Commit 605aa42c authored by Andrey Filippov's avatar Andrey Filippov

Refactored 2 GPU-related classes, adding CPU-only (GPU code requires

deeper updates for 16 sensors) methods for interscene accumulation.
parent 00ba5f14
......@@ -7161,6 +7161,7 @@ List calibration
imp.setProperty("focalLength", ""+subCam.focalLength);
imp.setProperty("focalLength_units", "mm");
imp.setProperty("pixelSize", ""+subCam.pixelSize);
imp.setProperty("lineTime", ""+subCam.lineTime);
imp.setProperty("pixelSize_units", "um");
imp.setProperty("distortionA8", ""+subCam.distortionA8);
imp.setProperty("distortionA7", ""+subCam.distortionA7);
......@@ -7380,6 +7381,17 @@ List calibration
subCam.distortionRadius= Double.parseDouble((String) imp.getProperty("distortionRadius"));
subCam.focalLength= Double.parseDouble((String) imp.getProperty("focalLength"));
subCam.pixelSize= Double.parseDouble((String) imp.getProperty("pixelSize"));
if (imp.getProperty("lineTime") != null) {
subCam.pixelSize= Double.parseDouble((String) imp.getProperty("lineTime"));
} else { // fix older saved files
if (subCam.pixelSize < 5.0) {
subCam.pixelSize=3.638E-5;
} else if (distortionCalibrationData.eyesisCameraParameters.getSensorWidth(numSensor) == 640){ // Boson
subCam.lineTime = 2.7778e-05; // 12um pixel, Boson
} else {
subCam.lineTime = 7.8e-05; // 12um pixel, Lepton (may7 be wrong)
}
}
if (imp.getProperty("distortionA8")!=null) {
subCam.distortionA8= Double.parseDouble((String) imp.getProperty("distortionA8"));
} else subCam.distortionA8=0.0;
......
......@@ -15706,6 +15706,11 @@ public class PixelMapping {
public double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target roll
public double focalLength=4.5;
public double pixelSize= 2.2; //um
public double lineTime = 3.638E-5; // 2.7778e-05 for Boson
public boolean monochrome = false;
public boolean lwir = false;
public double distortionRadius= 2.8512; // mm - half width of the sensor
public double distortionA8=0.0; //r^8 (normalized to focal length or to sensor half width?)
public double distortionA7=0.0; //r^7 (normalized to focal length or to sensor half width?)
......@@ -16301,6 +16306,9 @@ public class PixelMapping {
public void setSensorDataFromImageStack(ImagePlus imp){
// int corrX=0,corrY=1,corrMask=2;
boolean need_lineTime_fix = false; // will use sensor default if not provided, 3.638E-5 for RGB and 2.7778e-05 for Boson
boolean need_monochrome_fix = false; // will use sensor default if not provided, 3.638E-5 for RGB and 2.7778e-05 for Boson
boolean need_lwir_fix = false; // will use sensor default if not provided, 3.638E-5 for RGB and 2.7778e-05 for Boson
if (imp == null){
String msg="Sensor Calibration image is null";
IJ.showMessage("Error",msg);
......@@ -16325,10 +16333,29 @@ public class PixelMapping {
"heading",
"elevation",
"roll",
"channel"
"channel",
"lineTime", // optional
"monochrome", // optional
"lwir" // optional
};
for (int i=0; i<requiredProperties.length;i++) if (imp.getProperty(requiredProperties[i])==null){
String msg="Required property "+requiredProperties[i]+" is not defined in "+imp.getTitle();
// is it
if (requiredProperties[i].equals("lineTime")) {
System.out.println(requiredProperties[i]+" is not provided, will use default");
need_lineTime_fix = true;
continue;
}
if (requiredProperties[i].equals("monochrome")) {
System.out.println(requiredProperties[i]+" is not provided, will use default");
need_monochrome_fix = true;
continue;
}
if (requiredProperties[i].equals("lwir")) {
System.out.println(requiredProperties[i]+" is not provided, will use default");
need_lwir_fix = true;
continue;
}
IJ.showMessage("Error",msg);
throw new IllegalArgumentException (msg);
}
......@@ -16352,6 +16379,43 @@ public class PixelMapping {
