @param tp_tasks array of tasks that contain masks of the required pairs
	* @return each element has (tile_number << 8) \| (1 << LIST_TEXTURE_BIT)		* @return each element has (tile_number << 8) \| (1 << LIST_TEXTURE_BIT)
	*/		*/
			@Deprecated
	public int [] getTextureTasks(		public int [] getTextureTasks(
	TpTask [] tp_tasks) {		TpTask [] tp_tasks) {
	int tilesX = img_width / DTT_SIZE;		int tilesX = img_width / DTT_SIZE;
	@@ -2215,6 +2261,7 @@ public class GPUTileProcessor {
	return fimg;		return fimg;
	}		}

			@Deprecated
	public void getTileSubcamOffsets(		public void getTileSubcamOffsets(
	final TpTask[] tp_tasks, // will use // modify to have offsets for 8 cameras		final TpTask[] tp_tasks, // will use // modify to have offsets for 8 cameras
	final GeometryCorrection geometryCorrection_main,		final GeometryCorrection geometryCorrection_main,

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

+1 −37

Original line number	Original line	Diff line number	Diff line
	@@ -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		* 5) return port center X and Y
	* line_time		* line_time
	*/		*/

	double [] imu = null;		double [] imu = null;
	if (disp_dist != null) {		if (disp_dist != null) {
	imu = extrinsic_corr.getIMU(); // currently it is common for all channels		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))){		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)) {		if ((disp_dist == null) && (pXYderiv != null)) {
	disp_dist = new double [numSensors][4];		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];		double pYci0 = pYc - disparity * rXY[i][1];
	// rectilinear, end of dealing with possibly other (master) camera, below all is for this camera distortions		// 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		// Convert a 2-d non-distorted vector to 3d at fl_pix distance in z direction
	double [][] avi = {{pXci0}, {pYci0},{fl_pix}};		double [][] avi = {{pXci0}, {pYci0},{fl_pix}};
	Matrix vi = new Matrix(avi); // non-distorted sensor channel view vector in pixels (z -along the common axis)		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 pXci = rvi.get(0, 0) * norm_z;
	double pYci = rvi.get(1, 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		// Re-apply distortion
	double rNDi = Math.sqrt(pXcipXci + pYcipYci); // in pixels		double rNDi = Math.sqrt(pXcipXci + pYcipYci); // in pixels
	// Rdist/R=A8R^7+A7R^6+A6R^5+A5R^4+AR^3+BR^2+C*R+(1-A6-A7-A6-A5-A-B-C)");		// Rdist/R=A8R^7+A7R^6+A6R^5+A5R^4+AR^3+BR^2+C*R+(1-A6-A7-A6-A5-A-B-C)");
	double ri = rNDi* ri_scale; // relative to distortion radius		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_dbgpXci_dbg + pYci_dbgpYci_dbg); // in pixels
	double ri_dbg = rNDi_dbg* ri_scale; // relative to distortion radius


	double rD2rND = 1.0;		double rD2rND = 1.0;
	double rri = 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 pXid = pXci * rD2rND;
	double pYid = pYci * rD2rND;		double pYid = pYci * rD2rND;


	pXY[i][0] = pXid + this.pXY0[i][0];		pXY[i][0] = pXid + this.pXY0[i][0];
	pXY[i][1] = pYid + this.pXY0[i][1];		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 delta_t = 0.0;
	// double [] imu = null;
	double [][] dpXci_pYci_imu_lin = new double[2][3]; // null		double [][] dpXci_pYci_imu_lin = new double[2][3]; // null
	if (disp_dist != null) {		if (disp_dist != null) {
	disp_dist[i] = new double [4]; // dx/d_disp, dx_d_ccw_disp		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???		{ 0.0, 0.0, 0.0}}; // what is last element???
	Matrix dd0 = new Matrix(add0);		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 = 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)		// 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		// unity vector in the direction of radius
	double c_dist = pXci/rNDi;		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][1] = dd2.get(0, 1);
	disp_dist[i][2] = dd2.get(1, 0); // d_py/d_disp		disp_dist[i][2] = dd2.get(1, 0); // d_py/d_disp
	disp_dist[i][3] = dd2.get(1, 1);		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		// 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))) {		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		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]);		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][0] += ers_Xci * rD2rND; // added correction to pixel X
	pXY[i][1] += ers_Yci * rD2rND; // added correction to pixel Y		pXY[i][1] += ers_Yci * rD2rND; // added correction to pixel Y


