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imagej-elphel
Commit 46612695 authored by Andrey Filippov's avatar Andrey Filippov
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GPU code debugging, fixed right/bottom on dewarped images, tested 

textures with LWIR
parent 78a62e6f
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Showing with 947 additions and 299 deletions
src/main/java/com/elphel/imagej/cameras/CLTParameters.java
View file @ 46612695
...@@ -127,7 +127,7 @@ public class CLTParameters { ...@@ -127,7 +127,7 @@ public class CLTParameters {
public double min_shot = 10.0; // Do not adjust for shot noise if lower than public double min_shot = 10.0; // Do not adjust for shot noise if lower than
public double scale_shot = 3.0; // scale when dividing by sqrt public double scale_shot = 3.0; // scale when dividing by sqrt
public double diff_sigma = 5.0; // RMS difference from average to reduce weights (~ 1.0 - 1/255 full scale image) public double diff_sigma = 5.0; // RMS difference from average to reduce weights (~ 1.0 - 1/255 full scale image) (1.5 for RGB, 10 for LWIR?)
public double diff_threshold = 1.5; // RMS difference from average to discard channel (~ 1.0 - 1/255 full scale image) public double diff_threshold = 1.5; // RMS difference from average to discard channel (~ 1.0 - 1/255 full scale image)
public boolean diff_gauss = true; // when averaging images, use Gaussian around average as weight (false - sharp all/nothing) public boolean diff_gauss = true; // when averaging images, use Gaussian around average as weight (false - sharp all/nothing)
public double min_agree = 3.0; // minimal number of channels to agree on a point (real number to work with fuzzy averages) public double min_agree = 3.0; // minimal number of channels to agree on a point (real number to work with fuzzy averages)
......
src/main/java/com/elphel/imagej/gpu/GPUTileProcessor.java
View file @ 46612695
...@@ -88,6 +88,16 @@ public class GPUTileProcessor { ...@@ -88,6 +88,16 @@ public class GPUTileProcessor {
static String GPU_SET_TILES_OFFSETS = "get_tiles_offsets"; // calculate pixel offsets and disparity distortions static String GPU_SET_TILES_OFFSETS = "get_tiles_offsets"; // calculate pixel offsets and disparity distortions
static String GPU_CALCULATE_TILES_OFFSETS = "calculate_tiles_offsets"; // calculate pixel offsets and disparity distortions static String GPU_CALCULATE_TILES_OFFSETS = "calculate_tiles_offsets"; // calculate pixel offsets and disparity distortions
static String GPU_CALC_REVERSE_DISTORTION = "calcReverseDistortionTable"; // calculate reverse radial distortion table from gpu_geometry_correction static String GPU_CALC_REVERSE_DISTORTION = "calcReverseDistortionTable"; // calculate reverse radial distortion table from gpu_geometry_correction
// Kernels to use w/o Dynamic Parallelism
static String GPU_CLEAR_TEXTURE_LIST_NAME = "clear_texture_list";
static String GPU_MARK_TEXTURE_LIST_NAME = "mark_texture_tiles";
static String GPU_MARK_TEXTURE_NEIGHBOR_NAME = "mark_texture_neighbor_tiles";
static String GPU_GEN_TEXTURE_LIST_NAME = "gen_texture_list";
static String GPU_CLEAR_TEXTURE_RBGA_NAME = "clear_texture_rbga";
static String GPU_TEXTURES_ACCUMULATE_NAME = "textures_accumulate";
static String GPU_CREATE_NONOVERLAP_LIST_NAME ="create_nonoverlap_list";
// pass some defines to gpu source code with #ifdef JCUDA // pass some defines to gpu source code with #ifdef JCUDA
public static int DTT_SIZE_LOG2 = 3; public static int DTT_SIZE_LOG2 = 3;
...@@ -153,9 +163,18 @@ public class GPUTileProcessor { ...@@ -153,9 +163,18 @@ public class GPUTileProcessor {
CUfunction GPU_TEXTURES_kernel = null; // "textures_nonoverlap" CUfunction GPU_TEXTURES_kernel = null; // "textures_nonoverlap"
CUfunction GPU_RBGA_kernel = null; // "generate_RBGA" CUfunction GPU_RBGA_kernel = null; // "generate_RBGA"
CUfunction GPU_ROT_DERIV_kernel = null; // "calc_rot_deriv" CUfunction GPU_ROT_DERIV_kernel = null; // "calc_rot_deriv"
// private CUfunction GPU_SET_TILES_OFFSETS_kernel = null; // "get_tiles_offsets"
CUfunction GPU_CALCULATE_TILES_OFFSETS_kernel = null; // "calculate_tiles_offsets" CUfunction GPU_CALCULATE_TILES_OFFSETS_kernel = null; // "calculate_tiles_offsets"
CUfunction GPU_CALC_REVERSE_DISTORTION_kernel = null; // "calcReverseDistortionTable" CUfunction GPU_CALC_REVERSE_DISTORTION_kernel = null; // "calcReverseDistortionTable"
// Kernels to use w/o Dynamic Parallelism
CUfunction GPU_CLEAR_TEXTURE_LIST_kernel = null; // "clear_texture_list"
CUfunction GPU_MARK_TEXTURE_LIST_kernel = null; // "mark_texture_tiles"
CUfunction GPU_MARK_TEXTURE_NEIGHBOR_kernel = null; // "mark_texture_neighbor_tiles"
CUfunction GPU_GEN_TEXTURE_LIST_kernel = null; // "gen_texture_list"
CUfunction GPU_CLEAR_TEXTURE_RBGA_kernel = null; // "clear_texture_rbga"
CUfunction GPU_TEXTURES_ACCUMULATE_kernel = null; // "textures_accumulate"
CUfunction GPU_CREATE_NONOVERLAP_LIST_kernel = null; // "create_nonoverlap_list"
CUmodule module; // to access constants memory CUmodule module; // to access constants memory
// private // private
...@@ -295,9 +314,16 @@ public class GPUTileProcessor { ...@@ -295,9 +314,16 @@ public class GPUTileProcessor {
GPU_TEXTURES_NAME, GPU_TEXTURES_NAME,
GPU_RBGA_NAME, GPU_RBGA_NAME,
GPU_ROT_DERIV, GPU_ROT_DERIV,
// GPU_SET_TILES_OFFSETS,
GPU_CALCULATE_TILES_OFFSETS, GPU_CALCULATE_TILES_OFFSETS,
GPU_CALC_REVERSE_DISTORTION GPU_CALC_REVERSE_DISTORTION,
// Kernels to use w/o Dynamic Parallelism
GPU_CLEAR_TEXTURE_LIST_NAME,
GPU_MARK_TEXTURE_LIST_NAME,
GPU_MARK_TEXTURE_NEIGHBOR_NAME,
GPU_GEN_TEXTURE_LIST_NAME,
GPU_CLEAR_TEXTURE_RBGA_NAME,
GPU_TEXTURES_ACCUMULATE_NAME,
GPU_CREATE_NONOVERLAP_LIST_NAME
}; };
CUfunction[] functions = createFunctions(kernelSources, CUfunction[] functions = createFunctions(kernelSources,
func_names, func_names,
...@@ -311,9 +337,17 @@ public class GPUTileProcessor { ...@@ -311,9 +337,17 @@ public class GPUTileProcessor {
GPU_TEXTURES_kernel= functions[5]; GPU_TEXTURES_kernel= functions[5];
GPU_RBGA_kernel= functions[6]; GPU_RBGA_kernel= functions[6];
GPU_ROT_DERIV_kernel = functions[7]; GPU_ROT_DERIV_kernel = functions[7];
// GPU_SET_TILES_OFFSETS_kernel = functions[8];
GPU_CALCULATE_TILES_OFFSETS_kernel = functions[8]; GPU_CALCULATE_TILES_OFFSETS_kernel = functions[8];
GPU_CALC_REVERSE_DISTORTION_kernel = functions[9]; GPU_CALC_REVERSE_DISTORTION_kernel = functions[9];
// Kernels to use w/o Dynamic Parallelism
GPU_CLEAR_TEXTURE_LIST_kernel = functions[10];
GPU_MARK_TEXTURE_LIST_kernel = functions[11];
GPU_MARK_TEXTURE_NEIGHBOR_kernel = functions[12];
GPU_GEN_TEXTURE_LIST_kernel = functions[13];
GPU_CLEAR_TEXTURE_RBGA_kernel = functions[14];
GPU_TEXTURES_ACCUMULATE_kernel = functions[15];
GPU_CREATE_NONOVERLAP_LIST_kernel = functions[16];
System.out.println("GPU kernel functions initialized"); System.out.println("GPU kernel functions initialized");
System.out.println(GPU_CONVERT_DIRECT_kernel.toString()); System.out.println(GPU_CONVERT_DIRECT_kernel.toString());
...@@ -324,10 +358,16 @@ public class GPUTileProcessor { ...@@ -324,10 +358,16 @@ public class GPUTileProcessor {
System.out.println(GPU_TEXTURES_kernel.toString()); System.out.println(GPU_TEXTURES_kernel.toString());
System.out.println(GPU_RBGA_kernel.toString()); System.out.println(GPU_RBGA_kernel.toString());
System.out.println(GPU_ROT_DERIV_kernel.toString()); System.out.println(GPU_ROT_DERIV_kernel.toString());
// System.out.println(GPU_SET_TILES_OFFSETS_kernel.toString());
System.out.println(GPU_CALCULATE_TILES_OFFSETS_kernel.toString()); System.out.println(GPU_CALCULATE_TILES_OFFSETS_kernel.toString());
System.out.println(GPU_CALC_REVERSE_DISTORTION_kernel.toString()); System.out.println(GPU_CALC_REVERSE_DISTORTION_kernel.toString());
// Kernels to use w/o Dynamic Parallelism
System.out.println(GPU_CLEAR_TEXTURE_LIST_kernel.toString());
System.out.println(GPU_MARK_TEXTURE_LIST_kernel.toString());
System.out.println(GPU_MARK_TEXTURE_NEIGHBOR_kernel.toString());
System.out.println(GPU_GEN_TEXTURE_LIST_kernel.toString());
System.out.println(GPU_CLEAR_TEXTURE_RBGA_kernel.toString());
System.out.println(GPU_TEXTURES_ACCUMULATE_kernel.toString());
System.out.println(GPU_CREATE_NONOVERLAP_LIST_kernel.toString());
// GPU data structures are now initialized through GpuQuad instances // GPU data structures are now initialized through GpuQuad instances
} }
...@@ -475,6 +515,7 @@ public class GPUTileProcessor { ...@@ -475,6 +515,7 @@ public class GPUTileProcessor {
for (int i = 0; i < kernelNames.length; i++) { for (int i = 0; i < kernelNames.length; i++) {
// Find the function in the source by name, get its pointer // Find the function in the source by name, get its pointer
functions[i] = new CUfunction(); functions[i] = new CUfunction();
System.out.println("Looking for GPU kernel ["+i+"]: "+kernelNames[i]);
cuModuleGetFunction(functions[i] , module, kernelNames[i]); cuModuleGetFunction(functions[i] , module, kernelNames[i]);
} }
return functions; return functions;
......
