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Commit 50630abc authored by Andrey Filippov's avatar Andrey Filippov
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adding code for debug info for GPU geometric corrections

parent 6961660a
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Showing with 306 additions and 41 deletions
src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java
View file @ 50630abc
......@@ -146,6 +146,9 @@ public class GPUTileProcessor {
public static int THREADS_DYNAMIC_BITS = 5; // treads in block for CDP creation of the texture list
public static int RBYRDIST_LEN = 5001; //for double, 10001 - float; // length of rByRDist to allocate shared memory
public static double RBYRDIST_STEP = 0.0004; // for double, 0.0002 - for float; // to fit into GPU shared memory (was 0.001);
public static int TILES_PER_BLOCK_GEOM = 32; // blockDim.x = NUM_CAMS; blockDim.x = TILES_PER_BLOCK_GEOM
public static int TASK_TEXTURE_BITS = ((1 << TASK_TEXTURE_N_BIT) | (1 << TASK_TEXTURE_E_BIT) | (1 << TASK_TEXTURE_S_BIT) | (1 << TASK_TEXTURE_W_BIT));
......@@ -344,7 +347,11 @@ public class GPUTileProcessor {
"#define LIST_TEXTURE_BIT " + LIST_TEXTURE_BIT+"\n"+
"#define CORR_OUT_RAD " + CORR_OUT_RAD+"\n" +
"#define FAT_ZERO_WEIGHT " + FAT_ZERO_WEIGHT+"\n"+
"#define THREADS_DYNAMIC_BITS " + THREADS_DYNAMIC_BITS+"\n";
"#define THREADS_DYNAMIC_BITS " + THREADS_DYNAMIC_BITS+"\n"+
"#define RBYRDIST_LEN " + RBYRDIST_LEN+"\n"+
"#define RBYRDIST_STEP " + RBYRDIST_STEP+"\n"+
"#define TILES_PER_BLOCK_GEOM " + TILES_PER_BLOCK_GEOM+"\n";
}
......
src/main/java/com/elphel/imagej/tileprocessor/GeometryCorrection.java
View file @ 50630abc
......@@ -99,7 +99,7 @@ public class GeometryCorrection {
public double disparityRadius=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad camera (~=150mm)?
private double [] rByRDist=null;
private double stepR=0.0001; // 0.001;
private double stepR=0.0004; // 0004 - double, 0.0002 - float to fit into GPU shared memory (was 0.001);
private double maxR=2.0; // calculate up to this*distortionRadius
private Matrix m_balance_xy = null; // [2*numSensors][2*numSensors] 8x8 matrix to make XY ports correction to have average == 0
......@@ -115,16 +115,19 @@ public class GeometryCorrection {
public float [] toFloatArray() { // for GPU comparison
return new float[] {
pixelCorrectionWidth, // =2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
pixelCorrectionHeight, // =1936;
(float) line_time, // duration of one scan line readout (for ERS)
(float) focalLength, // =FOCAL_LENGTH;
(float) pixelSize, // = PIXEL_SIZE; //um
(float) distortionRadius, // = DISTORTION_RADIUS; // mm - half width of the sensor
(float) distortionA8, //r^8 (normalized to focal length or to sensor half width?)
(float) distortionA7, //r^7 (normalized to focal length or to sensor half width?)
(float) distortionA6, //r^6 (normalized to focal length or to sensor half width?)
(float) distortionA5, //r^5 (normalized to focal length or to sensor half width?)
(float) distortionA, // r^4 (normalized to focal length or to sensor half width?)
(float) distortionB, // r^3
(float) distortionC, // r^2
(float) distortionB, // r^3
(float) distortionA, // r^4 (normalized to focal length or to sensor half width?)
(float) distortionA5, // r^5 (normalized to focal length or to sensor half width?)
(float) distortionA6, // r^6 (normalized to focal length or to sensor half width?)
(float) distortionA7, // r^7 (normalized to focal length or to sensor half width?)
(float) distortionA8, // r^8 (normalized to focal length or to sensor half width?)