this.distortionRadius= Double.parseDouble((String) imp.getProperty("distortionRadius"));
this.focalLength= Double.parseDouble((String) imp.getProperty("focalLength"));
this.pixelSize= Double.parseDouble((String) imp.getProperty("pixelSize"));
if (need_lineTime_fix) {
if (this.pixelSize < 5.0) {
this.lineTime = 3.638E-5;
} else if (this.pixelCorrectionWidth == 640){ // Boson
this.lineTime = 2.7778e-05; // 12um pixel, Boson
} else {
this.lineTime = 7.8e-05; // 12um pixel, Lepton (may7 be wrong)
}
} else {
this.lineTime= Double.parseDouble((String) imp.getProperty("lineTime"));
}
if (need_monochrome_fix) {
if (this.pixelSize < 5.0) {
this.monochrome = false;
} else if (this.pixelCorrectionWidth == 640){ // Boson
this.monochrome = true; // 12um pixel, Boson
} else {
this.monochrome = true; // 12um pixel, Lepton (may7 be wrong)
}
} else {
this.monochrome= Boolean.parseBoolean((String) imp.getProperty("monochrome"));
}
if (need_lwir_fix) {
if (this.pixelSize < 5.0) {
this.lwir = false;
} else if (this.pixelCorrectionWidth == 640){ // Boson
this.lwir = true; // 12um pixel, Boson
} else {
this.lwir = true; // 12um pixel, Lepton (may7 be wrong)
}
} else {
this.lwir= Boolean.parseBoolean((String) imp.getProperty("lwir"));
}
if (imp.getProperty("distortionA8")!=null) this.distortionA8= Double.parseDouble((String) imp.getProperty("distortionA8"));
else this.distortionA8= 0.0;
if (imp.getProperty("distortionA7")!=null) this.distortionA7= Double.parseDouble((String) imp.getProperty("distortionA7"));
......
......@@ -44,6 +44,7 @@ import java.util.Properties;
public double psi; // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
public double focalLength=4.5;
public double pixelSize= 2.2; //um
public double lineTime = 3.638E-5; // 2.7778e-05 for Boson
public double distortionRadius= 2.8512; // mm - half width of the sensor
public double distortionA8=0.0; //r^8 (normalized to focal length or to sensor half width?)
public double distortionA7=0.0; //r^7 (normalized to focal length or to sensor half width?)
......@@ -100,6 +101,7 @@ import java.util.Properties;
double psi, // degrees, rotation (of the sensor) around the optical axis. Positive if camera is rotated clockwise looking to the target
double focalLength,
double pixelSize,//um
double lineTime, // = 3.638E-5; // 2.7778e-05 for Boson
double distortionRadius, //mm - half width of the sensor
double distortionA8, // r^8
double distortionA7, // r^7
......@@ -183,6 +185,7 @@ import java.util.Properties;
this.psi,
this.focalLength,
this.pixelSize,
this.lineTime,
this.distortionRadius,
this.distortionA8,
this.distortionA7,
......@@ -227,6 +230,7 @@ import java.util.Properties;
properties.setProperty(prefix+"psi", this.psi+"");
properties.setProperty(prefix+"focalLength", this.focalLength+"");
properties.setProperty(prefix+"pixelSize", this.pixelSize+"");
properties.setProperty(prefix+"lineTime", this.lineTime+"");
properties.setProperty(prefix+"distortionRadius", this.distortionRadius+"");
properties.setProperty(prefix+"distortionA8", this.distortionA8+"");
properties.setProperty(prefix+"distortionA7", this.distortionA7+"");
......@@ -288,6 +292,8 @@ import java.util.Properties;
this.focalLength=Double.parseDouble(properties.getProperty(prefix+"focalLength"));
if (properties.getProperty(prefix+"pixelSize")!=null)
this.pixelSize=Double.parseDouble(properties.getProperty(prefix+"pixelSize"));
if (properties.getProperty(prefix+"lineTime")!=null)
this.lineTime=Double.parseDouble(properties.getProperty(prefix+"lineTime"));
if (properties.getProperty(prefix+"distortionRadius")!=null)
this.distortionRadius=Double.parseDouble(properties.getProperty(prefix+"distortionRadius"));
if (properties.getProperty(prefix+"distortionA8")!=null)
......
