Editing for GPU debug export

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -805,6 +805,8 @@ private Panel panel1,
 			addButton("Reset AUX Geometry",         panelLWIR16, color_stop);
 			addButton("Generate Sym Vectors",       panelLWIR16, color_configure);
 			addButton("Image Properties",           panelLWIR16, color_conf_process);
+			addButton("GPU simulate",               panelClt_GPU, color_conf_process);
+			
 			plugInFrame.add(panelLWIR16);
 			
 		}
@@ -6095,12 +6097,12 @@ private Panel panel1,
 					QUAD_CLT, // QuadCLT quadCLT_main,
 					QUAD_CLT_AUX, // QuadCLT quadCLT_aux,
 					CLT_PARAMETERS,  // EyesisCorrectionParameters.DCTParameters           dct_parameters,
-					DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,
+//					DEBAYER_PARAMETERS, //EyesisCorrectionParameters.DebayerParameters     debayerParameters,
 					COLOR_PROC_PARAMETERS, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters,
 					COLOR_PROC_PARAMETERS_AUX, //EyesisCorrectionParameters.ColorProcParameters colorProcParameters_aux,
-					RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters             rgbParameters,
+//					RGB_PARAMETERS, //EyesisCorrectionParameters.RGBParameters             rgbParameters,
 					THREADS_MAX, //final int          threadsMax,  // maximal number of threads to launch
-					UPDATE_STATUS, //final boolean    updateStatus,
+//					UPDATE_STATUS, //final boolean    updateStatus,
 					DEBUG_LEVEL);
 		} catch (Exception e) {
 			// TODO Auto-generated catch block

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

@@ -91,7 +91,7 @@ public class GPUTileProcessor {
 	public static int DTT_SIZE_LOG2 =             3;
 	public static int DTT_SIZE =                  (1 << DTT_SIZE_LOG2);
 	static int        THREADSX =                  DTT_SIZE;
-	public static int NUM_CAMS =                  4;
+	public static int NUM_CAMS =                  16; // 4; Now - maximal number of sensors
 	public static int NUM_PAIRS =                 6; // top hor, bottom hor, left vert, right vert, main diagonal, other diagonal
 	public static int NUM_COLORS =                3;
 //	public static int IMG_WIDTH =              2592;

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

@@ -374,6 +374,7 @@ public class GpuQuad{ // quad camera description
 		}
 	}
 
+	// Use NUM_CAMS = 16 gc.expandSensors(NUM_CAMS) here
 	public void setGeometryCorrection(GeometryCorrection gc,
 			boolean use_java_rByRDist) { // false - use newer GPU execCalcReverseDistortions
 		float [] fgc = gc.toFloatArray();
@@ -1306,6 +1307,8 @@ public class GpuQuad{ // quad camera description
 			IJ.showMessage("Error", "No GPU kernel: GPU_IMCLT_ALL_kernel");
 			return;
 		}
+		//cuFuncSetAttribute(this.gpuTileProcessor.GPU_IMCLT_ALL_kernel, CU_FUNC_ATTRIBUTE_MAX_DYNAMIC_SHARED_SIZE_BYTES, 65536)		
+
 		int apply_lpf =  1;
 		int tilesX =  img_width / GPUTileProcessor.DTT_SIZE;
 		int tilesY =  img_height / GPUTileProcessor.DTT_SIZE;
@@ -1321,6 +1324,7 @@ public class GpuQuad{ // quad camera description
 				Pointer.to(new int[] { imclt_stride })              // const size_t       dstride);            // in floats (pixels)
 				);
 		cuCtxSynchronize();
+		
 		// Call the kernel function
 		cuLaunchKernel(this.gpuTileProcessor.GPU_IMCLT_ALL_kernel,
 				GridFullWarps[0],    GridFullWarps[1],   GridFullWarps[2],   // Grid dimension

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

@@ -417,6 +417,26 @@ public class CorrVector{ // TODO: Update to non-quad (extract to a file first)?
 		this.geometryCorrection = geometryCorrection;
 	}
 	
