ran formatter (6c76931e) · Commits · Elphel / tile_processor_gpu

src/TileProcessor.cuh

+3697 −3819

File changed.

Preview size limit exceeded, changes collapsed.

src/TileProcessor.h

+133 −128

Original line number	Diff line number	Diff line
		@@ -41,7 +41,6 @@
		#include "tp_defines.h"
		#endif


		extern "C" __global__ void convert_direct( // called with a single block, single thread
		// struct CltExtra ** gpu_kernel_offsets, // [NUM_CAMS], // changed for jcuda to avoid struct parameters
		int num_cams, // actual number of cameras
		@@ -133,8 +132,7 @@ extern "C" __global__ void textures_nonoverlap(
		float* gpu_diff_rgb_combo, //); // diff[NUM_CAMS], R[NUM_CAMS], B[NUM_CAMS],G[NUM_CAMS] // may be 0 if not needed
		int num_tilesx);

		extern "C"
		__global__ void imclt_rbg_all(
		extern "C" __global__ void imclt_rbg_all(
		int num_cams,
		float** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
		float** gpu_corr_images, // [NUM_CAMS][WIDTH, 3 * HEIGHT]
		@@ -185,3 +183,10 @@ extern "C" __global__ void generate_RBGA(
		const size_t texture_rbga_stride, // in floats
		float* gpu_texture_tiles); // (number of colors +1 + ?)1616 rgba texture tiles

		extern "C" __global__ void accumulate_correlations(
		int tilesY,
		int tilesX,
		int pairs,
		float* num_acc, // number of accumulated tiles [tilesY][tilesX][pair]
		float* fcorr_td, // [tilesY][tilesX][pair][256] sparse transform domain representation of corr pairs
		float* fcorr_td_acc); // [tilesY][tilesX][pair][256] sparse transform domain representation of corr pairs

src/dtt8x8.cu

+980 −1019

Original line number	Diff line number	Diff line
		@@ -84,27 +84,25 @@ __constant__ float idct_signs[4][4][4] ={
		{1, -1, -1, -1},
		{-1, 1, 1, 1},
		{-1, 1, 1, 1},
		{-1, 1, 1, 1}
		},{ // quadrant 1, each elements corresponds to 4x4 pixel output, covering altogether 16x16
		{-1, 1, 1, 1}},
		{// quadrant 1, each elements corresponds to 4x4 pixel output, covering altogether 16x16
		{1, 1, 1, -1},
		{-1, -1, -1, 1},
		{-1, -1, -1, 1},
		{-1,-1,-1, 1}
		},{ // quadrant 2, each elements corresponds to 4x4 pixel output, covering altogether 16x16
		{-1, -1, -1, 1}},
		{// quadrant 2, each elements corresponds to 4x4 pixel output, covering altogether 16x16
		{1, -1, -1, -1},
		{1, -1, -1, -1},
		{1, -1, -1, -1},
		{-1, 1, 1, 1}
		},{ // quadrant 3, each elements corresponds to 4x4 pixel output, covering altogether 16x16
		{-1, 1, 1, 1}},
		{// quadrant 3, each elements corresponds to 4x4 pixel output, covering altogether 16x16
		{1, 1, 1, -1},
		{1, 1, 1, -1},
		{1, 1, 1, -1},
		{-1,-1,-1, 1}
		}};
		{-1, -1, -1, 1}}};
		__constant__ float HWINDOW2[] = {0.049009f, 0.145142f, 0.235698f, 0.317197f,
		0.386505f, 0.440961f, 0.478470f, 0.497592f};


		inline __device__ void dttii_shared_mem_nonortho(float *x0, int inc, int dst_not_dct); // does not scale by y[0] (y[7]) by 1/sqrt[0]
		inline __device__ void dttii_shared_mem(float *x0, int inc, int dst_not_dct); // used in GPU_DTT24_DRV
		inline __device__ void dttiv_shared_mem(float *x0, int inc, int dst_not_dct); // used in GPU_DTT24_DRV
		@@ -118,7 +116,6 @@ inline __device__ void dst_iv8 ( float x[8], float y[8]); // x,y point t
		inline __device__ void _dctii_nrecurs8(float x[8], float y[8]); // x,y point to 8-element arrays each // not used
		inline __device__ void _dctiv_nrecurs8(float x[8], float y[8]); // x,y point to 8-element arrays each // not used