......@@ -104,7 +104,11 @@ import ij.process.ImageProcessor;
not_empty = true;
fpixels=new float[pixels[i].length];
for (j=0;j<fpixels.length;j++) fpixels[j]=(float)pixels[i][j];
array_stack.addSlice(titles[i], fpixels);
if (i < titles.length) {
array_stack.addSlice(titles[i], fpixels);
} else {
array_stack.addSlice("slice-"+i, fpixels);
}
}
if (not_empty) {
ImagePlus imp_stack = new ImagePlus(title, array_stack);
......
......@@ -1223,7 +1223,8 @@ public class EyesisDCT {
ImageDtt image_dtt = new ImageDtt(
4, // 4 sensors, will not be used here
dctParameters.dct_size,
null, // FIXME: needs ImageDttParameters (clt_parameters.img_dtt),
null, // FIXME: needs ImageDttParameters (clt_parameters.img_dtt),
false, // aux
false, // mono
false, // lwir
1.0); // Bayer( not monochrome), scale correlation strengths
......
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package com.elphel.imagej.gpu;
public class TpTask {
public int task; // [0](+1) - generate 4 images, [4..9]+16..+512 - correlation pairs, 2 - generate texture tiles
public float target_disparity;
public int num_sensors = 4;
public int ty;
public int tx;
public float[][] xy = null;
public float[][] xy_aux = null;
public float [][] disp_dist = null;
public TpTask() {}
public TpTask(int num_sensors, int tx, int ty, float target_disparity, int task ) {
this.tx = tx;
this.ty = ty;
this.target_disparity = target_disparity;
this.task = task;
this.num_sensors = num_sensors; // will not be encoded
this.disp_dist = new float [num_sensors][4];
}
/**
* Initialize from the float array (read from the GPU)
* @param flt float array containing 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_sensors][2];
for (int i = 0; i < num_sensors; i++) {
xy_aux[i][0] = flt[indx++];
xy_aux[i][1] = flt[indx++];
}
} else {
xy = new float[num_sensors][2];
for (int i = 0; i < num_sensors; i++) {
xy[i][0] = flt[indx++];
xy[i][1] = flt[indx++];
}
}
target_disparity = flt[indx++];
disp_dist = new float [num_sensors][4];
for (int i = 0; i < num_sensors; i++) {
for (int j = 0; j < 4; j++) {
disp_dist[i][j] = flt[indx++];
}
}
}
public float [][] getDispDist(){
return disp_dist;
}
public double [][] getDoubleDispDist(){
if (disp_dist == null) { // can it happen?
return null;
}
double [][] ddisp_dist = new double [disp_dist.length][disp_dist[0].length];
for (int nsens = 0; nsens < disp_dist.length; nsens++) {
for (int i = 0; i < disp_dist[nsens].length; i++) {
ddisp_dist[nsens][i] = disp_dist[nsens][i];
}
}
return ddisp_dist;
}
public float [][] getXY(boolean use_aux){
return use_aux? xy_aux : xy;
}
public double [][] getDoubleXY(boolean use_aux){
float [][] fXY = getXY(use_aux);
if (fXY == null) {
return null;
}
double [][] dXY = new double [fXY.length][fXY[0].length];
for (int nsens = 0; nsens < fXY.length; nsens++) {
for (int i = 0; i < fXY[nsens].length; i++) {
dXY[nsens][i] = fXY[nsens][i];
}
}
return dXY;
}
public int getTileY(){
return ty;
}
public int getTileX(){
return tx;
}
public int getTask() {
return task;
}
public double getTargetDisparity() {
return target_disparity;
}
// convert this class instance to float array to match layout of the C struct
public float [] asFloatArray(boolean use_aux) {
float [] flt = new float [GPUTileProcessor.TPTASK_SIZE];
return asFloatArray(flt, 0, use_aux);
}
// convert this class instance to float array to match layout of the C struct,
// fill existing float array from the specified index
public float [] asFloatArray(float [] flt, int indx, boolean use_aux) {
flt[indx++] = Float.intBitsToFloat(task);
flt[indx++] = Float.intBitsToFloat(tx + (ty << 16));
