updated GPU code (fa4f3beb) · Commits · Elphel / imagej-elphel

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

+1 −1

Original line number	Diff line number	Diff line
		@@ -7053,7 +7053,7 @@ private Panel panel1,
		}
		dpixels[i] = d;
		}
		if (disparity_max > 0) {
		if (log_mode && (disparity_max > 0)) {
		mn = 0.0;
		double d = disparity_max;
		if (d < 0.0) { //

src/main/java/com/elphel/imagej/tileprocessor/CLTPass3d.java

+0 −55

Original line number	Diff line number	Diff line
		@@ -1019,24 +1019,9 @@ public class CLTPass3d{
		double step_threshold,
		double min_disparity,
		double max_disparity,
		// double strength_floor,
		// double strength_pow,
		double stBlurSigma,
		boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		MeasuredLayersFilterParameters mlfp,
		// int smplSide, // = 2; // Sample size (side of a square)
		// int smplNum, // = 3; // Number after removing worst
		// double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
		// boolean smplWnd, // use window functions for the samples

		// double max_abs_tilt, // 2.0; // pix per tile
		// double max_rel_tilt, // 0.2; // (pix / disparity) per tile
		// double damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// double min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// double transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// int far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// double far_power, // 3.0; // Raise disparity to this power before averaging for far objects

		int measSel)
		{
		this.superTiles = new SuperTiles(
		@@ -1046,23 +1031,9 @@ public class CLTPass3d{
		step_threshold,
		min_disparity,
		max_disparity,
		// strength_floor,
		// strength_pow,
		stBlurSigma,
		smplMode, // = true; // Use sample mode (false - regular tile mode)
		mlfp,
		// smplSide, // = 2; // Sample size (side of a square)
		// smplNum, // = 3; // Number after removing worst
		// smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
		// smplWnd, // final boolean smplWnd, // use window functions for the samples
		// max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// far_power, // 1.0; // Raise disparity to this power before averaging for far objects
		// true, // boolean null_if_none,
		measSel);
		return this.superTiles;
		}
		@@ -1072,19 +1043,6 @@ public class CLTPass3d{

		boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		MeasuredLayersFilterParameters mlfp,
		// int smplSide, // = 2; // Sample size (side of a square)
		// int smplNum, // = 3; // Number after removing worst
		// double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
		// boolean smplWnd, // use window functions for the samples

		// double max_abs_tilt, // 2.0; // pix per tile
		// double max_rel_tilt, // 0.2; // (pix / disparity) per tile
		// double damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// double min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// double transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// int far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// double far_power, // 3.0; // Raise disparity to this power before averaging for far objects

		int measSel)
		{
		if (this.superTiles == null){
		@@ -1096,19 +1054,6 @@ public class CLTPass3d{

		smplMode, // = true; // Use sample mode (false - regular tile mode)
		mlfp,
		// smplSide, // = 2; // Sample size (side of a square)
		// smplNum, // = 3; // Number after removing worst
		// smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
		// smplWnd, // use window functions for the samples

		// max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// far_power, // 1.0; // Raise disparity to this power before averaging for far objects

		measSel);
		}

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

+0 −45

Original line number	Diff line number	Diff line
		@@ -104,24 +104,6 @@ public class SuperTiles{
		double stBlurSigma,
		boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		MeasuredLayersFilterParameters mlfp,

		// double strength_floor,
		// double strength_pow,
		// boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		// int smplSide, // = 2; // Sample size (side of a square)
		// int smplNum, // = 3; // Number after removing worst
		// double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
		// boolean smplWnd, // use window functions for the samples

		// double max_abs_tilt, // 2.0; // pix per tile
		// double max_rel_tilt, // 0.2; // (pix / disparity) per tile
		// double damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// double min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// double transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// int far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// double far_power, // 3.0; // Raise disparity to this power before averaging for far objects
		// boolean null_if_none,

		int measSel)
		{
		this.cltPass3d = cltPass3d;
		@@ -135,21 +117,6 @@ public class SuperTiles{
		this.smplMode = smplMode; // Use sample mode (false - regular tile mode)
		this.mlfp = mlfp.clone();

		// this.strength_floor = strength_floor;
		// this.strength_pow = strength_pow;
		// this.smplSide = smplSide; // Sample size (side of a square)
		// this.smplNum = smplNum; // Number after removing worst
		// this.smplRms = smplRms; // Maximal RMS of the remaining tiles in a sample
		// this.max_abs_tilt = max_abs_tilt;
		// this.max_rel_tilt = max_rel_tilt;
		// this.damp_tilt = damp_tilt;
		// this.min_tilt_disp = min_tilt_disp;
		// this.transition = transition;
		// this.far_mode = far_mode;
		// this.far_power = far_power;
		// this.smplWnd = smplWnd; // Use window functions for the samples


		this.measSel = measSel;
		this.step_threshold_near = this.step_threshold_far * step_near / this.step_far ;
		this.bin_far = this.step_threshold_far / this.step_far;
		@@ -197,18 +164,6 @@ public class SuperTiles{
		null, // boolean [][] tile_sel, // null or per-measurement layer, per-tile selection. For each layer null - do not use, {} - use all
		smplMode, // final boolean smplMode, // = true; // Use sample mode (false - regular tile mode)
		mlfp,
		// smplSide, // final int smplSide, // = 2; // Sample size (side of a square)
		// smplNum, // final int smplNum, // = 3; // Number after removing worst
		// smplRms, // final double smplRms, // = 0.1; // Maximal RMS of the remaining tiles in a sample
		// smplWnd, // final boolean smplWnd, // use window functions for the samples