		/**
		**************************************************************************
		* Converts 2D image (in the GPU memory) using 8x8 DTT 8x8 tiles.
		@@ -140,9 +137,7 @@ inline __device__ void _dctiv_nrecurs8 ( float x[8], float y[8]); // x,y point t
		* \return None
		*/
		#ifdef BBBB
		extern "C"
		__global__ void GPU_DTT24_DRV(float dst, float src, int src_stride, int dtt_mode)
		{
		extern "C" __global__ void GPU_DTT24_DRV(float dst, float src, int src_stride, int dtt_mode) {
		int dtt_mode0 = dtt_mode & 1;
		int dtt_mode1 = (dtt_mode >> 1) & 1;

		@@ -180,8 +175,6 @@ __global__ void GPU_DTT24_DRV(float dst, float src, int src_stride, int dtt_mo
		}
		#endif //#ifdef BBBB



		inline __device__ void _dctiv_nrecurs8(float x[8], float y[8]) // x,y point to 8-element arrays each
		{
		float u00 = (COSN2[0] * x[0] + SINN2[0] * x[7]);
		@@ -224,7 +217,6 @@ inline __device__ void _dctiv_nrecurs8( float x[8], float y[8]) // x,y point to
		float vb10 = COSPI_1_8_SQRT2 * ub10 + COSPI_3_8_SQRT2 * ub11;
		float vb11 = COSPI_3_8_SQRT2 * ub10 - COSPI_1_8_SQRT2 * ub11;


		y[0] = SQRT_2 * v00; // w0[0];
		y[1] = v01 - vb11; // w1[0];
		// j == 1
		@@ -239,8 +231,7 @@ inline __device__ void _dctiv_nrecurs8( float x[8], float y[8]) // x,y point to
		}

		__device__ void _dttiv(float x0, float x1, float x2, float x3, float x4, float x5, float x6, float x7,
		float y0, float y1, float y2, float y3, float y4, float y5, float y6, float y7, int dst_not_dct)
		{
		float y0, float y1, float y2, float y3, float y4, float y5, float y6, float y7, int dst_not_dct) {
		float u00, u01, u02, u03, u10, u11, u12, u13;
		if (dst_not_dct) { // DSTIV
		u00 = (COSN2[0] * x7 + SINN2[0] * x0);
		@@ -316,8 +307,7 @@ __device__ void _dttiv(float x0, float x1,float x2, float x3,float x4, float x5,
		}
		}

		inline __device__ void dttii_shared_mem(float * x0, int inc, int dst_not_dct)
		{
		inline __device__ void dttii_shared_mem(float *x0, int inc, int dst_not_dct) {
		float *x1 = x0 + inc;
		float *x2 = x1 + inc;
		float *x3 = x2 + inc;
		@@ -399,8 +389,7 @@ inline __device__ void dttii_shared_mem(float * x0, int inc, int dst_not_dct)
		}
		}

		inline __device__ void dttii_shared_mem_nonortho(float * x0, int inc, int dst_not_dct)
		{
		inline __device__ void dttii_shared_mem_nonortho(float *x0, int inc, int dst_not_dct) {
		float *x1 = x0 + inc;
		float *x2 = x1 + inc;
		float *x3 = x2 + inc;
		@@ -482,8 +471,7 @@ inline __device__ void dttii_shared_mem_nonortho(float * x0, int inc, int dst_n
		}
		}

		inline __device__ void dttiv_shared_mem(float * x0, int inc, int dst_not_dct)
		{
		inline __device__ void dttiv_shared_mem(float *x0, int inc, int dst_not_dct) {
		float *x1 = x0 + inc;
		float *x2 = x1 + inc;
		float *x3 = x2 + inc;
		@@ -546,7 +534,6 @@ inline __device__ void dttiv_shared_mem(float * x0, int inc, int dst_not_dct)
		float vb10 = COSPI_1_8_SQRT2 * ub10 + COSPI_3_8_SQRT2 * ub11;
		float vb11 = COSPI_3_8_SQRT2 * ub10 - COSPI_1_8_SQRT2 * ub11;