+	public CorrVector (
+			GeometryCorrection geometryCorrection,
+			GeometryCorrection sourceGeometryCorrection)
+	{
+		int num_sensors = geometryCorrection.getNumSensors();
+		this.symmVectorsSet = 	SymmVector.getSymmVectorsSet (num_sensors);
+		this.geometryCorrection = geometryCorrection;
+		this.vector = new double[getLength(num_sensors)];
+		CorrVector scv = sourceGeometryCorrection.getCorrVector();
+		int num_sens =  geometryCorrection.getNumSensors();
+		int snum_sens = sourceGeometryCorrection.getNumSensors();
+		int min_num_sens = (snum_sens < num_sens) ? snum_sens : num_sens; 
+		System.arraycopy(scv.vector, scv.getTiltIndex(),    vector, getTiltIndex(),    min_num_sens - 1);
+		System.arraycopy(scv.vector, scv.getAzimuthIndex(), vector, getAzimuthIndex(), min_num_sens - 1);
+		System.arraycopy(scv.vector, scv.getRollIndex(),    vector, getRollIndex(),    min_num_sens);
+		System.arraycopy(scv.vector, scv.getZoomIndex(),    vector, getZoomIndex(),    min_num_sens - 1);
+		System.arraycopy(scv.vector, scv.getIMUIndex(),     vector, getIMUIndex(),     CORR_IMU.length);
+	}
+	
+	
 	public CorrVector getCorrVector(
 			GeometryCorrection geometryCorrection,
 			double [] vector){// not used in lwir

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

@@ -237,9 +237,9 @@ public class GeometryCorrection {
 				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
+				// [NUM_CAMS][2]
 				pXY0,             // [0][0],  pXY0[0][1],  pXY0[1][0],  pXY0[1][1],
 				                  // [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
@@ -284,47 +284,55 @@ public class GeometryCorrection {
 			doubles[i] = double_list.get(i);
 		}
 		return doubles;
-		/*
-		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
-				woi_tops[0],woi_tops[1],woi_tops[2],woi_tops[3]
-// TODO: ADD camera_heights[0],	camera_heights[1], camera_heights[2], camera_heights[3],
-						
-		};
-		*/
 	}
 
+	public GeometryCorrection expandSensors(int num_cams) {
+		GeometryCorrection egc = new GeometryCorrection (num_cams);
+		// single
+		int min_nc = (numSensors < num_cams) ? numSensors : num_cams;
+		
+		egc.pixelCorrectionWidth =  pixelCorrectionWidth; //  =2592;   // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
+		egc.pixelCorrectionHeight = pixelCorrectionHeight; // =1936;
+		egc.line_time =             line_time;     // duration of one scan line readout (for ERS)
+		egc.focalLength =           focalLength; // ,      // =FOCAL_LENGTH;
+		egc.pixelSize =             pixelSize;        // =  PIXEL_SIZE; //um
+		egc.distortionRadius =      distortionRadius; // =  DISTORTION_RADIUS; // mm - half width of the sensor
+		egc.distortionC =           distortionC;      // r^2
+		egc.distortionB =           distortionB;      // r^3
+		egc.distortionA =           distortionA;      // r^4 (normalized to focal length or to sensor half width?)
+		egc.distortionA5 =          distortionA5;     // r^5 (normalized to focal length or to sensor half width?)
+		egc.distortionA6 =          distortionA6;     // r^6 (normalized to focal length or to sensor half width?)
+		egc.distortionA7 =          distortionA7;     // r^7 (normalized to focal length or to sensor half width?)
+		egc.distortionA8 =          distortionA8;     // r^8 (normalized to focal length or to sensor half width?)
+		egc.elevation =             elevation;        // degrees, up - positive;
+		egc.heading =               heading;          // degrees, CW (from top) - positive
+		
+		egc.common_right =          common_right;     // mm right, camera center
+		egc.common_forward =        common_forward;   // mm forward (to target), camera center
+		egc.common_height =         common_height;    // mm up, camera center
+		egc.common_roll =           common_roll;      // degrees CW (to target) camera as a whole
+		egc.cameraRadius =          cameraRadius;     // average distance from the "mass center" of the sensors to the sensors
+		egc.disparityRadius =       disparityRadius;  //=150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
+		
+		
+		
+		System.arraycopy(forward,   0, egc.forward, 0, min_nc);
+		System.arraycopy(right,     0, egc.right,   0, min_nc);
+		System.arraycopy(height,    0, egc.height,  0, min_nc);
+		System.arraycopy(roll,      0, egc.roll,    0, min_nc);
+		System.arraycopy(woi_tops,  0, egc.woi_tops,0, min_nc);
+		for (int n = 0; n < min_nc; n++) {
+			egc.pXY0[n] = pXY0[n].clone(); 
+		}
+		CorrVector cv = new CorrVector (
+				egc, // GeometryCorrection geometryCorrection,
+				this); // GeometryCorrection sourceGeometryCorrection)
+		egc.setCorrVector(cv);
+		egc.rByRDist = rByRDist.clone();
+		return egc;
+	}
+	
+	
 	public int [] getWOITops() {// not used in lwir
 		return woi_tops;
 	}

