Skip to content

I
imagej-elphel
Commit c1955bd8 authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

More debugging

parent 7d01b009
Expand all Hide whitespace changes
Inline Side-by-side
Showing with 731 additions and 134 deletions
src/main/java/com/elphel/imagej/gpu/GpuQuad.java
View file @ c1955bd8
......@@ -65,8 +65,11 @@ public class GpuQuad{ // quad camera description
private CUdeviceptr gpu_kernels;
private CUdeviceptr gpu_kernel_offsets;
private CUdeviceptr gpu_bayer;
// private CUdeviceptr gpu_tasks;
private CUdeviceptr gpu_ftasks;
private CUdeviceptr gpu_ftasks=null;
private int gpu_ftasks_len = 0;
private CUdeviceptr gpu_active_tiles=null; // will be re-allocated with gpu_ftasks
private CUdeviceptr gpu_corrs;
private CUdeviceptr gpu_corr_weights;
private CUdeviceptr gpu_corrs_td;
......@@ -98,7 +101,7 @@ public class GpuQuad{ // quad camera description
private CUdeviceptr gpu_rot_deriv;
private CUdeviceptr gpu_geometry_correction;
private CUdeviceptr gpu_rByRDist;
private CUdeviceptr gpu_active_tiles;
// private CUdeviceptr gpu_active_tiles;
private CUdeviceptr gpu_num_active_tiles;
private int mclt_stride;
private int corr_stride;
......@@ -274,8 +277,7 @@ public class GpuQuad{ // quad camera description
gpu_kernels = new CUdeviceptr();
gpu_kernel_offsets = new CUdeviceptr();
gpu_bayer = new CUdeviceptr();
// gpu_tasks = new CUdeviceptr(); // allocate tilesX * tilesY * TPTASK_SIZE * Sizeof.FLOAT
gpu_ftasks = new CUdeviceptr(); // allocate tilesX * tilesY * getTaskSize() * Sizeof.FLOAT
/// gpu_ftasks = new CUdeviceptr(); // allocate tilesX * tilesY * getTaskSize() * Sizeof.FLOAT
gpu_corrs = new CUdeviceptr(); // allocate tilesX * tilesY * NUM_PAIRS * CORR_SIZE * Sizeof.FLOAT
gpu_corr_weights = new CUdeviceptr(); // allocate tilesX * tilesY * NUM_PAIRS * Sizeof.FLOAT
......@@ -284,8 +286,6 @@ public class GpuQuad{ // quad camera description
gpu_corrs_combo_td = new CUdeviceptr(); // allocate tilesX * tilesY * 4 * DTT_SIZE * DTT_SIZE * Sizeof.FLOAT
gpu_textures = new CUdeviceptr(); // allocate tilesX * tilesY * ? * 256 * Sizeof.FLOAT
/// gpu_clt = new CUdeviceptr();
/// gpu_4_images = new CUdeviceptr();
gpu_corr_indices = new CUdeviceptr(); // allocate tilesX * tilesY * 6 * Sizeof.FLOAT
// May add separate gpu_corr_indices_td here
gpu_corr_combo_indices = new CUdeviceptr(); // allocate tilesX * tilesY * 1 * Sizeof.FLOAT
......@@ -309,7 +309,7 @@ public class GpuQuad{ // quad camera description
gpu_geometry_correction= new CUdeviceptr();
gpu_rByRDist= new CUdeviceptr(); // calculated once for the camera distortion model in CPU (move to GPU?)