		x0 = v00 0.5f; // w0[0];
		x2 = (v01 + vb11) SQRT1_8; // w0[1];
		x4 = (v02 - vb01) SQRT1_8; // w0[2];
		@@ -564,8 +551,7 @@ inline __device__ void dttiv_shared_mem(float * x0, int inc, int dst_not_dct)
		}
		}

		inline __device__ void dttiv_nodiverg(float * x, int inc, int dst_not_dct)
		{
		inline __device__ void dttiv_nodiverg(float *x, int inc, int dst_not_dct) {
		float sgn = 1 - 2 * dst_not_dct;
		float *y0 = x;
		float *y1 = y0 + inc;
		@@ -627,7 +613,6 @@ inline __device__ void dttiv_nodiverg(float * x, int inc, int dst_not_dct)
		float vb10 = COSPI_1_8_SQRT2 * ub10 + COSPI_3_8_SQRT2 * ub11;
		float vb11 = COSPI_3_8_SQRT2 * ub10 - COSPI_1_8_SQRT2 * ub11;


		y0 = v00 0.5f; // w0[0];
		y2 = (v01 + vb11) SQRT1_8; // w0[1];
		y4 = (v02 - vb01) SQRT1_8; // w0[2];
		@@ -638,8 +623,7 @@ inline __device__ void dttiv_nodiverg(float * x, int inc, int dst_not_dct)
		y7 = sgn vb00 * 0.5f; // w1[3];
		}

		inline __device__ void dctiv_nodiverg(float * x0, int inc)
		{
		inline __device__ void dctiv_nodiverg(float *x0, int inc) {
		float *x1 = x0 + inc;
		float *x2 = x1 + inc;
		float *x3 = x2 + inc;
		@@ -688,7 +672,6 @@ inline __device__ void dctiv_nodiverg(float * x0, int inc)
		float vb10 = COSPI_1_8_SQRT2 * ub10 + COSPI_3_8_SQRT2 * ub11;
		float vb11 = COSPI_3_8_SQRT2 * ub10 - COSPI_1_8_SQRT2 * ub11;


		x0 = v00 0.5f; // w0[0];
		x2 = (v01 + vb11) SQRT1_8; // w0[1];
		x4 = (v02 - vb01) SQRT1_8; // w0[2];
		@@ -699,8 +682,7 @@ inline __device__ void dctiv_nodiverg(float * x0, int inc)
		x7 = vb00 0.5f; // w1[3];
		}

		inline __device__ void dstiv_nodiverg(float * x, int inc)
		{
		inline __device__ void dstiv_nodiverg(float *x, int inc) {
		float x0 = x + 7 inc;
		// negate inc, replace
		inc = -inc;
		@@ -752,7 +734,6 @@ inline __device__ void dstiv_nodiverg(float * x, int inc)
		float vb10 = COSPI_1_8_SQRT2 * ub10 + COSPI_3_8_SQRT2 * ub11;
		float vb11 = COSPI_3_8_SQRT2 * ub10 - COSPI_1_8_SQRT2 * ub11;


		x7 = v00 0.5f; // w0[0];
		x5 = (v01 + vb11) SQRT1_8; // w0[1];
		x3 = (v02 - vb01) SQRT1_8; // w0[2];
		@@ -764,8 +745,6 @@ inline __device__ void dstiv_nodiverg(float * x, int inc)
		x0 = -vb00 0.5f; // w1[3];
		}



		inline __device__ void _dctii_nrecurs8(float x[8], float y[8]) // x,y point to 8-element arrays each
		{
		float u00 = (x[0] + x[7]);
		@@ -836,7 +815,6 @@ inline __device__ void dct_ii8( float x[8], float y[8]) // x,y point to 8-eleme
		}
		}


		__device__ void dct_iv8(float x[8], float y[8]) // x,y point to 8-element arrays each
		{
		_dctiv_nrecurs8(x, y);
		@@ -844,7 +822,6 @@ __device__ void dct_iv8( float x[8], float y[8]) // x,y point to 8-element array
		for (int i = 0; i < 8; i++) {
		y[i] *= SQRT1_8;
		}

		}

		inline __device__ void dst_iv8(float x[8], float y[8]) // x,y point to 8-element arrays each
		@@ -862,7 +839,6 @@ inline __device__ void dst_iv8( float x[8], float y[8]) // x,y point to 8-elemen
		}
		}