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

@@ -1469,7 +1469,9 @@ public class QuadCLTCPU {
 			geometryCorrection.setCorrVector(this.extrinsic_vect);
 //			geometryCorrection = new GeometryCorrection(this.extrinsic_vect);
 		}
-
+//
+		
+		
 		if (is_aux) {
 			geometryCorrection.setRigOffsetFromProperies(prefix, properties);
 		}
@@ -1631,7 +1633,13 @@ public class QuadCLTCPU {
 			System.out.println("=== Extrinsic corrections ===");
 			System.out.println(geometryCorrection.getCorrVector().toString());
 		}
-		double [] dbg_objects = geometryCorrection.toDoubleArray();
+//		double [] dbg_objects = geometryCorrection.toDoubleArray();
+		double [] dbg_double =  geometryCorrection.toDoubleArray();
+		float  [] dbg_float =   geometryCorrection.toFloatArray();
+		System.out.println("toFloatArray().length="+geometryCorrection.toFloatArray().length);
+		System.out.println();
+		
+		
 //listGeometryCorrection
 		return true;
 	}
@@ -14166,18 +14174,18 @@ public class QuadCLTCPU {
 			  ) {
 		  boolean       need_diffs = false;
 		  double [][] src_data = {
-	    			this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
-	    			this.dsi[is_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN],
-	    			this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA],
+				  this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX:TwoQuadCLT.DSI_DISPARITY_MAIN],
+				  this.dsi[is_aux?TwoQuadCLT.DSI_STRENGTH_AUX:TwoQuadCLT.DSI_STRENGTH_MAIN],
+				  this.dsi[is_aux?TwoQuadCLT.DSI_DISPARITY_AUX_LMA:TwoQuadCLT.DSI_DISPARITY_MAIN_LMA],
 		  };
-		  
+
 		  CLTPass3d pass = new CLTPass3d (this.tp, 0);
 		  boolean [] selection = new boolean [src_data[0].length];
 		  boolean [] selection_all = new boolean [src_data[0].length];
 		  for (int i = 0; i < selection.length; i++) {
 			  selection[i] =     (src_data[1][i] > 0) && (Double.isNaN(src_data[2][i])); // that do not have LMA
 			  selection_all[i] = (src_data[1][i] > 0);
-			  
+
 		  }
 		  for (int clust_radius = 00; clust_radius < 5; clust_radius++) {
 			  pass.setTileOpDisparity(
@@ -14194,22 +14202,24 @@ public class QuadCLTCPU {
 					  100,            // final int           threadsMax,  // maximal number of threads to launch
 					  true,           // final boolean       updateStatus,
 					  0);             // final int           debugLevel) 
-    		  tp.showScan(
-    				  pass, // CLTPass3d   scan,
-    				  getImageName()+"-MAP-FZ"+(clt_parameters.getGpuFatZero(isMonochrome()))+"-CLUST"+clust_radius);
-    		  tp.showLmaCmStrength(
-    				  pass, // CLTPass3d   scan,
-    				  64, // 	int         bins,
-    				  "Strength_lma_vs_cm_cr"+clust_radius+"-FZ"+(clt_parameters.getGpuFatZero(isMonochrome()))); // String      title)
-    		  if (clust_radius == 0) {
-    			  tp.adjustLmaStrength (
-    					  clt_parameters.img_dtt, // ImageDttParameters  imgdtt_params,
-    					  pass, // CLTPass3d           scan,
-    					  1); // int                 debugLevel)
-    		  }
+			  tp.showScan(
+					  pass, // CLTPass3d   scan,
+					  getImageName()+"-MAP-FZ"+(clt_parameters.getGpuFatZero(isMonochrome()))+"-CLUST"+clust_radius);
+			  tp.showLmaCmStrength(
+					  pass, // CLTPass3d   scan,
+					  64, // 	int         bins,
+					  "Strength_lma_vs_cm_cr"+clust_radius+"-FZ"+(clt_parameters.getGpuFatZero(isMonochrome()))); // String      title)
+			  if (clust_radius == 0) {
+				  tp.adjustLmaStrength (
+						  clt_parameters.img_dtt, // ImageDttParameters  imgdtt_params,
+						  pass, // CLTPass3d           scan,
+						  1); // int                 debugLevel)
+			  }
 		  }
 		  return;
 	  }
 	  
-	  
+// Generate files for testing GPU	  
+
+
 }