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @ 46612695
...@@ -84,6 +84,7 @@ public class GpuQuad{ // quad camera description ...@@ -84,6 +84,7 @@ public class GpuQuad{ // quad camera description
private CUdeviceptr gpu_color_weights; private CUdeviceptr gpu_color_weights;
private CUdeviceptr gpu_generate_RBGA_params; private CUdeviceptr gpu_generate_RBGA_params;
private CUdeviceptr gpu_woi; private CUdeviceptr gpu_woi;
private CUdeviceptr gpu_num_texture_tiles;
private CUdeviceptr gpu_textures_rgba; private CUdeviceptr gpu_textures_rgba;
private CUdeviceptr gpu_correction_vector; private CUdeviceptr gpu_correction_vector;
private CUdeviceptr gpu_rot_deriv; private CUdeviceptr gpu_rot_deriv;
...@@ -108,6 +109,41 @@ public class GpuQuad{ // quad camera description ...@@ -108,6 +109,41 @@ public class GpuQuad{ // quad camera description
private boolean geometry_correction_set = false; private boolean geometry_correction_set = false;
private boolean geometry_correction_vector_set = false; private boolean geometry_correction_vector_set = false;
public int gpu_debug_level = 1; public int gpu_debug_level = 1;
int host_get_textures_shared_size( // in bytes
//__device__ int get_textures_shared_size( // in bytes
int num_cams, // actual number of cameras
int num_colors, // actual number of colors: 3 for RGB, 1 for LWIR/mono
int [] offsets){ // in floats
int DTT_SIZE1 = GPUTileProcessor.DTT_SIZE + 1;
int DTT_SIZE2 = 2 * GPUTileProcessor.DTT_SIZE;
int DTT_SIZE21 = DTT_SIZE2 + 1;
int offs = 0;
if (offsets != null) offsets[0] = offs;
offs += num_cams * num_colors * 2 * GPUTileProcessor.DTT_SIZE * DTT_SIZE21; //float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21]
if (offsets != null) offsets[1] = offs;
offs += num_cams * num_colors * 4 * GPUTileProcessor.DTT_SIZE * DTT_SIZE1; // float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1]
if (offsets != null) offsets[2] = offs;
int mclt_tmp_size = num_cams * num_colors * DTT_SIZE2 * DTT_SIZE21; // [NUM_CAMS][NUM_COLORS][DTT_SIZE2][DTT_SIZE21]
int rgbaw_size = (2* (num_colors + 1) + num_cams) * DTT_SIZE2 * DTT_SIZE21; // [NUM_COLORS + 1 + NUM_CAMS + NUM_COLORS + 1][DTT_SIZE2][DTT_SIZE21]
offs += (rgbaw_size > mclt_tmp_size) ? rgbaw_size : mclt_tmp_size;
if (offsets != null) offsets[3] = offs;
offs += num_cams * 2; // float port_offsets [NUM_CAMS][2];
if (offsets != null) offsets[4] = offs;
offs += num_colors * num_cams; // float ports_rgb_shared [NUM_COLORS][NUM_CAMS];
if (offsets != null) offsets[5] = offs;
offs += num_cams; // float max_diff_shared [NUM_CAMS];
if (offsets != null) offsets[6] = offs;
offs += num_cams * GPUTileProcessor.TEXTURE_THREADS_PER_TILE; // float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE]
if (offsets != null) offsets[7] = offs;
offs += num_colors * num_cams * GPUTileProcessor.TEXTURE_THREADS_PER_TILE; //float ports_rgb_tmp [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE];
if (offsets != null) offsets[8] = offs;
return Sizeof.INT * offs; // shared_floats;
}
// should only be updated with the same cameras instance // should only be updated with the same cameras instance
public void updateQuadCLT(final QuadCLT quadCLT) { public void updateQuadCLT(final QuadCLT quadCLT) {
this.quadCLT = quadCLT; this.quadCLT = quadCLT;
...@@ -183,6 +219,8 @@ public class GpuQuad{ // quad camera description ...@@ -183,6 +219,8 @@ public class GpuQuad{ // quad camera description
gpu_generate_RBGA_params =new CUdeviceptr(); // allocate 5 * Sizeof.FLOAT gpu_generate_RBGA_params =new CUdeviceptr(); // allocate 5 * Sizeof.FLOAT
gpu_woi = new CUdeviceptr(); // 4 integers (x, y, width, height) Rectangle - in tiles gpu_woi = new CUdeviceptr(); // 4 integers (x, y, width, height) Rectangle - in tiles
gpu_num_texture_tiles = new CUdeviceptr(); // 8 integers
gpu_textures_rgba = new CUdeviceptr(); // allocate tilesX * tilesY * ? * 256 * Sizeof.FLOAT gpu_textures_rgba = new CUdeviceptr(); // allocate tilesX * tilesY * ? * 256 * Sizeof.FLOAT
gpu_correction_vector= new CUdeviceptr(); gpu_correction_vector= new CUdeviceptr();
...@@ -285,6 +323,7 @@ public class GpuQuad{ // quad camera description ...@@ -285,6 +323,7 @@ public class GpuQuad{ // quad camera description
cuMemAlloc(gpu_woi, 4 * Sizeof.FLOAT); cuMemAlloc(gpu_woi, 4 * Sizeof.FLOAT);
cuMemAlloc(gpu_num_texture_tiles, 8 * Sizeof.FLOAT);
cuMemAlloc(gpu_num_texture_ovlp, 8 * Sizeof.FLOAT); cuMemAlloc(gpu_num_texture_ovlp, 8 * Sizeof.FLOAT);
cuMemAlloc(gpu_texture_indices_len, 1 * Sizeof.FLOAT); cuMemAlloc(gpu_texture_indices_len, 1 * Sizeof.FLOAT);
...@@ -1575,6 +1614,25 @@ public class GpuQuad{ // quad camera description ...@@ -1575,6 +1614,25 @@ public class GpuQuad{ // quad camera description
cuCtxSynchronize(); cuCtxSynchronize();
} }
public void execRBGA(
double [] color_weights,
boolean is_lwir,
double min_shot, // 10.0
double scale_shot, // 3.0
double diff_sigma, // pixel value/pixel change
double diff_threshold, // pixel value/pixel change
double min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
boolean dust_remove) {
execRBGA_noDP(
color_weights, // double [] color_weights,
is_lwir, // boolean is_lwir,
min_shot, // double min_shot, // 10.0
scale_shot, // double scale_shot, // 3.0
diff_sigma, // double diff_sigma, // pixel value/pixel change
diff_threshold, // double diff_threshold, // pixel value/pixel change
min_agree, // double min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
dust_remove); // boolean dust_remove);
}
/** /**
* Generate combined (overlapping) texture * Generate combined (overlapping) texture
* @param color_weights - [3] (RGB) or [1] (mono) color weights for matching * @param color_weights - [3] (RGB) or [1] (mono) color weights for matching
...@@ -1586,7 +1644,7 @@ public class GpuQuad{ // quad camera description ...@@ -1586,7 +1644,7 @@ public class GpuQuad{ // quad camera description
* @param min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages * @param min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages
* @param dust_remove do not reduce average weight when only one image differs much from the average * @param dust_remove do not reduce average weight when only one image differs much from the average
*/ */
public void execRBGA( public void execRBGA_DP(
double [] color_weights, double [] color_weights,
boolean is_lwir, boolean is_lwir,
double min_shot, // 10.0 double min_shot, // 10.0
...@@ -1600,7 +1658,8 @@ public class GpuQuad{ // quad camera description ...@@ -1600,7 +1658,8 @@ public class GpuQuad{ // quad camera description
IJ.showMessage("Error", "No GPU kernel: GPU_TEXTURES_kernel"); IJ.showMessage("Error", "No GPU kernel: GPU_TEXTURES_kernel");
return; return;
} }
int num_colors = color_weights.length; // int num_colors = color_weights.length;
int num_colors = is_lwir? 1 : color_weights.length;
if (num_colors > 3) num_colors = 3; if (num_colors > 3) num_colors = 3;
float [] fcolor_weights = new float[3]; float [] fcolor_weights = new float[3];
fcolor_weights[0] = (float) color_weights[0]; fcolor_weights[0] = (float) color_weights[0];
...@@ -1657,6 +1716,352 @@ public class GpuQuad{ // quad camera description ...@@ -1657,6 +1716,352 @@ public class GpuQuad{ // quad camera description
kernelParameters, null); // Kernel- and extra parameters kernelParameters, null); // Kernel- and extra parameters
cuCtxSynchronize(); cuCtxSynchronize();
} }
/**
* Generate combined (overlapping) texture
* Version w/o Dynamic Parallelism to pass shared memory size. May be removed if maximal SM issue will be resolved
* @param color_weights - [3] (RGB) or [1] (mono) color weights for matching
* @param is_lwir ignore shot noise normalization
* @param min_shot - minimal value to use sqrt() for shot noise normalization (default - 10)
* @param scale_shot scale shot noise (3.0)
* @param diff_sigma pixel value/pixel change (1.5) - normalize channel values difference by the offsets of the cameras
* @param diff_threshold - never used?
* @param min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages
* @param dust_remove do not reduce average weight when only one image differs much from the average
*/
public void execRBGA_noDP(
double [] color_weights,
boolean is_lwir,
double min_shot, // 10.0
double scale_shot, // 3.0
double diff_sigma, // pixel value/pixel change
double diff_threshold, // pixel value/pixel change
double min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
boolean dust_remove) {
execCalcReverseDistortions(); // will check if it is needed first
if (this.gpuTileProcessor.GPU_RBGA_kernel == null) {
IJ.showMessage("Error", "No GPU kernel: GPU_TEXTURES_kernel");
return;
}
int num_colors = is_lwir? 1 : color_weights.length;
if (num_colors > 3) num_colors = 3;
float [] fcolor_weights = new float[3];
fcolor_weights[0] = (float) color_weights[0];
fcolor_weights[1] = (num_colors >1)?((float) color_weights[1]):0.0f;
fcolor_weights[2] = (num_colors >2)?((float) color_weights[2]):0.0f;
double sw = 0.0; for (int i = 0; i < fcolor_weights.length; i++) sw+= fcolor_weights[i];
for (int i = 0; i < fcolor_weights.length; i++) fcolor_weights[i]/=sw;
cuMemcpyHtoD(gpu_color_weights, Pointer.to(fcolor_weights), fcolor_weights.length * Sizeof.FLOAT);
float [] generate_RBGA_params = {
(float) min_shot, // 10.0
(float) scale_shot, // 3.0
(float) diff_sigma, // pixel value/pixel change
(float) diff_threshold, // pixel value/pixel change
(float) min_agree // minimal number of channels to agree on a point (real number to work with fuzzy averages)
};
cuMemcpyHtoD(gpu_generate_RBGA_params, Pointer.to(generate_RBGA_params), generate_RBGA_params.length * Sizeof.FLOAT);
int iis_lwir = (is_lwir)? 1:0;
int idust_remove = (dust_remove)? 1 : 0;
int width = img_width / GPUTileProcessor.DTT_SIZE;
int height = img_height / GPUTileProcessor.DTT_SIZE;
// Testing parameters
TpTask [] test_tasks0 = new TpTask[width * height];
float [] test_ftasks0 = new float [test_tasks0.length * getTaskSize()];
cuMemcpyDtoH(Pointer.to(test_ftasks0), gpu_ftasks, test_ftasks0.length * Sizeof.FLOAT);
for (int i = 0; i < test_tasks0.length; i++) {
test_tasks0[i] = new TpTask(num_cams, test_ftasks0, i, false);
}
// woi.x = Float.floatToIntBits(fwoi[0]) * GPUTileProcessor.DTT_SIZE;
// woi.y = Float.floatToIntBits(fwoi[1]) * GPUTileProcessor.DTT_SIZE;
// woi.width = Float.floatToIntBits(fwoi[2]) * GPUTileProcessor.DTT_SIZE;
// woi.height = Float.floatToIntBits(fwoi[3]) * GPUTileProcessor.DTT_SIZE;
int blocks_x = (width + ((1 << GPUTileProcessor.THREADS_DYNAMIC_BITS) - 1)) >> GPUTileProcessor.THREADS_DYNAMIC_BITS;
int [] blocks0 = {blocks_x, height, 1};
int [] threads0 = {(1 << GPUTileProcessor.THREADS_DYNAMIC_BITS), 1, 1};
/*
clear_texture_list<<<blocks0,threads0>>>(
gpu_texture_indices,
width,
height);
*/
Pointer kp_clear_texture_list = Pointer.to(
Pointer.to(gpu_texture_indices_ovlp), // gpu_texture_indices,
Pointer.to(new int[] {width}),
Pointer.to(new int[] {height}));
cuCtxSynchronize();
// Call the kernel function
cuLaunchKernel(this.gpuTileProcessor.GPU_CLEAR_TEXTURE_LIST_kernel,
blocks0[0], blocks0[1], blocks0[2], // Grid dimension
threads0[0], threads0[1], threads0[2],// Block dimension
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kp_clear_texture_list, null); // Kernel- and extra parameters
cuCtxSynchronize();
int blocks_t = (num_task_tiles + ((1 << GPUTileProcessor.THREADS_DYNAMIC_BITS)) -1) >> GPUTileProcessor.THREADS_DYNAMIC_BITS;//
int [] blocks = {blocks_t, 1, 1};
int [] threads = {(1 << GPUTileProcessor.THREADS_DYNAMIC_BITS), 1, 1};
// mark used tiles in gpu_texture_indices memory
/*
mark_texture_tiles <<<blocks,threads>>>(
num_cams, // int num_cams,
gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
num_tiles, // number of tiles in task list
width, // number of tiles in a row
gpu_texture_indices); // packed tile + bits (now only (1 << 7)
*/
Pointer kp_mark_texture_tiles = Pointer.to(
Pointer.to(new int[] {num_cams}), // int num_cams,
Pointer.to(gpu_ftasks), // float * gpu_ftasks, // flattened tasks, 29 floats for quad EO, 101 floats for LWIR16
Pointer.to(new int[] { num_task_tiles }), // int num_tiles, // number of tiles in task list
Pointer.to(new int[] {width}),
Pointer.to(gpu_texture_indices_ovlp)); // gpu_texture_indices,
cuLaunchKernel(this.gpuTileProcessor.GPU_MARK_TEXTURE_LIST_kernel,
blocks[0], blocks[1], blocks[2], // Grid dimension
threads[0], threads[1], threads[2], // Block dimension
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kp_mark_texture_tiles, null); // Kernel- and extra parameters
cuCtxSynchronize();
int [] cpu_woi = new int[4];
int [] cpu_num_texture_tiles = new int[8];
// cuMemcpyDtoH(Pointer.to(cpu_woi), gpu_woi, cpu_woi.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
cpu_woi[0] = width;
cpu_woi[1] = height;
cpu_woi[2] = 0;
cpu_woi[3] = 0;
cuMemcpyHtoD(gpu_woi, Pointer.to(cpu_woi), cpu_woi.length * Sizeof.INT);
// cuMemcpyDtoH(Pointer.to(cpu_woi), gpu_woi, cpu_woi.length * Sizeof.INT); //just for testing
/*
// TODO: create gpu_woi to pass (copy from woi)
// set lower 4 bits in each gpu_ftasks task
mark_texture_neighbor_tiles <<<blocks,threads>>>(
num_cams, // int num_cams,
gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
num_tiles, // number of tiles in task list
width, // number of tiles in a row
height, // number of tiles rows
gpu_texture_indices, // packed tile + bits (now only (1 << 7)
gpu_woi); // min_x, min_y, max_x, max_y
checkCudaErrors(cudaDeviceSynchronize());
*/
Pointer kp_mark_texture_neighbor_tiles = Pointer.to(
Pointer.to(new int[] {num_cams}), // int num_cams,
Pointer.to(gpu_ftasks), // float * gpu_ftasks, // flattened tasks, 29 floats for quad EO, 101 floats for LWIR16
Pointer.to(new int[] { num_task_tiles }), // int num_tiles, // number of tiles in task list
Pointer.to(new int[] {width}), // int width, // number of tiles in a row
Pointer.to(new int[] {height}), // int height, // number of tiles rows
Pointer.to(gpu_texture_indices_ovlp), // int * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
Pointer.to(gpu_woi)); // int * woi, // min_x, min_y, max_x, max_y
cuLaunchKernel(this.gpuTileProcessor.GPU_MARK_TEXTURE_NEIGHBOR_kernel,
blocks[0], blocks[1], blocks[2], // Grid dimension
threads[0], threads[1], threads[2], // Block dimension
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kp_mark_texture_neighbor_tiles, null); // Kernel- and extra parameters
cuCtxSynchronize();
// int [] cpu_num_texture_tiles = new int[8];
Arrays.fill(cpu_num_texture_tiles, 0);
cuMemcpyHtoD(gpu_num_texture_tiles, Pointer.to(cpu_num_texture_tiles), cpu_num_texture_tiles.length * Sizeof.INT);
/*
gen_texture_list <<<blocks,threads>>>(
num_cams, // int num_cams,
gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
num_tiles, // number of tiles in task list
width, // number of tiles in a row
height, // int height, // number of tiles rows
