Commit 263efc60 authored by Andrey Filippov's avatar Andrey Filippov

debugging geometry correction, testing disp_dist

parent b9ca98e0
......@@ -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]);
......
......@@ -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
......
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