started geometry correction (524c2e2f) · Commits · Elphel / imagej-elphel

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

+5 −2

Original line number	Original line	Diff line number	Diff line
	@@ -92,8 +92,11 @@ public class GPUTileProcessor {
	static String GPU_RESOURCE_DIR = "kernels";		static String GPU_RESOURCE_DIR = "kernels";
	static String [] GPU_KERNEL_FILES = {"dtt8x8.cuh","TileProcessor.cuh"};		static String [] GPU_KERNEL_FILES = {"dtt8x8.cuh","TileProcessor.cuh"};
	// "*" - generated defines, first index - separately compiled unit		// "*" - generated defines, first index - separately compiled unit
	// static String [][] GPU_SRC_FILES = {{"","dtt8x8.h","dtt8x8.cu"},{"","dtt8x8.h","TileProcessor.cuh"}};		/* static String [][] GPU_SRC_FILES = {
	static String [][] GPU_SRC_FILES = {{"*","dtt8x8.h","dtt8x8.cu","TileProcessor.cuh"}};		{"*","dtt8x8.h","dtt8x8.cu"},
			{"*","dtt8x8.h","geometry_correction.h","TileProcessor.h","TileProcessor.cuh"}};
			*/
			static String [][] GPU_SRC_FILES = {{"*","dtt8x8.h","dtt8x8.cu","geometry_correction.h","TileProcessor.h","TileProcessor.cuh"}};
	// static String [][] GPU_SRC_FILES = {{"*","dtt8x8.cuh","TileProcessor.cuh"}};		// static String [][] GPU_SRC_FILES = {{"*","dtt8x8.cuh","TileProcessor.cuh"}};
	static String GPU_CONVERT_CORRECT_TILES_NAME = "convert_correct_tiles"; // name in C code		static String GPU_CONVERT_CORRECT_TILES_NAME = "convert_correct_tiles"; // name in C code
	static String GPU_IMCLT_RBG_NAME = "imclt_rbg"; // name in C code		static String GPU_IMCLT_RBG_NAME = "imclt_rbg"; // name in C code

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

+125 −11

Original line number	Original line	Diff line number	Diff line
	package com.elphel.imagej.tileprocessor;		package com.elphel.imagej.tileprocessor;
			import java.io.DataOutputStream;
			import java.io.FileOutputStream;
			import java.io.IOException;
			import java.nio.ByteBuffer;
			import java.nio.ByteOrder;
			import java.nio.channels.Channels;
			import java.nio.channels.WritableByteChannel;
	import java.util.ArrayList;		import java.util.ArrayList;
	import java.util.Properties;		import java.util.Properties;

	@@ -105,10 +112,109 @@ public class GeometryCorrection {
	public RigOffset rigOffset = null;		public RigOffset rigOffset = null;
	public int [] woi_tops; // used to calculate scanline timing		public int [] woi_tops; // used to calculate scanline timing


			public float [] toFloatArray() { // for GPU comparison
			return new float[] {
			(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
			// parameters, common for all sensors
			(float) elevation, // degrees, up - positive;
			(float) heading, // degrees, CW (from top) - positive
			(float) forward[0], (float) forward[1], (float) forward[2], (float) forward[3], // [NUM_CAMS];
			(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) common_right, // mm right, camera center
			(float) common_forward, // mm forward (to target), camera center
			(float) common_height, // mm up, camera center
			(float) common_roll, // degrees CW (to target) camera as a whole
			// (float) [][] XYZ_he; // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
			// (float) [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading, common_roll)
			(float) rXY[0][0], (float) rXY[0][1], // [NUM_CAMS][2]; // XY pairs of the in a normal plane, relative to disparityRadius
			(float) rXY[1][0], (float) rXY[1][1],
			(float) rXY[2][0], (float) rXY[2][1],
			(float) rXY[3][0], (float) rXY[3][1],
			// (float) [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};
			// only used for the multi-quad systems
			(float) cameraRadius, // average distance from the "mass center" of the sensors to the sensors
			(float) disparityRadius //=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
			};
			}

	public int [] getWOITops() {// not used in lwir		public int [] getWOITops() {// not used in lwir
	return woi_tops;		return woi_tops;
	}		}

			public double [] getRByRDist() {
			return this.rByRDist;
			}
			public double getStepR() {
			return this.stepR;
			}