// parameters, common for all sensors
(float) elevation, // degrees, up - positive;
(float) heading, // degrees, CW (from top) - positive
......@@ -132,6 +135,11 @@ public class GeometryCorrection {
(float) right[0], (float) right[1], (float) right[2], (float) right[3], // [NUM_CAMS];
(float) height[0], (float) height[1], (float) height[2], (float) height[3], // [NUM_CAMS];
(float) roll[0], (float) roll[1], (float) roll[2], (float) roll[3], // [NUM_CAMS]; // degrees, CW (to target) - positive
(float) pXY0[0][0], (float) pXY0[0][1], (float) pXY0[1][0], (float) pXY0[1][1],
(float) pXY0[2][0], (float) pXY0[2][1], (float) pXY0[3][0], (float) pXY0[3][1],
// public double [][] pXY0 = null; // sensor center XY in pixels
(float) common_right, // mm right, camera center
(float) common_forward, // mm forward (to target), camera center
(float) common_height, // mm up, camera center
......@@ -148,6 +156,42 @@ public class GeometryCorrection {
(float) disparityRadius //=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
};
}
public double [] toDoubleArray() { // for GPU comparison
return new double[] {
pixelCorrectionWidth, // =2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
pixelCorrectionHeight, // =1936;
line_time, // duration of one scan line readout (for ERS)
focalLength, // =FOCAL_LENGTH;
pixelSize, // = PIXEL_SIZE; //um
distortionRadius, // = DISTORTION_RADIUS; // mm - half width of the sensor
distortionC, // r^2
distortionB, // r^3
distortionA, // r^4 (normalized to focal length or to sensor half width?)
distortionA5, // r^5 (normalized to focal length or to sensor half width?)
distortionA6, // r^6 (normalized to focal length or to sensor half width?)
distortionA7, // r^7 (normalized to focal length or to sensor half width?)
distortionA8, // r^8 (normalized to focal length or to sensor half width?)
elevation, // degrees, up - positive;
heading, // degrees, CW (from top) - positive
forward[0], forward[1], forward[2], forward[3], // [NUM_CAMS];
right[0], right[1], right[2], right[3], // [NUM_CAMS];
height[0], height[1], height[2], height[3], // [NUM_CAMS];
roll[0], roll[1], roll[2], roll[3], // [NUM_CAMS]; // degrees, CW (to target) - positive
pXY0[0][0], pXY0[0][1], pXY0[1][0], pXY0[1][1],
pXY0[2][0], pXY0[2][1], pXY0[3][0], pXY0[3][1],
common_right, // mm right, camera center
common_forward, // mm forward (to target), camera center
common_height, // mm up, camera center
common_roll, // degrees CW (to target) camera as a whole
rXY[0][0], rXY[0][1], // [NUM_CAMS][2]; // XY pairs of the in a normal plane, relative to disparityRadius
rXY[1][0], rXY[1][1],
rXY[2][0], rXY[2][1],
rXY[3][0], rXY[3][1],
cameraRadius, // average distance from the "mass center" of the sensors to the sensors
disparityRadius //=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
};
}
public int [] getWOITops() {// not used in lwir
return woi_tops;
......@@ -186,12 +230,13 @@ public class GeometryCorrection {
FileOutputStream fos = new FileOutputStream(gc_path);
DataOutputStream dos = new DataOutputStream(fos);
WritableByteChannel channel = Channels.newChannel(dos);
float [] fcv = getCorrVector().toFloatArray();
ByteBuffer bb = ByteBuffer.allocate(fcv.length * sizeof_float);
double [] dcv = getCorrVector().toFullRollArray();
ByteBuffer bb = ByteBuffer.allocate(dcv.length * sizeof_float);
bb.order(ByteOrder.LITTLE_ENDIAN);
bb.clear();
for (int i = 0; i < fcv.length; i++) {
bb.putFloat(fcv[i]);
for (int i = 0; i < dcv.length; i++) {
bb.putFloat((float) dcv[i]);
System.out.println("float: "+i+":"+(float) dcv[i]);
