more debugging (26689442) · Commits · Elphel / tile_processor_gpu

src/TileProcessor.cuh

+29 −7

Original line number	Diff line number	Diff line
		@@ -2149,7 +2149,8 @@ __global__ void textures_accumulate( // (8,4,1) (N,1,1)
		(float) shr.mclt_debayer, // float mclt_tile, // debayer // has gaps to align with union !
		(float) mclt_tiles, // float rbg_tile, // if not null - original (not-debayered) rbg tile to use for the output
		(float ) shr1.rgbaw, // float rgba,
		// result
		// if calc_extra, rbg_tile will be ignored and output generated with blurred (debayered) data. Done so as debayered data is needed
		// to calculate max_diff_shared
		calc_extra, // int calc_extra, // 1 - calcualate ports_rgb, max_diff

		ports_rgb_shared, // float ports_rgb_shared [NUM_COLORS][NUM_CAMS], // return to system memory (optionally pass null to skip calculation)
		@@ -3512,7 +3513,7 @@ __device__ void tile_combine_rgba(
		float * mclt_tile, // debayer // has gaps to align with union !
		float * rbg_tile, // if not null - original (not-debayered) rbg tile to use for the output
		float * rgba, // result
		int calc_extra, // 1 - calcualate ports_rgb, max_diff
		int calc_extra, // 1 - calculate ports_rgb, max_diff (if not null - will ignore rbg_tile !)
		float ports_rgb_shared [NUM_COLORS][NUM_CAMS], // return to system memory (optionally pass null to skip calculation)
		float max_diff_shared [NUM_CAMS], // return to system memory (optionally pass null to skip calculation)
		float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE],
		@@ -3846,7 +3847,7 @@ __device__ void tile_combine_rgba(

		#endif // #ifdef DEBUG9
		///
		if (rbg_tile) {
		if (rbg_tile && (calc_extra == 0)) { // will keep debayered if (calc_extra == 0)
		float k = 0.0;
		int rbga_offset = colors * (DTT_SIZE2*DTT_SIZE21); // padded in union !
		#pragma unroll
		@@ -3923,12 +3924,12 @@ __device__ void tile_combine_rgba(
		int row = (pass >> 1);
		int col = ((pass & 1) << 3) + threadIdx.x;
		int i = row * DTT_SIZE21 + col;
		int row_sym = row ^ ((row & 8)? 0xf : 0);
		int col_sym = col ^ ((col & 8)? 0xf : 0);
		/// int row_sym = row ^ ((row & 8)? 0xf : 0);
		/// int col_sym = col ^ ((col & 8)? 0xf : 0);

		// Was it a bug?
		// float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQi[col_sym];
		float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym];
		/// float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym];
		float * mclt_cam_i = mclt_tile + colors_offset * cam + i;
		// float * mclt_cam_i = rbg_tile + colors_offset * cam + i;
		//
		@@ -3939,7 +3940,7 @@ __device__ void tile_combine_rgba(
		float dc = (mclt_cam_i + (DTT_SIZE2(DTT_SIZE21 + 1)) * ncol) - (rgba + (DTT_SIZE2DTT_SIZE21) * ncol + i);
		d2 += (chn_weights + ncol) dc * dc;
		}
		// d2 *= wnd2;
		/// d2 *= wnd2;
		max_diff_tmp[cam][threadIdx.x] = fmaxf(max_diff_tmp[cam][threadIdx.x], d2);
		}
		__syncthreads();
		@@ -3959,8 +3960,29 @@ __device__ void tile_combine_rgba(
		for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
		printf("tmp[%d] %f %f %f %f\n",i, max_diff_tmp[0][i],max_diff_tmp[1][i],max_diff_tmp[2][i],max_diff_tmp[3][i]);
		}
		for (int ncol = 0; ncol < colors; ncol++){
		printf("\n average for color %d\n",ncol);
		debug_print_mclt(
		rgba + (DTT_SIZE2DTT_SIZE21) ncol,
		-1);
		for (int ncam = 0; ncam < NUM_CAMS;ncam ++){
		printf("\n mclt for color %d, camera %d\n",ncol,ncam);
		debug_print_mclt(
		mclt_tile + (DTT_SIZE2(DTT_SIZE21 + 1)) ncol + colors_offset * ncam,
		-1);
		#if 0
		printf("\n rgb_tile for color %d, camera %d\n",ncol,ncam);
		if (rgb_tile) {
		debug_print_mclt(
		rbg_tile + (DTT_SIZE2(DTT_SIZE21 + 1)) ncol + colors_offset * ncam,
		-1);
		}
		#endif
		}
		}
		}
		__syncthreads();// __syncwarp();