float [][] offsets = use_aux? this.xy_aux: this.xy;
for (int i = 0; i < num_sensors; i++) {
if (offsets != null) {
flt[indx++] = offsets[i][0];
flt[indx++] = offsets[i][1];
} else {
indx+= 2;
}
}
flt[indx++] = this.target_disparity;
/*
for (int i = 0; i < NUM_CAMS; i++) { // actually disp_dist will be initialized by the GPU
indx+= 4;
flt[indx++] = disp_dist[i][0];
flt[indx++] = disp_dist[i][1];
flt[indx++] = disp_dist[i][2];
flt[indx++] = disp_dist[i][3];
}
*/
return flt;
}
}
\ No newline at end of file
......@@ -378,10 +378,22 @@ public class CLTPass3d{
}
return has_lma;
}
public void setLMA(boolean [] has_lma) {// use for combo tiles
this.has_lma = has_lma;
}
public void resetLMA() {
this.has_lma = null;
}
public void setLMA(double [] disparity_lma) {// use for combo tiles
this.has_lma = new boolean [disparity_lma.length];
for (int i = 0; i < disparity_lma.length; i++) {
this.has_lma[i] = !Double.isNaN(disparity_lma[i]);
}
}
public void fixNaNDisparity()
{
fixNaNDisparity(
......
......@@ -50,6 +50,7 @@ public class Clt1d {
nSens,
transform_size,
null, // FIXME: needs ImageDttParameters (clt_parameters.img_dtt),
false, // aux
false,
false,
1.0);
......
......@@ -1285,6 +1285,7 @@ public class Correlation2d {
* @param col_weights RBG color weights
* @return [pair][quadrant][index]
*/
@Deprecated
public double [][][] correlateCompositeTD(
double [][][][][][] clt_data,
int tileX,
......@@ -1310,14 +1311,50 @@ public class Correlation2d {
/**
* Calculate all required image pairs phase correlation, stay in Transform Domain
* @param clt_data_tile aberration-corrected FD CLT data for one tile [camera][color][quadrant][index]
* @param clt_data aberration-corrected FD CLT data [camera][color][tileY][tileX][quadrant][index]
* @param tileX tile to extract X index
* @param tileY tile to extract Y index
* @param pairs_mask bimask of required pairs
* @param lpf_rb optional low-pass filter - extra LPF for red and blue
* @param scale_value scale correlation results to compensate for lpf changes and other factors
* @param col_weights RBG color weights
* @return [pair][quadrant][index]
*/
public double [][][] correlateCompositeTD(
double [][][][][][] clt_data,
int tileX,
int tileY,
boolean [] pairs_mask,
double [] lpf_rb, // extra lpf for red and blue (unused for mono) or null
double scale_value, // scale correlation value
double [] col_weights) {
double [][][][] clt_data_tile = new double[clt_data.length][][][]; // [camera][color][quadrant][index]
for (int ncam = 0; ncam < clt_data.length; ncam++) if (clt_data[ncam] != null){
clt_data_tile[ncam] = new double[clt_data[ncam].length][][];
for (int ncol = 0; ncol < clt_data[ncam].length; ncol++) if ((clt_data[ncam][ncol] != null) && (clt_data[ncam][ncol][tileY] != null)){
clt_data_tile[ncam][ncol] = clt_data[ncam][ncol][tileY][tileX];
}
}
return correlateCompositeTD(
clt_data_tile,
pairs_mask, // already decoded so bit 0 - pair 0
lpf_rb,
scale_value,
col_weights);
}
/**
* Calculate all required image pairs phase correlation, stay in Transform Domain
* @param clt_data_tile aberration-corrected FD CLT data for one tile [camera][color][quadrant][index]
* @param pairs_mask bimask of required pairs NOW USE boolean array and new pairs
* @param lpf optional final low-pass filter
* @param lpf_rb optional low-pass filter (extra) for R,B components
* @param scale_value scale correlation results to compensate for lpf changes and other factors
* @param col_weights RBG color weights
* @return [pair][quadrant][index]
*/
@Deprecated
public double [][][] correlateCompositeTD(
