Commit e24b8d2f authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Started conversion from quad-camera configuration

parent 3c58184f

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

+6 −2
Original line number Diff line number Diff line
@@ -70,6 +70,7 @@ import java.util.concurrent.CopyOnWriteArrayList; 
import java.util.concurrent.atomic.AtomicBoolean;

import java.util.concurrent.atomic.AtomicInteger;



import com.elphel.imagej.tileprocessor.CorrVector;

import com.elphel.imagej.tileprocessor.DttRad2;

import com.elphel.imagej.tileprocessor.GeometryCorrection;

import com.elphel.imagej.tileprocessor.ImageDtt;
@@ -93,6 +94,7 @@ import jcuda.nvrtc.JNvrtc; 
import jcuda.nvrtc.nvrtcProgram;



public class GPUTileProcessor {

	static int CORR_VECTOR_MAX_LENGTH =19; // TODO: update to fit for 16-sensor

	String LIBRARY_PATH = "/usr/local/cuda/targets/x86_64-linux/lib/libcudadevrt.a"; // linux

	static String GPU_RESOURCE_DIR =              "kernels";

	static String [] GPU_KERNEL_FILES = {"dtt8x8.cuh","TileProcessor.cuh"};
@@ -799,7 +801,9 @@ public class GPUTileProcessor { 
        	cuMemAlloc(gpu_geometry_correction,      GeometryCorrection.arrayLength(num_cams) * Sizeof.FLOAT);

        	cuMemAlloc(gpu_rByRDist,                 RBYRDIST_LEN *  Sizeof.FLOAT);

        	cuMemAlloc(gpu_rot_deriv,                5*num_cams*3*3 * Sizeof.FLOAT);

        	cuMemAlloc(gpu_correction_vector,        GeometryCorrection.CorrVector.LENGTH * Sizeof.FLOAT);

//        	cuMemAlloc(gpu_correction_vector,        CorrVector.LENGTH * Sizeof.FLOAT);

        	cuMemAlloc(gpu_correction_vector,        CORR_VECTOR_MAX_LENGTH * Sizeof.FLOAT); // update CORR_VECTOR_LENGTH to fit 

        	



            // Set task array

        	cuMemAlloc(gpu_tasks,      tilesX * tilesY * TPTASK_SIZE * Sizeof.FLOAT);
@@ -947,7 +951,7 @@ public class GPUTileProcessor { 
 * Copy extrinsic correction vector to the GPU memory

 * @param cv correction vector

 */

        public void setExtrinsicsVector(GeometryCorrection.CorrVector cv) {

        public void setExtrinsicsVector(CorrVector cv) {

        	double [] dcv = cv.toFullRollArray();

        	float []  fcv = new float [dcv.length];

        	for (int i = 0; i < dcv.length; i++) {

src/main/java/com/elphel/imagej/readers/ElphelJp4Reader.java

+1 −1
Original line number Diff line number Diff line
@@ -172,7 +172,7 @@ public class ElphelJp4Reader extends ImageIOReader{ 
			try {

				url = new URL(id);

			} catch (MalformedURLException e) {

				LOGGER.warn("Bad URL1: " + id);

//				LOGGER.warn("Bad URL1: " + id); // will try direct file, not an error

			}

			if (url != null) {

				LOGGER.debug("Starting initFile() method, read "+ id +" to memory first");

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

+15 −15
Original line number Diff line number Diff line
@@ -30,7 +30,7 @@ import com.elphel.imagej.common.DoubleGaussianBlur; 
import com.elphel.imagej.common.PolynomialApproximation;

import com.elphel.imagej.common.ShowDoubleFloatArrays;



//import GeometryCorrection.CorrVector;

//import CorrVector;

import Jama.Matrix;

import ij.ImagePlus;

import ij.ImageStack;
@@ -2363,7 +2363,7 @@ B = |+dy0 -dy1 -2*dy3 | 
			int solveCorr_debug =  ((clt_parameters.lym_iter == 1) && (clt_parameters.ly_par_sel != 0))? 2 : debugLevel;