gpu_active_tiles = new CUdeviceptr(); // TILESX*TILESY*sizeof(int)
/// gpu_active_tiles = new CUdeviceptr(); // TILESX*TILESY*sizeof(int)
gpu_num_active_tiles = new CUdeviceptr(); // 1 int
// Init data arrays for all kernels
......@@ -330,19 +330,6 @@ public class GpuQuad{ // quad camera description
Sizeof.FLOAT); // int ElementSizeBytes)
mclt_stride = (int)(device_stride[0] / Sizeof.FLOAT);
// Maybe move _bayer to use variable width/height as gpu_clt, gpu_corr_images_h
/*
gpu_corr_images_h[ncam] = new CUdeviceptr();
cuMemAllocPitch (
gpu_corr_images_h[ncam], // CUdeviceptr dptr,
device_stride, // long[] pPitch,
(img_width + GPUTileProcessor.DTT_SIZE) * Sizeof.FLOAT, // long WidthInBytes,
3*(img_height + GPUTileProcessor.DTT_SIZE),// long Height,
Sizeof.FLOAT); // int ElementSizeBytes)
imclt_stride = (int)(device_stride[0] / Sizeof.FLOAT);
*/
/// gpu_clt_h[ncam] = new CUdeviceptr();
/// cuMemAlloc(gpu_clt_h[ncam],tilesY * tilesX * num_colors * 4 * GPUTileProcessor.DTT_SIZE * GPUTileProcessor.DTT_SIZE * Sizeof.FLOAT ); // public static int cuMemAlloc(CUdeviceptr dptr, long bytesize)
}
// now create device arrays pointers
if (Sizeof.POINTER != Sizeof.LONG) {
......@@ -353,14 +340,10 @@ public class GpuQuad{ // quad camera description
cuMemAlloc(gpu_kernels, num_cams * Sizeof.POINTER);
cuMemAlloc(gpu_kernel_offsets, num_cams * Sizeof.POINTER);
cuMemAlloc(gpu_bayer, num_cams * Sizeof.POINTER);
/// cuMemAlloc(gpu_clt, num_cams * Sizeof.POINTER);
/// cuMemAlloc(gpu_4_images, num_cams * Sizeof.POINTER);
long [] gpu_kernels_l = new long [num_cams];
long [] gpu_kernel_offsets_l = new long [num_cams];
long [] gpu_bayer_l = new long [num_cams];
/// long [] gpu_clt_l = new long [num_cams];
/// long [] gpu_4_images_l = new long [num_cams];
for (int ncam = 0; ncam < num_cams; ncam++) gpu_kernels_l[ncam] = GPUTileProcessor.getPointerAddress(gpu_kernels_h[ncam]);
cuMemcpyHtoD(gpu_kernels, Pointer.to(gpu_kernels_l), num_cams * Sizeof.POINTER);
......@@ -371,23 +354,16 @@ public class GpuQuad{ // quad camera description
for (int ncam = 0; ncam < num_cams; ncam++) gpu_bayer_l[ncam] = GPUTileProcessor.getPointerAddress(gpu_bayer_h[ncam]);
cuMemcpyHtoD(gpu_bayer, Pointer.to(gpu_bayer_l), num_cams * Sizeof.POINTER);
/// for (int ncam = 0; ncam < num_cams; ncam++) gpu_clt_l[ncam] = GPUTileProcessor.getPointerAddress(gpu_clt_h[ncam]);
/// cuMemcpyHtoD(gpu_clt, Pointer.to(gpu_clt_l), num_cams * Sizeof.POINTER);
/// for (int ncam = 0; ncam < num_cams; ncam++) gpu_4_images_l[ncam] = GPUTileProcessor.getPointerAddress(gpu_corr_images_h[ncam]);
/// cuMemcpyHtoD(gpu_4_images, Pointer.to(gpu_4_images_l), num_cams * Sizeof.POINTER);
// Set GeometryCorrection data
cuMemAlloc(gpu_geometry_correction, GeometryCorrection.arrayLength(GPUTileProcessor.MAX_NUM_CAMS) * Sizeof.FLOAT); // always maximal number of cameras (sparse)
cuMemAlloc(gpu_rByRDist, GPUTileProcessor.RBYRDIST_LEN * Sizeof.FLOAT);
cuMemAlloc(gpu_rot_deriv, 5*GPUTileProcessor.MAX_NUM_CAMS*3*3 * Sizeof.FLOAT); // always maximal number of cameras (sparse)
// cuMemAlloc(gpu_correction_vector, CorrVector.LENGTH * Sizeof.FLOAT);