double [][][][] clt_data_tile,
int pairs_mask, // already decoded so bit 0 - pair 0
......@@ -1341,6 +1378,42 @@ public class Correlation2d {
return pairs_corr;
}
/**
* Calculate all required image pairs phase correlation, stay in Transform Domain
* @param clt_data_tile aberration-corrected FD CLT data for one tile [camera][color][quadrant][index]
* @param pairs_mask bimask of required pairs
* @param lpf optional final low-pass filter
* @param lpf_rb optional low-pass filter (extra) for R,B components
* @param scale_value scale correlation results to compensate for lpf changes and other factors
* @param col_weights RBG color weights
* @return [pair][quadrant][index]
*/
public double [][][] correlateCompositeTD(
double [][][][] clt_data_tile,
boolean[] pairs_mask, // already decoded so bit 0 - pair 0
double [] lpf_rb, // extra lpf for red and blue (unused for mono) or null
double scale_value, // scale correlation value
double [] col_weights) {
if (clt_data_tile == null) return null;
double [][][] pairs_corr = new double [getNumPairs()][][];
for (int npair = 0; npair < pairs_corr.length; npair++) if (pairs_mask[npair]) {
int [] pair = getPair(npair);
int ncam1 = pair[0]; // start
int ncam2 = pair[1]; // end
if ((ncam1 < clt_data_tile.length) && (clt_data_tile[ncam1] != null) && (ncam2 < clt_data_tile.length) && (clt_data_tile[ncam2] != null)) {
pairs_corr[npair] = correlateCompositeTD(
clt_data_tile[ncam1], // double [][][] clt_data1,
clt_data_tile[ncam2], // double [][][] clt_data2,
lpf_rb, // double [] lpf_rb,
scale_value,
col_weights); // double [] col_weights,
}
}
return pairs_corr;
}
/**
* Calculate color channels FD phase correlations, mix results with weights, apply optional low-pass filter
* No transposing or rotation
......
......@@ -639,6 +639,8 @@ public class ErsCorrection extends GeometryCorrection {
public ErsCorrection(GeometryCorrection gc, boolean deep) {
debugLevel = gc.debugLevel;
line_time = gc.line_time; // 36.38! //26.5E-6; // duration of sensor scan line (for ERS)
monochrome = gc.monochrome;
lwir = gc.lwir;
pixelCorrectionWidth= gc.pixelCorrectionWidth; // 2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
pixelCorrectionHeight= gc.pixelCorrectionHeight; // 1936;
focalLength = gc.focalLength; // =FOCAL_LENGTH;
......
......@@ -64,6 +64,9 @@ public class GeometryCorrection {
*/
public int debugLevel = 0;
public double line_time = 36.38E-6; // 26.5E-6; // duration of sensor scan line (for ERS) Wrong, 36.38us (change and re-run ERS
// Boson - 27.7778E-6 (750/27E6)
public boolean monochrome = false;
public boolean lwir = false;
public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
public int pixelCorrectionHeight=1936;
......@@ -117,6 +120,15 @@ public class GeometryCorrection {
public int getNumSensors() {
return numSensors;
}
public boolean isMonochrome() {
return monochrome;
}
public boolean isLwir() {
return lwir;
}
protected double [][] get_rXY_ideal(){
if (rXY_ideal == null) {
if (numSensors == 4) {
......@@ -798,7 +810,7 @@ public class GeometryCorrection {
ro.aux_tilt = this.aux_tilt;
ro.aux_roll = this.aux_roll;
ro.aux_zoom = this.aux_zoom;
ro.full_par_index = this.full_par_index.clone();
ro.full_par_index = (this.full_par_index == null)?null:this.full_par_index.clone();
ro.par_scales = this.par_scales.clone();
return ro;
}
......@@ -1477,8 +1489,10 @@ public class GeometryCorrection {
double distortionRadius,
int pixelCorrectionWidth, // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
int pixelCorrectionHeight,
double pixelSize
double pixelSize,