		// max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// far_power, // 1.0; // Raise disparity to this power before averaging for far objects

		measSel); // calculate and blur supertiles (for all, not just selected?)
		if (tileProcessor.globalDebugLevel > 0){

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

+4 −91

Original line number	Diff line number	Diff line
		@@ -6796,22 +6796,9 @@ ImageDtt.startAndJoin(threads);
		clt_parameters.stStepThreshold, // double step_threshold,
		clt_parameters.stMinDisparity, // double min_disparity,
		clt_parameters.grow_disp_max, // double max_disparity,
		// clt_parameters.stFloor, // double strength_floor,
		// clt_parameters.stPow, // double strength_pow,
		0.0, // NO BLUR double stBlurSigma)
		false, //clt_parameters.stSmplMode, // Use sample mode (false - regular tile mode)
		clt_parameters.mlfp, // Filter parameters
		// clt_parameters.stSmplSide, // Sample size (side of a square)
		// clt_parameters.stSmplNum, // Number after removing worst
		// clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		// clt_parameters.stSmplWnd, // boolean smplWnd, // use window functions for the samples
		// clt_parameters.fs_max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// clt_parameters.fs_max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// clt_parameters.fs_damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// clt_parameters.fs_min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// clt_parameters.fs_transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// clt_parameters.fs_far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// clt_parameters.fs_far_power, // 1.0; // Raise disparity to this power before averaging for far objects
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[0] = scan_prev.getSuperTiles().showDisparityHistogram();
		scan_prev.setSuperTiles(
		@@ -6820,22 +6807,9 @@ ImageDtt.startAndJoin(threads);
		clt_parameters.stStepThreshold, // double step_threshold,
		clt_parameters.stMinDisparity, // double min_disparity,
		clt_parameters.grow_disp_max, // double max_disparity,
		// clt_parameters.stFloor, // double strength_floor,
		// clt_parameters.stPow, // double strength_pow,
		0.0, // NO BLUR double stBlurSigma)
		clt_parameters.stSmplMode, // Use sample mode (false - regular tile mode)
		clt_parameters.mlfp, // Filter parameters
		// clt_parameters.stSmplSide, // Sample size (side of a square)
		// clt_parameters.stSmplNum, // Number after removing worst
		// clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		// clt_parameters.stSmplWnd, // boolean smplWnd, // use window functions for the samples
		// clt_parameters.fs_max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// clt_parameters.fs_max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// clt_parameters.fs_damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// clt_parameters.fs_min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// clt_parameters.fs_transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// clt_parameters.fs_far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// clt_parameters.fs_far_power, // 1.0; // Raise disparity to this power before averaging for far objects
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		dbg_hist[1] = scan_prev.getSuperTiles().showDisparityHistogram();
		}
		@@ -6847,22 +6821,9 @@ ImageDtt.startAndJoin(threads);
		clt_parameters.stStepThreshold, // double step_threshold,
		clt_parameters.stMinDisparity, // double min_disparity,
		clt_parameters.grow_disp_max, // double max_disparity,
		// clt_parameters.stFloor, // double strength_floor,
		// clt_parameters.stPow, // double strength_pow,
		clt_parameters.stSigma, // with blur double stBlurSigma)
		false, //clt_parameters.stSmplMode, // Use sample mode (false - regular tile mode)
		clt_parameters.mlfp, // Filter parameters
		// clt_parameters.stSmplSide, // Sample size (side of a square)
		// clt_parameters.stSmplNum, // Number after removing worst
		// clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		// clt_parameters.stSmplWnd, // boolean smplWnd, // use window functions for the samples
		// clt_parameters.fs_max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// clt_parameters.fs_max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// clt_parameters.fs_damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// clt_parameters.fs_min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// clt_parameters.fs_transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// clt_parameters.fs_far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// clt_parameters.fs_far_power, // 1.0; // Raise disparity to this power before averaging for far objects
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		if (show_st) { // otherwise only blured version is needed
		dbg_hist[2] = scan_prev.getSuperTiles().showDisparityHistogram();
		@@ -6884,22 +6845,9 @@ ImageDtt.startAndJoin(threads);
		clt_parameters.stStepThreshold, // double step_threshold,
		clt_parameters.stMinDisparity, // double min_disparity,
		clt_parameters.grow_disp_max, // double max_disparity,
		// clt_parameters.stFloor, // double strength_floor,
		// clt_parameters.stPow, // double strength_pow,
		0.0, // NO BLUR double stBlurSigma)
		clt_parameters.stSmplMode, // Use sample mode (false - regular tile mode)
		clt_parameters.mlfp, // Filter parameters
		// clt_parameters.stSmplSide, // Sample size (side of a square)
		// clt_parameters.stSmplNum, // Number after removing worst
		// clt_parameters.stSmplRms, // Maximal RMS of the remaining tiles in a sample
		// clt_parameters.stSmplWnd, // boolean smplWnd, // use window functions for the samples
		// clt_parameters.fs_max_abs_tilt, // 2.0; // Maximal absolute tilt in pixels/tile
		// clt_parameters.fs_max_rel_tilt, // 0.2; // Maximal relative tilt in pixels/tile/disparity
		// clt_parameters.fs_damp_tilt, // 0.001; // Damp tilt to handle insufficient (co-linear)data
		// clt_parameters.fs_min_tilt_disp, // 4.0; // Disparity switch between filtering modes - near objects use tilts, far - use max disparity
		// clt_parameters.fs_transition, // 1.0; // Mode transition range (between tilted and maximal disparity)
		// clt_parameters.fs_far_mode, // 1; // Far objects filtering mode (0 - off, 1 - power of disparity)
		// clt_parameters.fs_far_power, // 1.0; // Raise disparity to this power before averaging for far objects
		clt_parameters.stMeasSel); // bitmask of the selected measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert
		}

		@@ -7063,22 +7011,6 @@ ImageDtt.startAndJoin(threads);
		debugLevel, // final int debugLevel)
		clt_parameters.tileX,
		clt_parameters.tileY);
		/*
		if (clt_parameters.plSplitApply) {
		while (true) {
		int num_added = 0;
		num_added += st.fillSquares();
		if (debugLevel > -1) {
		System.out.println("after fillSquares() added "+num_added);
		}
		num_added += st.cutCorners();
		if (debugLevel > -1) {
		System.out.println("after plCutCorners() added (cumulative) "+num_added);
		}
		if (num_added == 0) break;
		}
		}
		*/
		double [][][] dispStrength = st.getDisparityStrengths(
		clt_parameters.stMeasSel); // int stMeasSel) // = 1; // Select measurements for supertiles : +1 - combo, +2 - quad +4 - hor +8 - vert)
		boolean [][] tileSel = st.getMeasurementSelections(
		@@ -7199,25 +7131,6 @@ ImageDtt.startAndJoin(threads);
		clt_parameters.tileY);
		} // if (clt_parameters.plSplitApply)

		/*
		while (true) {
		int num_added = 0;
		if (clt_parameters.plFillSquares){
		num_added += st.fillSquares();
		}
		if (debugLevel > -1) {
		System.out.println("after fillSquares() added "+num_added);
		}
		if (clt_parameters.plCutCorners){
		num_added += st.cutCorners();
		}
		if (debugLevel > -1) {
		System.out.println("after plCutCorners() added (cumulative) "+num_added);
		}
		if (num_added == 0) break;
		}

		*/

		int max_num_tries = 20;
		if (clt_parameters.plIterations > 0) {

src/main/resources/kernels/TileProcessor.cuh

+28 −1

Original line number	Diff line number	Diff line
		@@ -403,6 +403,16 @@ __constant__ float lpf_corr[64]={ // modify if needed
		0.02728573f, 0.02374977f, 0.01799322f, 0.01186582f, 0.00681327f, 0.00341565f, 0.00153247f, 0.00074451f
		};

		__constant__ float LoG_corr[64]={ // modify if needed high-pass filter before correlation to fit into float range
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f,
		1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f, 1.00000000f
		};

		__constant__ int pairs[6][2]={
		{0, 1},
		@@ -1086,6 +1096,22 @@ extern "C" __global__ void correlate2D_inner(
		float * clt_tile1i = clt_tile1 + threadIdx.x;
		float * clt_tile2i = clt_tile2 + threadIdx.x;
		#pragma unroll
		#define USE_LOG
		#ifdef USE_LOG
		// Apply high-pass filter to correlation inputs to reduce dynamic range before multiplication
		for (int q = 0; q < 4; q++){
		float *log = LoG_corr + threadIdx.x;
		for (int i = 0; i < DTT_SIZE; i++){ // copy 32 rows (4 quadrants of 8 rows)
		clt_tile1i= (gpu_tile1) * (*log);
		clt_tile2i= (gpu_tile2) * (*log);
		clt_tile1i += DTT_SIZE1;
		clt_tile2i += DTT_SIZE1;
		gpu_tile1 += DTT_SIZE;
		gpu_tile2 += DTT_SIZE;
		log += DTT_SIZE;
		}
		}
		#else
		for (int i = 0; i < DTT_SIZE4; i++){ // copy 32 rows (4 quadrants of 8 rows)
		clt_tile1i= gpu_tile1;
		clt_tile2i= gpu_tile2;
		@@ -1094,6 +1120,7 @@ extern "C" __global__ void correlate2D_inner(
		gpu_tile1 += DTT_SIZE;
		gpu_tile2 += DTT_SIZE;
		}
		#endif //USE_LOG
		__syncthreads();
		#ifdef DBG_TILE
		#ifdef DEBUG6

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