cuMemAlloc(gpu_correction_vector, GPUTileProcessor.CORR_VECTOR_MAX_LENGTH * Sizeof.FLOAT); // update CORR_VECTOR_LENGTH to fit
// Set task array
// cuMemAlloc(gpu_tasks, tilesX * tilesY * GPUTileProcessor.TPTASK_SIZE * Sizeof.FLOAT);
cuMemAlloc(gpu_ftasks, tilesX * tilesY * getTaskSize() * Sizeof.FLOAT);
// cuMemAlloc(gpu_ftasks, tilesX * tilesY * getTaskSize() * Sizeof.FLOAT);
// checkAllocateGpuFtasks((tilesX+4) * (tilesY+4)); // +4 - "a little more" (will reallocate if needed)
checkAllocateGpuFtasks(tilesX * tilesY); // +4 - "a little more" (will reallocate if needed)
//=========== Seems that in many places Sizeof.POINTER (==8) is used instead of Sizeof.FLOAT !!! ============
// Set corrs array
int num_pairs = Correlation2d.getNumPairs(quadCLT.getNumSensors());
......@@ -412,8 +388,8 @@ public class GpuQuad{ // quad camera description
cuMemAlloc(gpu_num_texture_ovlp, 8 * Sizeof.FLOAT);
cuMemAlloc(gpu_texture_indices_len, 1 * Sizeof.FLOAT);
cuMemAlloc(gpu_active_tiles, tilesX * tilesY * Sizeof.FLOAT);
// will be dynamically allocated with gpu_ftasks
// cuMemAlloc(gpu_active_tiles, tilesX * tilesY * Sizeof.FLOAT);
cuMemAlloc(gpu_num_active_tiles, 1 * Sizeof.FLOAT);
cuMemAlloc(gpu_corr_weights, num_pairs* tilesX * tilesY * Sizeof.FLOAT);
......@@ -473,6 +449,33 @@ public class GpuQuad{ // quad camera description
Sizeof.FLOAT); // int ElementSizeBytes)
texture_stride_rgba = (int)(device_stride[0] / Sizeof.FLOAT);
}
private void checkAllocateGpuFtasks(int max_tasks) {
/*
* Got jcuda.CudaException: CUDA_ERROR_MISALIGNED_ADDRESS
at jcuda.driver.JCudaDriver.checkResult(JCudaDriver.java:396)
at jcuda.driver.JCudaDriver.cuCtxSynchronize(JCudaDriver.java:2426)
at com.elphel.imagej.gpu.GpuQuad.execConvertDirect(GpuQuad.java:1596)
Will try rounding to multiple of smth (was 0x80)
*/
max_tasks = (max_tasks + 0x7f) & ~0x7f;
if (max_tasks > gpu_ftasks_len) {
if (gpu_ftasks != null) {
cuMemFree (gpu_ftasks);
}
if (gpu_active_tiles != null) {
cuMemFree (gpu_active_tiles);
}
gpu_ftasks = new CUdeviceptr();
cuMemAlloc(gpu_ftasks, max_tasks * getTaskSize() * Sizeof.FLOAT);
gpu_active_tiles = new CUdeviceptr();
cuMemAlloc(gpu_active_tiles, max_tasks * Sizeof.FLOAT);
gpu_ftasks_len = max_tasks;
}
}
public int getTilesX() {
return getImageWidth() / GPUTileProcessor.DTT_SIZE;
}
......@@ -619,7 +622,8 @@ public class GpuQuad{ // quad camera description
)
{
if (verify) checkTasks(tile_tasks);
num_task_tiles = tile_tasks.length;
num_task_tiles = tile_tasks.length; // only place that modifies num_task_tiles and may require allocation
checkAllocateGpuFtasks(num_task_tiles);
int task_size = getTaskSize();
float [] ftasks = new float [task_size * num_task_tiles];
for (int i = 0; i < num_task_tiles; i++) {
......@@ -645,7 +649,7 @@ public class GpuQuad{ // quad camera description
boolean use_aux // while is it in class member? - just to be able to free
)
{
num_task_tiles = tile_tasks.length;
num_task_tiles = tile_tasks.length; // does not require re-allocation, as tile_tasks should be already set to GPU
int task_size = getTaskSize();
float [] ftasks = new float [task_size * num_task_tiles];
cuMemcpyDtoH(Pointer.to(ftasks), gpu_ftasks, task_size * num_task_tiles * Sizeof.FLOAT);
......