double line_time,
boolean monochrome,
boolean lwir
) {
if (!Double.isNaN(focalLength)) this.focalLength = focalLength;
if (!Double.isNaN(distortionC)) this.distortionC = distortionC;
......@@ -1492,6 +1506,9 @@ public class GeometryCorrection {
if (pixelCorrectionWidth >= 0) this.pixelCorrectionWidth = pixelCorrectionWidth;
if (pixelCorrectionHeight >= 0) this.pixelCorrectionHeight = pixelCorrectionHeight;
if (!Double.isNaN(pixelSize)) this.pixelSize = pixelSize;
if (!Double.isNaN(line_time)) this.line_time = line_time;
this.monochrome = monochrome;
this.lwir = lwir;
// imp.setProperty("distortion_formula", "(normalized by distortionRadius in mm) 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)");
// imp.setProperty("distortionRadius", ""+subCam.distortionRadius);
}
......@@ -1671,6 +1688,9 @@ public class GeometryCorrection {
System.out.println("pixelCorrectionWidth =\t"+ pixelCorrectionWidth+"\tpix");
System.out.println("pixelCorrectionHeight =\t"+ pixelCorrectionHeight+"\tpix");
System.out.println("pixelSize =\t"+ pixelSize+"\tum");
System.out.println("lineTime =\t"+ (1E6*line_time)+"\tus");
System.out.println("monochrome =\t"+ monochrome+"\t");
System.out.println("lwir =\t"+ lwir+"\t");
System.out.println("distortionRadius =\t"+ distortionRadius+"\tmm");
System.out.println("'=== Common input parameters ===");
System.out.println("distortionA8 =\t"+ distortionA8);
......
......@@ -5,24 +5,28 @@ import java.util.concurrent.atomic.AtomicInteger;
import com.elphel.imagej.common.ShowDoubleFloatArrays;
import com.elphel.imagej.gpu.GPUTileProcessor;
import com.elphel.imagej.gpu.GpuQuad;
import com.elphel.imagej.gpu.TpTask;
//import Jama.Matrix;
public class ImageDtt extends ImageDttCPU {
public boolean debug_strengths = false; // true;
private final GPUTileProcessor.GpuQuad gpuQuad;
private final GpuQuad gpuQuad;
public ImageDtt(
int numSensors,
int transform_size,
ImageDttParameters imgdtt_params,
boolean aux,
boolean mono,
boolean lwir,
double scale_strengths,
GPUTileProcessor.GpuQuad gpuQuadIn){
GpuQuad gpuQuadIn){
super ( numSensors,
transform_size,
imgdtt_params,
aux,
mono,
lwir,
scale_strengths);
......@@ -33,19 +37,21 @@ public class ImageDtt extends ImageDttCPU {
int numSensors,
int transform_size,
ImageDttParameters imgdtt_params,
boolean aux,
boolean mono,
boolean lwir,
double scale_strengths){
super ( numSensors,
transform_size,
imgdtt_params,
aux,
mono,
lwir,
scale_strengths);
gpuQuad = null;
}
public GPUTileProcessor.GpuQuad getGPU() {
public GpuQuad getGPU() {
return this.gpuQuad;
}
......@@ -272,7 +278,7 @@ public class ImageDtt extends ImageDttCPU {
final boolean use_main = geometryCorrection_main != null;
boolean [] used_corrs = new boolean[1];
final int all_pairs = imgdtt_params.dbg_pair_mask; //TODO: use tile tasks
final GPUTileProcessor.TpTask[] tp_tasks = gpuQuad.setTpTask(
final TpTask[] tp_tasks = gpuQuad.setTpTask(
disparity_array, // final double [][] disparity_array, // [tilesY][tilesX] - individual per-tile expected disparity
disparity_corr, // final double disparity_corr,
used_corrs, // final boolean [] need_corrs, // should be initialized to boolean[1] or null
......@@ -319,13 +325,13 @@ public class ImageDtt extends ImageDttCPU {
gpuQuad.execSetTilesOffsets(); // prepare tiles offsets in GPU memory
if ((fdisp_dist != null) || (fpxpy != null)) {
final GPUTileProcessor.TpTask[] tp_tasks_full = gpuQuad.getTasks(use_main);
final TpTask[] tp_tasks_full = gpuQuad.getTasks(use_main);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
@Override
public void run() {