gpu_texture_indices, // packed tile + bits (now only (1 << 7)
gpu_num_texture_tiles, // number of texture tiles to process
gpu_woi); // x,y, here woi[2] = max_X, woi[3] - max-Y
checkCudaErrors(cudaDeviceSynchronize()); // not needed yet, just for testing
*/
// cuMemcpyHtoD(gpu_woi, Pointer.to(cpu_woi), cpu_woi.length * Sizeof.INT); // just for testing
// Testing parameters
TpTask [] test_tasks = new TpTask[width * height];
float [] test_ftasks = new float [test_tasks.length * getTaskSize()];
cuMemcpyDtoH(Pointer.to(test_ftasks), gpu_ftasks, test_ftasks.length * Sizeof.FLOAT);
for (int i = 0; i < test_tasks.length; i++) {
test_tasks[i] = new TpTask(num_cams, test_ftasks, i, false);
}
cuMemcpyDtoH(Pointer.to(cpu_num_texture_tiles), gpu_num_texture_tiles, cpu_num_texture_tiles.length * Sizeof.INT);
cuMemcpyDtoH(Pointer.to(cpu_woi), gpu_woi, cpu_woi.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
int tilesX = width;
int tilesY = height;
int tilesYa = (tilesY + 3) & ~3;
int [] cpu_texture_indices_ovlp = new int [tilesX * tilesYa];
cuMemcpyDtoH(Pointer.to(cpu_texture_indices_ovlp), gpu_texture_indices_ovlp, cpu_texture_indices_ovlp.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
cuMemcpyHtoD(gpu_texture_indices_ovlp, Pointer.to(cpu_texture_indices_ovlp), cpu_texture_indices_ovlp.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
Pointer kp_gen_texture_list = Pointer.to(
Pointer.to(new int[] {num_cams}), // int num_cams,
Pointer.to(gpu_ftasks), // float * gpu_ftasks, // flattened tasks, 29 floats for quad EO, 101 floats for LWIR16
Pointer.to(new int[] { num_task_tiles }), // int num_tiles, // number of tiles in task list
Pointer.to(new int[] {width}), // int width, // number of tiles in a row
Pointer.to(new int[] {height}), // int height, // number of tiles rows
Pointer.to(gpu_texture_indices_ovlp), // int * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
Pointer.to(gpu_num_texture_tiles), // int * gpu_num_texture_tiles, // number of texture tiles to process
Pointer.to(gpu_woi)); // int * woi, // min_x, min_y, max_x, max_y
cuLaunchKernel(this.gpuTileProcessor.GPU_GEN_TEXTURE_LIST_kernel,
blocks[0], blocks[1], blocks[2], // Grid dimension
threads[0], threads[1], threads[2], // Block dimension
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kp_gen_texture_list, null); // Kernel- and extra parameters
cuCtxSynchronize();
// copy gpu_woi back to host woi
// float [] fcpu_woi = new float [4];
// cuMemcpyDtoH(Pointer.to(fcpu_woi), gpu_woi, 4 * Sizeof.FLOAT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
cuMemcpyDtoH(Pointer.to(cpu_woi), gpu_woi, cpu_woi.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
cpu_woi[2] += 1 - cpu_woi[0]; // width (was min and max)
cpu_woi[3] += 1 - cpu_woi[1]; // height (was min and max)
// copy host-modified data back to GPU
cuMemcpyHtoD(gpu_woi, Pointer.to(cpu_woi), cpu_woi.length * Sizeof.INT);
// copy gpu_num_texture_tiles back to host cpu_num_texture_tiles for processing by the CPU code
cuMemcpyDtoH(Pointer.to(cpu_num_texture_tiles), gpu_num_texture_tiles, cpu_num_texture_tiles.length * Sizeof.INT);
// Testing parameters
// int [] cpu_texture_indices_ovlp = new int [tilesX * tilesYa];
cuMemcpyDtoH(Pointer.to(cpu_texture_indices_ovlp), gpu_texture_indices_ovlp, cpu_texture_indices_ovlp.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
// Zero output textures. Trim
// texture_rbga_stride
int texture_width = (cpu_woi[2] + 1) * GPUTileProcessor.DTT_SIZE;
int texture_tiles_height = (cpu_woi[3] + 1) * GPUTileProcessor.DTT_SIZE;
int texture_slices = num_colors + 1;
int blocks_x2 = ((texture_width +
((1 << (GPUTileProcessor.THREADS_DYNAMIC_BITS + GPUTileProcessor.DTT_SIZE_LOG2 )) - 1)) >>
(GPUTileProcessor.THREADS_DYNAMIC_BITS + GPUTileProcessor.DTT_SIZE_LOG2));
int [] blocks2 = {blocks_x2, texture_tiles_height * texture_slices, 1}; // each thread - 8 vertical
int [] threads2 = {(1 << GPUTileProcessor.THREADS_DYNAMIC_BITS), 1, 1};
/*
clear_texture_rbga<<<blocks2,threads2>>>( // illegal value error
texture_width,
texture_tiles_height * texture_slices, // int texture_slice_height,
texture_rbga_stride, // const size_t texture_rbga_stride, // in floats 8*stride
gpu_texture_tiles) ; // float * gpu_texture_tiles);
*/
Pointer kp_clear_texture_rbga = Pointer.to(
Pointer.to(new int[] {texture_width}), // int texture_width,
Pointer.to(new int[] {texture_tiles_height * texture_slices}),// int texture_slice_height,
Pointer.to(new int[] { texture_stride_rgba }), // const size_t texture_rbga_stride, // in floats 8*stride
Pointer.to(gpu_textures_rgba)); // float * gpu_texture_tiles) // (number of colors +1 + ?)*16*16 rgba texture tiles
cuLaunchKernel(this.gpuTileProcessor.GPU_CLEAR_TEXTURE_RBGA_kernel,
blocks2[0], blocks2[1], blocks2[2], // Grid dimension
threads2[0], threads2[1], threads2[2], // Block dimension
0, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kp_clear_texture_rbga, null); // Kernel- and extra parameters
cuCtxSynchronize();
boolean DEBUG8A = true;
// Testing parameters
// int [] cpu_texture_indices_ovlp = new int [tilesX * tilesYa];
cuMemcpyDtoH(Pointer.to(cpu_texture_indices_ovlp), gpu_texture_indices_ovlp, cpu_texture_indices_ovlp.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
// cuMemcpyHtoD(gpu_texture_indices_ovlp, Pointer.to(cpu_texture_indices_ovlp), cpu_texture_indices_ovlp.length * Sizeof.INT); // hope that Float.floatToIntBits(fcorr_indices[i]) is not needed
// Run 8 times - first 4 1-tile offsets inner tiles (w/o verifying margins), then - 4 times with verification and ignoring 4-pixel
// oversize (border 16x 16 tiles overhang by 4 pixels)
int tilesya = ((height +3) & (~3)); //#define TILES-YA ((TILES-Y +3) & (~3))
for (int pass = 0; pass < 8; pass++){
int num_cams_per_thread = GPUTileProcessor.NUM_THREADS / GPUTileProcessor.TEXTURE_THREADS_PER_TILE; // 4 cameras parallel, then repeat
int[] threads_texture = {GPUTileProcessor.TEXTURE_THREADS_PER_TILE, num_cams_per_thread, 1}; // TEXTURE_TILES_PER_BLOCK, 1);
int border_tile = (pass >> 2);
int ntt = cpu_num_texture_tiles[((pass & 3) << 1) + border_tile];
int [] grid_texture = {(ntt + GPUTileProcessor.TEXTURE_TILES_PER_BLOCK-1) / GPUTileProcessor.TEXTURE_TILES_PER_BLOCK,1,1}; // TEXTURE_TILES_PER_BLOCK = 1
int ti_offset = (pass & 3) * (width * (tilesya >> 2)); // (TILES-X * (TILES-YA >> 2)); // 1/4
if (border_tile != 0){
ti_offset += width * (tilesya >> 2) - ntt; // TILES-X * (TILES-YA >> 2) - ntt;
}
int shared_size = host_get_textures_shared_size( // in bytes
num_cams, // int num_cams, // actual number of cameras
num_colors, // int num_colors, // actual number of colors: 3 for RGB, 1 for LWIR/mono
null); // int * offsets); // in floats
if (DEBUG8A) {
System.out.println(String.format("generate_RBGA() pass= %d, border_tile= %d, ti_offset= %d, ntt=%d",
pass, border_tile,ti_offset, ntt));
// System.out.println(String.format("generate_RBGA() gpu_texture_indices= %p, gpu_texture_indices + ti_offset= %p\n",
// (void *) gpu_texture_indices, (void *) (gpu_texture_indices + ti_offset));
System.out.println(String.format("\ngenerate_RBGA() grid_texture={%d, %d, %d)\n",
grid_texture[0], grid_texture[1], grid_texture[2]));
System.out.println(String.format("\ngenerate_RBGA() threads_texture={%d, %d, %d)\n",
threads_texture[0], threads_texture[1], threads_texture[2]));
System.out.println ("pass="+pass);
for (int i = 0; i < 256; i++){
int indx0 = ti_offset + i;
if (indx0 < cpu_texture_indices_ovlp.length) {
int indx = cpu_texture_indices_ovlp[indx0];
System.out.println(String.format("%05x | %02d: %04x %03d %03d %x",indx0, i,indx>>8, (indx>>8) / 80, (indx >> 8) % 80, indx&0xff));
}
}
System.out.println ("\n\n");
}
cuFuncSetAttribute(this.gpuTileProcessor.GPU_TEXTURES_ACCUMULATE_kernel, CU_FUNC_ATTRIBUTE_MAX_DYNAMIC_SHARED_SIZE_BYTES, 65536);
Pointer kp_textures_accumulate = Pointer.to(
Pointer.to(new int[] {num_cams}), // int num_cams,
Pointer.to(gpu_woi), // int * woi, // min_x, min_y, max_x, max_y
Pointer.to(gpu_clt), // float ** gpu_clt, // [num_cams] ->[TILESY][TILESX][num_colors][DTT_SIZE*DTT_SIZE]
Pointer.to(new int[] {ntt}), // size_t num_texture_tiles,// number of texture tiles to process
Pointer.to(new int[] {ti_offset}), // size_t num_texture_tiles,// number of texture tiles to process
Pointer.to(gpu_texture_indices_ovlp), // gpu_texture_indices_offset,// add to gpu_texture_indices
Pointer.to(gpu_geometry_correction), // struct gc * gpu_geometry_correction,
Pointer.to(new int[] {num_colors}), // int colors, // number of colors (3/1)
Pointer.to(new int[] {iis_lwir}), // int is_lwir, // do not perform shot correction
Pointer.to(new float[] {(float) min_shot}), // float min_shot, // 10.0
Pointer.to(new float[] {(float) scale_shot}), // float scale_shot, // 3.0
Pointer.to(new float[] {(float) diff_sigma}), // float diff_sigma, // pixel value/pixel change
Pointer.to(new float[] {(float) diff_threshold}),// float diff_threshold, // pixel value/pixel change
Pointer.to(new float[] {(float) min_agree}), // float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
Pointer.to(gpu_color_weights), // float weights[3], // scale for R,B,G (or {1.0,0.0,0.0}
Pointer.to(new int[] {idust_remove}), // int dust_remove, // Do not reduce average weight when only one image differes much from the average
Pointer.to(new int[] {0}), // int keep_weights, // return channel weights after A in RGBA
// combining both non-overlap and overlap (each calculated if pointer is not null )
Pointer.to(new int[] { texture_stride_rgba }), // const size_t texture_rbga_stride, // in floats
Pointer.to(gpu_textures_rgba), // float * gpu_texture_tiles) // (number of colors +1 + ?)*16*16 rgba texture tiles
Pointer.to(new int[] {0}), // size_t texture_stride, // in floats (now 256*4 = 1024)
Pointer.to(new int[] {0}), // gpu_texture_tiles, // float * gpu_texture_tiles); // (number of colors +1 + ?)*16*16 rgba texture tiles
Pointer.to(new int[] {0}), // 1, // int linescan_order, // if !=0 then output gpu_diff_rgb_combo in linescan order, else - in gpu_texture_indices order
Pointer.to(new int[] {0}), //);//gpu_diff_rgb_combo); // float * gpu_diff_rgb_combo) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams]
Pointer.to(new int[] {width}));
cuLaunchKernel(this.gpuTileProcessor.GPU_TEXTURES_ACCUMULATE_kernel,
grid_texture[0], grid_texture[1], grid_texture[2], // Grid dimension
threads_texture[0], threads_texture[1], threads_texture[2], // Block dimension
shared_size, null, // Shared memory size and stream (shared - only dynamic, static is in code)
kp_textures_accumulate, null); // Kernel- and extra parameters
cuCtxSynchronize();
}
}
/** /**
* Generate non-overlapping (16x16) texture tiles * Generate non-overlapping (16x16) texture tiles
* @param color_weights - [3] (RGB) or [1] (mono) color weights for matching * @param color_weights - [3] (RGB) or [1] (mono) color weights for matching
...@@ -2565,7 +2970,7 @@ public class GpuQuad{ // quad camera description ...@@ -2565,7 +2970,7 @@ public class GpuQuad{ // quad camera description
CUdeviceptr constantMemoryPointer = new CUdeviceptr(); CUdeviceptr constantMemoryPointer = new CUdeviceptr();
long constantMemorySizeArray[] = { 0 }; long constantMemorySizeArray[] = { 0 };
cuModuleGetGlobal(constantMemoryPointer, constantMemorySizeArray, this.gpuTileProcessor.module, "lpf_data"); cuModuleGetGlobal(constantMemoryPointer, constantMemorySizeArray, this.gpuTileProcessor.module, "lpf_data"); //CUDA_ERROR_ILLEGAL_ADDRESS after re-run
int constantMemorySize = (int)constantMemorySizeArray[0]; int constantMemorySize = (int)constantMemorySizeArray[0];
if (debug) System.out.println("constantMemoryPointer: " + constantMemoryPointer); if (debug) System.out.println("constantMemoryPointer: " + constantMemoryPointer);
if (debug) System.out.println("constantMemorySize: " + constantMemorySize); if (debug) System.out.println("constantMemorySize: " + constantMemorySize);
......
src/main/java/com/elphel/imagej/gpu/TpTask.java
View file @ 46612695
...@@ -45,6 +45,7 @@ public class TpTask { ...@@ -45,6 +45,7 @@ public class TpTask {
*/ */
public TpTask(int num_sensors, float [] flt, int task_indx, boolean use_aux) public TpTask(int num_sensors, float [] flt, int task_indx, boolean use_aux)
{ {
this.num_sensors = num_sensors; // will not be encoded
int indx = task_indx * getSize(num_sensors); int indx = task_indx * getSize(num_sensors);
task = Float.floatToIntBits(flt[indx++]); // 0 task = Float.floatToIntBits(flt[indx++]); // 0
int txy = Float.floatToIntBits(flt[indx++]); // 1 int txy = Float.floatToIntBits(flt[indx++]); // 1
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ 46612695
...@@ -2364,7 +2364,55 @@ public class QuadCLT extends QuadCLTCPU { ...@@ -2364,7 +2364,55 @@ public class QuadCLT extends QuadCLTCPU {
debugLevel); debugLevel);
} }
// try textures here
boolean show_textures_rgba = clt_parameters.show_rgba_color;
if (show_textures_rgba) {
float [][] texture_img = new float [isMonochrome()?2:4][];
double [] col_weights = new double[3];
if (isMonochrome()) {
col_weights[0] = 1.0;
col_weights[1] = 0.0;
col_weights[2] = 0.0;// green color/mono
} else {
col_weights[2] = 1.0/(1.0 + clt_parameters.corr_red + clt_parameters.corr_blue); // green color
col_weights[0] = clt_parameters.corr_red * col_weights[2];
col_weights[1] = clt_parameters.corr_blue * col_weights[2];
}
Rectangle woi = new Rectangle(); // will be filled out to match actual available image
gpuQuad.execRBGA(
col_weights, // double [] color_weights,
isLwir(), // boolean is_lwir,
clt_parameters.min_shot, // double min_shot, // 10.0
clt_parameters.scale_shot, // double scale_shot, // 3.0
clt_parameters.diff_sigma, // double diff_sigma, // pixel value/pixel change Used much larger sigma = 10.0 instead of 1.5
clt_parameters.diff_threshold, // double diff_threshold, // pixel value/pixel change
clt_parameters.min_agree, // double min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
clt_parameters.dust_remove); // boolean dust_remove,
float [][] rbga = gpuQuad.getRBGA(
(isMonochrome() ? 1 : 3), // int num_colors,
woi);
for (int ncol = 0; ncol < texture_img.length; ncol++) if (ncol < rbga.length) {
texture_img[ncol] = rbga[ncol];
}
// first try just multi-layer, then with palette
(new ShowDoubleFloatArrays()).showArrays( // show slices RBGA (colors - 256, A - 1.0)
rbga,
woi.width,
woi.height,
true,
getImageName()+"-RGBA-STACK-D"+clt_parameters.disparity+
":"+clt_parameters.gpu_woi_tx+":"+clt_parameters.gpu_woi_ty+
":"+clt_parameters.gpu_woi_twidth+":"+clt_parameters.gpu_woi_theight+
":"+(clt_parameters.gpu_woi_round?"C":"R")
//,new String[] {"R","B","G","A"}
);
}
/** /**
if (colorProcParameters.isLwir() && colorProcParameters.lwir_autorange) { if (colorProcParameters.isLwir() && colorProcParameters.lwir_autorange) {
double rel_low = colorProcParameters.lwir_low; double rel_low = colorProcParameters.lwir_low;
......