src/main/java/com/elphel/imagej/tileprocessor/QuadCLT.java
View file @ c1955bd8
......@@ -221,9 +221,10 @@ public class QuadCLT extends QuadCLTCPU {
*/
public static double [] removeDisparityOutliersByLMA(
final double [][] dls,
final double max_strength, // do not touch stronger
final double max_strength, // do not touch stronger
final double diff_from_lma_pos, // Difference from farthest FG objects (OK to have large, e.g. 100)
final double diff_from_lma_neg, // Difference from nearest BG objects (small, as FG are usually more visible)
final int search_radius, // Search farther if no LMA neighbor is found closer. Original value - 1 (8 neighbors)
final boolean remove_no_lma_neib, // remove without LMA neighbors
final int width, //tilesX
final int threadsMax,
......@@ -238,7 +239,7 @@ public class QuadCLT extends QuadCLTCPU {
final Thread[] threads = ImageDtt.newThreadArray(threadsMax);
final AtomicInteger ai = new AtomicInteger(0);
final AtomicInteger anum_updated = new AtomicInteger(0);
final int dbg_tile = 1235;
final int dbg_tile = 1944;
anum_updated.set(0);
for (int ithread = 0; ithread < threads.length; ithread++) {
threads[ithread] = new Thread() {
......@@ -250,22 +251,28 @@ public class QuadCLT extends QuadCLTCPU {
if (Double.isNaN(disparity_lma[nTile]) && !Double.isNaN(disparity[nTile]) && (strength[nTile] < max_strength)) {
double best_fit_pos = Double.NaN; // Closest higher disparity than this
double best_fit_neg = Double.NaN; // Closest lower disparity than this
for (int dir = 0; dir < 8; dir++) {
int ineib = tn.getNeibIndex(nTile, dir);
if ( (ineib >= 0) &&
!Double.isNaN(disparity_lma[ineib]) &&
!Double.isNaN(disparity[ineib])) {
double d = disparity[nTile] - disparity_lma[ineib];
if (d > 0) {
if (!(d >= best_fit_neg)) {
best_fit_neg = d;
}
} else {
if (!(-d >= best_fit_pos)) {
best_fit_neg = -d;
for (int rad = 1; rad <= search_radius; rad++) {
int numdir = TileNeibs.getNumDirs(rad);
for (int dir = 0; dir < numdir; dir++) {
int ineib = tn.getNeibIndexRadius(nTile, dir, rad);
if ( (ineib >= 0) &&
!Double.isNaN(disparity_lma[ineib]) &&
!Double.isNaN(disparity[ineib])) {
double d = disparity[nTile] - disparity_lma[ineib];
if (d > 0) {
if (!(d >= best_fit_neg)) {
best_fit_neg = d;
}
} else {
if (!(-d >= best_fit_pos)) {
best_fit_neg = -d;
}
}
}
}
if (!(Double.isNaN(best_fit_pos) && Double.isNaN(best_fit_neg))) {
break;
}
}
if ( (best_fit_neg > diff_from_lma_neg) ||
(best_fit_pos > diff_from_lma_pos) ||
......@@ -2064,7 +2071,7 @@ public class QuadCLT extends QuadCLTCPU {
null, // final boolean [] selection, // may be null, if not null do not process unselected tiles
scene.getErsCorrection(), // final GeometryCorrection geometryCorrection,
0.0, // final double disparity_corr,
0, // margin, // final int margin, // do not use tiles if their centers are closer to the edges
-1, // 0, // margin, // final int margin, // do not use tiles if their centers are closer to the edges
null, // final boolean [] valid_tiles,
threadsMax); // final int threadsMax) // maximal number of threads to launch
scene.saveQuadClt(); // to re-load new set of Bayer images to the GPU (do nothing for CPU) and Geometry
......
src/main/java/com/elphel/imagej/tileprocessor/TileNeibs.java
View file @ c1955bd8
......@@ -140,6 +140,70 @@ public class TileNeibs{
default: return indx;
}
}
public static int getNumDirs(int radius) {
if (radius < 0) {
return 0;
} else if (radius == 0) {
return 1;
} else {
return 8 * radius;
}
}
/**
* Get 2d element index after step of variable radius:
* radius==1 - same as getNeibIndex(int indx, int dir), 8 directions
* radius==2 - 16 directions (5x5 square), 0 - still up, north
* radius==3 - 24 directions (7x7 square)
* ...
* @param indx start index
* @param dir step direction (CW from up)
* @param radius - "distance" from the start point
* @return new index or -1 if leaving array in any direction
*/
public int getNeibIndexRadius(int indx, int dir, int radius) {
if (radius < 2) {
return getNeibIndex(indx, dir);
}
int y = indx / sizeX;
int x = indx % sizeX;
if (dir > (8 * radius)) {
System.out.println("getNeibIndex(): indx="+indx+", dir="+dir+", radius="+radius);
}
int dr = (dir + radius) % (8 * radius);
int quad = dr / (2 * radius);
int side = dr % (2 * radius);
switch (quad) {
case 0:
x = x - radius + side;
y = y - radius;
break;
case 1:
x = x + radius;
y = y - radius + side;
break;
case 2:
x = x + radius - side;
y = y + radius;
break;
case 3:
x = x - radius;
y = y + radius - side;
break;
}
if ((x >= 0) && (y >= 0) && (x < sizeX) && (y < sizeY)) {
return x + sizeX*y;
} else {
return -1;
}
}
/**
* Get 2d element index after step N, NE, ... NW. Returns -1 if leaving array
* And 2 steps for dir = 8(N), 9(NNE),..23(NNW)
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment