Commit 901f0a49 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Debugging field calibration with GPU

parent dd8f74c3

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

+7 −2
Original line number Diff line number Diff line
@@ -167,7 +167,7 @@ public class CLTParameters { 
	public boolean    inf_restore_disp = true;   // Add disparity back to d{x,y}[i] (debug feature)

	// Lazy eye parameters



	public boolean    ly_lma_ers =      true;    // Use 2020 LMA-based measurement of mismatch

	public boolean    ly_lma_ers =      true;    // Use 2020 LMA-based measurement of mismatch (GPU-supported)

	public double     ly_gt_strength =  0.18;    // use some configurable parameters

	public boolean    ly_gt_use_wnd =   true;    //

	public double     ly_gt_rms =       0.2;     // split small source samples to FG/BG if all aux tile RMS exceeds this value
@@ -797,6 +797,7 @@ public class CLTParameters { 
	public boolean    gpu_use_aux =         false; // accelerate tile processor for the aux (lwir) quad camera

	public boolean    gpu_use_aux_macro =   false; // accelerate tile processor for the aux (lwir) quad camera in macro mode

	public boolean    gpu_use_aux_adjust =  false; // accelerate tile processor for the aux (lwir) quad camera for field calibration

	public boolean    gpu_debug_accum =     false; // debug multi-tile TD accumulation



	public boolean    replaceWeakOutliers =   true; // false;
@@ -1600,6 +1601,7 @@ public class CLTParameters { 
		properties.setProperty(prefix+"gpu_use_aux",                this.gpu_use_aux +"");

		properties.setProperty(prefix+"gpu_use_aux_macro",          this.gpu_use_aux_macro +"");

		properties.setProperty(prefix+"gpu_use_aux_adjust",         this.gpu_use_aux_adjust +"");

		properties.setProperty(prefix+"gpu_debug_accum",            this.gpu_debug_accum +"");

		

		properties.setProperty(prefix+"debug_initial_discriminate",       this.debug_initial_discriminate+"");

		properties.setProperty(prefix+"dbg_migrate",                      this.dbg_migrate+"");
@@ -2387,6 +2389,7 @@ public class CLTParameters { 
		if (properties.getProperty(prefix+"gpu_use_aux")!=null)                 this.gpu_use_aux=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_use_aux"));

		if (properties.getProperty(prefix+"gpu_use_aux_macro")!=null)           this.gpu_use_aux_macro=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_use_aux_macro"));

		if (properties.getProperty(prefix+"gpu_use_aux_adjust")!=null)          this.gpu_use_aux_adjust=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_use_aux_adjust"));

		if (properties.getProperty(prefix+"gpu_debug_accum")!=null)             this.gpu_debug_accum=Boolean.parseBoolean(properties.getProperty(prefix+"gpu_debug_accum"));



		if (properties.getProperty(prefix+"debug_initial_discriminate")!=null)       this.debug_initial_discriminate=Boolean.parseBoolean(properties.getProperty(prefix+"debug_initial_discriminate"));

		if (properties.getProperty(prefix+"dbg_migrate")!=null)                      this.dbg_migrate=Boolean.parseBoolean(properties.getProperty(prefix+"dbg_migrate"));
@@ -2612,7 +2615,7 @@ public class CLTParameters { 


		gd.addTab         ("Lazy eye", "Lazy eye parameters");



		gd.addCheckbox    ("Use 2020 LMA-based measurement of mismatch",                                        this.ly_lma_ers);

		gd.addCheckbox    ("Use 2020 LMA-based measurement of mismatch (GPU-supported)",                        this.ly_lma_ers);

		gd.addMessage     ("--- main-to-aux depth map parameters ---");

		gd.addNumericField("Minimal reference (main) channel correlation strength",                             this.ly_gt_strength,        3);

		gd.addCheckbox    ("Use window for AUX tiles to reduce weight of the hi-res tiles near low-res tile boundaries", this.ly_gt_use_wnd);
@@ -3337,6 +3340,7 @@ public class CLTParameters { 
		gd.addCheckbox    ("Accelerate tile processor for the aux (lwir) quad camera",                                  this.gpu_use_aux);

		gd.addCheckbox    ("Accelerate tile processor for the aux (lwir) quad camera in macro mode",                    this.gpu_use_aux_macro);

		gd.addCheckbox    ("Accelerate tile processor for the aux (lwir) quad camera for field calibration",            this.gpu_use_aux_adjust);

		gd.addCheckbox    ("Debug multi-tile TD accumulation",                                                          this.gpu_debug_accum);

		

		gd.addTab         ("LWIR", "parameters for LWIR/EO 8-camera rig");

		this.lwir.dialogQuestions(gd);
@@ -4097,6 +4101,7 @@ public class CLTParameters { 
		this.gpu_use_aux=           gd.getNextBoolean();

		this.gpu_use_aux_macro=     gd.getNextBoolean();

		this.gpu_use_aux_adjust=    gd.getNextBoolean();

		this.gpu_debug_accum=       gd.getNextBoolean();

		

		this.lwir.dialogAnswers(gd);

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

+20 −3
Original line number Diff line number Diff line
@@ -222,6 +222,18 @@ public class GPUTileProcessor { 
    			}

    		}

    	}

    	public float [][] getDispDist(){

    		return disp_dist;

    	}

    	public float [][] getXY(boolean use_aux){

    		return use_aux? xy_aux : xy;

    	}

    	public int getTileY(){

    		return ty;

    	}

    	public int getTileX(){

    		return tx;

    	}



    	// convert this class instance to float array to match layout of the C struct

    	public float [] asFloatArray(boolean use_aux) {
@@ -2043,10 +2055,13 @@ public class GPUTileProcessor { 
            	}

        	}

        	setCorrIndicesTdData(

        			ntile,   // int    num_tiles,  // corr_indices, fdata may be longer than needed

        			ntile * num_pairs,   // int    num_tiles,  // corr_indices, fdata may be longer than needed

        			indices, // int [] corr_indices,

            		fdata);  // float [] fdata);

        	return indices;

        	// trim indices

        	int [] indices_trim = new int [ntile * num_pairs];

        	System.arraycopy(indices, 0, indices_trim, 0 , indices_trim.length);        	

        	return indices_trim;

        }

        

        public float [][][][] getCorrTilesTd() // [tileY][tileX][pair][4*64] , read all available pairs
@@ -2104,7 +2119,9 @@ public class GPUTileProcessor { 
        			ntile,   // int    num_tiles,  // corr_indices, fdata may be longer than needed

        			indices, // int [] corr_indices,

            		fdata);  // float [] fdata);

        	return indices;

        	int [] indices_trim = new int [ntile];

        	System.arraycopy(indices, 0, indices_trim, 0 , indices_trim.length);        	

        	return indices_trim;

        }

        

        public float [][][] getCorrTilesComboTd() // [tileY][tileX][4*64] , read all available pairs

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

+697 −131

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

+3 −2
Original line number Diff line number Diff line
@@ -1753,6 +1753,7 @@ public class ImageDttCPU { 
// filter only tiles with similar disparity to enable lazy eye for the ERS.

						int num_good_tiles = 0;

						while (true) {

//							num_good_tiles = 0; // FIXME: Was missing - uncomment?

							int mnTx = -1, mnTy = -1, mxTx = -1, mxTy = -1;

							double mn = Double.NaN;

							double mx = Double.NaN;

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

+507 −158

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