src/main/resources/kernels/TileProcessor.cuh
View file @ 46612695
...@@ -978,33 +978,30 @@ __device__ void imclt_plane( // not implemented, not used ...@@ -978,33 +978,30 @@ __device__ void imclt_plane( // not implemented, not used
float * gpu_rbg, // WIDTH, HEIGHT float * gpu_rbg, // WIDTH, HEIGHT
const size_t dstride); // in floats (pixels) const size_t dstride); // in floats (pixels)
__global__ void clear_texture_list( extern "C" __global__ void clear_texture_list(
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int width, // <= TILES-X, use for faster processing of LWIR images int width, // <= TILES-X, use for faster processing of LWIR images
int height); // <= TILES-Y, use for faster processing of LWIR images int height); // <= TILES-Y, use for faster processing of LWIR images
__global__ void mark_texture_tiles( extern "C" __global__ void mark_texture_tiles(
int num_cams, int num_cams,
float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
/// struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
int width, // number of tiles in a row int width, // number of tiles in a row
int * gpu_texture_indices);// packed tile + bits (now only (1 << 7) int * gpu_texture_indices);// packed tile + bits (now only (1 << 7)
__global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? extern "C" __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
int num_cams, int num_cams,
float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
/// struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
int width, // number of tiles in a row int width, // number of tiles in a row
int height, // number of tiles rows int height, // number of tiles rows
int * gpu_texture_indices, // packed tile + bits (now only (1 << 7) int * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
int * woi); // x,y,width,height of the woi int * woi); // x,y,width,height of the woi
__global__ void gen_texture_list( extern "C" __global__ void gen_texture_list(
int num_cams, int num_cams,
float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
/// struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
int width, // number of tiles in a row int width, // number of tiles in a row
int height, // number of tiles rows int height, // number of tiles rows
...@@ -1012,7 +1009,7 @@ __global__ void gen_texture_list( ...@@ -1012,7 +1009,7 @@ __global__ void gen_texture_list(
int * num_texture_tiles, // number of texture tiles to process int * num_texture_tiles, // number of texture tiles to process
int * woi); // min_x, min_y, max_x, max_y input int * woi); // min_x, min_y, max_x, max_y input
__global__ void clear_texture_rbga( extern "C" __global__ void clear_texture_rbga(
int texture_width, int texture_width,
int texture_slice_height, int texture_slice_height,
const size_t texture_rbga_stride, // in floats 8*stride const size_t texture_rbga_stride, // in floats 8*stride
...@@ -1044,10 +1041,9 @@ __global__ void index_correlate( ...@@ -1044,10 +1041,9 @@ __global__ void index_correlate(
int * gpu_corr_indices, // array of correlation tasks int * gpu_corr_indices, // array of correlation tasks
int * pnum_corr_tiles); // pointer to the length of correlation tasks array int * pnum_corr_tiles); // pointer to the length of correlation tasks array
__global__ void create_nonoverlap_list( extern "C" __global__ void create_nonoverlap_list(
int num_cams, int num_cams,
float * gpu_ftasks , // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks , // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
// struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task int num_tiles, // number of tiles in task
int width, // number of tiles in a row int width, // number of tiles in a row
int * nonoverlap_list, // pointer to the calculated number of non-zero tiles int * nonoverlap_list, // pointer to the calculated number of non-zero tiles
...@@ -1108,11 +1104,12 @@ extern "C" __global__ void corr2D_combine_inner( ...@@ -1108,11 +1104,12 @@ extern "C" __global__ void corr2D_combine_inner(
const size_t corr_stride_combo, // (in floats) stride for the output TD correlations (same as input) const size_t corr_stride_combo, // (in floats) stride for the output TD correlations (same as input)
float * gpu_corrs_combo); // combined correlation output (one per tile) float * gpu_corrs_combo); // combined correlation output (one per tile)
extern "C" __global__ void textures_accumulate( extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
int num_cams, // number of cameras used int num_cams, // number of cameras used
int * woi, // x, y, width,height int * woi, // x, y, width,height
float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE]
size_t num_texture_tiles, // number of texture tiles to process size_t num_texture_tiles, // number of texture tiles to process
int gpu_texture_indices_offset,// add to gpu_texture_indices
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
// TODO: use geometry_correction rXY ! // TODO: use geometry_correction rXY !
struct gc * gpu_geometry_correction, struct gc * gpu_geometry_correction,
...@@ -1131,7 +1128,8 @@ extern "C" __global__ void textures_accumulate( ...@@ -1131,7 +1128,8 @@ extern "C" __global__ void textures_accumulate(
float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles
size_t texture_stride, // in floats (now 256*4 = 1024) size_t texture_stride, // in floats (now 256*4 = 1024)
float * gpu_texture_tiles, // (number of colors +1 + ?)*16*16 rgba texture tiles float * gpu_texture_tiles, // (number of colors +1 + ?)*16*16 rgba texture tiles
float * gpu_diff_rgb_combo, //'); // diff[num_cams], R[num_cams], B[num_cams],G[num_cams] int linescan_order, // if !=0 then output gpu_diff_rgb_combo in linescan order, else - in gpu_texture_indices order
float * gpu_diff_rgb_combo, //) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams]
int tilesx); int tilesx);
__device__ int get_textures_shared_size( // in bytes __device__ int get_textures_shared_size( // in bytes
...@@ -2065,7 +2063,8 @@ extern "C" __global__ void generate_RBGA( ...@@ -2065,7 +2063,8 @@ extern "C" __global__ void generate_RBGA(
woi, // int * woi, // x, y, width,height woi, // int * woi, // x, y, width,height
gpu_clt, // float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE] gpu_clt, // float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE]
ntt, // size_t num_texture_tiles, // number of texture tiles to process ntt, // size_t num_texture_tiles, // number of texture tiles to process
gpu_texture_indices + ti_offset, // int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) ti_offset, // gpu_texture_indices_offset,// add to gpu_texture_indices
gpu_texture_indices, // + ti_offset, // int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
gpu_geometry_correction, // struct gc * gpu_geometry_correction, gpu_geometry_correction, // struct gc * gpu_geometry_correction,
colors, // int colors, // number of colors (3/1) colors, // int colors, // number of colors (3/1)
is_lwir, // int is_lwir, // do not perform shot correction is_lwir, // int is_lwir, // do not perform shot correction
...@@ -2082,6 +2081,7 @@ extern "C" __global__ void generate_RBGA( ...@@ -2082,6 +2081,7 @@ extern "C" __global__ void generate_RBGA(
gpu_texture_tiles, // float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles gpu_texture_tiles, // float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles
0, // size_t texture_stride, // in floats (now 256*4 = 1024) 0, // size_t texture_stride, // in floats (now 256*4 = 1024)
gpu_texture_tiles, //(float *)0);// float * gpu_texture_tiles); // (number of colors +1 + ?)*16*16 rgba texture tiles gpu_texture_tiles, //(float *)0);// float * gpu_texture_tiles); // (number of colors +1 + ?)*16*16 rgba texture tiles
1, // int linescan_order, // if !=0 then output gpu_diff_rgb_combo in linescan order, else - in gpu_texture_indices order
(float *)0, //);//gpu_diff_rgb_combo); // float * gpu_diff_rgb_combo) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams] (float *)0, //);//gpu_diff_rgb_combo); // float * gpu_diff_rgb_combo) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams]
width); width);
cudaDeviceSynchronize(); // not needed yet, just for testing cudaDeviceSynchronize(); // not needed yet, just for testing
...@@ -2277,8 +2277,7 @@ __global__ void mark_texture_tiles( ...@@ -2277,8 +2277,7 @@ __global__ void mark_texture_tiles(
* the result textures to fade along the border. * the result textures to fade along the border.
* *
* @param num_cams number of cameras * @param num_cams number of cameras
* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 * @param gpu_ftasks flattened tasks, 29 floats for quad EO, 101 floats for LWIR16
// * @param gpu_tasks array of per-tile tasks (struct tp_task)
* @param num_tiles number of tiles int gpu_tasks array prepared for processing * @param num_tiles number of tiles int gpu_tasks array prepared for processing
* @param width number of tiles in a row * @param width number of tiles in a row
* @param height number of tiles rows * @param height number of tiles rows
...@@ -2289,7 +2288,6 @@ __global__ void mark_texture_tiles( ...@@ -2289,7 +2288,6 @@ __global__ void mark_texture_tiles(
__global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
int num_cams, int num_cams,
float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
/// struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
int width, // number of tiles in a row int width, // number of tiles in a row
int height, // number of tiles rows int height, // number of tiles rows
...@@ -2301,12 +2299,11 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? ...@@ -2301,12 +2299,11 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
if (task_num >= num_tiles) { if (task_num >= num_tiles) {
return; // nothing to do return; // nothing to do
} }
/// int task = gpu_tasks[task_num].task;
int task = get_task_task(task_num, gpu_ftasks, num_cams); int task = get_task_task(task_num, gpu_ftasks, num_cams);
if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient
return; // NOP tile return; // NOP tile
} }
/// int cxy = gpu_tasks[task_num].txy;
int cxy = get_task_txy(task_num, gpu_ftasks, num_cams); int cxy = get_task_txy(task_num, gpu_ftasks, num_cams);
int x = (cxy & 0xffff); int x = (cxy & 0xffff);
...@@ -2320,6 +2317,7 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? ...@@ -2320,6 +2317,7 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
if ((x < (width - 1)) && *(gpu_texture_indices + (x + 1) + y * width)) d |= (1 << TASK_TEXTURE_E_BIT); if ((x < (width - 1)) && *(gpu_texture_indices + (x + 1) + y * width)) d |= (1 << TASK_TEXTURE_E_BIT);
if ((y < (height - 1)) && *(gpu_texture_indices + x + (y + 1) * width)) d |= (1 << TASK_TEXTURE_S_BIT); if ((y < (height - 1)) && *(gpu_texture_indices + x + (y + 1) * width)) d |= (1 << TASK_TEXTURE_S_BIT);
if ((x > 0) && *(gpu_texture_indices + (x - 1) + y * width)) d |= (1 << TASK_TEXTURE_W_BIT); if ((x > 0) && *(gpu_texture_indices + (x - 1) + y * width)) d |= (1 << TASK_TEXTURE_W_BIT);
// Set task texture bits in global gpu_ftasks array (lower 4 bits)
/// gpu_tasks[task_num].task = ((task ^ d) & TASK_TEXTURE_BITS) ^ task; /// gpu_tasks[task_num].task = ((task ^ d) & TASK_TEXTURE_BITS) ^ task;
*(int *) (gpu_ftasks + get_task_size(num_cams) * task_num) = ((task ^ d) & TASK_TEXTURE_BITS) ^ task; *(int *) (gpu_ftasks + get_task_size(num_cams) * task_num) = ((task ^ d) & TASK_TEXTURE_BITS) ^ task;
} }
...@@ -2341,7 +2339,6 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? ...@@ -2341,7 +2339,6 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
__global__ void gen_texture_list( __global__ void gen_texture_list(
int num_cams, int num_cams,
float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
/// struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
int width, // number of tiles in a row int width, // number of tiles in a row
int height, // number of tiles rows int height, // number of tiles rows
...@@ -2409,7 +2406,10 @@ __global__ void gen_texture_list( ...@@ -2409,7 +2406,10 @@ __global__ void gen_texture_list(
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // DEBUG12 #endif // DEBUG12
*(gpu_texture_indices + buf_offset) = task | ((x + y * width) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT); // *(gpu_texture_indices + buf_offset) = task | ((x + y * width) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT);
// keep only 8 LSBs of task, use higher 24 for task number
*(gpu_texture_indices + buf_offset) = (task & ((1 << CORR_NTILE_SHIFT) -1)) | ((x + y * width) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT);
//CORR_NTILE_SHIFT
} }
//inline __device__ int get_task_size(int num_cams){ //inline __device__ int get_task_size(int num_cams){
// return sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - num_cams); // return sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - num_cams);
...@@ -2455,13 +2455,13 @@ __global__ void index_direct( ...@@ -2455,13 +2455,13 @@ __global__ void index_direct(
* (i.e. colors x 16 x 16 per each tile in the list ) texture tile generation * (i.e. colors x 16 x 16 per each tile in the list ) texture tile generation
* *
* @param num_cams number of cameras <= NUM_CAMS * @param num_cams number of cameras <= NUM_CAMS
* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 * @param gpu_ftasks flattened tasks, 29 floats for quad EO, 101 floats for LWIR16
* @param num_tiles number of tiles int gpu_tasks array prepared for processing * @param num_tiles number of tiles int gpu_tasks array prepared for processing
* @param width number of tiles in a row * @param width number of tiles in a row
* @param nonoverlap_list integer array to place the generated list * @param nonoverlap_list integer array to place the generated list
* @param pnonoverlap_length single-element integer array return generated list length * @param pnonoverlap_length single-element integer array return generated list length
*/ */
__global__ void create_nonoverlap_list( extern "C" __global__ void create_nonoverlap_list(
int num_cams, int num_cams,
float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16 float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
// struct tp_task * gpu_tasks, // struct tp_task * gpu_tasks,
...@@ -2847,11 +2847,18 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2847,11 +2847,18 @@ extern "C" __global__ void textures_nonoverlap(
num_cams, // int num_cams, // actual number of cameras num_cams, // int num_cams, // actual number of cameras
colors, // int num_colors, // actual number of colors: 3 for RGB, 1 for LWIR/mono colors, // int num_colors, // actual number of colors: 3 for RGB, 1 for LWIR/mono
0); // int * offsets); // in floats 0); // int * offsets); // in floats
textures_accumulate <<<grid_texture,threads_texture, shared_size>>>( #ifdef DEBUG7A
printf("\n1. shared_size=%d, num_cams=%d, colors=%d\n",shared_size,num_cams, colors);
__syncthreads();
#endif
textures_accumulate <<<grid_texture,threads_texture, shared_size>>>( // 65536>>>( //
num_cams, // int num_cams, // number of cameras used num_cams, // int num_cams, // number of cameras used
(int *) 0, // int * woi, // x, y, width,height (int *) 0, // int * woi, // x, y, width,height
gpu_clt, // float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE] gpu_clt, // float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE]
*pnum_texture_tiles, // size_t num_texture_tiles, // number of texture tiles to process *pnum_texture_tiles, // size_t num_texture_tiles, // number of texture tiles to process
0, // gpu_texture_indices_offset,// add to gpu_texture_indices
gpu_texture_indices, // int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) gpu_texture_indices, // int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
gpu_geometry_correction, // struct gc * gpu_geometry_correction, gpu_geometry_correction, // struct gc * gpu_geometry_correction,
colors, // int colors, // number of colors (3/1) colors, // int colors, // number of colors (3/1)
...@@ -2869,6 +2876,7 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2869,6 +2876,7 @@ extern "C" __global__ void textures_nonoverlap(
(float *) 0, // float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles (float *) 0, // float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles
texture_stride, // size_t texture_stride, // in floats (now 256*4 = 1024) texture_stride, // size_t texture_stride, // in floats (now 256*4 = 1024)
gpu_texture_tiles, //(float *)0);// float * gpu_texture_tiles); // (number of colors +1 + ?)*16*16 rgba texture tiles gpu_texture_tiles, //(float *)0);// float * gpu_texture_tiles); // (number of colors +1 + ?)*16*16 rgba texture tiles
1, // int linescan_order, // if !=0 then output gpu_diff_rgb_combo in linescan order, else - in gpu_texture_indices order
gpu_diff_rgb_combo, //); // float * gpu_diff_rgb_combo) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams] gpu_diff_rgb_combo, //); // float * gpu_diff_rgb_combo) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams]
num_tilesx); num_tilesx);
} }
...@@ -2887,6 +2895,7 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2887,6 +2895,7 @@ extern "C" __global__ void textures_nonoverlap(
* @param woi WoI for the output texture (x,y,width,height of the woi), may be null if overlapped output is not used * @param woi WoI for the output texture (x,y,width,height of the woi), may be null if overlapped output is not used
* @param gpu_clt array of num_cams pointers to the CLT (frequency domain) data [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE] * @param gpu_clt array of num_cams pointers to the CLT (frequency domain) data [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param num_texture_tiles number of texture tiles to process * @param num_texture_tiles number of texture tiles to process
* @param gpu_texture_indices_offset add to gpu_texture_indices
* @param gpu_texture_indices array - 1 integer per tile to process * @param gpu_texture_indices array - 1 integer per tile to process
* @param gpu_geometry_correction geometry correction structure, used for rXY to determine pairs weight * @param gpu_geometry_correction geometry correction structure, used for rXY to determine pairs weight
* @param colors number of colors used: 3 for RGB or 1 for monochrome * @param colors number of colors used: 3 for RGB or 1 for monochrome
...@@ -2903,15 +2912,18 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2903,15 +2912,18 @@ extern "C" __global__ void textures_nonoverlap(
* @param gpu_texture_rbg output array (number of colors +1 + ?) * woi.height * output stride(first woi.width valid) float values (or 0) * @param gpu_texture_rbg output array (number of colors +1 + ?) * woi.height * output stride(first woi.width valid) float values (or 0)
* @param texture_stride output stride for non-overlapping texture tile output in floats (or 0 to skip) * @param texture_stride output stride for non-overlapping texture tile output in floats (or 0 to skip)
* @param gpu_texture_tiles output of the non-overlapping tiles (or 0 to skip) * @param gpu_texture_tiles output of the non-overlapping tiles (or 0 to skip)
* @param linescan_order if !=0 then output gpu_diff_rgb_combo in linescan order, else - in gpu_texture_indices order
* @param gpu_diff_rgb_combo low-resolution output, with per-camera mismatch an each color average. Will not be calculated if null * @param gpu_diff_rgb_combo low-resolution output, with per-camera mismatch an each color average. Will not be calculated if null
* @param tilesx number of tiles in a row. If negative then output gpu_diff_rgb_combo in linescan order,
* if positive - in gpu_texture_indices order
*/ */
extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
int num_cams, // number of cameras used int num_cams, // number of cameras used
int * woi, // x, y, width,height int * woi, // x, y, width,height
float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE]
size_t num_texture_tiles, // number of texture tiles to process size_t num_texture_tiles, // number of texture tiles to process
int gpu_texture_indices_offset,// add to gpu_texture_indices
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
// TODO: use geometry_correction rXY !
