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

debugging geometry correction, testing disp_dist

parent b9ca98e0

src/geometry_correction.cu

+3 −3
Original line number Diff line number Diff line
@@ -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

+3 −2
Original line number Diff line number Diff line
@@ -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