started geometry correction

src/TileProcessor.cuh

@@ -41,6 +41,8 @@
 #ifndef JCUDA
 #include "tp_defines.h"
 #include "dtt8x8.h"
+#include "geometry_correction.h"
+#include "TileProcessor.h"
 #endif // #ifndef JCUDA
 
 #define TASK_TEXTURE_BITS ((1 << TASK_TEXTURE_N_BIT) | (1 << TASK_TEXTURE_E_BIT) | (1 << TASK_TEXTURE_S_BIT) | (1 << TASK_TEXTURE_W_BIT))
@@ -106,11 +108,12 @@
 #define DBG_TILE_Y     111 // 66
 
 #define DBG_TILE    (DBG_TILE_Y * 324 + DBG_TILE_X)
-#undef DBG_MARK_DBG_TILE 1
+#undef DBG_MARK_DBG_TILE
 
 //56494
 // struct tp_task
 //#define TASK_SIZE      12
+#if 0
 struct tp_task {
 	int   task;
 	union {
@@ -119,6 +122,7 @@ struct tp_task {
 	};
 	float xy[NUM_CAMS][2];
 };
+#endif
 struct CltExtra{
 	float data_x;   // kernel data is relative to this displacement X (0.5 pixel increments)
 	float data_y;   // kernel data is relative to this displacement Y (0.5 pixel increments)
@@ -826,6 +830,7 @@ __device__ void imclt_plane( // not implemented, not used
 		float           * gpu_rbg,            // WIDTH, HEIGHT
 		const size_t      dstride);            // in floats (pixels)
 
+#if 0
 extern "C"
 __global__ void clear_texture_list(
 		int              * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
@@ -892,6 +897,7 @@ __global__ void imclt_rbg(
 		int               h_offset,
 		const size_t      dstride);            // in floats (pixels)
 //===========================
+#endif
 
 extern "C"
 __global__ void correlate2D(

src/TileProcessor.h

+/**
+ **
+ ** TileProcessor.h
+ **
+ ** Copyright (C) 2020 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  TileProcessor.h is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ **
+ **  Additional permission under GNU GPL version 3 section 7
+ **
+ **  If you modify this Program, or any covered work, by linking or
+ **  combining it with NVIDIA Corporation's CUDA libraries from the
+ **  NVIDIA CUDA Toolkit (or a modified version of those libraries),
+ **  containing parts covered by the terms of NVIDIA CUDA Toolkit
+ **  EULA, the licensors of this Program grant you additional
+ **  permission to convey the resulting work.
+ ** -----------------------------------------------------------------------------**
+ */
+
+/**
+**************************************************************************
+* \file TileProcessor.h
+* \brief header file for  the Tile Processor for frequency domain
+
+*/
+#pragma once
+#ifndef NUM_CAMS
+#include "tp_defines.h"
+#endif
+
+extern "C" __global__ void clear_texture_list(
+		int              * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
+		int                width,  // <= TILESX, use for faster processing of LWIR images
+		int                height); // <= TILESY, use for faster processing of LWIR images
+
+extern "C" __global__ void mark_texture_tiles(
+		struct tp_task   * gpu_tasks,
+		int                num_tiles,            // number of tiles in task list
+		int              * gpu_texture_indices); // packed tile + bits (now only (1 << 7)
+extern "C" __global__ void mark_texture_neighbor_tiles(
+		struct tp_task   * gpu_tasks,
+		int                num_tiles,           // number of tiles in task list
+		int              * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
+		int              * woi);                // x,y,width,height of the woi
+extern "C" __global__ void gen_texture_list(
+		struct tp_task   * gpu_tasks,
+		int                num_tiles,           // number of tiles in task list
+		int              * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
+		int              * num_texture_tiles,  // number of texture tiles to process
+		int              * woi);                // x,y,width,height of the woi
+
+extern "C" __global__ void clear_texture_rbga(
+		int               texture_width,
+		int               texture_slice_height,
+		const size_t      texture_rbga_stride,     // in floats 8*stride
+		float           * gpu_texture_tiles);  // (number of colors +1 + ?)*16*16 rgba texture tiles
+extern "C" __global__ void textures_accumulate(
+//		int               border_tile,        // if 1 - watch for border
+		int             * woi,                // x, y, width,height
+		float          ** gpu_clt,            // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
+		size_t            num_texture_tiles,  // number of texture tiles to process
+		int             * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
+		float           * gpu_port_offsets,       // relative ports x,y offsets - just to scale differences, may be approximate
+		int               colors,             // number of colors (3/1)
+		int               is_lwir,            // do not perform shot correction
+		float             min_shot,           // 10.0
+		float             scale_shot,         // 3.0
+		float             diff_sigma,         // pixel value/pixel change
+		float             diff_threshold,     // pixel value/pixel change
+		float             min_agree,          // minimal number of channels to agree on a point (real number to work with fuzzy averages)
+		float             weight0,            // scale for R
+		float             weight1,            // scale for B
+		float             weight2,            // scale for G
+		int               dust_remove,        // Do not reduce average weight when only one image differs much from the average
+		int               keep_weights,       // return channel weights after A in RGBA (was removed) (should be 0 if gpu_texture_rbg)?
+// combining both non-overlap and overlap (each calculated if pointer is not null )
+		size_t            texture_rbg_stride, // in floats
+		float           * gpu_texture_rbg,    // (number of colors +1 + ?)*16*16 rgba texture tiles
+		size_t            texture_stride,     // in floats (now 256*4 = 1024)
+		float           * gpu_texture_tiles); // (number of colors +1 + ?)*16*16 rgba texture tiles
+
+extern "C" __global__ void imclt_rbg(
+		float           * gpu_clt,            // [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
+		float           * gpu_rbg,            // WIDTH, 3 * HEIGHT
+		int               apply_lpf,
+		int               mono,               // defines lpf filter
+		int               color,              // defines location of clt data
+		int               v_offset,
+		int               h_offset,
+		const size_t      dstride);            // in floats (pixels)
+
+
+