			// save files for GPU comparison
			public void saveFloatsGPU(String file_prefix) throws IOException {
			// Save GeometryCorrection global data
			int sizeof_float = 4;
			{
			String gc_path = file_prefix+".geometry_correction";
			FileOutputStream fos = new FileOutputStream(gc_path);
			DataOutputStream dos = new DataOutputStream(fos);
			WritableByteChannel channel = Channels.newChannel(dos);
			float [] fgc = toFloatArray();
			ByteBuffer bb = ByteBuffer.allocate(fgc.length * sizeof_float);
			bb.order(ByteOrder.LITTLE_ENDIAN);
			bb.clear();
			for (int i = 0; i < fgc.length; i++) {
			bb.putFloat(fgc[i]);
			}
			bb.flip();
			channel.write(bb);
			dos.close();
			}
			{
			String gc_path = file_prefix+".correction_vector";
			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);
			bb.order(ByteOrder.LITTLE_ENDIAN);
			bb.clear();
			for (int i = 0; i < fcv.length; i++) {
			bb.putFloat(fcv[i]);
			}
			bb.flip();
			channel.write(bb);
			dos.close();
			}
			//double [] getRByRDist()
			{
			String gc_path = file_prefix+".rbyrdist";
			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_float);
			bb.order(ByteOrder.LITTLE_ENDIAN);
			bb.clear();
			for (int i = 0; i < rByRDist.length; i++) {
			bb.putFloat((float) rByRDist[i]);
			}
			bb.flip();
			channel.write(bb);
			dos.close();
			}
			}

	public int [] getSensorWH() {		public int [] getSensorWH() {
	int [] wh = {this.pixelCorrectionWidth, this.pixelCorrectionHeight};		int [] wh = {this.pixelCorrectionWidth, this.pixelCorrectionHeight};
	@@ -1333,6 +1439,17 @@ public class GeometryCorrection {
	return new CorrVector(vector);		return new CorrVector(vector);
	}		}

			public float [] toFloatArray() {
			if (vector == null) {
			return null;
			}
			float [] fvector = new float [vector.length];
			for (int i = 0; i < vector.length; i++) {
			fvector[i] = (float) vector[i];
			}
			return fvector;
			}

	public double [] toArray() // USED in lwir		public double [] toArray() // USED in lwir
	{		{
	return vector;		return vector;
	@@ -2725,9 +2842,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
	double pXci_dbg = vi.get(0, 0) * norm_z_dbg;		double pXci_dbg = vi.get(0, 0) * norm_z_dbg;
	double pYci_dbg = vi.get(1, 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)");
	@@ -2745,13 +2859,14 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
	rD2rND += rad_coeff[j]*(rri - 1.0); // Fixed		rD2rND += rad_coeff[j]*(rri - 1.0); // Fixed
	}		}

			/*
	double rD2rND_dbg = 1.0;		double rD2rND_dbg = 1.0;
	double rri_dbg = 1.0;		double rri_dbg = 1.0;
	for (int j = 0; j < rad_coeff.length; j++){		for (int j = 0; j < rad_coeff.length; j++){
	rri_dbg *= ri_dbg;		rri_dbg *= ri_dbg;
	rD2rND_dbg += rad_coeff[j]*(rri_dbg - 1.0); // Fixed		rD2rND_dbg += rad_coeff[j]*(rri_dbg - 1.0); // Fixed
	}		}
			*/


	// Get port pixel coordinates by scaling the 2d vector with Rdistorted/Dnondistorted coefficient)		// Get port pixel coordinates by scaling the 2d vector with Rdistorted/Dnondistorted coefficient)
	@@ -2842,7 +2957,6 @@ matrix([[-0.125, -0.125, 0.125, 0.125, -0.125, 0.125, -0. , -0. , -0.
	double ers_Yci = delta_t* (dpYci_dtilt * imu[0] + dpYci_dazimuth * imu[1] + dpYci_droll * imu[2]);		double ers_Yci = delta_t* (dpYci_dtilt * imu[0] + dpYci_dazimuth * imu[1] + dpYci_droll * imu[2]);
	if (xyz != null) {		if (xyz != null) {
	double k = SCENE_UNITS_SCALE * this.disparityRadius;		double k = SCENE_UNITS_SCALE * this.disparityRadius;
	// double wdisparity = -(k * this.focalLength / (0.001*this.pixelSize)) / xyz[2];
	double wdisparity = disparity;		double wdisparity = disparity;
	double dwdisp_dz = (k * this.focalLength / (0.001this.pixelSize)) / (xyz[2] xyz[2]);		double dwdisp_dz = (k * this.focalLength / (0.001this.pixelSize)) / (xyz[2] xyz[2]);
	dpXci_pYci_imu_lin[0][0] = -wdisparity / k; // dpx/ dworld_X		dpXci_pYci_imu_lin[0][0] = -wdisparity / k; // dpx/ dworld_X

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

+0 −34

Original line number	Original line	Diff line number	Diff line
	@@ -2548,40 +2548,6 @@ public class ImageDtt {
	{ 0.5, 0.5}};		{ 0.5, 0.5}};
	final int transform_len = transform_size * transform_size;		final int transform_len = transform_size * transform_size;