		//=========================== 2D functions ===============
		__device__ void corrUnfoldTile(
		int corr_radius,
		@@ -895,11 +871,9 @@ __device__ void corrUnfoldTile(
		for (int j = 1; j <= corr_radius; j++) {
		int rslt_base_index_pp = rslt_base_index_p + j;
		int rslt_base_index_pm = rslt_base_index_p - j;
		rslt[rslt_base_index_pp] = corr_pixscale * (
		qdata0[i_transform_size + j] +
		rslt[rslt_base_index_pp] = corr_pixscale * (qdata0[i_transform_size + j] +
		qdata1[i_transform_size + j - 1]); // incomplete, will only be used for thread i=0
		rslt[rslt_base_index_pm] = corr_pixscale * (
		qdata0[i_transform_size + j] +
		rslt[rslt_base_index_pm] = corr_pixscale * (qdata0[i_transform_size + j] +
		-qdata1[i_transform_size + j - 1]); // incomplete, will only be used for thread i=0
		}
		if (i == 0) {
		@@ -941,13 +915,11 @@ __device__ void dttii_2d(
		dttii_shared_mem_nonortho(clt_corr + (q * DTT_SIZE + threadIdx.x) * DTT_SIZE1, 1, is_sin); // horizontal pass, tread is row
		}
		__syncthreads();

		}

		__device__ void dttiv_color_2d(
		float *clt_tile,
		int color)
		{
		int color) {
		dctiv_nodiverg( // all colors
		clt_tile + (DTT_SIZE1 * threadIdx.x), // [0][threadIdx.x], // pointer to start of row
		1); // int inc);
		@@ -956,7 +928,6 @@ __device__ void dttiv_color_2d(
		dstiv_nodiverg( // all colors
		clt_tile + DTT_SIZE1 * threadIdx.x + DTT_SIZE1 * DTT_SIZE, // clt_tile[1][threadIdx.x], // pointer to start of row
		1); // int inc);

		}
		__syncthreads(); // __syncwarp();

		@@ -980,8 +951,7 @@ __device__ void dttiv_color_2d(
		}

		__device__ void dttiv_mono_2d(
		float * clt_tile)
		{
		float *clt_tile) {
		// Copy 0-> 1

		dctiv_nodiverg(
		@@ -1021,8 +991,6 @@ __device__ void dttiv_mono_2d(
		__syncthreads(); // __syncwarp();
		}



		//
		// Uses 16 threads, gets 488 clt tiles, performs idtt-iv (swapping 1 and 2 quadrants) and then unfolds with window,
		// adding to the output 16x16 tile (to use Read-modify-write with 4 passes over the frame. Should be zeroed before the
		@@ -1077,7 +1045,6 @@ __device__ void imclt(
		__syncthreads(); // __syncwarp();
		#endif


		float hw = HWINDOW2[wcolumn];
		int clt_offset = imclt_indx9[column]; // index in each of the 4 iclt quadrants, accounting for stride=9
		float *rslt = mclt_tile + column;
		@@ -1161,7 +1128,6 @@ __device__ void imclt(
		#endif
		}


		// Uses 8 threads, gets 488 clt tiles, performs idtt-iv (swapping 1 and 2 quadrants) and then unfolds to the 16x16
		// adding to the output 16x16 tile (to use Read-modify-write with 4 passes over the frame. Should be zeroed before the
		// first pass
		@@ -1171,8 +1137,7 @@ __device__ void imclt8threads(
		int do_acc, // 1 - add to previous value, 0 - overwrite
		float *clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9]
		float mclt_tile, // [2 DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
		int debug)
		{
		int debug) {
		// int thr3 = threadIdx.x >> 3;
		// int column = threadIdx.x; // modify to use 2*8 threads, if needed.
		// int thr012 = threadIdx.x & 7;
		@@ -1339,8 +1304,4 @@ __device__ void imclt8threads(
		#endif
		}




		//#endif

src/dtt8x8.h

+29 −30

Original line number	Diff line number	Diff line
		@@ -70,7 +70,6 @@
		// extern __constant__ int imclt_indx9[16];
		// extern __constant__ float HWINDOW2[];