src/geometry_correction.h

+/**
+ **
+ ** geometry_correction.h
+ **
+ ** Copyright (C) 2020 Elphel, Inc.
+ **
+ ** -----------------------------------------------------------------------------**
+ **
+ **  geometry_correction.h is free software: you can redistribute it and/or modify
+ **  it under the terms of the GNU General Public License as published by
+ **  the Free Software Foundation, either version 3 of the License, or
+ **  (at your option) any later version.
+ **
+ **  This program is distributed in the hope that it will be useful,
+ **  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ **  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ **  GNU General Public License for more details.
+ **
+ **  You should have received a copy of the GNU General Public License
+ **  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ **
+ **  Additional permission under GNU GPL version 3 section 7
+ **
+ **  If you modify this Program, or any covered work, by linking or
+ **  combining it with NVIDIA Corporation's CUDA libraries from the
+ **  NVIDIA CUDA Toolkit (or a modified version of those libraries),
+ **  containing parts covered by the terms of NVIDIA CUDA Toolkit
+ **  EULA, the licensors of this Program grant you additional
+ **  permission to convey the resulting work.
+ ** -----------------------------------------------------------------------------**
+ */
+
+/**
+**************************************************************************
+* \file geometry_correction.h
+* \brief header file for geometry correction - per-tile/per camera calculation of the tile offset
+
+*/
+#pragma once
+#ifndef NUM_CAMS
+#include "tp_defines.h"
+#endif
+
+struct tp_task {
+	int   task;
+	union {
+		int      txy;
+		unsigned short sxy[2];
+	};
+	float xy[NUM_CAMS][2];
+};
+
+struct corr_vector{
+	float tilt    [NUM_CAMS-1]; // 0..2
+	float azimuth [NUM_CAMS-1]; // 3..5
+	float roll    [NUM_CAMS];   // 6..9
+	float zoom    [NUM_CAMS-1]; // 10..12
+	// for ERS correction:
+	float imu_rot [3]; // d_tilt/dt (rad/s), d_az/dt, d_roll/dt 13..15
+	float imu_move[3]; // dx/dt, dy/dt, dz/dt 16..19
+};
+
+struct gc {
+	float focalLength;      // =FOCAL_LENGTH;
+	float pixelSize;        // =  PIXEL_SIZE; //um
+	float distortionRadius; // =  DISTORTION_RADIUS; // mm - half width of the sensor
+
+	float distortionA8;     //r^8 (normalized to focal length or to sensor half width?)
+	float distortionA7;     //r^7 (normalized to focal length or to sensor half width?)
+	float distortionA6;     //r^6 (normalized to focal length or to sensor half width?)
+	float distortionA5;     //r^5 (normalized to focal length or to sensor half width?)
+	float distortionA;      // r^4 (normalized to focal length or to sensor half width?)
+	float distortionB;      // r^3
+	float distortionC;      // r^2
+	// parameters, common for all sensors
+	float    elevation;     // degrees, up - positive;
+	float    heading;       // degrees, CW (from top) - positive
+
+	float forward    [NUM_CAMS];
+	float right      [NUM_CAMS];
+	float height     [NUM_CAMS];
+	float roll       [NUM_CAMS];  // degrees, CW (to target) - positive
+
+	float common_right;    // mm right, camera center
+	float common_forward;  // mm forward (to target), camera center
+	float common_height;   // mm up, camera center
+	float common_roll;     // degrees CW (to target) camera as a whole
+//	float [][] XYZ_he;     // all cameras coordinates transformed to eliminate heading and elevation (rolls preserved)
+//	float [][] XYZ_her = null; // XYZ of the lenses in a corrected CCS (adjusted for to elevation, heading,  common_roll)
+	float rXY        [NUM_CAMS][3]; // XY pairs of the in a normal plane, relative to disparityRadius
+//	float [][] rXY_ideal = {{-0.5, -0.5}, {0.5,-0.5}, {-0.5, 0.5}, {0.5,0.5}};
+// only used for the multi-quad systems
+	float cameraRadius; // =0; // average distance from the "mass center" of the sensors to the sensors
+	float disparityRadius; // =150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
+};
+
+