Working on intrerscene accumulation (d2bbd544) · Commits · Elphel / imagej-elphel

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

+78 −1

Original line number	Original line	Diff line number	Diff line
	@@ -194,7 +194,7 @@ public class GPUTileProcessor {
	}		}
	/**		/**
	* Initialize from the float array (read from the GPU)		* Initialize from the float array (read from the GPU)
	* @param flt float array containig tasks data		* @param flt float array containing tasks data
	* @param indx task number to use		* @param indx task number to use
	*/		*/
	public TpTask(float [] flt, int indx, boolean use_aux)		public TpTask(float [] flt, int indx, boolean use_aux)
	@@ -2713,6 +2713,83 @@ public class GPUTileProcessor {
	ImageDtt.startAndJoin(threads);		ImageDtt.startAndJoin(threads);
	}		}

			/**
			* Prepare GPU tasks for interscene accumulation - instead of the uniform grid, pixel coordinates and disparity are provided
			* by the caller. They are calculated by recalculating from the reference scene after appropriate transformation (shift, rotation
			* and ERS correction)
			* @param pXpYD Array of per-tile pX, pY and disparity triplets (or nulls for undefined tiles).
			* @param task_code Put this value (typically 512?) for each tile in task field.
			* @param geometryCorrection GeometryCorrection instance for the camera.
			* @param disparity_corr Disparity correction at infinity
			* @param threadsMax Maximal number of threads to run concurrently.
			* @return Array of TpTask instances (fully prepared) to be fed to the GPU
			*/
			public TpTask[] setInterTasks(
			double [][] pXpYD, // per-tile array of pX,pY,disparity triplets (or nulls)
			int task_code, // code to use for active tiles
			final GeometryCorrection geometryCorrection,
			final double disparity_corr,
			final int threadsMax) // maximal number of threads to launch
			{
			final int tilesX = img_width / DTT_SIZE;
			final int tiles = pXpYD.length;
			final Matrix [] corr_rots = geometryCorrection.getCorrVector().getRotMatrices(); // get array of per-sensor rotation matrices
			final int quad_main = (geometryCorrection != null)? num_cams:0;
			final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
			final AtomicInteger ai = new AtomicInteger(0);
			final AtomicInteger aTiles = new AtomicInteger(0);
			final int [] tile_indices = new int [tiles];
			for (int ithread = 0; ithread < threads.length; ithread++) {
			threads[ithread] = new Thread() {
			public void run() {
			for (int nTile = ai.getAndIncrement(); nTile < tiles; nTile = ai.getAndIncrement()) if (pXpYD[nTile] != null) {
			tile_indices[aTiles.getAndIncrement()] = nTile;
			}
			}
			};
			}
			ImageDtt.startAndJoin(threads);
			ai.set(0);
			final TpTask[] tp_tasks = new TpTask[aTiles.get()];

			for (int ithread = 0; ithread < threads.length; ithread++) {
			threads[ithread] = new Thread() {
			@Override
			public void run() {
			for (int indx = ai.getAndIncrement(); indx < tp_tasks.length; indx = ai.getAndIncrement()) {
			int nTile = tile_indices[indx];
			int tileY = nTile / tilesX;
			int tileX = nTile % tilesX;
			tp_tasks[nTile].ty = tileY;
			tp_tasks[nTile].tx = tileX;
			tp_tasks[nTile].task = task_code;
			double disparity = pXpYD[nTile][2] + disparity_corr;
			tp_tasks[nTile].target_disparity = (float) disparity; // will it be used?
			double [][] disp_dist_main = new double[quad_main][]; // used to correct 3D correlations (not yet used here)
			double [][] centersXY_main = geometryCorrection.getPortsCoordinatesAndDerivatives(
			geometryCorrection, // GeometryCorrection gc_main,
			false, // boolean use_rig_offsets,
			corr_rots, // Matrix [] rots,
			null, // Matrix [][] deriv_rots,
			null, // double [][] pXYderiv, // if not null, should be double[8][]
			disp_dist_main, // used to correct 3D correlations
			pXpYD[nTile][0],
			pXpYD[nTile][1],
			disparity); // + disparity_corr);
			tp_tasks[nTile].xy = new float [centersXY_main.length][2];
			for (int i = 0; i < centersXY_main.length; i++) {
			tp_tasks[nTile].xy[i][0] = (float) centersXY_main[i][0];
			tp_tasks[nTile].xy[i][1] = (float) centersXY_main[i][1];
			}
			}
			}
			};
			}
			ImageDtt.startAndJoin(threads);
			return tp_tasks;
			}


	public void setLpfRbg(		public void setLpfRbg(
	float [][] lpf_rbg, // 4 64-el. arrays: r,b,g,m		float [][] lpf_rbg, // 4 64-el. arrays: r,b,g,m
	boolean debug)		boolean debug)