		// kernels (not used so far)
		#if 0
		extern "C" __global__ void GPU_DTT24_DRV(float dst, float src, int src_stride, int dtt_mode);

src/geometry_correction.cu

+825 −812

Original line number	Diff line number	Diff line
		@@ -46,7 +46,6 @@
		#define get_task_size(x) (sizeof(struct tp_task) / sizeof(float) - 6 * (NUM_CAMS - x))
		#endif


		// Using NUM_CAMS threads per tile
		#define THREADS_PER_BLOCK_GEOM (TILES_PER_BLOCK_GEOM * NUM_CAMS)
		///#define CYCLES_COPY_GC ((sizeof(struct gc)/sizeof(float) + THREADS_PER_BLOCK_GEOM - 1) / THREADS_PER_BLOCK_GEOM)
		@@ -60,7 +59,6 @@
		__device__ void printGeometryCorrection(struct gc *g, int num_cams);
		__device__ void printExtrinsicCorrection(corr_vector *cv, int num_cams);


		/**
		* Calculate non-distorted radius from distorted using table approximation
		* @param rDist distorted radius
		@@ -69,41 +67,51 @@ __device__ void printExtrinsicCorrection(corr_vector * cv, int num_cams);
		inline __device__ float getRByRDist(float rDist,
		float rByRDist[RBYRDIST_LEN]); // shared memory



		__constant__ float ROTS_TEMPLATE[7][3][3][3] = { // ...{cos,sin,const}...
		{ // azimuth
		{
		// azimuth
		{{1, 0, 0}, {0, 0, 0}, {0, -1, 0}},
		{{0, 0, 0}, {0, 0, 1}, {0, 0, 0}},
		{{0, 1, 0}, {0, 0, 0}, {1, 0, 0}},

		},{ // tilt
		},
		{
		// tilt
		{{0, 0, 1}, {0, 0, 0}, {0, 0, 0}},
		{{0, 0, 0}, {1, 0, 0}, {0, 1, 0}},
		{{0, 0, 0}, {0, -1, 0}, {1, 0, 0}},
		},{ // roll*zoom
		},
		{
		// roll*zoom
		{{1, 0, 0}, {0, 1, 0}, {0, 0, 0}},
		{{0, -1, 0}, {1, 0, 0}, {0, 0, 0}},
		{{0, 0, 0}, {0, 0, 0}, {0, 0, 1}},

		},{ // d_azimuth
		},
		{
		// d_azimuth
		{{0, -1, 0}, {0, 0, 0}, {-1, 0, 0}},
		{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
		{{1, 0, 0}, {0, 0, 0}, {0, -1, 0}},
		},{ // d_tilt
		},
		{
		// d_tilt
		{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
		{{0, 0, 0}, {0, -1, 0}, {1, 0, 0}},
		{{0, 0, 0}, {-1, 0, 0}, {0, -1, 0}},
		},{ // d_roll
		},
		{
		// d_roll
		{{0, -1, 0}, {1, 0, 0}, {0, 0, 0}},
		{{-1, 0, 0}, {0, -1, 0}, {0, 0, 0}},
		{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
		},{ // d_zoom
		},
		{
		// d_zoom
		{{1, 0, 0}, {0, 1, 0}, {0, 0, 0}},
		{{0, -1, 0}, {1, 0, 0}, {0, 0, 0}},
		{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}},
		}
		};
		}};

		__constant__ int angles_offsets[4] = {
		offsetof(corr_vector, azimuth) / sizeof(float),
		@@ -115,11 +123,13 @@ __constant__ int mm_seq [3][3][3]={
		{6, 5, 12}, // a_t * a_z -> tmp0
		{7, 6, 13}, // a_r * a_t -> tmp1
		{7, 9, 14}, // a_r * a_dt -> tmp2
		}, {
		},
		{
		{7, 12, 0}, // a_r * tmp0 -> rot - bad
		{13, 8, 1}, // tmp1 * a_daz -> deriv0 - good
		{14, 5, 2}, // tmp2 * a_az -> deriv1 - good
		}, {
		},
		{
		{10, 12, 3}, // a_dr * tmp0 -> deriv2 - good
		{11, 12, 4}, // a_dzoom * tnmp0 -> deriv3 - good
		{-1, -1, -1} // do nothing
		@@ -145,7 +155,6 @@ inline __device__ int get_task_txy_gc(int num_tile, float * gpu_ftasks, int num_
		return (int )(gpu_ftasks + get_task_size(num_cams) * num_tile + 1);
		}


		/**
		* Calculate rotation matrices and derivatives by az, tilt, roll, zoom
		* NUM_CAMS blocks of 3,3,3 tiles
		@@ -153,8 +162,7 @@ inline __device__ int get_task_txy_gc(int num_tile, float * gpu_ftasks, int num_
		extern "C" __global__ void calc_rot_deriv(
		int num_cams,
		struct corr_vector *gpu_correction_vector,
		trot_deriv * gpu_rot_deriv)
		{
		trot_deriv *gpu_rot_deriv) {
		__shared__ float sincos[4][2]; // {az,tilt,roll, d_az, d_tilt, d_roll, d_az}{cos,sin}
		__shared__ float matrices[5 + 7 + 4][3][3];
		float angle;
		@@ -203,8 +211,6 @@ extern "C" __global__ void calc_rot_deriv(
		__syncthreads(); // __syncwarp();
		#endif // DEBUG20



		// Create 3 3x3 matrices for az, tilt, roll/zoom:
		int axis = offset_matrices + threadIdx.z; // 0..2
		int const_index = threadIdx.z; // 0..2
		@@ -225,7 +231,6 @@ extern "C" __global__ void calc_rot_deriv(
		ROTS_TEMPLATE[const_index][threadIdx.y][threadIdx.x][0] * sincos[3][0] + // cos
		ROTS_TEMPLATE[const_index][threadIdx.y][threadIdx.x][1] * sincos[3][1] + // sin
		ROTS_TEMPLATE[const_index][threadIdx.y][threadIdx.x][2]; // const

		}
		__syncthreads();

		@@ -241,7 +246,6 @@ extern "C" __global__ void calc_rot_deriv(
		}
		printf("\n");
		}

		}
		}
		__syncthreads(); // __syncwarp();
		@@ -302,10 +306,8 @@ extern "C" __global__ void calc_rot_deriv(
		#endif // DEBUG20

		// All done - read/verify all arrays

		}


		extern "C" __global__ void calculate_tiles_offsets(
		int uniform_grid, //==0: use provided centers (as for interscene) , !=0 calculate uniform grid
		int num_cams,
		@@ -315,8 +317,7 @@ extern "C" __global__ void calculate_tiles_offsets(
		struct gc *gpu_geometry_correction,
		struct corr_vector *gpu_correction_vector,
		float *gpu_rByRDist, // length should match RBYRDIST_LEN
		trot_deriv * gpu_rot_deriv)
		{
		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);
		int tiles_per_block_geom = NUM_THREADS / num_cams;
		@@ -335,14 +336,12 @@ extern "C" __global__ void calculate_tiles_offsets(
		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.y = TILES_PER_BLOCK_GEOM
		@@ -357,8 +356,7 @@ extern "C" __global__ void get_tiles_offsets(
		struct gc *gpu_geometry_correction,
		struct corr_vector *gpu_correction_vector,
		float *gpu_rByRDist, // length should match RBYRDIST_LEN
		trot_deriv * gpu_rot_deriv)
		{
		trot_deriv *gpu_rot_deriv) {
		int task_size = get_task_size(num_cams);
		int task_num = blockIdx.x * blockDim.y + threadIdx.y; // blockIdx.x * TILES_PER_BLOCK_GEOM + threadIdx.y
		int thread_xy = blockDim.x * threadIdx.y + threadIdx.x;
		@@ -445,8 +443,6 @@ extern "C" __global__ void get_tiles_offsets(
		__syncthreads(); // __syncwarp();
		#endif // DEBUG21



		// String dbg_s = corr_vector.toString();
		/* Starting with required tile center X, Y and nominal distortion, for each sensor port:
		* 1) unapply common distortion (maybe for different - master camera)
		@@ -507,7 +503,6 @@ extern "C" __global__ void get_tiles_offsets(
		float fl_pix = geometry_correction.focalLength / (0.001 * geometry_correction.pixelSize); // focal length in pixels - this camera
		float ri_scale = 0.001 * geometry_correction.pixelSize / geometry_correction.distortionRadius;


		#ifdef DEBUG21
		if ((ncam == DBG_CAM) && (task_num == DBG_TILE)) {
		printf("\nuniform_grid=%d\n", uniform_grid);
		@@ -526,7 +521,6 @@ extern "C" __global__ void get_tiles_offsets(
		__syncthreads(); // __syncwarp();
		#endif // DEBUG21