struct gc * gpu_geometry_correction, struct gc * gpu_geometry_correction,
int colors, // number of colors (3/1) int colors, // number of colors (3/1)
int is_lwir, // do not perform shot correction int is_lwir, // do not perform shot correction
...@@ -2928,11 +2940,18 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2928,11 +2940,18 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles float * gpu_texture_rbg, // (number of colors +1 + ?)*16*16 rgba texture tiles
size_t texture_stride, // in floats (now 256*4 = 1024) size_t texture_stride, // in floats (now 256*4 = 1024)
float * gpu_texture_tiles, // (number of colors +1 + ?)*16*16 rgba texture tiles float * gpu_texture_tiles, // (number of colors +1 + ?)*16*16 rgba texture tiles
int linescan_order, // if !=0 then output gpu_diff_rgb_combo in linescan order, else - in gpu_texture_indices order
float * gpu_diff_rgb_combo, //) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams] float * gpu_diff_rgb_combo, //) // diff[num_cams], R[num_cams], B[num_cams],G[num_cams]
int tilesx) int tilesx)
{ {
// will process exactly 4 cameras at a time in one block, // will process exactly 4 cameras at a time in one block,
// so imclt is executed sequentially for each group of 4 cameras // so imclt is executed sequentially for each group of 4 cameras
/// if ((threadIdx.x == 0) && (threadIdx.y == 0)){
/// printf("DONE\n");
/// }
/// __syncthreads();
/// return;
int offsets [9]; int offsets [9];
int shared_size = get_textures_shared_size( // in bytes int shared_size = get_textures_shared_size( // in bytes
num_cams, // int num_cams, // actual number of cameras num_cams, // int num_cams, // actual number of cameras
...@@ -2945,54 +2964,56 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2945,54 +2964,56 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
return; // nothing to do return; // nothing to do
} }
// get number of tile // get number of tile
int tile_code = gpu_texture_indices[tile_indx]; int tile_code = gpu_texture_indices[tile_indx + gpu_texture_indices_offset]; // Added for Java, no DP
if ((tile_code & (1 << CORR_TEXTURE_BIT)) == 0){ if ((tile_code & (1 << CORR_TEXTURE_BIT)) == 0){
return; // nothing to do return; // nothing to do
} }
int tile_num = tile_code >> CORR_NTILE_SHIFT; int tile_num = tile_code >> CORR_NTILE_SHIFT;
#ifdef DEBUG22 #ifdef DEBUG7A
__syncthreads();// __syncwarp();
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\n1. tile_indx=%d, tile_num=%d\n",tile_indx,tile_num); printf("textures_accumulate: diff_sigma = %f\n", diff_sigma);
printf("textures_accumulate: diff_threshold = %f\n",diff_threshold);
printf("textures_accumulate: min_agree = %f\n", min_agree);
printf("textures_accumulate: weights[0] = %f\n",weights[0]);
printf("textures_accumulate: weights[1] = %f\n",weights[1]);
printf("textures_accumulate: weights[2] = %f\n",weights[2]);
printf("textures_accumulate: dust_remove = %d\n",dust_remove);
printf("textures_accumulate: keep_weights = %d\n",keep_weights);
}
#endif //DEBUG7A
#ifdef DEBUG7A // 22
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int i = 0; i <9; i++){
printf(" offsets[%d] = 0x%x\n",i,offsets[i]);
}
}
__syncthreads();
#endif // #ifdef DEBUG22
#ifdef DEBUG7AXX // 22
if ((tile_num == DBG_TILE)) { // && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\n1. tile_indx=%d, tile_num=%d threadIdx.x = %d threadIdx.y =%d\n",tile_indx,tile_num,threadIdx.x,threadIdx.y);
} }
__syncthreads(); __syncthreads();
#endif // #ifdef DEBUG22 #endif // #ifdef DEBUG22
extern __shared__ float all_shared[]; extern __shared__ float all_shared[];
float * mclt_tiles = &all_shared[0] ; // [num_cams][colors][2*DTT_SIZE][DTT_SIZE21]; // 16*1*16*17=0x1100 | 4*3*16*17=0xcc0 float * mclt_tiles = &all_shared[offsets[0]] ; // [num_cams][colors][2*DTT_SIZE][DTT_SIZE21]; // 16*1*16*17=0x1100 | 4*3*16*17=0xcc0
float * clt_tiles = &all_shared[1] ; // [num_cams][colors][4][DTT_SIZE][DTT_SIZE1]; // 16 * 1 * 4 * 8 * 9 = 0x1200 | 4 * 3 * 4 * 8 * 9 = 0xd80 float * clt_tiles = &all_shared[offsets[1]] ; // [num_cams][colors][4][DTT_SIZE][DTT_SIZE1]; // 16 * 1 * 4 * 8 * 9 = 0x1200 | 4 * 3 * 4 * 8 * 9 = 0xd80
float * mclt_debayer = &all_shared[1] ; // [num_cams][colors][MCLT_UNION_LEN]; // 16 * 1 * 16 * 18 = 0x1200 | 4 * 3 * 16 * 18 = 0xd80 | to align with clt_tiles float * mclt_debayer = &all_shared[offsets[1]] ; // [num_cams][colors][MCLT_UNION_LEN]; // 16 * 1 * 16 * 18 = 0x1200 | 4 * 3 * 16 * 18 = 0xd80 | to align with clt_tiles
float * mclt_tmps = &all_shared[2] ; // [num_cams][colors][DTT_SIZE2][DTT_SIZE21]; // 16*1*16*17=0x1100 | 4*3*16*17=0xcc0 float * mclt_tmps = &all_shared[offsets[2]] ; // [num_cams][colors][DTT_SIZE2][DTT_SIZE21]; // 16*1*16*17=0x1100 | 4*3*16*17=0xcc0
float * rgbaw = &all_shared[2] ; // [colors + 1 + num_cams + colors + 1][DTT_SIZE2][DTT_SIZE21]; float * rgbaw = &all_shared[offsets[2]] ; // [colors + 1 + num_cams + colors + 1][DTT_SIZE2][DTT_SIZE21];
float * port_offsets = &all_shared[3] ; // [num_cams][2]; // 16 * 2 = 0x20 | 4*2 = 0x8 float * port_offsets = &all_shared[offsets[3]] ; // [num_cams][2]; // 16 * 2 = 0x20 | 4*2 = 0x8
float * ports_rgb_shared = &all_shared[4] ; // [colors][num_cams]; // 16 * 1 = 0x10 | 4 * 3 = 0xc | return to system memory (optionally pass null to skip calculation) float * ports_rgb_shared = &all_shared[offsets[4]] ; // [colors][num_cams]; // 16 * 1 = 0x10 | 4 * 3 = 0xc | return to system memory (optionally pass null to skip calculation)
float * max_diff_shared = &all_shared[5] ; // [num_cams]; // 16 = 0x10 | 4 = 0x4 | return to system memory (optionally pass null to skip calculation) float * max_diff_shared = &all_shared[offsets[5]] ; // [num_cams]; // 16 = 0x10 | 4 = 0x4 | return to system memory (optionally pass null to skip calculation)
float * max_diff_tmp = &all_shared[6] ; // [num_cams][TEXTURE_THREADS_PER_TILE]; // 16 * 8 = 0x80 | 4 * 8 = 0x20 | [4][8] float * max_diff_tmp = &all_shared[offsets[6]] ; // [num_cams][TEXTURE_THREADS_PER_TILE]; // 16 * 8 = 0x80 | 4 * 8 = 0x20 | [4][8]
float * ports_rgb_tmp = &all_shared[7] ; // [colors][num_cams][TEXTURE_THREADS_PER_TILE]; // 16 * 1 * 8 = 0x80 | 4 * 3 * 8 = 0x60 | [4*3][8] float * ports_rgb_tmp = &all_shared[offsets[7]] ; // [colors][num_cams][TEXTURE_THREADS_PER_TILE]; // 16 * 1 * 8 = 0x80 | 4 * 3 * 8 = 0x60 | [4*3][8]
// __shared__ float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21]; // 16*1*16*17=0x1100 | 4*3*16*17=0xcc0
// __shared__ union {
// float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1]; // 16 * 1 * 4 * 8 * 9 = 0x1200 | 4 * 3 * 4 * 8 * 9 = 0xd80
// float mclt_debayer [NUM_CAMS][NUM_COLORS][MCLT_UNION_LEN]; // 16 * 1 * 16 * 18 = 0x1200 | 4 * 3 * 16 * 18 = 0xd80 | to align with clt_tiles
// } shr;
// __shared__ union {
// float mclt_tmp [NUM_CAMS][NUM_COLORS][DTT_SIZE2][DTT_SIZE21]; // 16*1*16*17=0x1100 | 4*3*16*17=0xcc0
// float rgbaw [NUM_COLORS + 1 + NUM_CAMS + NUM_COLORS + 1][DTT_SIZE2][DTT_SIZE21];
// // (1 + 1 + 16 + 1 + 1)*16*17 = 0x1540 | (3 + 1 + 4 + 3 + 1)*16*17 = 0xcc0
// // add more
// } shr1;
// __shared__ float port_offsets [NUM_CAMS][2]; // 16 * 2 = 0x20 | 4*2 = 0x8
// __shared__ float ports_rgb_shared [NUM_COLORS][NUM_CAMS]; // 16 * 1 = 0x10 | 4 * 3 = 0xc | return to system memory (optionally pass null to skip calculation)
// __shared__ float max_diff_shared [NUM_CAMS]; // 16 = 0x10 | 4 = 0x4 | return to system memory (optionally pass null to skip calculation)
// __shared__ float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE]; // 16 * 8 = 0x80 | 4 * 8 = 0x20 | [4][8]
// __shared__ float ports_rgb_tmp [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE]; // 16 * 1 * 8 = 0x80 | 4 * 3 * 8 = 0x60 | [4*3][8]
#ifdef DBG_TILE #ifdef DBG_TILE
#ifdef DEBUG7 #ifdef DEBUG7AXX
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if (tile_num == DBG_TILE){ // } && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen tile = %d\n",tile_num); printf("\ntextures_gen tile = %d\n",tile_num);
// debug_print_clt1(clt_tile1, color, 0xf); // // debug_print_clt1(clt_tile1, color, 0xf); //
// printf("\textures_gen tile = %d, pair=%d, color = %d CAMERA22\n",tile_num, corr_pair,color); // printf("\textures_gen tile = %d, pair=%d, color = %d CAMERA22\n",tile_num, corr_pair,color);
...@@ -3009,22 +3030,16 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3009,22 +3030,16 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
if (threadIdx.x < 2){ // not more than 16 sensors, not less than if (threadIdx.x < 2){ // not more than 16 sensors, not less than
port_offsets[camera_num * 2 + threadIdx.x] = gpu_geometry_correction->rXY[camera_num][threadIdx.x]; port_offsets[camera_num * 2 + threadIdx.x] = gpu_geometry_correction->rXY[camera_num][threadIdx.x];