}
bb.flip();
channel.write(bb);
......@@ -216,6 +261,62 @@ public class GeometryCorrection {
}
}
public void saveDoublesGPU(String file_prefix) throws IOException {
// Save GeometryCorrection global data
int sizeof_double = 8;
{
String gc_path = file_prefix+".geometry_correction_double";
FileOutputStream fos = new FileOutputStream(gc_path);
DataOutputStream dos = new DataOutputStream(fos);
WritableByteChannel channel = Channels.newChannel(dos);
double [] dgc = toDoubleArray();
ByteBuffer bb = ByteBuffer.allocate(dgc.length * sizeof_double);
bb.order(ByteOrder.LITTLE_ENDIAN);
bb.clear();
for (int i = 0; i < dgc.length; i++) {
bb.putDouble(dgc[i]);
}
bb.flip();
channel.write(bb);
dos.close();
}
{
String gc_path = file_prefix+".correction_vector_double";
FileOutputStream fos = new FileOutputStream(gc_path);
DataOutputStream dos = new DataOutputStream(fos);
WritableByteChannel channel = Channels.newChannel(dos);
double [] dcv = getCorrVector().toFullRollArray();
ByteBuffer bb = ByteBuffer.allocate(dcv.length * sizeof_double);
bb.order(ByteOrder.LITTLE_ENDIAN);
bb.clear();
for (int i = 0; i < dcv.length; i++) {
bb.putDouble(dcv[i]);
System.out.println("double: "+i+":"+dcv[i]);
}
bb.flip();
channel.write(bb);
dos.close();
}
//double [] getRByRDist()
{
String gc_path = file_prefix+".rbyrdist_double";
FileOutputStream fos = new FileOutputStream(gc_path);
DataOutputStream dos = new DataOutputStream(fos);
WritableByteChannel channel = Channels.newChannel(dos);
double [] rByRDist = getRByRDist();
ByteBuffer bb = ByteBuffer.allocate(rByRDist.length * sizeof_double);
bb.order(ByteOrder.LITTLE_ENDIAN);
bb.clear();
for (int i = 0; i < rByRDist.length; i++) {
bb.putDouble(rByRDist[i]);
}
bb.flip();
channel.write(bb);
dos.close();
}
}
public int [] getSensorWH() {
int [] wh = {this.pixelCorrectionWidth, this.pixelCorrectionHeight};
return wh;
......@@ -397,6 +498,7 @@ public class GeometryCorrection {
}
public void setCorrVector(double [] dv){
setCorrVector(new CorrVector(dv));
}
......@@ -1264,6 +1366,148 @@ public class GeometryCorrection {
}
return derivs;
}
public Matrix [] getRotMatricesDbg() {
Matrix [] rots = new Matrix [4];
double [] azimuths = getAzimuths();
double [] tilts = getTilts();
double [] rolls = getFullRolls();
double [] zooms = getZooms();
for (int chn = 0; chn < rots.length; chn++) {
double ca = Math.cos(azimuths[chn]);
double sa = Math.sin(azimuths[chn]);
double ct = Math.cos(tilts[chn]);
double st = Math.sin(tilts[chn]);
double zoom = (1.0 + zooms[chn]);
double cr = Math.cos(rolls[chn]) * zoom;
double sr = Math.sin(rolls[chn]) * zoom;
double [][] a_az = { // inverted - OK
{ ca, 0.0, sa * ROT_AZ_SGN }, // -1.0
{ 0.0, 1.0, 0.0},
{ -sa* ROT_AZ_SGN, 0.0, ca}};
double [][] a_t = { // inverted - OK
{ 1.0, 0.0, 0.0},
{ 0.0, ct, st * ROT_TL_SGN}, // +1.0
{ 0.0, -st * ROT_TL_SGN, ct}};
double [][] a_r = { // inverted OK
{ cr, sr * ROT_RL_SGN, 0.0}, // +1.0
{ -sr * ROT_RL_SGN, cr, 0.0},
{ 0.0, 0.0, 1.0}};
rots[chn] = (new Matrix(a_r).times(new Matrix(a_t).times(new Matrix(a_az))));
System.out.println("Matrices for camera "+chn);
System.out.println("Azimuth "+chn+" angle = "+ azimuths[chn]);
(new Matrix(a_az)).print(10, 7);
System.out.println("Tilt "+chn+" angle = "+ tilts[chn]);
(new Matrix(a_t)).print(10, 7);
System.out.println("Roll/Zoom "+chn+" angle = "+ rolls[chn]+" zoom="+zooms[chn]+
" cr = "+ Math.cos(rolls[chn])+ " sr = "+ Math.sin(rolls[chn]));
(new Matrix(a_r)).print(10, 7);
System.out.println("Combined "+chn);
rots[chn].print(10, 7);
}
return rots;
}