		// above is common code, below - per camera (was cycle in Java, here individual threads //for (int ncam = 0; ncam < NUM_CAMS; ncam++){
		// non-distorted XY of the shifted location of the individual sensor

		@@ -760,7 +754,6 @@ extern "C" __global__ void get_tiles_offsets(
		}
		__syncthreads(); // __syncwarp();
		#endif // DEBUG21

		}
		}
		// copy results to global memory pXY, disp_dist (already copied)
		@@ -775,8 +768,7 @@ extern "C" __global__ void get_tiles_offsets(

		extern "C" __global__ void calcReverseDistortionTable(
		struct gc *geometry_correction,
		float * rByRDist)
		{
		float *rByRDist) {
		// int num_threads = NUM_CAMS * blockDim.z * blockDim.y * blockDim.x; // 36
		int indx = ((blockIdx.x * blockDim.z + threadIdx.z) * blockDim.y + threadIdx.y) * blockDim.x + threadIdx.x;
		// double delta=1E-20; // 12; // 10; // -8; 215.983994 ms
		@@ -785,14 +777,7 @@ extern "C" __global__ void calcReverseDistortionTable(
		double minDerivative = 0.01;
		int numIterations = 1000;
		double drDistDr = 1.0;
		double d=1.0
		-geometry_correction -> distortionA8
		-geometry_correction -> distortionA7
		-geometry_correction -> distortionA6
		-geometry_correction -> distortionA5
		-geometry_correction -> distortionA
		-geometry_correction -> distortionB
		-geometry_correction -> distortionC;
		double d = 1.0 - geometry_correction->distortionA8 - geometry_correction->distortionA7 - geometry_correction->distortionA6 - geometry_correction->distortionA5 - geometry_correction->distortionA - geometry_correction->distortionB - geometry_correction->distortionC;
		double rPrev = 0.0;
		int num_points = (RBYRDIST_LEN + CALC_REVERSE_TABLE_BLOCK_THREADS - 1) / CALC_REVERSE_TABLE_BLOCK_THREADS;
		for (int p = 0; p < num_points; p++) {
		@@ -808,21 +793,37 @@ extern "C" __global__ void calcReverseDistortionTable(
		double r = (p == 0) ? rDist : rPrev;
		for (int iteration = 0; iteration < numIterations; iteration++) {
		double k = (((((((
		geometry_correction -> distortionA8) * r +
		geometry_correction -> distortionA7) * r +
		geometry_correction -> distortionA6) * r +
		geometry_correction -> distortionA5) * r +
		geometry_correction -> distortionA) * r +
		geometry_correction -> distortionB) * r +
		geometry_correction -> distortionC) * r + d;
		geometry_correction->distortionA8) *
		r +
		geometry_correction->distortionA7) *
		r +
		geometry_correction->distortionA6) *
		r +
		geometry_correction->distortionA5) *
		r +
		geometry_correction->distortionA) *
		r +
		geometry_correction->distortionB) *
		r +
		geometry_correction->distortionC) *
		r +
		d;
		drDistDr = (((((((
		8 * geometry_correction -> distortionA8) * r +
		7 * geometry_correction -> distortionA7) * r +
		6 * geometry_correction -> distortionA6) * r +
		5 * geometry_correction -> distortionA5) * r +
		4 * geometry_correction -> distortionA) * r +
		3 * geometry_correction -> distortionB) * r+
		2 * geometry_correction -> distortionC) * r+d;
		8 * geometry_correction->distortionA8) *
		r +
		7 * geometry_correction->distortionA7) *
		r +
		6 * geometry_correction->distortionA6) *
		r +
		5 * geometry_correction->distortionA5) *
		r +
		4 * geometry_correction->distortionA) *
		r +
		3 * geometry_correction->distortionB) *
		r +
		2 * geometry_correction->distortionC) *
		r +
		d;
		if (drDistDr < minDerivative) { // folds backwards !
		return; // too high distortion
		}
		@@ -898,10 +899,18 @@ __device__ void printGeometryCorrection(struct gc * g, int num_cams){
		// printf("%22s: %f, %f \n", "pXY0[1]", g->pXY0[1][0], g->pXY0[1][1]);
		// printf("%22s: %f, %f \n", "pXY0[2]", g->pXY0[2][0], g->pXY0[2][1]);
		// printf("%22s: %f, %f \n", "pXY0[3]", g->pXY0[3][0], g->pXY0[3][1]);
		printf("%22s:","forward"); for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->forward[ncam]); printf("\n");
		printf("%22s:","right"); for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->right [ncam]); printf("\n");
		printf("%22s:","height"); for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->height [ncam]); printf("\n");
		printf("%22s:","roll"); for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->roll [ncam]); printf("\n");
		printf("%22s:", "forward");
		for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->forward[ncam]);
		printf("\n");
		printf("%22s:", "right");
		for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->right[ncam]);
		printf("\n");
		printf("%22s:", "height");
		for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->height[ncam]);
		printf("\n");
		printf("%22s:", "roll");
		for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->roll[ncam]);
		printf("\n");
		for (int ncam = 0; ncam < num_cams; ncam++) {
		printf("%19s%2d]: %f, %f \n", "pXY0[", ncam, g->pXY0[ncam][0], g->pXY0[ncam][1]);
		}
		@@ -922,13 +931,14 @@ __device__ void printGeometryCorrection(struct gc * g, int num_cams){
		printf("%22s: %f\n", "disparityRadius", g->disparityRadius);