} }
__syncthreads();// __syncwarp(); // is it needed?
for (int color = 0; color < colors; color++){ for (int color = 0; color < colors; color++){
// int offs = (tile_num * NUM_COLORS + color) * (4 * DTT_SIZE * DTT_SIZE); // clt_tiles is union with mclt_debayer, so has to have same step
// float * clt_tile = ((float *) shr.clt_tiles[camera_num][color]); // start of 4 * DTT_SIZE * DTT_SIZE block, no threadIdx.x here float * clt_tile = clt_tiles + (camera_num * colors + color) * MCLT_UNION_LEN;
// float * clt_tilei = clt_tile + threadIdx.x;
// float * gpu_tile = ((float *) gpu_clt[camera_num]) + (tile_num * NUM_COLORS + color) * (4 * DTT_SIZE * DTT_SIZE) + threadIdx.x;
// float * mclt_tile = (float *) mclt_tiles [camera_num][color];
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
// float * mclt_tmp = (float *) shr1.mclt_tmp[camera_num][color];
int cam_col = (camera_num * colors + color);
float * clt_tile = clt_tiles + cam_col * 2 * DTT_SIZE * DTT_SIZE21; // start of 4 * DTT_SIZE * DTT_SIZE block, no threadIdx.x here
float * clt_tilei = clt_tile + threadIdx.x; // threadIdx.x = 0..7 here float * clt_tilei = clt_tile + threadIdx.x; // threadIdx.x = 0..7 here
float * gpu_tile = ((float *) gpu_clt[camera_num]) + (tile_num * colors + color) * (4 * DTT_SIZE * DTT_SIZE) + threadIdx.x; float * gpu_tile = ((float *) gpu_clt[camera_num]) + (tile_num * colors + color) * (4 * DTT_SIZE * DTT_SIZE) + threadIdx.x;
float * mclt_tile = mclt_tiles + (camera_num * colors+ color) * 2 * DTT_SIZE * DTT_SIZE21; float * mclt_tile = mclt_tiles + (camera_num * colors + color) * 2 * DTT_SIZE * DTT_SIZE21;
float * mclt_dst = mclt_debayer + (camera_num* colors + color) * MCLT_UNION_LEN; // 16 * 18 float * mclt_dst = mclt_debayer + (camera_num * colors + color) * MCLT_UNION_LEN; // 16 * 18
float * mclt_tmp = mclt_tmps + (camera_num* colors + color) * DTT_SIZE2 * DTT_SIZE21; float * mclt_tmp = mclt_tmps + (camera_num * colors + color) * DTT_SIZE2 * DTT_SIZE21; // 16*17
// no camera_num below // no camera_num below
#pragma unroll #pragma unroll
for (int q = 0; q < 4; q++) { for (int q = 0; q < 4; q++) {
...@@ -3039,7 +3054,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3039,7 +3054,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
} }
} }
__syncthreads(); __syncthreads();
#ifdef DEBUG7 #ifdef DEBUG7AXXX
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen LPF for color = %d\n",color); printf("\ntextures_gen LPF for color = %d\n",color);
debug_print_lpf(lpf_data[(colors > 1)? color : 3]); debug_print_lpf(lpf_data[(colors > 1)? color : 3]);
...@@ -3050,7 +3065,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3050,7 +3065,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
#ifdef DBG_TILE // perform idct #ifdef DBG_TILEXXX // perform idct
imclt8threads( imclt8threads(
0, // int do_acc, // 1 - add to previous value, 0 - overwrite 0, // int do_acc, // 1 - add to previous value, 0 - overwrite
clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9] clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9]
...@@ -3064,17 +3079,19 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3064,17 +3079,19 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
0); 0);
#endif #endif
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#ifdef DEBUG7 #ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen mclt color = %d\n",color); for (int ncam = camera_num_offs; ncam < (camera_num_offs + 4); ncam++){
printf("\n3104 textures_gen mclt camera = % d, color = %d\n",ncam, color);
debug_print_mclt( debug_print_mclt(
mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) mclt_tiles + (ncam * colors + color) * 2 * DTT_SIZE * DTT_SIZE21, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
color); color);
} }
}
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
if (colors > 1) { if (colors > 1) {
#ifdef DBG_TILE #ifdef DBG_TILE_XXX
debayer_shot( debayer_shot(
(color < 2), // const int rb_mode, // 0 - green, 1 - r/b (color < 2), // const int rb_mode, // 0 - green, 1 - r/b
min_shot, // float min_shot, // 10.0 min_shot, // float min_shot, // 10.0
...@@ -3098,67 +3115,114 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3098,67 +3115,114 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
// copy? - no, just remember to use mclt_tile, not mclt_dst // copy? - no, just remember to use mclt_tile, not mclt_dst
// will have to copy mclt_tiles -> mclt_dst as they have different gaps // will have to copy mclt_tiles -> mclt_dst as they have different gaps
// untested copy for mono mode // untested copy for mono mode
#pragma unroll
#ifdef DEBUG7AXXX
if (tile_num == DBG_TILE) {
// for (int n = 0; n <= DTT_SIZE; n += DTT_SIZE){
int n = 0;
printf("textures_gen mclt_tile camera_num_offs= %d threadIdx.y= %d, threadIdx.x= %d, n=%d, msp=0x%x, dst=0x%x\n",
camera_num_offs,threadIdx.y, threadIdx.x, n,
(int) (mclt_tile + threadIdx.x + n), (int)(mclt_dst + threadIdx.x + n));
// }
}
__syncthreads();// __syncwarp();
#endif
#ifdef DEBUG7AXX // Good here
if (tile_num == DBG_TILE) {
for (int ccam = 0; ccam < num_cams; ccam++) {
if ((threadIdx.x == 0) && (camera_num == ccam)){
printf("\n3155 textures_gen mclt_tile camera_num_offs= %d threadIdx.y= %d, color = %d\n",camera_num_offs,threadIdx.y, color);
debug_print_mclt( // broken for camera 1
mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
}
printf("3162 camera_num_offs= %d threadIdx.y= %d, color = %d mclt_tile=0x%x, mclt_dst=0x%x\n",
camera_num_offs,threadIdx.y, color, (int) mclt_tile, (int) mclt_dst);
}
__syncthreads();// __syncwarp();
#endif
//#ifdef DEBUGXXXX // no copy at all
//#pragma unroll
for (int n = 0; n <= DTT_SIZE; n += DTT_SIZE){ for (int n = 0; n <= DTT_SIZE; n += DTT_SIZE){
float * msp = mclt_tile + threadIdx.x + n; float * msp = mclt_tile + threadIdx.x + n;
float * dst = mclt_dst + threadIdx.x + n; float * dst = mclt_dst + threadIdx.x + n;
#pragma unroll //#pragma unroll
for (int row = 0; row < DTT_SIZE2; row++){ for (int row = 0; row < DTT_SIZE2; row++){
*dst = *msp; *dst = *msp;
msp += DTT_SIZE21; msp += DTT_SIZE21;
dst += DTT_SIZE21; dst += DTT_SIZE21;
} }
} }
//#endif
__syncthreads(); __syncthreads();
} } //if (colors > 1) else
#ifdef DEBUG77
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
#ifdef DEBUG7AXX // still good here
if (tile_num == DBG_TILE) {
for (int ccam = 0; ccam < num_cams; ccam++) { for (int ccam = 0; ccam < num_cams; ccam++) {
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == ccam)){ if ((threadIdx.x == 0) && ((camera_num & 0x3) == (ccam & 0x3))){
printf("\ntextures_gen AFTER DEBAER cam= %d, color = %d\n",threadIdx.y, color); printf("\n 3185 mclt_tile : textures_gen mclt_tile camera_num_offs= %d camera number= %d threadIdx.y= %d, color = %d\n", camera_num_offs, ccam,threadIdx.y, color);
debug_print_mclt( // broken for camera 1
// mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
mclt_tiles + (ccam * colors + color) * 2 * DTT_SIZE * DTT_SIZE21,
-1);
printf("\n 3190 mclt_dst: textures_gen AFTER DEBAER camera_num_offs= %d camera number= %d threadIdx.y= %d, color = %d\n", camera_num_offs, ccam, threadIdx.y, color);
debug_print_mclt( debug_print_mclt(
mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) // mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
mclt_debayer +(ccam * colors + color) * MCLT_UNION_LEN, // 16 * 18
-1); -1);
/*
printf("\ntextures_gen AFTER DEBAER0 cam= %d, color = %d\n",threadIdx.y, 0); printf("\ntextures_gen AFTER DEBAER0 cam= %d, color = %d\n",threadIdx.y, 0);
debug_print_mclt( debug_print_mclt(
(float *) shr.mclt_debayer[ccam][0], // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) mclt_debayer + (ccam * colors * MCLT_UNION_LEN), // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1); -1);
*/
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
} }
}
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
} // for (int color = 0; color < colors; color++) } // for (int color = 0; color < colors; color++)
__syncthreads(); // __syncwarp(); __syncthreads(); // __syncwarp();
/// return; /// return;
#ifdef DEBUG77
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ // __shared__ float mclt_tiles [num_cams][colors][2*DTT_SIZE][DTT_SIZE21];
} // end of sequential camera group: for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y)
#ifdef DEBUG7A
//#ifdef DEBUG22
for (int ccam = 0; ccam < num_cams; ccam++) { for (int ccam = 0; ccam < num_cams; ccam++) {
// if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == ccam)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int nncol = 0; nncol < colors; nncol++){ for (int nncol = 0; nncol < colors; nncol++){
printf("\ntextures_gen AFTER DEBAER1 cam= %d, color = %d\n",ccam, nncol); printf("\n3227: mclt_tiles + (ccam * colors + nncol) * 2 * DTT_SIZE * DTT_SIZE21 cam= %d, color = %d\n",ccam, nncol);
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color]; // float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
debug_print_mclt( debug_print_mclt(
(float *) shr.mclt_debayer[ccam][nncol], // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) mclt_tiles + (ccam * colors + nncol) * 2 * DTT_SIZE * DTT_SIZE21,
-1); -1);
} }
} }
__syncthreads();// __syncwarp();
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
#ifdef DEBUG77 #ifdef DEBUG7A
//#ifdef DEBUG22 //#ifdef DEBUG22
for (int ccam = 0; ccam < num_cams; ccam++) { for (int ccam = 0; ccam < num_cams; ccam++) {
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == ccam)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int nncol = 0; nncol < colors; nncol++){ for (int nncol = 0; nncol < colors; nncol++){
printf("\ntextures_gen AFTER DEBAER1 cam= %d, color = %d\n",ccam, nncol); printf("\n 3244 mclt_dst: textures_gen AFTER DEBAER camera number= %d threadIdx.y= %d, color = %d\n", ccam, threadIdx.y, nncol);
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
debug_print_mclt( debug_print_mclt(
(float *) shr.mclt_debayer[ccam][nncol], // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) mclt_debayer +(ccam * colors + nncol) * MCLT_UNION_LEN, // 16 * 18
-1); -1);
} }
} }
...@@ -3166,8 +3230,9 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3166,8 +3230,9 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
// __shared__ float mclt_tiles [num_cams][colors][2*DTT_SIZE][DTT_SIZE21];
} // end of sequential camera group: for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y)
#ifdef DBG_TILE #ifdef DBG_TILE
int debug = (tile_num == DBG_TILE); int debug = (tile_num == DBG_TILE);
#else #else
...@@ -3237,7 +3302,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3237,7 +3302,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
} }
} }
#ifdef DEBUG7 #ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("textures_accumulate tile done = %d, texture_stride= %d\n",tile_num, (int) texture_stride); printf("textures_accumulate tile done = %d, texture_stride= %d\n",tile_num, (int) texture_stride);
} }
...@@ -3252,7 +3317,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3252,7 +3317,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
} }
if (gpu_texture_rbg && (texture_rbg_stride != 0)) { // generate RGBA if (gpu_texture_rbg && (texture_rbg_stride != 0)) { // generate RGBA
#ifdef DEBUG12 #ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
// printf("\ntextures_accumulate accumulating tile = %d, tile_code= %d, border_tile=%d\n", // printf("\ntextures_accumulate accumulating tile = %d, tile_code= %d, border_tile=%d\n",
// tile_num, (int) tile_code, border_tile); // tile_num, (int) tile_code, border_tile);
...@@ -3261,13 +3326,14 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3261,13 +3326,14 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
for (int ncol = 0; ncol <= colors; ncol++) { for (int ncol = 0; ncol <= colors; ncol++) {
printf("\ntile[%d]\n",ncol); printf("\ntile[%d]\n",ncol);
debug_print_mclt( debug_print_mclt(
(float *) (shr1.rgbaw[ncol]), // (float *) (shr1.rgbaw[ncol]),
rgbaw + (ncol + (DTT_SIZE2 * DTT_SIZE21)),
-1); -1);
} }
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // DEBUG12 #endif // DEBUG12
int alpha_mode = alphaIndex[tile_code]; int alpha_mode = alphaIndex[tile_code]; // only 4 lowest bits
if (!alpha_mode){ // only multiply if needed, alpha_mode == 0 - keep as is. if (!alpha_mode){ // only multiply if needed, alpha_mode == 0 - keep as is.
for (int pass = 0; pass < 8; pass ++) { for (int pass = 0; pass < 8; pass ++) {
int row = pass * 2 + (threadIdx.y >> 1); int row = pass * 2 + (threadIdx.y >> 1);
...@@ -3296,7 +3362,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3296,7 +3362,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
int tile_y0 = (tileY - *(woi + 1)) * DTT_SIZE; // - (DTT_SIZE/2); // may be negative == -4 int tile_y0 = (tileY - *(woi + 1)) * DTT_SIZE; // - (DTT_SIZE/2); // may be negative == -4
/// int height = *(woi + 3) << DTT_SIZE_LOG2; /// int height = *(woi + 3) << DTT_SIZE_LOG2;
#ifdef DEBUG12 #ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_accumulate () tileX=%d, tileY=%d, tile_x0=%d, tile_y0=%d, slice_stride=%d\n", printf("\ntextures_accumulate () tileX=%d, tileY=%d, tile_x0=%d, tile_y0=%d, slice_stride=%d\n",
tileX, tileY, tile_x0, tile_y0, slice_stride); tileX, tileY, tile_x0, tile_y0, slice_stride);
...@@ -3304,7 +3370,8 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3304,7 +3370,8 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
for (int ncol = 0; ncol <= colors; ncol++) { for (int ncol = 0; ncol <= colors; ncol++) {
printf("\ntile[%d]\n",ncol); printf("\ntile[%d]\n",ncol);
debug_print_mclt( debug_print_mclt(
(float *) (shr1.rgbaw[ncol]), // (float *) (shr1.rgbaw[ncol]),
rgbaw + (ncol + (DTT_SIZE2 * DTT_SIZE21)),
-1); -1);
} }
} }
...@@ -3319,7 +3386,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3319,7 +3386,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
int gi = g_row * texture_rbg_stride + g_col; // offset to the top left corner int gi = g_row * texture_rbg_stride + g_col; // offset to the top left corner
float * gpu_texture_rbg_gi = gpu_texture_rbg + gi; float * gpu_texture_rbg_gi = gpu_texture_rbg + gi;
float * rgba_i = rgbaw + i; float * rgba_i = rgbaw + i;
#ifdef DEBUG12 #ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_accumulate () pass=%d, row=%d, col=%d, g_row=%d, g_col=%d, i=%d, gi=%d\n", printf("\ntextures_accumulate () pass=%d, row=%d, col=%d, g_row=%d, g_col=%d, i=%d, gi=%d\n",
pass, row, col, g_row, g_col, i, gi); pass, row, col, g_row, g_col, i, gi);
...@@ -3348,62 +3415,61 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -3348,62 +3415,61 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
} // if (gpu_texture_rbg) { // generate RGBA } // if (gpu_texture_rbg) { // generate RGBA
