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tile_processor_gpu
Commit 263efc60 authored by Andrey Filippov's avatar Andrey Filippov
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debugging geometry correction, testing disp_dist

parent b9ca98e0
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Showing with 6 additions and 5 deletions
src/geometry_correction.cu
View file @ 263efc60
...@@ -363,7 +363,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -363,7 +363,7 @@ extern "C" __global__ void get_tiles_offsets(
(extrinsic_corr.imu_move[1] != 0.0) || (extrinsic_corr.imu_move[1] != 0.0) ||
(extrinsic_corr.imu_move[2] != 0.0); (extrinsic_corr.imu_move[2] != 0.0);
// Temporary // Temporary
imu_exists = 0; // imu_exists = 0;
#ifdef DEBUG21 #ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("\nTile = %d, camera= %d\n", task_num, ncam); printf("\nTile = %d, camera= %d\n", task_num, ncam);
...@@ -660,7 +660,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -660,7 +660,7 @@ extern "C" __global__ void get_tiles_offsets(
dpYci_dtilt * extrinsic_corr.imu_rot[0] + dpYci_dtilt * extrinsic_corr.imu_rot[0] +
dpYci_dazimuth * extrinsic_corr.imu_rot[1] + dpYci_dazimuth * extrinsic_corr.imu_rot[1] +
dpYci_droll * extrinsic_corr.imu_rot[2]); dpYci_droll * extrinsic_corr.imu_rot[2]);
#ifdef DEBUG210 #ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("delta_t = %f, ers_Xci = %f, ers_Yci = %f\n", delta_t, ers_Xci, ers_Yci); printf("delta_t = %f, ers_Xci = %f, ers_Yci = %f\n", delta_t, ers_Xci, ers_Yci);
} }
...@@ -683,7 +683,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -683,7 +683,7 @@ extern "C" __global__ void get_tiles_offsets(
pXY[0] += ers_Xci * rD2rND; // added correction to pixel X pXY[0] += ers_Xci * rD2rND; // added correction to pixel X
pXY[1] += ers_Yci * rD2rND; // added correction to pixel Y pXY[1] += ers_Yci * rD2rND; // added correction to pixel Y
#ifdef DEBUG210 #ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("k = %f, wdisparity = %f, dwdisp_dz = %f\n", k, wdisparity, dwdisp_dz); printf("k = %f, wdisparity = %f, dwdisp_dz = %f\n", k, wdisparity, dwdisp_dz);
printf("dpXci_pYci_imu_lin[0][0] = %f, dpXci_pYci_imu_lin[0][2] = %f\n", dpXci_pYci_imu_lin[0][0],dpXci_pYci_imu_lin[0][2]); printf("dpXci_pYci_imu_lin[0][0] = %f, dpXci_pYci_imu_lin[0][2] = %f\n", dpXci_pYci_imu_lin[0][0],dpXci_pYci_imu_lin[0][2]);
......
src/tp_defines.h
View file @ 263efc60
...@@ -74,7 +74,7 @@ ...@@ -74,7 +74,7 @@
#define THREADS_DYNAMIC_BITS 5 // treads in block for CDP creation of the texture list #define THREADS_DYNAMIC_BITS 5 // treads in block for CDP creation of the texture list
#define DBG_DISPARITY 0.0 // 56.0 // disparity for which to calculate offsets (not needed in Java) #define DBG_DISPARITY 56.0// 0.0 // 56.0 // disparity for which to calculate offsets (not needed in Java)
#define RBYRDIST_LEN 5001 // for doubles 10001 - floats // length of rByRDist to allocate shared memory #define RBYRDIST_LEN 5001 // for doubles 10001 - floats // length of rByRDist to allocate shared memory
#define RBYRDIST_STEP 0.0004 // for doubles, 0.0002 - floats // to fit into GPU shared memory (was 0.001); #define RBYRDIST_STEP 0.0004 // for doubles, 0.0002 - floats // to fit into GPU shared memory (was 0.001);
#define TILES_PER_BLOCK_GEOM (32/NUM_CAMS) // each tile has NUM_CAMS threads #define TILES_PER_BLOCK_GEOM (32/NUM_CAMS) // each tile has NUM_CAMS threads
...@@ -125,7 +125,8 @@ ...@@ -125,7 +125,8 @@
//#define DEBUG20 1 //#define DEBUG20 1
#if (DBG_TILE_X >= 0) && (DBG_TILE_Y >= 0) #if (DBG_TILE_X >= 0) && (DBG_TILE_Y >= 0)
//#define DEBUG21 1 // Geometry Correction #define DEBUG21 1 // Geometry Correction
//#define DEBUG210 1
//#define DEBUG22 1 //#define DEBUG22 1
//#define DEBUG23 1 //#define DEBUG23 1
......
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