more debugging

src/TileProcessor.cuh

@@ -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_SIZE2*DTT_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_SIZE2*DTT_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

@@ -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

@@ -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)