public Matrix [][] getRotDeriveMatricesDbg() // USED in lwir
{
Matrix [][] rot_derivs = new Matrix [4][4]; // channel, azimuth-tilt-roll-zoom
double [] azimuths = getAzimuths();
double [] tilts = getTilts();
double [] rolls = getFullRolls();
double [] zooms = getZooms();
for (int chn = 0; chn < rot_derivs.length; chn++) {
double ca = Math.cos(azimuths[chn]);
double sa = Math.sin(azimuths[chn]);
double ct = Math.cos(tilts[chn]);
double st = Math.sin(tilts[chn]);
double zoom = (1.0 + zooms[chn]);
double cr = Math.cos(rolls[chn]);
double sr = Math.sin(rolls[chn]);
double [][] a_az = { // inverted - OK
{ ca, 0.0, sa * ROT_AZ_SGN },
{ 0.0, 1.0, 0.0},
{ -sa* ROT_AZ_SGN, 0.0, ca}};
double [][] a_t = { // inverted - OK
{ 1.0, 0.0, 0.0},
{ 0.0, ct, st * ROT_TL_SGN},
{ 0.0, -st * ROT_TL_SGN, ct}};
double [][] a_r = { // inverted OK
{ cr * zoom, sr * zoom * ROT_RL_SGN, 0.0},
{ -sr * zoom * ROT_RL_SGN, cr * zoom, 0.0},
{ 0.0, 0.0, 1.0}};
double [][] a_daz = { // inverted - OK
{ -sa, 0.0, ca * ROT_AZ_SGN },
{ 0.0, 0.0, 0.0},
{ -ca* ROT_AZ_SGN, 0.0, -sa}};
double [][] a_dt = { // inverted - OK
{ 0.0, 0.0, 0.0},
{ 0.0, -st, ct * ROT_TL_SGN},
{ 0.0, -ct * ROT_TL_SGN, -st}};
double [][] a_dr = { // inverted OK
{ -sr * zoom, cr * zoom * ROT_RL_SGN, 0.0},
{ -cr * zoom *ROT_RL_SGN, -sr * zoom, 0.0},
{ 0.0, 0.0, 0.0}};
double [][] a_dzoom = { // inverted OK
{ cr, sr * ROT_RL_SGN, 0.0},
{ -sr * ROT_RL_SGN, cr, 0.0},
{ 0.0, 0.0, 0.0}};
// d/d_az
rot_derivs[chn][0] = (new Matrix(a_r ).times(new Matrix(a_t ).times(new Matrix(a_daz)))); // d/daz - wrong, needs *zoom
rot_derivs[chn][1] = (new Matrix(a_r ).times(new Matrix(a_dt).times(new Matrix(a_az )))); // d/dt - wrong, needs *zoom
rot_derivs[chn][2] = (new Matrix(a_dr).times(new Matrix(a_t ).times(new Matrix(a_az )))); // d/dr - correct, has zoom
rot_derivs[chn][3] = (new Matrix(a_dzoom).times(new Matrix(a_t ).times(new Matrix(a_az )))); // d/dzoom - correct
System.out.println("\nMatrices for camera "+chn);
System.out.println("Azimuth "+chn+" angle = "+ azimuths[chn]);
(new Matrix(a_az)).print(10, 7);
System.out.println("Tilt "+chn+" angle = "+ tilts[chn]);
(new Matrix(a_t)).print(10, 7);
System.out.println("Roll/Zoom "+chn+" angle = "+ rolls[chn]+" zoom="+zooms[chn]+
" cr = "+ Math.cos(rolls[chn])+ " sr = "+ Math.sin(rolls[chn]));
(new Matrix(a_r)).print(10, 7);
System.out.println("Combined "+chn);
(new Matrix(a_r).times(new Matrix(a_t).times(new Matrix(a_az)))).print(10, 7);
System.out.println("a_t * a_az "+chn);
(new Matrix(a_t).times(new Matrix(a_az))).print(10, 7);
System.out.println("\n=== Matrices of Derivatives for camera "+chn);
System.out.println("d/d_Azimuth "+chn+" angle = "+ azimuths[chn]+" ca="+ca+" sa="+sa);
(new Matrix(a_daz)).print(10, 7);
System.out.println("d/d_Tilt "+chn+" angle = "+ tilts[chn]+" ct="+ct+" st="+st);
(new Matrix(a_dt)).print(10, 7);
System.out.println("d/d_Roll "+chn+" angle = "+ rolls[chn]+" cr="+cr+" sr="+sr);
(new Matrix(a_dr)).print(10, 7);
System.out.println("d/d_Zoom "+chn+" zoom="+zooms[chn]);
(new Matrix(a_dzoom)).print(10, 7);
System.out.println("Combined d/daz"+chn);
rot_derivs[chn][0].print(10, 7);
System.out.println("Combined d/dt"+chn);
rot_derivs[chn][1].print(10, 7);
System.out.println("Combined d/dr"+chn);
rot_derivs[chn][2].print(10, 7);
System.out.println("Combined d/dzoom"+chn);
rot_derivs[chn][3].print(10, 7);
}
return rot_derivs;
}
public Matrix [] getRotMatrices() // USED in lwir
{
......@@ -1331,12 +1575,6 @@ public class GeometryCorrection {
{ 0.0, ct, st * ROT_TL_SGN},
{ 0.0, -st * ROT_TL_SGN, ct}};
/*
