debugging geometry_correction - was corrupting last tiles (5866263d) · Commits · Elphel / tile_processor_gpu

src/geometry_correction.cu

+44 −48

Original line number	Original line	Diff line number	Diff line
	@@ -281,6 +281,32 @@ extern "C" __global__ void calc_rot_deriv(
	}		}


			extern "C" __global__ void calculate_tiles_offsets(
			struct tp_task * gpu_tasks,
			int num_tiles, // number of tiles in task
			struct gc * gpu_geometry_correction,
			struct corr_vector * gpu_correction_vector,
			float * gpu_rByRDist, // length should match RBYRDIST_LEN
			trot_deriv * gpu_rot_deriv)
			{
			dim3 threads_geom(NUM_CAMS,TILES_PER_BLOCK_GEOM, 1);
			dim3 grid_geom ((num_tiles+TILES_PER_BLOCK_GEOM-1)/TILES_PER_BLOCK_GEOM, 1, 1);
			if (threadIdx.x == 0) { // always 1
			get_tiles_offsets<<<grid_geom,threads_geom>>> (
			gpu_tasks, // struct tp_task * gpu_tasks,
			num_tiles, // int num_tiles, // number of tiles in task list
			gpu_geometry_correction, // struct gc * gpu_geometry_correction,
			gpu_correction_vector, // struct corr_vector * gpu_correction_vector,
			gpu_rByRDist, // float * gpu_rByRDist) // length should match RBYRDIST_LEN
			gpu_rot_deriv); // union trot_deriv * gpu_rot_deriv);

			}
			// __syncthreads();// __syncwarp();
			// cudaDeviceSynchronize();
			// cudaDeviceSynchronize();
			}


	/*		/*
	* blockDim.x = NUM_CAMS		* blockDim.x = NUM_CAMS
	* blockDim.y = TILES_PER_BLOCK_GEOM		* blockDim.y = TILES_PER_BLOCK_GEOM
	@@ -295,12 +321,7 @@ extern "C" __global__ void get_tiles_offsets(
	trot_deriv * gpu_rot_deriv)		trot_deriv * gpu_rot_deriv)
	{		{
	int task_num = blockIdx.x * blockDim.y + threadIdx.y; // blockIdx.x * TILES_PER_BLOCK_GEOM + threadIdx.y		int task_num = blockIdx.x * blockDim.y + threadIdx.y; // blockIdx.x * TILES_PER_BLOCK_GEOM + threadIdx.y
	if (task_num >= num_tiles){
	return;
	}
	int thread_xy = blockDim.x * threadIdx.y + threadIdx.x;		int thread_xy = blockDim.x * threadIdx.y + threadIdx.x;
	int ncam = threadIdx.x;
	// threadIdx.x - numcam, used for per-camera
	__shared__ struct gc geometry_correction;		__shared__ struct gc geometry_correction;
	__shared__ float rByRDist [RBYRDIST_LEN];		__shared__ float rByRDist [RBYRDIST_LEN];
	__shared__ struct corr_vector extrinsic_corr;		__shared__ struct corr_vector extrinsic_corr;
	@@ -355,6 +376,10 @@ extern "C" __global__ void get_tiles_offsets(
	}		}
	}		}
	__syncthreads();		__syncthreads();
			int ncam = threadIdx.x;
			if (task_num >= num_tiles){
			return;
			}
	int imu_exists = // todo - calculate once with rot_deriv?		int imu_exists = // todo - calculate once with rot_deriv?
	(extrinsic_corr.imu_rot[0] != 0.0) \|\|		(extrinsic_corr.imu_rot[0] != 0.0) \|\|
	(extrinsic_corr.imu_rot[1] != 0.0) \|\|		(extrinsic_corr.imu_rot[1] != 0.0) \|\|
	@@ -511,9 +536,6 @@ extern "C" __global__ void get_tiles_offsets(
	__syncthreads();// __syncwarp();		__syncthreads();// __syncwarp();
	#endif // DEBUG21		#endif // DEBUG21



	// float rvi[3];
	float drvi_daz [3]; // drvi_daz = deriv_rots[i][0].times(vi);		float drvi_daz [3]; // drvi_daz = deriv_rots[i][0].times(vi);
	float drvi_dtl [3]; // drvi_dtl = deriv_rots[i][1].times(vi);		float drvi_dtl [3]; // drvi_dtl = deriv_rots[i][1].times(vi);
	float drvi_drl [3]; // drvi_drl = deriv_rots[i][2].times(vi);		float drvi_drl [3]; // drvi_drl = deriv_rots[i][2].times(vi);
	@@ -570,7 +592,6 @@ extern "C" __global__ void get_tiles_offsets(
	__syncthreads();// __syncwarp();		__syncthreads();// __syncwarp();
	#endif // DEBUG21		#endif // DEBUG21