			GeometryCorrection.CorrVector corr_vector = solveCorr (

			CorrVector corr_vector = solveCorr (

					clt_parameters.lylw_inf_en,      // boolean use_disparity,     // if true will ignore disparity data even if available (was false)

					clt_parameters.lylw_aztilt_en,// boolean use_aztilts,       // Adjust azimuths and tilts excluding disparity

					clt_parameters.lylw_diff_roll_en,// boolean use_diff_rolls,    // Adjust differential rolls (3 of 4 angles)
@@ -2373,7 +2373,7 @@ B = |+dy0 -dy1 -2*dy3 | 
					clt_parameters.lylw_par_sel,     // int     manual_par_sel,    // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)

					mismatch_list,                          // ArrayList<Mismatch> mismatch_list,

					qc.geometryCorrection,                  // GeometryCorrection geometryCorrection,

					qc.geometryCorrection.getCorrVector(),  // GeometryCorrection.CorrVector corr_vector,

					qc.geometryCorrection.getCorrVector(),  // CorrVector corr_vector,

					old_new_rms,                            // double [] old_new_rms, // should be double[2]

//					2); // debugLevel); // 2); // 1); // int debugLevel)

					solveCorr_debug); // debugLevel); // 2); // 1); // int debugLevel)
@@ -2926,7 +2926,7 @@ B = |+dy0 -dy1 -2*dy3 | 
			double [] old_new_rms = new double[1];

			boolean apply_extrinsic = true;

			int solveCorr_debug =  ((clt_parameters.lym_iter == 1) && (clt_parameters.ly_par_sel != 0))? 2 : debugLevel;

			GeometryCorrection.CorrVector corr_vector = solveCorr (

			CorrVector corr_vector = solveCorr (

					clt_parameters.lylw_inf_en,      // boolean use_disparity,     // if true will ignore disparity data even if available (was false)

					clt_parameters.lylw_aztilt_en,// boolean use_aztilts,       // Adjust azimuths and tilts excluding disparity

					clt_parameters.lylw_diff_roll_en,// boolean use_diff_rolls,    // Adjust differential rolls (3 of 4 angles)
@@ -2937,7 +2937,7 @@ B = |+dy0 -dy1 -2*dy3 | 
					mismatch_list,                          // ArrayList<Mismatch> mismatch_list,

					qc.geometryCorrection,                  // GeometryCorrection geometryCorrection,

///					geometryCorrection_main, //  GeometryCorrection geometryCorrection_main, // if is aux camera using main cameras' coordinates. Disparity is still in aux camera pixels

					qc.geometryCorrection.getCorrVector(),  // GeometryCorrection.CorrVector corr_vector,

					qc.geometryCorrection.getCorrVector(),  // CorrVector corr_vector,

					old_new_rms,                            // double [] old_new_rms, // should be double[2]

//					2); // debugLevel); // 2); // 1); // int debugLevel)

					solveCorr_debug); // debugLevel); // 2); // 1); // int debugLevel)
@@ -3063,7 +3063,7 @@ B = |+dy0 -dy1 -2*dy3 | 
			boolean [] par_mask,

			ArrayList<Mismatch> mismatch_list,

			GeometryCorrection geometryCorrection,

			GeometryCorrection.CorrVector corr_vector,

			CorrVector corr_vector,

			int debugLevel)

	{

		boolean dbg_images = debugLevel>1;
@@ -3214,7 +3214,7 @@ B = |+dy0 -dy1 -2*dy3 | 
			boolean [] par_mask,

			ArrayList<Mismatch> mismatch_list,

			GeometryCorrection geometryCorrection,

			GeometryCorrection.CorrVector corr_vector,

			CorrVector corr_vector,

			int debugLevel)

	{

		int num_pars = 0;
@@ -3227,8 +3227,8 @@ B = |+dy0 -dy1 -2*dy3 | 
			double [] sym_par_m = sym_par_0.clone();

			sym_par_p[sym_par] += 0.5 * delta;

			sym_par_m[sym_par] -= 0.5 * delta;

			GeometryCorrection.CorrVector corr_p = geometryCorrection.getCorrVector(sym_par_p, par_mask);

			GeometryCorrection.CorrVector corr_m = geometryCorrection.getCorrVector(sym_par_m, par_mask);

			CorrVector corr_p = geometryCorrection.getCorrVector(sym_par_p, par_mask);

			CorrVector corr_m = geometryCorrection.getCorrVector(sym_par_m, par_mask);

			double [] mv_p = debug_mv_from_sym(

					mismatch_list,

					geometryCorrection,
@@ -3261,7 +3261,7 @@ B = |+dy0 -dy1 -2*dy3 | 
//			boolean [] par_mask,

			ArrayList<Mismatch> mismatch_list,

			GeometryCorrection geometryCorrection,

			GeometryCorrection.CorrVector corr_vector,

			CorrVector corr_vector,

			int debugLevel)