if (calc_extra){ // gpu_diff_rgb_combo if (calc_extra){ // gpu_diff_rgb_combo
__syncthreads(); // needed? __syncthreads(); // needed?
#ifdef DEBUG22 #ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\n3. tile_indx=%d, tile_num=%d\n",tile_indx,tile_num); printf("\n3. tile_indx=%d, tile_num=%d\n",tile_indx,tile_num);
printf("max_diff: %f, %f, %f, %f\n",max_diff_shared[0],max_diff_shared[1],max_diff_shared[2],max_diff_shared[3]); printf ("max_diff: ");for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",max_diff_shared[ccam]);} printf("\n");
printf("R: %f, %f, %f, %f\n",ports_rgb_shared[0][0],ports_rgb_shared[0][1],ports_rgb_shared[0][2],ports_rgb_shared[0][3]); for (int ccol = 0; ccol < colors; ccol++){
printf("B: %f, %f, %f, %f\n",ports_rgb_shared[1][0],ports_rgb_shared[1][1],ports_rgb_shared[1][2],ports_rgb_shared[1][3]); printf("color%d: ",ccol);for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",ports_rgb_shared[ccol * num_cams +ccam]);} printf("\n");
printf("G: %f, %f, %f, %f\n",ports_rgb_shared[2][0],ports_rgb_shared[2][1],ports_rgb_shared[2][2],ports_rgb_shared[2][3]); }
printf("\n 3. max_diff\n");
printf("total %f %f %f %f\n",max_diff_shared[0],max_diff_shared[1],max_diff_shared[2],max_diff_shared[3]);
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ 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]); printf("tmp[%d]: ",i); for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",max_diff_tmp[ccam * TEXTURE_THREADS_PER_TILE + i]);} printf("\n");
} }
for (int ncol = 0; ncol < colors; ncol++){ for (int ncol = 0; ncol < colors; ncol++){
printf("\n%d:total %f %f %f %f\n", printf("\n%d:total ",ncol);
ncol, for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",ports_rgb_shared[ ncol *num_cams +ccam]);} printf("\n");
ports_rgb_shared[ncol][0],
ports_rgb_shared[ncol][1],
ports_rgb_shared[ncol][2],
ports_rgb_shared[ncol][3]);
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
printf("tmp[%d] %f %f %f %f\n", printf("tmp[%d] ",i);
i, for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",ports_rgb_tmp[(ncol*num_cams + ccam) * TEXTURE_THREADS_PER_TILE+ i]);} printf("\n");
ports_rgb_tmp[ncol][0][i],
ports_rgb_tmp[ncol][1][i],
ports_rgb_tmp[ncol][2][i],
ports_rgb_tmp[ncol][3][i]);
} }
} }
}
__syncthreads();
//DBG_TILE
#endif// #ifdef DEBUG7A
#ifdef DEBUG7A
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\n4. tile_indx=%d, tile_num=%d, DBG_TILE = %d\n",tile_indx,tile_num, DBG_TILE);
} }
__syncthreads(); __syncthreads();
//DBG_TILE //DBG_TILE
#endif// #ifdef DEBUG22 #endif// #ifdef DEBUG7A
int tile_offset = (linescan_order ? tile_num : tile_indx) * num_cams* (colors + 1);
for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y) {// assuming num_cams is multiple blockDim.y for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y) {// assuming num_cams is multiple blockDim.y
int camera_num = threadIdx.y + camera_num_offs; int camera_num = threadIdx.y + camera_num_offs;
// float * pdiff_rgb_combo = gpu_diff_rgb_combo + tile_indx * NUM_CAMS* (colors + 1) + camera_num;
float * pdiff_rgb_combo = gpu_diff_rgb_combo + tile_indx * num_cams* (colors + 1) + camera_num; // Maybe needs to be changed back if output data should match tile index in task list, not the tile absolute position
// float * pdiff_rgb_combo = gpu_diff_rgb_combo + tile_num * num_cams* (colors + 1) + camera_num;//
float * pdiff_rgb_combo = gpu_diff_rgb_combo + tile_offset + camera_num;//
if (threadIdx.x == 0){ if (threadIdx.x == 0){
*pdiff_rgb_combo = max_diff_shared[camera_num]; *pdiff_rgb_combo = max_diff_shared[camera_num];
} }
if (threadIdx.x < colors){ if (threadIdx.x < colors){
// *(pdiff_rgb_combo + (threadIdx.x + 1) * NUM_CAMS) = ports_rgb_shared[threadIdx.x][camera_num];// [color][camera]
*(pdiff_rgb_combo + (threadIdx.x + 1) * num_cams) = ports_rgb_shared[threadIdx.x * num_cams + camera_num];// [color][camera] *(pdiff_rgb_combo + (threadIdx.x + 1) * num_cams) = ports_rgb_shared[threadIdx.x * num_cams + camera_num];// [color][camera]
} }
} }
} } // if (calc_extra){ // gpu_diff_rgb_combo
} // textures_accumulate() } // textures_accumulate()
__device__ int get_textures_shared_size( // in bytes __device__ int get_textures_shared_size( // in bytes
//__device__ int get_textures_shared_size( // in bytes
int num_cams, // actual number of cameras int num_cams, // actual number of cameras
int num_colors, // actual number of colors: 3 for RGB, 1 for LWIR/mono int num_colors, // actual number of colors: 3 for RGB, 1 for LWIR/mono
int * offsets){ // in floats int * offsets){ // in floats
int shared_floats = 0; // int shared_floats = 0;
int offs = 0; int offs = 0;
// int texture_threads_per_tile = TEXTURE_THREADS/num_cams; // int texture_threads_per_tile = TEXTURE_THREADS/num_cams;
if (offsets) offsets[0] = offs; if (offsets) offsets[0] = offs;
...@@ -3411,7 +3477,9 @@ __device__ int get_textures_shared_size( // in bytes ...@@ -3411,7 +3477,9 @@ __device__ int get_textures_shared_size( // in bytes
if (offsets) offsets[1] = offs; if (offsets) offsets[1] = offs;
offs += num_cams * num_colors * 4 * DTT_SIZE * DTT_SIZE1; // float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1] offs += num_cams * num_colors * 4 * DTT_SIZE * DTT_SIZE1; // float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1]
if (offsets) offsets[2] = offs; if (offsets) offsets[2] = offs;
offs += num_cams * num_colors * DTT_SIZE2 * DTT_SIZE21; //float mclt_tmp [NUM_CAMS][NUM_COLORS][DTT_SIZE2][DTT_SIZE21]; int mclt_tmp_size = num_cams * num_colors * DTT_SIZE2 * DTT_SIZE21; // [NUM_CAMS][NUM_COLORS][DTT_SIZE2][DTT_SIZE21]
int rgbaw_size = (2* (num_colors + 1) + num_cams) * DTT_SIZE2 * DTT_SIZE21; // [NUM_COLORS + 1 + NUM_CAMS + NUM_COLORS + 1][DTT_SIZE2][DTT_SIZE21]
offs += (rgbaw_size > mclt_tmp_size) ? rgbaw_size : mclt_tmp_size;
if (offsets) offsets[3] = offs; if (offsets) offsets[3] = offs;
offs += num_cams * 2; // float port_offsets [NUM_CAMS][2]; offs += num_cams * 2; // float port_offsets [NUM_CAMS][2];
if (offsets) offsets[4] = offs; if (offsets) offsets[4] = offs;
...@@ -3421,9 +3489,9 @@ __device__ int get_textures_shared_size( // in bytes ...@@ -3421,9 +3489,9 @@ __device__ int get_textures_shared_size( // in bytes
if (offsets) offsets[6] = offs; if (offsets) offsets[6] = offs;
offs += num_cams * TEXTURE_THREADS_PER_TILE; // float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE] offs += num_cams * TEXTURE_THREADS_PER_TILE; // float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE]
if (offsets) offsets[7] = offs; if (offsets) offsets[7] = offs;
offs += offs += num_colors * num_cams * TEXTURE_THREADS_PER_TILE; //float ports_rgb_tmp [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE]; offs += num_colors * num_cams * TEXTURE_THREADS_PER_TILE; //float ports_rgb_tmp [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE];
if (offsets) offsets[8] = offs; if (offsets) offsets[8] = offs;
return sizeof(float) * shared_floats; return sizeof(float) * offs; // shared_floats;
} }
...@@ -3450,11 +3518,25 @@ __global__ void imclt_rbg_all( ...@@ -3450,11 +3518,25 @@ __global__ void imclt_rbg_all(
int woi_theight, int woi_theight,
const size_t dstride) // in floats (pixels) const size_t dstride) // in floats (pixels)
{ {
// int num_cams = sizeof(gpu_clt)/sizeof(&gpu_clt[0]); // int num_cams = sizeof(gpu_clt)/sizeof(&gpu_clt[0]);
dim3 threads_erase8x8(DTT_SIZE, NUM_THREADS/DTT_SIZE, 1);
dim3 grid_erase8x8_right_col (1, woi_theight + 1, 1);
dim3 grid_erase8x8_bottom_row(woi_twidth + 1, 1, 1);
dim3 threads_imclt(IMCLT_THREADS_PER_TILE, IMCLT_TILES_PER_BLOCK, 1); dim3 threads_imclt(IMCLT_THREADS_PER_TILE, IMCLT_TILES_PER_BLOCK, 1);
if (threadIdx.x == 0) { // anyway 1,1,1 if (threadIdx.x == 0) { // anyway 1,1,1
for (int ncam = 0; ncam < num_cams; ncam++) { // was NUM_CAMS for (int ncam = 0; ncam < num_cams; ncam++) { // was NUM_CAMS
for (int color = 0; color < colors; color++) { for (int color = 0; color < colors; color++) {
// clear right and bottom 8-pixel column and row
float *right_col = gpu_corr_images[ncam] + dstride * (woi_theight * DTT_SIZE + DTT_SIZE) * color + (woi_twidth * DTT_SIZE);
erase8x8<<<grid_erase8x8_right_col,threads_erase8x8>>>(
right_col, // float * gpu_top_left,
dstride); // const size_t dstride);
float *bottom_row = gpu_corr_images[ncam] + dstride * (woi_theight * DTT_SIZE + DTT_SIZE) * color + dstride * (woi_theight * DTT_SIZE);
erase8x8<<<grid_erase8x8_bottom_row,threads_erase8x8>>>(
bottom_row, // float * gpu_top_left,
dstride); // const size_t dstride);
for (int v_offs = 0; v_offs < 2; v_offs++){ for (int v_offs = 0; v_offs < 2; v_offs++){
for (int h_offs = 0; h_offs < 2; h_offs++){ for (int h_offs = 0; h_offs < 2; h_offs++){
int tilesy_half = (woi_theight + (v_offs ^ 1)) >> 1; int tilesy_half = (woi_theight + (v_offs ^ 1)) >> 1;
...@@ -3481,7 +3563,25 @@ __global__ void imclt_rbg_all( ...@@ -3481,7 +3563,25 @@ __global__ void imclt_rbg_all(
} }
} }
/**
* Clear 8x8 tiles, used to erase right and bottom 8-pixel wide column/row before imclt_rbg
* @param gpu_top_left - pointer to the top-left corner of the firsr tile to erase
* @param dstride - offset for 1 pixel step down
* block.x - horizontal tile offset
* block.y - vertical tile offset
* 0<=thread.x < 8 - horizontal pixel offset
* 0<=thread.y < 4 - vertical pixel offset
*/
extern "C"
__global__ void erase8x8(
float * gpu_top_left,
const size_t dstride)
{
float * pixel = gpu_top_left + (((blockIdx.y * DTT_SIZE) + threadIdx.y) * dstride) + ((blockIdx.x * DTT_SIZE) + threadIdx.x);
* pixel = 0.0f;
pixel += dstride * blockDim.y; // add 4 pixel rows (assuming blockDim.x==4)
* pixel = 0.0f;
}
/** /**
* Helper kernel for imclt_rbg_all(), generate per-camera -per color image from the in-memory frequency domain representation. * Helper kernel for imclt_rbg_all(), generate per-camera -per color image from the in-memory frequency domain representation.
...@@ -3510,7 +3610,7 @@ __global__ void imclt_rbg( ...@@ -3510,7 +3610,7 @@ __global__ void imclt_rbg(
const size_t dstride) // in floats (pixels) const size_t dstride) // in floats (pixels)
{ {
float *color_plane = gpu_rbg + dstride * (woi_theight * DTT_SIZE + DTT_SIZE) * color; float *color_plane = gpu_rbg + dstride * (woi_theight * DTT_SIZE + DTT_SIZE) * color;
int pass = (v_offset << 1) + h_offset; // 0..3 to correctly acummulate 16x16 tiles stride 8 int pass = (v_offset << 1) + h_offset; // 0..3 to correctly accumulate 16x16 tiles stride 8
int tile_in_block = threadIdx.y; int tile_in_block = threadIdx.y;
int tile_num = blockIdx.x * IMCLT_TILES_PER_BLOCK + tile_in_block; int tile_num = blockIdx.x * IMCLT_TILES_PER_BLOCK + tile_in_block;
int tilesx_half = (woi_twidth + (h_offset ^ 1)) >> 1; int tilesx_half = (woi_twidth + (h_offset ^ 1)) >> 1;
...@@ -4771,10 +4871,10 @@ __device__ void debayer( // 8 threads ...@@ -4771,10 +4871,10 @@ __device__ void debayer( // 8 threads
* @param calc_extra calculate ports_rgb, max_diff. If not null - will ignore rbg_tile, so this mode * @param calc_extra calculate ports_rgb, max_diff. If not null - will ignore rbg_tile, so this mode
* should not be combined with texture generation. It is intended to generate a * should not be combined with texture generation. It is intended to generate a
* lo-res (1/8) images for macro correlation * lo-res (1/8) images for macro correlation
* @param ports_rgb_shared shared memory data to be used to return lo-res images tile average color [NUM_COLORS][NUM_CAMS] * @param ports_rgb_shared shared memory data to be used to return lo-res images tile average color [NUM_COLORS * NUM_CAMS]
* @param max_diff_shared shared memory data to be used to return lo-res images tile mismatch form average [NUM_CAMS] * @param max_diff_shared shared memory data to be used to return lo-res images tile mismatch from average [NUM_CAMS]
* @param max_diff_tmp shared memory to be used here for temporary storage [NUM_CAMS][TEXTURE_THREADS_PER_TILE] * @param max_diff_tmp shared memory to be used here for temporary storage [NUM_CAMS * TEXTURE_THREADS_PER_TILE]
* @param ports_rgb_tmp shared memory to be used here for temporary storage [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE], [4*3][8] * @param ports_rgb_tmp shared memory to be used here for temporary storage [NUM_COLORS *NUM_CAMS * TEXTURE_THREADS_PER_TILE], [4*3][8]
* @param port_offsets [port]{x_off, y_off} - just to scale pixel value differences (quad - {{-0.5, -0.5},{0.5,-0.5},{-0.5,0.5},{0.5,0.5}} * @param port_offsets [port]{x_off, y_off} - just to scale pixel value differences (quad - {{-0.5, -0.5},{0.5,-0.5},{-0.5,0.5},{0.5,0.5}}
* @param diff_sigma pixel value/pixel change (1.5) * @param diff_sigma pixel value/pixel change (1.5)
* @param diff_threshold pixel value/pixel change (10) * @param diff_threshold pixel value/pixel change (10)
...@@ -4843,9 +4943,18 @@ __device__ void tile_combine_rgba( ...@@ -4843,9 +4943,18 @@ __device__ void tile_combine_rgba(
} }
int colors_offset = colors * MCLT_UNION_LEN; // padded in union ! int colors_offset = colors * MCLT_UNION_LEN; // padded in union !