	// now first column of 2x2 dd1 - x, y components of derivatives by disparity, second column - derivatives by ortho to disparity (~Y in 2d correlation)		// now first column of 2x2 dd1 - x, y components of derivatives by disparity, second column - derivatives by ortho to disparity (~Y in 2d correlation)
	// unity vector in the direction of radius		// unity vector in the direction of radius
	float c_dist = pXci/rNDi;		float c_dist = pXci/rNDi;
	@@ -618,7 +639,6 @@ extern "C" __global__ void get_tiles_offsets(
	__syncthreads();// __syncwarp();		__syncthreads();// __syncwarp();
	#endif // DEBUG21		#endif // DEBUG21


	gpu_tasks[task_num].disp_dist[ncam][0] = disp_dist[0];		gpu_tasks[task_num].disp_dist[ncam][0] = disp_dist[0];
	gpu_tasks[task_num].disp_dist[ncam][1] = disp_dist[1];		gpu_tasks[task_num].disp_dist[ncam][1] = disp_dist[1];
	gpu_tasks[task_num].disp_dist[ncam][2] = disp_dist[2];		gpu_tasks[task_num].disp_dist[ncam][2] = disp_dist[2];
	@@ -629,17 +649,6 @@ extern "C" __global__ void get_tiles_offsets(
	// float imu_move[3]; // dx/dt, dy/dt, dz/dt 16..19 geometry_correction.imu_move		// float imu_move[3]; // dx/dt, dy/dt, dz/dt 16..19 geometry_correction.imu_move
	// ERS linear does not yet use per-port rotations, probably not needed		// ERS linear does not yet use per-port rotations, probably not needed
	if (imu_exists){		if (imu_exists){
	/*
	float delta_t = disp_dist[2] * disparity * geometry_correction.line_time; // positive for top cameras, negative - for bottom //disp_dist[2]=dd2.get(1, 0)
	float ers_Xci = delta_t * (
	dpXci_dtilt * extrinsic_corr.imu_rot[0] +
	dpXci_dazimuth * extrinsic_corr.imu_rot[1] +
	dpXci_droll * extrinsic_corr.imu_rot[2]);
	float ers_Yci = delta_t* (
	dpYci_dtilt * extrinsic_corr.imu_rot[0] +
	dpYci_dazimuth * extrinsic_corr.imu_rot[1] +
	dpYci_droll * extrinsic_corr.imu_rot[2]);
	*/
	float ers_x =		float ers_x =
	dpXci_dtilt * extrinsic_corr.imu_rot[0] +		dpXci_dtilt * extrinsic_corr.imu_rot[0] +
	dpXci_dazimuth * extrinsic_corr.imu_rot[1] +		dpXci_dazimuth * extrinsic_corr.imu_rot[1] +
	@@ -649,11 +658,8 @@ extern "C" __global__ void get_tiles_offsets(
	dpYci_dazimuth * extrinsic_corr.imu_rot[1] +		dpYci_dazimuth * extrinsic_corr.imu_rot[1] +
	dpYci_droll * extrinsic_corr.imu_rot[2];		dpYci_droll * extrinsic_corr.imu_rot[2];



	#ifdef DEBUG21		#ifdef DEBUG21
	if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){		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);
	printf("ers_x = %f, ers_y = %f\n", ers_x, ers_y);		printf("ers_x = %f, ers_y = %f\n", ers_x, ers_y);
	}		}
	__syncthreads();// __syncwarp();		__syncthreads();// __syncwarp();
	@@ -666,14 +672,6 @@ extern "C" __global__ void get_tiles_offsets(
	dpXci_pYci_imu_lin[1][1] = wdisparity / k; // dpy/ dworld_Y		dpXci_pYci_imu_lin[1][1] = wdisparity / k; // dpy/ dworld_Y
	dpXci_pYci_imu_lin[0][2] = (xyz[0] / k) * dwdisp_dz; // dpx/ dworld_Z		dpXci_pYci_imu_lin[0][2] = (xyz[0] / k) * dwdisp_dz; // dpx/ dworld_Z
	dpXci_pYci_imu_lin[1][2] = (xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z		dpXci_pYci_imu_lin[1][2] = (xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z
	/*
	ers_Xci += delta_t* (
	dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +
	dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2]);
	ers_Yci += delta_t* (
	dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +
	dpXci_pYci_imu_lin[1][2] * extrinsic_corr.imu_move[2]);
	*/
	ers_x += dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +		ers_x += dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +
	dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2];		dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2];
	ers_y += dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +		ers_y += dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +
	@@ -700,8 +698,6 @@ extern "C" __global__ void get_tiles_offsets(
	// copy results to global memory pXY, disp_dist		// copy results to global memory pXY, disp_dist
	gpu_tasks[task_num].xy[ncam][0] = pXY[0];		gpu_tasks[task_num].xy[ncam][0] = pXY[0];
	gpu_tasks[task_num].xy[ncam][1] = pXY[1];		gpu_tasks[task_num].xy[ncam][1] = pXY[1];