	{

		double [][] dMismatch_dXY = (new Mismatch()).get_dMismatch_dXY(); // just a static array
@@ -3463,7 +3463,7 @@ B = |+dy0 -dy1 -2*dy3 | 
		return w;

	}



	public GeometryCorrection.CorrVector  solveCorr (

	public CorrVector  solveCorr (

			boolean use_disparity,     // adjust disparity-related extrinsics

			boolean use_aztilts,       // Adjust azimuths and tilts excluding disparity

			boolean use_diff_rolls,    // Adjust differential rolls (3 of 4 angles)
@@ -3474,7 +3474,7 @@ B = |+dy0 -dy1 -2*dy3 | 
	  		int     manual_par_sel,    // Manually select the parameter mask bit 0 - sym0, bit1 - sym1, ... (0 - use boolean flags, != 0 - ignore boolean flags)

			ArrayList<Mismatch> mismatch_list,

			GeometryCorrection geometryCorrection,

			GeometryCorrection.CorrVector corr_vector,

			CorrVector corr_vector,

			double [] old_new_rms, // should be double[2]

			int debugLevel)

	{
@@ -3502,7 +3502,7 @@ B = |+dy0 -dy1 -2*dy3 | 
				par_mask,           // boolean [] par_mask,

				mismatch_list,      // ArrayList<Mismatch> mismatch_list,

				geometryCorrection, // GeometryCorrection geometryCorrection,

				corr_vector,        // GeometryCorrection.CorrVector corr_vector)

				corr_vector,        // CorrVector corr_vector)

				debugLevel);		// int debugLevel)



//		debugLevel = 2;
@@ -3558,7 +3558,7 @@ B = |+dy0 -dy1 -2*dy3 | 
					par_mask,           // boolean [] par_mask,

					mismatch_list,      // ArrayList<Mismatch> mismatch_list,

					geometryCorrection, // GeometryCorrection geometryCorrection,

					corr_vector,        // GeometryCorrection.CorrVector corr_vector)

					corr_vector,        // CorrVector corr_vector)

					debugLevel);		// int debugLevel)



			dbg_xy =              doubleNaN(dbg_titles_xy.length,                            dbg_length); // jacobian dmv/dsym
@@ -3630,7 +3630,7 @@ B = |+dy0 -dy1 -2*dy3 | 
		}

		//if (par_mask[0]) drslt[0] *= -1.0; //FIXME: Find actual bug, sym[0] corrects in opposite way



		GeometryCorrection.CorrVector rslt = geometryCorrection.getCorrVector(drslt, par_mask);

		CorrVector rslt = geometryCorrection.getCorrVector(drslt, par_mask);

		if (debugLevel > -3){ // change to >0) {

			System.out.println("solveCorr() rslt (increment):");

			System.out.println(rslt.toString());

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

0 → 100644
+1064 −0

File added.

Preview size limit exceeded, changes collapsed.

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

+5 −2
Original line number Diff line number Diff line
@@ -668,7 +668,9 @@ public class ErsCorrection extends GeometryCorrection { 
		XYZ_he =               gc.XYZ_he;     // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)

		XYZ_her =              gc.XYZ_her; // = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading,  common_roll)

		rXY =                  gc.rXY; // =     null; // XY pairs of the in a normal plane, relative to disparityRadius

		rXY_ideal =            gc.rXY_ideal; // = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};

		

//		rXY_ideal =            gc.rXY_ideal; // = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};

		set_rXY_ideal(gc.get_rXY_ideal()); //)

		cameraRadius =         gc.cameraRadius; // =0; // average distance from the "mass center" of the sensors to the sensors

		disparityRadius =      gc.disparityRadius; //  150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad camera (~=150mm)?

		rByRDist =             gc.rByRDist; // =null;
@@ -689,7 +691,8 @@ public class ErsCorrection extends GeometryCorrection { 
			XYZ_he =    clone2d(XYZ_he);

			XYZ_her =   clone2d(XYZ_her);

			rXY =       clone2d(rXY);

			rXY_ideal = clone2d(rXY_ideal);

//			rXY_ideal = clone2d(rXY_ideal);

			set_rXY_ideal(clone2d(gc.get_rXY_ideal())); //)

			rByRDist =  clone1d(rByRDist); // probably it is not needed

			extrinsic_corr = extrinsic_corr.clone(); 

			if (rigOffset!=null) rigOffset = rigOffset.clone();