	/*
	final double [] filter_direct= new double[transform_len];
	if (corr_sigma == 0) {
	filter_direct[0] = 1.0;
	for (int i= 1; i<filter_direct.length;i++) filter_direct[i] =0;
	} else {
	for (int i = 0; i < transform_size; i++){
	for (int j = 0; j < transform_size; j++){
	filter_direct[itransform_size+j] = Math.exp(-(ii+jj)/(2corr_sigma)); // FIXME: should be sigma*sigma !
	}
	}
	}
	// normalize
	double sum = 0;
	for (int i = 0; i < transform_size; i++){
	for (int j = 0; j < transform_size; j++){
	double d = filter_direct[i*transform_size+j];
	d=Math.cos(Math.PIi/(2transform_size))Math.cos(Math.PIj/(2transform_size));
	if (i > 0) d*= 2.0;
	if (j > 0) d*= 2.0;
	sum +=d;
	}
	}
	for (int i = 0; i<filter_direct.length; i++){
	filter_direct[i] /= sum;
	}

	DttRad2 dtt = new DttRad2(transform_size);
	final double [] filter= dtt.dttt_iiie(filter_direct);
	for (int i=0; i < filter.length;i++) filter[i] = 2transform_size;

	*/

	final double [] filter = doubleGetCltLpfFd(corr_sigma);		final double [] filter = doubleGetCltLpfFd(corr_sigma);

	// prepare disparity maps and weights		// prepare disparity maps and weights

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

+7 −1

Original line number	Original line	Diff line number	Diff line
	@@ -1502,10 +1502,16 @@ public class TwoQuadCLT {
	true);		true);
	} catch (IOException e) {		} catch (IOException e) {
	System.out.println("Failed to save flattened kernels tp "+kernel_dir);		System.out.println("Failed to save flattened kernels tp "+kernel_dir);
	// TODO Auto-generated catch block
	e.printStackTrace();		e.printStackTrace();
	} // boolean transpose);		} // boolean transpose);

			try {
			quadCLT_main.getGeometryCorrection().saveFloatsGPU(kernel_dir +"main");
			} catch (IOException e) {
			System.out.println("Failed to save geometry correction data to "+kernel_dir);
			e.printStackTrace();
			}

	if (debugLevel < -1000) {		if (debugLevel < -1000) {
	return null;		return null;
	}		}

src/main/resources/kernels/TileProcessor.cuh

+7 −1

Original line number	Original line	Diff line number	Diff line
	@@ -41,6 +41,8 @@
	#ifndef JCUDA		#ifndef JCUDA
	#include "tp_defines.h"		#include "tp_defines.h"
	#include "dtt8x8.h"		#include "dtt8x8.h"
			#include "geometry_correction.h"
			#include "TileProcessor.h"
	#endif // #ifndef JCUDA		#endif // #ifndef JCUDA

	#define TASK_TEXTURE_BITS ((1 << TASK_TEXTURE_N_BIT) \| (1 << TASK_TEXTURE_E_BIT) \| (1 << TASK_TEXTURE_S_BIT) \| (1 << TASK_TEXTURE_W_BIT))		#define TASK_TEXTURE_BITS ((1 << TASK_TEXTURE_N_BIT) \| (1 << TASK_TEXTURE_E_BIT) \| (1 << TASK_TEXTURE_S_BIT) \| (1 << TASK_TEXTURE_W_BIT))
	@@ -106,11 +108,12 @@
	#define DBG_TILE_Y 111 // 66		#define DBG_TILE_Y 111 // 66

	#define DBG_TILE (DBG_TILE_Y * 324 + DBG_TILE_X)		#define DBG_TILE (DBG_TILE_Y * 324 + DBG_TILE_X)
	#undef DBG_MARK_DBG_TILE 1		#undef DBG_MARK_DBG_TILE

	//56494		//56494
	// struct tp_task		// struct tp_task
	//#define TASK_SIZE 12		//#define TASK_SIZE 12
			#if 0
	struct tp_task {		struct tp_task {
	int task;		int task;
	union {		union {
	@@ -119,6 +122,7 @@ struct tp_task {
	};		};
	float xy[NUM_CAMS][2];		float xy[NUM_CAMS][2];
	};		};
			#endif
	struct CltExtra{		struct CltExtra{
	float data_x; // kernel data is relative to this displacement X (0.5 pixel increments)		float data_x; // kernel data is relative to this displacement X (0.5 pixel increments)
	float data_y; // kernel data is relative to this displacement Y (0.5 pixel increments)		float data_y; // kernel data is relative to this displacement Y (0.5 pixel increments)
	@@ -826,6 +830,7 @@ __device__ void imclt_plane( // not implemented, not used
	float * gpu_rbg, // WIDTH, HEIGHT		float * gpu_rbg, // WIDTH, HEIGHT
	const size_t dstride); // in floats (pixels)		const size_t dstride); // in floats (pixels)

			#if 0
	extern "C"		extern "C"
	__global__ void clear_texture_list(		__global__ void clear_texture_list(
	int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)		int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
	@@ -892,6 +897,7 @@ __global__ void imclt_rbg(
	int h_offset,		int h_offset,
	const size_t dstride); // in floats (pixels)		const size_t dstride); // in floats (pixels)
	//===========================		//===========================
			#endif

	extern "C"		extern "C"
	__global__ void correlate2D(		__global__ void correlate2D(