#ifdef DEBUG8 #ifdef DEBUG7A
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){ if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("diff_sigma = %f\n", diff_sigma);
printf("diff_threshold = %f\n",diff_threshold);
printf("min_agree = %f\n", min_agree);
printf("chn_weights[0] = %f\n",chn_weights[0]);
printf("chn_weights[1] = %f\n",chn_weights[1]);
printf("chn_weights[2] = %f\n",chn_weights[2]);
printf("dust_remove = %d\n",dust_remove);
printf("keep_weights = %d\n",keep_weights);
printf("\ntile_combine_rgba ksigma = %f\n",ksigma); printf("\ntile_combine_rgba ksigma = %f\n",ksigma);
for (int i = 0; i < indx; i++) { for (int i = 0; i < indx; i++) {
printf("%02d: %d :%d %f\n",i,pair_ports[i][0], pair_ports[i][1], pair_dist2r[i]); printf("%02d: %d :%d %f\n",i,pair_ports[i][0], pair_ports[i][1], pair_dist2r[i]);
...@@ -4941,10 +5050,10 @@ __device__ void tile_combine_rgba( ...@@ -4941,10 +5050,10 @@ __device__ void tile_combine_rgba(
float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym]; float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym];
float wnd2_inv = 1.0/wnd2; float wnd2_inv = 1.0/wnd2;
#pragma unroll //#pragma unroll
for (int ipair = 0; ipair < (num_cams*(num_cams-1)/2); ipair++){ for (int ipair = 0; ipair < (num_cams*(num_cams-1)/2); ipair++){
float d = 0; float d = 0;
#pragma unroll // non-constant //#pragma unroll // non-constant
for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null){ for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null){
// double dc = iclt_tile[pair_ports[ip][0]][ncol][i] - iclt_tile[pair_ports[ip][1]][ncol][i]; // double dc = iclt_tile[pair_ports[ip][0]][ncol][i] - iclt_tile[pair_ports[ip][1]][ncol][i];
float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol; float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol;
...@@ -4993,7 +5102,7 @@ __device__ void tile_combine_rgba( ...@@ -4993,7 +5102,7 @@ __device__ void tile_combine_rgba(
float w1 = pw1/(pw1 + *(port_weights_i + bestPort2 * (DTT_SIZE2*DTT_SIZE21))); float w1 = pw1/(pw1 + *(port_weights_i + bestPort2 * (DTT_SIZE2*DTT_SIZE21)));
float w2 = 1.0 - w1; float w2 = 1.0 - w1;
float * rgba_i = rgba + i; float * rgba_i = rgba + i;
#pragma unroll // non-constant //#pragma unroll // non-constant
for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null) { for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null) {
float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol; float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol;
* (rgba_i + ncol * (DTT_SIZE2*DTT_SIZE21))= * (rgba_i + ncol * (DTT_SIZE2*DTT_SIZE21))=
...@@ -5157,7 +5266,7 @@ __device__ void tile_combine_rgba( ...@@ -5157,7 +5266,7 @@ __device__ void tile_combine_rgba(
// } // }
float a = 0; float a = 0;
#pragma unroll //#pragma unroll
for (int cam = 0; cam < num_cams; cam++) { for (int cam = 0; cam < num_cams; cam++) {
a += *(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam); a += *(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam);
} }
...@@ -5165,7 +5274,7 @@ __device__ void tile_combine_rgba( ...@@ -5165,7 +5274,7 @@ __device__ void tile_combine_rgba(
}// for (int pass = 0; pass < 8; pass ++) }// for (int pass = 0; pass < 8; pass ++)
__syncthreads(); __syncthreads();
#ifdef DEBUG8 #ifdef DEBUG7A // 8
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){ if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntile_combine_rgba() final\n"); printf("\ntile_combine_rgba() final\n");
for (int ncol = 0; ncol < colors; ncol++) { for (int ncol = 0; ncol < colors; ncol++) {
...@@ -5196,9 +5305,11 @@ __device__ void tile_combine_rgba( ...@@ -5196,9 +5305,11 @@ __device__ void tile_combine_rgba(
if (calc_extra){ if (calc_extra){
int cam = threadIdx.y; for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y) {// assuming num_cams is multiple blockDim.y
int indx = cam * TEXTURE_THREADS_PER_TILE + threadIdx.x; int cam = camera_num_offs + threadIdx.y;
// max_diff_tmp[cam][threadIdx.x] = 0.0; int indx0 = cam * TEXTURE_THREADS_PER_TILE;
int indx = indx0 + threadIdx.x;
// max_diff_tmp[cam][threadIdx.x] = 0.0;
max_diff_tmp[indx] = 0.0; max_diff_tmp[indx] = 0.0;
#pragma unroll #pragma unroll
for (int pass = 0; pass < 32; pass++){ for (int pass = 0; pass < 32; pass++){
...@@ -5207,12 +5318,12 @@ __device__ void tile_combine_rgba( ...@@ -5207,12 +5318,12 @@ __device__ void tile_combine_rgba(
int i = row * DTT_SIZE21 + col; int i = row * DTT_SIZE21 + col;
float * mclt_cam_i = mclt_tile + colors_offset * cam + i; float * mclt_cam_i = mclt_tile + colors_offset * cam + i;
float d2 = 0.0; float d2 = 0.0;
#pragma unroll // non-constant //#pragma unroll // non-constant
for (int ncol = 0; ncol < colors; ncol++){ for (int ncol = 0; ncol < colors; ncol++){
float dc = *(mclt_cam_i + (DTT_SIZE2*(DTT_SIZE21 + 1)) * ncol) - *(rgba + (DTT_SIZE2*DTT_SIZE21) * ncol + i); 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 += *(chn_weights + ncol) * dc * dc;
} }
// max_diff_tmp[cam][threadIdx.x] = fmaxf(max_diff_tmp[cam][threadIdx.x], d2); //max_diff_tmp[cam][threadIdx.x] = fmaxf(max_diff_tmp[cam][threadIdx.x], d2);
max_diff_tmp[indx] = fmaxf(max_diff_tmp[indx], d2); max_diff_tmp[indx] = fmaxf(max_diff_tmp[indx], d2);
} }
__syncthreads(); __syncthreads();
...@@ -5220,8 +5331,8 @@ __device__ void tile_combine_rgba( ...@@ -5220,8 +5331,8 @@ __device__ void tile_combine_rgba(
float mx = 0.0; float mx = 0.0;
#pragma unroll #pragma unroll
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
// mx = fmaxf(mx, max_diff_tmp[cam][i]); // mx = fmaxf(mx, max_diff_tmp[cam][i]);
mx = fmaxf(mx, max_diff_tmp[indx]); mx = fmaxf(mx, max_diff_tmp[indx0 + i]);
} }
max_diff_shared[cam] = sqrtf(mx); max_diff_shared[cam] = sqrtf(mx);
} }
...@@ -5230,7 +5341,7 @@ __device__ void tile_combine_rgba( ...@@ -5230,7 +5341,7 @@ __device__ void tile_combine_rgba(
printf("\n 1. max_diff\n"); printf("\n 1. max_diff\n");
printf("total %f %f %f %f\n",max_diff_shared[0],max_diff_shared[1],max_diff_shared[2],max_diff_shared[3]); printf("total %f %f %f %f\n",max_diff_shared[0],max_diff_shared[1],max_diff_shared[2],max_diff_shared[3]);
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ 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]); // 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]);
printf("tmp[%d] %f %f %f %f\n",i, printf("tmp[%d] %f %f %f %f\n",i,
max_diff_tmp[0 * TEXTURE_THREADS_PER_TILE + i], max_diff_tmp[0 * TEXTURE_THREADS_PER_TILE + i],
max_diff_tmp[1 * TEXTURE_THREADS_PER_TILE + i], max_diff_tmp[1 * TEXTURE_THREADS_PER_TILE + i],
...@@ -5261,16 +5372,52 @@ __device__ void tile_combine_rgba( ...@@ -5261,16 +5372,52 @@ __device__ void tile_combine_rgba(
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // #ifdef DEBUG22 #endif // #ifdef DEBUG22
} // for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y)
#ifdef DEBUG7A
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\n X2. max_diff\n");
printf("total ");for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",max_diff_shared[ccam]);} printf("\n");
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
printf("tmp[%d]: ",i); for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",max_diff_tmp[ccam * TEXTURE_THREADS_PER_TILE + i]);} printf("\n");
} }
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);
}
}
}
__syncthreads();// __syncwarp();
#endif // #ifdef DEBUG7A
}
if (calc_extra) { if (calc_extra) {
int incr = num_cams * TEXTURE_THREADS_PER_TILE; int incr = num_cams * TEXTURE_THREADS_PER_TILE;
int cam = threadIdx.y; for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y) {// assuming num_cams is multiple blockDim.y
int cam = camera_num_offs + threadIdx.y;
// int cam = threadIdx.y; // BUG!
int indx = cam * TEXTURE_THREADS_PER_TILE + threadIdx.x; int indx = cam * TEXTURE_THREADS_PER_TILE + threadIdx.x;
int indx1 = indx; int indx1 = indx;
for (int ncol = 0; ncol < colors; ncol++){ for (int ncol = 0; ncol < colors; ncol++){
// ports_rgb_tmp[ncol][cam][threadIdx.x] = 0.0; // ports_rgb_tmp[ncol][cam][threadIdx.x] = 0.0;
ports_rgb_tmp[indx1 += incr] = 0.0; ports_rgb_tmp[indx1] = 0.0; // no difference in wrong zeros when removed
indx1 += incr;
}
#ifdef DEBUG7AXX
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\nAA: indx = %d, camera_num_offs=%d, indx1=%d, cam = %d\n",indx, camera_num_offs, indx1, cam);
__syncthreads();// __syncwarp();
} }
#endif // #ifdef DEBUG7A
#pragma unroll #pragma unroll
for (int pass = 0; pass < 32; pass++){ for (int pass = 0; pass < 32; pass++){
...@@ -5280,55 +5427,61 @@ __device__ void tile_combine_rgba( ...@@ -5280,55 +5427,61 @@ __device__ void tile_combine_rgba(
float * mclt_cam_i = mclt_tile + colors_offset * cam + i; float * mclt_cam_i = mclt_tile + colors_offset * cam + i;
indx1 = indx; indx1 = indx;
for (int ncol = 0; ncol < colors; ncol++){ for (int ncol = 0; ncol < colors; ncol++){
// ports_rgb_tmp[ncol][cam][threadIdx.x] += *(mclt_cam_i + (DTT_SIZE2*(DTT_SIZE21 +1)) * ncol); // ports_rgb_tmp[ncol][cam][threadIdx.x] += *(mclt_cam_i + (DTT_SIZE2*(DTT_SIZE21 +1)) * ncol);
ports_rgb_tmp[indx1 += incr] += *(mclt_cam_i + (DTT_SIZE2*(DTT_SIZE21 +1)) * ncol); // ports_rgb_tmp[indx1 += incr] += 1.0; /// *(mclt_cam_i + (DTT_SIZE2*(DTT_SIZE21 +1)) * ncol);
ports_rgb_tmp[indx1] += *(mclt_cam_i + (DTT_SIZE2*(DTT_SIZE21 +1)) * ncol);
indx1 += incr;
} }
} }
__syncthreads(); __syncthreads();
#ifdef DEBUG7AXX
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\nBB: indx = %d, camera_num_offs=%d, indx1=%d, cam = %d\n",indx, camera_num_offs, indx1, cam);
__syncthreads();// __syncwarp();
}
#endif // #ifdef DEBUG7A
if (threadIdx.x == 0){ // combine results if (threadIdx.x == 0){ // combine results
for (int ncol = 0; ncol < colors; ncol++){ for (int ncol = 0; ncol < colors; ncol++){
int indx2 = ncol * num_cams + cam; int indx2 = ncol * num_cams + cam;
// ports_rgb_shared[ncol][cam] = 0; // ports_rgb_shared[ncol][cam] = 0;
ports_rgb_shared[indx] = 0; ports_rgb_shared[indx2] = 0;
int indx3 = indx2 * TEXTURE_THREADS_PER_TILE; int indx3 = indx2 * TEXTURE_THREADS_PER_TILE;
#pragma unroll #pragma unroll
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
// ports_rgb_shared[ncol][cam] += ports_rgb_tmp[ncol][cam][i]; // ports_rgb_shared[ncol][cam] += ports_rgb_tmp[ncol][cam][i];
ports_rgb_shared[indx2] += ports_rgb_tmp[indx3++]; ports_rgb_shared[indx2] += ports_rgb_tmp[indx3++];
} }
ports_rgb_shared[indx2] /= DTT_SIZE2*DTT_SIZE2; // correct for window? ports_rgb_shared[indx2] /= DTT_SIZE2*DTT_SIZE2; // correct for window?
} }
} }
#ifdef DEBUG22 } // for (int camera_num_offs = 0; camera_num_offs < num_cams; camera_num_offs+= blockDim.y) {
__syncthreads();
#ifdef DEBUG7A
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){ if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\n 2. max_diff\n"); printf("\n 2. max_diff, ports_rgb_shared, DBG_TILE = %d\n",DBG_TILE);
printf("total %f %f %f %f\n",max_diff_shared[0],max_diff_shared[1],max_diff_shared[2],max_diff_shared[3]); // printf("total %f %f %f %f\n",max_diff_shared[0],max_diff_shared[1],max_diff_shared[2],max_diff_shared[3]);
printf("max_diff_shared ");for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",max_diff_shared[ccam]);} printf("\n");
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
printf("tmp[%d] %f %f %f %f\n",i, printf("tmp[%d]: ",i); for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",max_diff_tmp[ccam * TEXTURE_THREADS_PER_TILE + i]);} printf("\n");
max_diff_tmp[0 * TEXTURE_THREADS_PER_TILE + i],
max_diff_tmp[1 * TEXTURE_THREADS_PER_TILE + i],
max_diff_tmp[2 * TEXTURE_THREADS_PER_TILE + i],
max_diff_tmp[3 * TEXTURE_THREADS_PER_TILE + i]);
} }
for (int ncol = 0; ncol < colors; ncol++){ for (int ncol = 0; ncol < colors; ncol++){
printf("\n%d:total %f %f %f %f\n", // only first 4 cameras printf("\n%d:ports_rgb_shared ",ncol);
ncol, for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",ports_rgb_shared[ ncol *num_cams + ccam]);} printf("\n");
ports_rgb_shared[ncol * num_cams + 0],
ports_rgb_shared[ncol * num_cams + 1],
ports_rgb_shared[ncol * num_cams + 2],
ports_rgb_shared[ncol * num_cams + 3]);
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){ for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
printf("tmp[%d] %f %f %f %f\n", printf("ports_rgb_tmp[%d] ",i);
i, for (int ccam = 0; ccam < num_cams; ccam++) {printf("%f, ",ports_rgb_tmp[(ncol*num_cams + ccam) * TEXTURE_THREADS_PER_TILE+ i]);} printf("\n");
ports_rgb_tmp[(ncol * num_cams + 0) * TEXTURE_THREADS_PER_TILE + i],
ports_rgb_tmp[(ncol * num_cams + 1) * TEXTURE_THREADS_PER_TILE + i],
ports_rgb_tmp[(ncol * num_cams + 2) * TEXTURE_THREADS_PER_TILE + i],
ports_rgb_tmp[(ncol * num_cams + 3) * TEXTURE_THREADS_PER_TILE + i]);
} }
} }
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // #ifdef DEBUG22 #endif // #ifdef DEBUG7A
} }
} }
......
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