	} else {		} else {
	imu = null;		imu = null;
	}		}
	// TODO: calculate derivatives of pX, pY by 3 imu omegas		// TODO: calculate derivatives of pX, pY by 3 imu omegas
	}		}



	if (pXYderiv != null) {		if (pXYderiv != null) {
	pXYderiv[2 * i] = new double [CorrVector.LENGTH];		pXYderiv[2 * i] = new double [CorrVector.LENGTH];
	pXYderiv[2 * i+1] = 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_*		// 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		// hope it will not be needed, as derivatives are used only for filed calibration, handled differently
	if (imu != null) {		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 + 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 + 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];		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 + 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 + 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];		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		// verify that d/dsym are well, symmetrical

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

+27 −2

Original line number	Original line	Diff line number	Diff line
	@@ -191,6 +191,13 @@ public class ImageDttCPU {
	"top-aux", "bottom-aux", "left_aux", "right-aux", "diagm-aux", "diago-aux", "hor-aux", "vert-aux",		"top-aux", "bottom-aux", "left_aux", "right-aux", "diagm-aux", "diago-aux", "hor-aux", "vert-aux",
	"inter", "other", "dbg1"};		"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_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 = 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		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 tilesX=width/transform_size;
	final int tilesY=height/transform_size;		final int tilesY=height/transform_size;
	final int nTilesInChn=tilesX*tilesY;		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)		// 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;		final double [][][][][][][] clt_bidata = (keep_clt_data)? (new double[2][][][][][][]):null;
	if (clt_bidata != null) {		if (clt_bidata != null) {
	@@ -9829,7 +9837,15 @@ public class ImageDttCPU {
	centerX,		centerX,
	centerY,		centerY,
	disparity_main); // + disparity_corr);		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(		centersXY_aux = geometryCorrection_aux.getPortsCoordinatesAndDerivatives(
	geometryCorrection_main, // GeometryCorrection gc_main,		geometryCorrection_main, // GeometryCorrection gc_main,
	true, // boolean use_rig_offsets,		true, // boolean use_rig_offsets,
	@@ -10327,6 +10343,15 @@ public class ImageDttCPU {
	};		};
	}		}
	startAndJoin(threads);		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 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) {		if (lt_corr != null) {

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

+45 −0

Original line number	Original line	Diff line number	Diff line
	@@ -24,6 +24,8 @@ package com.elphel.imagej.tileprocessor;
	**		**
	*/		*/

			import static jcuda.driver.JCudaDriver.cuMemcpyDtoH;

	import java.awt.Rectangle;		import java.awt.Rectangle;
	import java.io.DataOutputStream;		import java.io.DataOutputStream;
	import java.io.FileNotFoundException;		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.CorrectionColorProc;
	import com.elphel.imagej.correction.EyesisCorrections;		import com.elphel.imagej.correction.EyesisCorrections;
	import com.elphel.imagej.gpu.GPUTileProcessor;		import com.elphel.imagej.gpu.GPUTileProcessor;
			import com.elphel.imagej.gpu.GPUTileProcessor.TpTask;

	import ij.ImagePlus;		import ij.ImagePlus;
	import ij.ImageStack;		import ij.ImageStack;
			import jcuda.Pointer;
			import jcuda.Sizeof;

	public class QuadCLT extends QuadCLTCPU {		public class QuadCLT extends QuadCLTCPU {
	private GPUTileProcessor.GpuQuad gpuQuad = null;		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 tilesX = quadCLT_main.getGPU().getImageWidth() / quadCLT_main.getGPU().getDttSize();
	int tilesY = quadCLT_main.getGPU().getImageHeight() / 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		// 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		// Available after gpu_diff_rgb_combo is generated in execTextures

Original line number	Original line	Diff line number	Diff line
	@@ -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_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_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_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 = 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		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_save_ports_xy", this.gpu_save_ports_xy +"");
	properties.setProperty(prefix+"gpu_show_jtextures", this.gpu_show_jtextures +"");		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_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", this.gpu_use_main +"");
	properties.setProperty(prefix+"gpu_use_main_macro", this.gpu_use_main_macro +"");		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_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_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_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")!=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"));		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 ("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 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 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", this.gpu_use_main);
	gd.addCheckbox ("Accelerate tile processor for the main quad camera in macro mode", this.gpu_use_main_macro);		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_save_ports_xy= gd.getNextBoolean();
	this.gpu_show_jtextures= gd.getNextBoolean();		this.gpu_show_jtextures= gd.getNextBoolean();
	this.gpu_show_extra= gd.getNextBoolean();		this.gpu_show_extra= gd.getNextBoolean();
			this.gpu_show_geometry= gd.getNextBoolean();

	this.gpu_use_main= gd.getNextBoolean();		this.gpu_use_main= gd.getNextBoolean();
	this.gpu_use_main_macro= gd.getNextBoolean();		this.gpu_use_main_macro= gd.getNextBoolean();

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