double [][] a_r = { // inverted OK
{ cr, sr * ROT_RL_SGN, 0.0},
{ -sr * ROT_RL_SGN, cr, 0.0},
{ 0.0, 0.0, 1.0}};
*/
double [][] a_r = { // inverted OK
{ cr * zoom, sr * zoom * ROT_RL_SGN, 0.0},
{ -sr * zoom * ROT_RL_SGN, cr * zoom, 0.0},
......@@ -1450,6 +1688,17 @@ public class GeometryCorrection {
return fvector;
}
public double [] toFullRollArray()
{
double [] v = vector.clone();
double [] rolls = getFullRolls();
for (int i = 0; i < (ZOOM_INDEX - ROLL_INDEX); i++) {
v[ROLL_INDEX + i] = rolls[i];
}
return v;
}
public double [] toArray() // USED in lwir
{
return vector;
......@@ -2793,6 +3042,21 @@ 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();
// }
}
}
if ((disp_dist == null) && (pXYderiv != null)) {
disp_dist = new double [numSensors][4];
}
......@@ -2859,23 +3123,10 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
rD2rND += rad_coeff[j]*(rri - 1.0); // Fixed
}
/*
double rD2rND_dbg = 1.0;
double rri_dbg = 1.0;
for (int j = 0; j < rad_coeff.length; j++){
rri_dbg *= ri_dbg;
rD2rND_dbg += rad_coeff[j]*(rri_dbg - 1.0); // Fixed
}
*/
// Get port pixel coordinates by scaling the 2d vector with Rdistorted/Dnondistorted coefficient)
double pXid = pXci * rD2rND;
double pYid = pYci * rD2rND;
/// double pXid_dbg = pXci_dbg * rD2rND_dbg; // Should be the same as pXcd
/// double pYid_dbg = pYci_dbg * rD2rND_dbg; //
pXY[i][0] = pXid + this.pXY0[i][0];
pXY[i][1] = pYid + this.pXY0[i][1];
......@@ -2912,7 +3163,7 @@ 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 [] 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
......@@ -2946,12 +3197,12 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
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
// 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[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
double ers_Xci = delta_t* (dpXci_dtilt * imu[0] + dpXci_dazimuth * imu[1] + dpXci_droll * imu[2]);
double ers_Yci = delta_t* (dpYci_dtilt * imu[0] + dpYci_dazimuth * imu[1] + dpYci_droll * imu[2]);
......@@ -2973,9 +3224,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
} else {
imu = null;
}
// TODO: calculate derivatives of pX, pY by 3 imu omegas
}
......
src/main/java/com/elphel/imagej/tileprocessor/ImageDtt.java
View file @ 50630abc
......@@ -4798,7 +4798,7 @@ public class ImageDtt {
final int tilesY=dct_data.length;
final int tilesX=dct_data[0].length;
@SuppressWarnings("unused")
final double [][] dbg_tile = dct_data[debug_tileY][debug_tileX];
final double [][] dbg_tile = ((debug_tileY >=0) && (debug_tileX >=0))? dct_data[debug_tileY][debug_tileX]:null;
// final int width= (tilesX+1)*dct_size;
// final int height= (tilesY+1)*dct_size;
......
src/main/java/com/elphel/imagej/tileprocessor/TwoQuadCLT.java
View file @ 50630abc
......@@ -1508,10 +1508,20 @@ public class TwoQuadCLT {
try {
quadCLT_main.getGeometryCorrection().saveFloatsGPU(kernel_dir +"main");
} catch (IOException e) {
System.out.println("Failed to save geometry correction data to "+kernel_dir);
System.out.println("Failed to save geometry correction data (float) to "+kernel_dir);
e.printStackTrace();
}
try {
quadCLT_main.getGeometryCorrection().saveDoublesGPU(kernel_dir +"main");
} catch (IOException e) {
System.out.println("Failed to save geometry correction data (double) to "+kernel_dir);
e.printStackTrace();
}
quadCLT_main.getGeometryCorrection().getCorrVector().getRotMatricesDbg();
quadCLT_main.getGeometryCorrection().getCorrVector().getRotDeriveMatricesDbg();
if (debugLevel < -1000) {
return null;
}
......
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