for (int indx_tile = ai.getAndIncrement(); indx_tile < tp_tasks_full.length; indx_tile = ai.getAndIncrement()) {
GPUTileProcessor.TpTask task = tp_tasks_full[indx_tile];
TpTask task = tp_tasks_full[indx_tile];
if (fdisp_dist != null) {
fdisp_dist[task.getTileY()][task.getTileX()] = task.getDispDist();
}
......@@ -688,7 +694,7 @@ public class ImageDtt extends ImageDttCPU {
final int globalDebugLevel)
{
// prepare tasks
GPUTileProcessor.TpTask[] tp_tasks = gpuQuad.setInterTasks(
TpTask[] tp_tasks = gpuQuad.setInterTasks(
pXpYD, // final double [][] pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
geometryCorrection, // final GeometryCorrection geometryCorrection,
disparity_corr, // final double disparity_corr,
......@@ -701,7 +707,6 @@ public class ImageDtt extends ImageDttCPU {
fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr pairs
fcorr_combo_td, // [4][tilesY][tilesX][pair][4*64] TD of combo corrs: quad, cross, hor,vert
geometryCorrection,
// disparity_corr, // disparity offset at infinity
margin, // do not use tiles if their centers are closer to the edges
gpu_sigma_r, // 0.9, 1.1
gpu_sigma_b, // 0.9, 1.1
......@@ -718,7 +723,7 @@ public class ImageDtt extends ImageDttCPU {
public void quadCorrTD(
final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
final GPUTileProcessor.TpTask[] tp_tasks,
final TpTask[] tp_tasks,
final float [][][][] fcorr_td, // [tilesY][tilesX][pair][4*64] transform domain representation of 6 corr pairs
final float [][][][] fcorr_combo_td, // [4][tilesY][tilesX][pair][4*64] TD of combo corrs: quad, cross, hor,vert
final GeometryCorrection geometryCorrection,
......@@ -865,7 +870,7 @@ public class ImageDtt extends ImageDttCPU {
public GPUTileProcessor.TpTask[][] clt_aberrations_quad_corr_GPU_test(
public TpTask[][] clt_aberrations_quad_corr_GPU_test(
final ImageDttParameters imgdtt_params, // Now just extra correlation parameters, later will include, most others
final int macro_scale, // to correlate tile data instead of the pixel data: 1 - pixels, 8 - tiles
final int [][] tile_op, // [tilesY][tilesX] - what to do - 0 - nothing for this tile
......@@ -1105,7 +1110,7 @@ public class ImageDtt extends ImageDttCPU {
final boolean use_main = geometryCorrection_main != null;
boolean [] used_corrs = new boolean[1];
final int all_pairs = imgdtt_params.dbg_pair_mask; //TODO: use tile tasks
final GPUTileProcessor.TpTask[] tp_tasks = gpuQuad.setTpTask(
final TpTask[] tp_tasks = gpuQuad.setTpTask(
disparity_array, // final double [][] disparity_array, // [tilesY][tilesX] - individual per-tile expected disparity
disparity_corr, // final double disparity_corr,
used_corrs, // final boolean [] need_corrs, // should be initialized to boolean[1] or null
......@@ -1151,17 +1156,17 @@ public class ImageDtt extends ImageDttCPU {
gpuQuad.execSetTilesOffsets(); // prepare tiles offsets in GPU memory
GPUTileProcessor.TpTask[][] test_tasks = new GPUTileProcessor.TpTask[3][];
TpTask[][] test_tasks = new TpTask[3][];
test_tasks[2] = tp_tasks;
if ((fdisp_dist != null) || (fpxpy != null)) {
final GPUTileProcessor.TpTask[] tp_tasks_full = gpuQuad.getTasks(use_main);
final TpTask[] tp_tasks_full = gpuQuad.getTasks(use_main);
test_tasks[0] = tp_tasks_full;
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
@Override
public void run() {
for (int indx_tile = ai.getAndIncrement(); indx_tile < tp_tasks_full.length; indx_tile = ai.getAndIncrement()) {
GPUTileProcessor.TpTask task = tp_tasks_full[indx_tile];
TpTask task = tp_tasks_full[indx_tile];
if (fdisp_dist != null) {
fdisp_dist[task.getTileY()][task.getTileX()]<