		#endif // #ifdef DEBUG22
		}
		if (calc_extra) {

src/geometry_correction.cu

+12 −5

Original line number	Diff line number	Diff line
		@@ -389,6 +389,13 @@ extern "C" __global__ void get_tiles_offsets(
		float disparity = gpu_tasks[task_num].target_disparity;
		int tileX = (cxy & 0xffff);
		int tileY = (cxy >> 16);
		#ifdef DEBUG23
		if ((ncam == 0) && (tileX == DBG_TILE_X) && (tileY == DBG_TILE_Y)){
		printf ("\n get_tiles_offsets(): Debugging tileX=%d, tileY=%d, ncam = %d\n", tileX,tileY,ncam);
		printf("\n");
		__syncthreads();
		}
		#endif //#ifdef DEBUG23
		float px = tileX * DTT_SIZE + DTT_SIZE/2; // - shiftX;
		float py = tileY * DTT_SIZE + DTT_SIZE/2; // - shiftY;

		@@ -524,7 +531,7 @@ extern "C" __global__ void get_tiles_offsets(
		float dpXci_droll = drvi_drl[0] * norm_z - pXci * drvi_drl[2] / rvi[2];
		float dpYci_droll = drvi_drl[1] * norm_z - pYci * drvi_drl[2] / rvi[2];

		#ifdef DEBUG21
		#ifdef DEBUG210
		if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
		printf("drvi_daz[0] = %f, drvi_daz[1] = %f, drvi_daz[2] = %f\n", drvi_daz[0], drvi_daz[1], drvi_daz[2]);
		printf("drvi_dtl[0] = %f, drvi_dtl[1] = %f, drvi_dtl[2] = %f\n", drvi_dtl[0], drvi_dtl[1], drvi_dtl[2]);
		@@ -554,7 +561,7 @@ extern "C" __global__ void get_tiles_offsets(
		dd1[1][0] = (-rot_deriv.rots[ncam][1][0]rXY[0] -rot_deriv.rots[ncam][1][1]rXY[1])*norm_z;
		dd1[1][1] = ( rot_deriv.rots[ncam][1][0]rXY[1] -rot_deriv.rots[ncam][1][1]rXY[0])*norm_z;

		#ifdef DEBUG21
		#ifdef DEBUG210
		if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
		printf("dd1[0][0] = %f, dd1[0][1] = %f\n",dd1[0][0],dd1[0][1]);
		printf("dd1[1][0] = %f, dd1[1][1] = %f\n",dd1[1][0],dd1[1][1]);
		@@ -622,7 +629,7 @@ extern "C" __global__ void get_tiles_offsets(
		disp_dist[2] = s_dist * scale_distortXrot2Xdd1[0][0] + c_dist * scale_distortXrot2Xdd1[1][0];
		disp_dist[3] = s_dist * scale_distortXrot2Xdd1[0][1] + c_dist * scale_distortXrot2Xdd1[1][1];

		#ifdef DEBUG21
		#ifdef DEBUG210
		if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
		printf("scale_distortXrot2Xdd1[0][0] = %f, scale_distortXrot2Xdd1[0][1] = %f\n",scale_distortXrot2Xdd1[0][0],scale_distortXrot2Xdd1[0][1]);
		printf("scale_distortXrot2Xdd1[1][0] = %f, scale_distortXrot2Xdd1[1][1] = %f\n",scale_distortXrot2Xdd1[1][0],scale_distortXrot2Xdd1[1][1]);
		@@ -654,7 +661,7 @@ 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 DEBUG21
		#ifdef DEBUG210
		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);
		}
		@@ -677,7 +684,7 @@ 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 DEBUG21
		#ifdef DEBUG210
		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

+6 −5

Original line number	Diff line number	Diff line
		@@ -72,7 +72,7 @@

		#define THREADS_DYNAMIC_BITS 5 // treads in block for CDP creation of the texture list

		#define DBG_DISPARITY 56.0 // disparity for which to calculate offsets (not needed in Java)
		#define DBG_DISPARITY 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
		@@ -83,8 +83,8 @@

		//#define DBG_TILE_X 40
		//#define DBG_TILE_Y 80
		#define DBG_TILE_X 151 // 161 // 49
		#define DBG_TILE_Y 69 // 111 // 66
		#define DBG_TILE_X 162 // 151 // 161 // 49
		#define DBG_TILE_Y 121 // 69 // 111 // 66

		#define DBG_TILE (DBG_TILE_Y * 324 + DBG_TILE_X)
		#undef DBG_MARK_DBG_TILE
		@@ -114,10 +114,11 @@
		// geom
		//#define DEBUG20 1

		// #define DEBUG21 1 // Geometry Correction
		#if (DBG_TILE_X >= 0) && (DBG_TILE_Y >= 0)
		//#define DEBUG21 1 // Geometry Correction

		#define DEBUG22 1
		//#define DEBUG22 1
		#define DEBUG23 1

		#endif //#if (DBG_TILE_X >= 0) && (DBG_TILE_Y >= 0)

Admin message