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

+18 −1

Original line number	Original line	Diff line number	Diff line
	@@ -247,6 +247,19 @@ public class ErsCorrection extends GeometryCorrection {
	}		}


			public void setPropertiesLineTime(String prefix, Properties properties){
			properties.setProperty(prefix+"_line_time", line_time+"");
			}

			public boolean getPropertiesLineTime(String prefix, Properties properties){
			if (properties.getProperty(prefix+"_line_time")!=null) {
			line_time = Double.parseDouble(properties.getProperty(prefix+"_line_time"));
			return true;
			} else {
			line_time = OLD_LINE_TIME;
			return false;
			}
			}


	public void setPropertiesPose(String prefix, Properties properties){		public void setPropertiesPose(String prefix, Properties properties){
	@@ -739,7 +752,11 @@ public class ErsCorrection extends GeometryCorrection {
	// setup from extrinsics vector		// setup from extrinsics vector
	public void setupERSfromExtrinsics()		public void setupERSfromExtrinsics()
	{		{
	double BUGS = 26.5/36.38; // tempoorary correction for the wrong scan line time!		double BUGS = 1.0;
			if (line_time == OLD_LINE_TIME) {
			BUGS = 26.5/36.38; // temporary correction for the wrong scan line time!
			}

	double [] ersv = getCorrVector().getIMU();		double [] ersv = getCorrVector().getIMU();
	setupERS(		setupERS(
	new double [3], // double [] wxyz_center, // world camera XYZ (meters) for the frame center		new double [3], // double [] wxyz_center, // world camera XYZ (meters) for the frame center

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

+2 −1

Original line number	Original line	Diff line number	Diff line
	@@ -44,6 +44,7 @@ public class GeometryCorrection {
	// static final double FOCAL_LENGTH = 4.5; // nominal focal length - used as default and to convert editable parameters to pixels		// static final double FOCAL_LENGTH = 4.5; // nominal focal length - used as default and to convert editable parameters to pixels
	// static final double DISTORTION_RADIUS = 2.8512; // nominal distortion radius - half width of the sensor		// static final double DISTORTION_RADIUS = 2.8512; // nominal distortion radius - half width of the sensor
	// static final double PIXEL_SIZE = 2.2; //um		// static final double PIXEL_SIZE = 2.2; //um
			public static double OLD_LINE_TIME = 26.5E-6;
	static final String[] RIG_PAR_NAMES = {"azimuth", "tilt", "roll", "zoom", "angle", "baseline"};		static final String[] RIG_PAR_NAMES = {"azimuth", "tilt", "roll", "zoom", "angle", "baseline"};
	public static String RIG_PREFIX = "rig-";		public static String RIG_PREFIX = "rig-";
	static double SCENE_UNITS_SCALE = 0.001; // meters from mm		static double SCENE_UNITS_SCALE = 0.001; // meters from mm
	@@ -57,7 +58,7 @@ public class GeometryCorrection {
	"velocity_x", "velocity_y", "velocity_z"};		"velocity_x", "velocity_y", "velocity_z"};

	public int debugLevel = 0;		public int debugLevel = 0;
	public double line_time = 26.5E-6; // duration of sensor scan line (for ERS) Wrong, 36.38us (change and re-run ERS		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
	public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)		public int pixelCorrectionWidth=2592; // virtual camera center is at (pixelCorrectionWidth/2, pixelCorrectionHeight/2)
	public int pixelCorrectionHeight=1936;		public int pixelCorrectionHeight=1936;

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

+1 −1

Original line number	Original line	Diff line number	Diff line
	@@ -3232,7 +3232,7 @@ public class OpticalFlow {
	double k_prev,		double k_prev,
	QuadCLT reference_QuadCLT,		QuadCLT reference_QuadCLT,
	QuadCLT scene_QuadCLT,		QuadCLT scene_QuadCLT,
	double corr_scale, // = 0.75		double corr_scale, // = 0.75 - REMOVE
	int debug_level)		int debug_level)
	{		{
	TileProcessor tp = reference_QuadCLT.getTileProcessor();		TileProcessor tp = reference_QuadCLT.getTileProcessor();

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

+3 −1

Original line number	Original line	Diff line number	Diff line
	@@ -371,6 +371,7 @@ public class QuadCLTCPU {
	ers.getPropertiesPose(prefix, properties);		ers.getPropertiesPose(prefix, properties);
	ers.getPropertiesERS(prefix, properties);		ers.getPropertiesERS(prefix, properties);
	ers.getPropertiesScenes(prefix, properties);		ers.getPropertiesScenes(prefix, properties);
			ers.getPropertiesLineTime(prefix, properties); // will set old value if not in the file
	return properties;		return properties;

	}		}
	@@ -672,6 +673,7 @@ public class QuadCLTCPU {
	ers.setPropertiesPose(prefix, properties);		ers.setPropertiesPose(prefix, properties);
	ers.setPropertiesERS(prefix, properties);		ers.setPropertiesERS(prefix, properties);
	ers.setPropertiesScenes(prefix, properties);		ers.setPropertiesScenes(prefix, properties);
			ers.setPropertiesLineTime(prefix, properties);
	}		}
	}		}

	@@ -8289,7 +8291,7 @@ public class QuadCLTCPU {
	* @param debugLevel		* @param debugLevel
	* @return true on success, false - on failure		* @return true on success, false - on failure
	*/		*/
	public boolean extrinsicsCLT( // USED in lwir TODO: provide boolean		public boolean extrinsicsCLT(
	CLTParameters clt_parameters,		CLTParameters clt_parameters,
	boolean adjust_poly,		boolean adjust_poly,
	double inf_min, // = -1.0;		double inf_min, // = -1.0;

Admin message