	}		}

	extern "C" __global__ void calcReverseDistortionTable(		extern "C" __global__ void calcReverseDistortionTable(

src/geometry_correction.h

+9 −0

Original line number	Original line	Diff line number	Diff line
	@@ -149,6 +149,15 @@ extern "C" __global__ void get_tiles_offsets(
	float * gpu_rByRDist, // length should match RBYRDIST_LEN		float * gpu_rByRDist, // length should match RBYRDIST_LEN
	trot_deriv * gpu_rot_deriv);		trot_deriv * gpu_rot_deriv);

			extern "C" __global__ void calculate_tiles_offsets(
			struct tp_task * gpu_tasks,
			int num_tiles, // number of tiles in task
			struct gc * gpu_geometry_correction,
			struct corr_vector * gpu_correction_vector,
			float * gpu_rByRDist, // length should match RBYRDIST_LEN
			trot_deriv * gpu_rot_deriv);


	// uses NUM_CAMS blocks, (3,3,3) threads		// uses NUM_CAMS blocks, (3,3,3) threads
	extern "C" __global__ void calc_rot_deriv(		extern "C" __global__ void calc_rot_deriv(
	struct corr_vector * gpu_correction_vector,		struct corr_vector * gpu_correction_vector,

src/test_tp.cu

+9 −0

Original line number	Original line	Diff line number	Diff line
	@@ -739,6 +739,7 @@ int main(int argc, char **argv)
	sdkResetTimer(&timerGEOM);		sdkResetTimer(&timerGEOM);
	sdkStartTimer(&timerGEOM);		sdkStartTimer(&timerGEOM);
	}		}
			/*
	get_tiles_offsets<<<grid_geom,threads_geom>>> (		get_tiles_offsets<<<grid_geom,threads_geom>>> (
	gpu_tasks, // struct tp_task * gpu_tasks,		gpu_tasks, // struct tp_task * gpu_tasks,
	tp_task_size, // int num_tiles, // number of tiles in task list		tp_task_size, // int num_tiles, // number of tiles in task list
	@@ -746,6 +747,14 @@ int main(int argc, char **argv)
	gpu_correction_vector, // struct corr_vector * gpu_correction_vector,		gpu_correction_vector, // struct corr_vector * gpu_correction_vector,
	gpu_rByRDist, // float * gpu_rByRDist) // length should match RBYRDIST_LEN		gpu_rByRDist, // float * gpu_rByRDist) // length should match RBYRDIST_LEN
	gpu_rot_deriv); // union trot_deriv * gpu_rot_deriv);		gpu_rot_deriv); // union trot_deriv * gpu_rot_deriv);
			*/
			calculate_tiles_offsets<<<1,1>>> (
			gpu_tasks, // struct tp_task * gpu_tasks,
			tp_task_size, // int num_tiles, // number of tiles in task list
			gpu_geometry_correction, // struct gc * gpu_geometry_correction,
			gpu_correction_vector, // struct corr_vector * gpu_correction_vector,
			gpu_rByRDist, // float * gpu_rByRDist) // length should match RBYRDIST_LEN
			gpu_rot_deriv); // union trot_deriv * gpu_rot_deriv);

	getLastCudaError("Kernel failure");		getLastCudaError("Kernel failure");
	checkCudaErrors(cudaDeviceSynchronize());		checkCudaErrors(cudaDeviceSynchronize());

src/tp_defines.h

+2 −2

Original line number	Original line	Diff line number	Diff line
	@@ -93,8 +93,8 @@

	//#define DBG_TILE_X 40		//#define DBG_TILE_X 40
	//#define DBG_TILE_Y 80		//#define DBG_TILE_Y 80
	#define DBG_TILE_X 162 // 151 // 161 // 49		#define DBG_TILE_X 32 // 162 // 151 // 161 // 49
	#define DBG_TILE_Y 121 // 69 // 111 // 66		#define DBG_TILE_Y 88 // 121 // 69 // 111 // 66

	#define DBG_TILE (DBG_TILE_Y * 324 + DBG_TILE_X)		#define DBG_TILE (DBG_TILE_Y * 324 + DBG_TILE_X)
	#undef DBG_MARK_DBG_TILE		#undef DBG_MARK_DBG_TILE

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