		// printf("%22s: %f, %f, %f, %f \n","woi_tops", g->woi_tops[0], g->woi_tops[1], g->woi_tops[2], g->woi_tops[3]);
		printf("%22s:","woi_tops"); for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->woi_tops[ncam]); printf("\n");
		printf("%22s:", "woi_tops");
		for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", g->woi_tops[ncam]);
		printf("\n");

		#endif // ifndef JCUDA
		}

		__device__ void printExtrinsicCorrection(corr_vector * cv, int num_cams)
		{
		__device__ void printExtrinsicCorrection(corr_vector *cv, int num_cams) {
		#ifndef JCUDA
		printf("\nExtrinsic Correction Vector\n---------------------------\n");
		// printf("%22s: %f, %f, %f\n", "tilt", cv->tilt[0], cv->tilt[1], cv->tilt[2]);
		@@ -936,17 +946,20 @@ __device__ void printExtrinsicCorrection(corr_vector * cv, int num_cams)
		// printf("%22s: %f, %f, %f, %f\n", "roll", cv->roll[0], cv->roll[1], cv->roll[2], cv->roll[3]);
		// printf("%22s: %f, %f, %f\n", "zoom", cv->zoom[0], cv->zoom[1], cv->zoom[2]);

		printf("%22s:","tilt"); for (int ncam = 0; ncam < (num_cams-1); ncam++) printf(" %f,", cv->tilt[ncam]); printf("\n");
		printf("%22s:","azimuth"); for (int ncam = 0; ncam < (num_cams-1); ncam++) printf(" %f,", cv->azimuth[ncam]); printf("\n");
		printf("%22s:","roll"); for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", cv->roll[ncam]); printf("\n");
		printf("%22s:","zoom"); for (int ncam = 0; ncam < (num_cams-1); ncam++) printf(" %f,", cv->zoom[ncam]); printf("\n");


		printf("%22s:", "tilt");
		for (int ncam = 0; ncam < (num_cams - 1); ncam++) printf(" %f,", cv->tilt[ncam]);
		printf("\n");
		printf("%22s:", "azimuth");
		for (int ncam = 0; ncam < (num_cams - 1); ncam++) printf(" %f,", cv->azimuth[ncam]);
		printf("\n");
		printf("%22s:", "roll");
		for (int ncam = 0; ncam < num_cams; ncam++) printf(" %f,", cv->roll[ncam]);
		printf("\n");
		printf("%22s:", "zoom");
		for (int ncam = 0; ncam < (num_cams - 1); ncam++) printf(" %f,", cv->zoom[ncam]);
		printf("\n");

		printf("%22s: %f(t), %f(a), %f(r)\n", "imu_rot", cv->imu_rot[0], cv->imu_rot[1], cv->imu_rot[2]);
		printf("%22s: %f(x), %f(y), %f(z)\n", "imu_move", cv->imu_move[0], cv->imu_move[1], cv->imu_move[2]);
		#endif // ifndef JCUDA
		}

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