debugging geometry correction, testing disp_dist

src/geometry_correction.cu

@@ -363,7 +363,7 @@ extern "C" __global__ void get_tiles_offsets(
 			(extrinsic_corr.imu_move[1] != 0.0) ||
 			(extrinsic_corr.imu_move[2] != 0.0);
 // Temporary
-	imu_exists = 0;
+//	imu_exists = 0;
 #ifdef DEBUG21
 	if ((ncam == DBG_CAM)  && (task_num == DBG_TILE)){
 		printf("\nTile = %d, camera= %d\n", task_num, ncam);
@@ -660,7 +660,7 @@ extern "C" __global__ void get_tiles_offsets(
 				dpYci_dtilt * extrinsic_corr.imu_rot[0] +
 				dpYci_dazimuth * extrinsic_corr.imu_rot[1] +
 				dpYci_droll * extrinsic_corr.imu_rot[2]);
-#ifdef DEBUG210
+#ifdef DEBUG21
 		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);
 		}
@@ -683,7 +683,7 @@ extern "C" __global__ void get_tiles_offsets(
 			pXY[0] +=  ers_Xci * rD2rND; // added correction to pixel X
 			pXY[1] +=  ers_Yci * rD2rND; // added correction to pixel Y
 
-#ifdef DEBUG210
+#ifdef DEBUG21
 			if ((ncam == DBG_CAM)  && (task_num == DBG_TILE)){
 				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]);

src/tp_defines.h

@@ -74,7 +74,7 @@
 
 #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_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
@@ -125,7 +125,8 @@
 //#define DEBUG20 1
 
 #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 DEBUG23 1