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Commit fabadb74 authored by Andrey Filippov's avatar Andrey Filippov
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committing remained files accidentally not commited

parent 222e8bbe
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src/main/resources/kernels/TileProcessor.cuh
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...@@ -101,13 +101,13 @@ GPU run time =523.451927ms, (direct conversion: 24.080189999999998ms, imclt: 17. ...@@ -101,13 +101,13 @@ GPU run time =523.451927ms, (direct conversion: 24.080189999999998ms, imclt: 17.
#define KERNELS_STEP (1 << KERNELS_LSTEP) #define KERNELS_STEP (1 << KERNELS_LSTEP)
#define TILESX (IMG_WIDTH / DTT_SIZE) //#define TILES-X (IMG-WIDTH / DTT_SIZE)
#define TILESY (IMG_HEIGHT / DTT_SIZE) //#define TILES-Y (IMG-HEIGHT / DTT_SIZE)
#define CONVERT_DIRECT_INDEXING_THREADS_LOG2 5 #define CONVERT_DIRECT_INDEXING_THREADS_LOG2 5
#define CONVERT_DIRECT_INDEXING_THREADS (1 << CONVERT_DIRECT_INDEXING_THREADS_LOG2) // 32 #define CONVERT_DIRECT_INDEXING_THREADS (1 << CONVERT_DIRECT_INDEXING_THREADS_LOG2) // 32
// Make TILESYA >= TILESX and a multiple of 4 // Make TILES-YA >= TILES-X and a multiple of 4
#define TILESYA ((TILESY +3) & (~3)) //#define TILES-YA ((TILES-Y +3) & (~3))
// increase row length by 1 so vertical passes will use different ports // increase row length by 1 so vertical passes will use different ports
#define MCLT_UNION_LEN (DTT_SIZE2 * (DTT_SIZE2 + 2)) #define MCLT_UNION_LEN (DTT_SIZE2 * (DTT_SIZE2 + 2))
...@@ -725,7 +725,8 @@ __device__ void convertCorrectTile( ...@@ -725,7 +725,8 @@ __device__ void convertCorrectTile(
int woi_width, int woi_width,
int woi_height, int woi_height,
int kernels_hor, int kernels_hor,
int kernels_vert); int kernels_vert,
int tilesx);
__device__ void debug_print_lpf( __device__ void debug_print_lpf(
float * lpf_tile); float * lpf_tile);
...@@ -814,35 +815,40 @@ __device__ void tile_combine_rgba( ...@@ -814,35 +815,40 @@ __device__ void tile_combine_rgba(
// boolean diff_gauss, // when averaging images, use gaussian around average as weight (false - sharp all/nothing) // boolean diff_gauss, // when averaging images, use gaussian around average as weight (false - sharp all/nothing)
float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages) float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
float * chn_weights, // color channel weights, sum == 1.0 float * chn_weights, // color channel weights, sum == 1.0
int dust_remove, // Do not reduce average weight when only one image differes much from the average int dust_remove, // Do not reduce average weight when only one image differs much from the average
int keep_weights, // eturn channel weights and rms after A in RGBA (weight are always calculated, not so for the crms) int keep_weights, // eturn channel weights and rms after A in RGBA (weight are always calculated, not so for the crms)
int debug); int debug);
__device__ void imclt_plane( // not implemented, not used __device__ void imclt_plane( // not implemented, not used
int color, int color,
float * gpu_clt, // [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float * gpu_clt, // [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
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( __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, // <= TILESX, use for faster processing of LWIR images int width, // <= TILES-X, use for faster processing of LWIR images
int height); // <= TILESY, use for faster processing of LWIR images int height); // <= TILES-Y, use for faster processing of LWIR images
__global__ void mark_texture_tiles( __global__ void mark_texture_tiles(
struct tp_task * gpu_tasks, 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 * 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( __global__ void mark_texture_neighbor_tiles(
struct tp_task * gpu_tasks, 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 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( __global__ void gen_texture_list(
struct tp_task * gpu_tasks, 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 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 * num_texture_tiles, // number of texture tiles to process int * num_texture_tiles, // number of texture tiles to process
int * woi); // x,y,width,height of the woi int * woi); // x,y,width,height of the woi
...@@ -862,12 +868,14 @@ __global__ void index_direct( ...@@ -862,12 +868,14 @@ __global__ void index_direct(
__global__ void index_correlate( __global__ void index_correlate(
struct tp_task * gpu_tasks, 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 * 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( __global__ void create_nonoverlap_list(
struct tp_task * gpu_tasks, 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 * nonoverlap_list, // pointer to the calculated number of non-zero tiles int * nonoverlap_list, // pointer to the calculated number of non-zero tiles
int * pnonoverlap_length); // indices to gpu_tasks // should be initialized to zero int * pnonoverlap_length); // indices to gpu_tasks // should be initialized to zero
...@@ -878,17 +886,19 @@ __global__ void convert_correct_tiles( ...@@ -878,17 +886,19 @@ __global__ void convert_correct_tiles(
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
int * gpu_active_tiles, // indices in gpu_tasks to non-zero tiles int * gpu_active_tiles, // indices in gpu_tasks to non-zero tiles
int num_active_tiles, // number of tiles in task int num_active_tiles, // number of tiles in task
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
size_t dstride, // in floats (pixels) size_t dstride, // in floats (pixels)
// int num_tiles, // number of tiles in task // int num_tiles, // number of tiles in task
int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
int woi_width, int woi_width,
int woi_height, int woi_height,
int kernels_hor, int kernels_hor,
int kernels_vert); int kernels_vert, //);
int tilesx);
extern "C" __global__ void correlate2D_inner( extern "C" __global__ void correlate2D_inner(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
int colors, // number of colors (3/1) int colors, // number of colors (3/1)
float scale0, // scale for R float scale0, // scale for R
float scale1, // scale for B float scale1, // scale for B
...@@ -900,9 +910,30 @@ extern "C" __global__ void correlate2D_inner( ...@@ -900,9 +910,30 @@ extern "C" __global__ void correlate2D_inner(
int corr_radius, // radius of the output correlation (7 for 15x15) int corr_radius, // radius of the output correlation (7 for 15x15)
float * gpu_corrs); // correlation output data float * gpu_corrs); // correlation output data
extern "C" __global__ void corr2D_normalize_inner(
int num_corr_tiles, // number of correlation tiles to process
const size_t corr_stride_td, // (in floats) stride for the input TD correlations
float * gpu_corrs_td, // correlation tiles in transform domain
const size_t corr_stride, // in floats
float * gpu_corrs, // correlation output data (either pixel domain or transform domain
float fat_zero, // here - absolute
int corr_radius); // radius of the output correlation (7 for 15x15)
extern "C" __global__ void corr2D_combine_inner(
int num_tiles, // number of tiles to process (each with num_pairs)
int num_pairs, // num pairs per tile (should be the same)
int init_output, // !=0 - reset output tiles to zero before accumulating
int pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
int * gpu_corr_indices, // packed tile+pair
int * gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
const size_t corr_stride, // (in floats) stride for the input TD correlations
float * gpu_corrs, // input correlation tiles
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)
extern "C" __global__ void textures_accumulate( extern "C" __global__ void textures_accumulate(
int * woi, // x, y, width,height int * woi, // x, y, width,height
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_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,// 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 !
...@@ -922,7 +953,9 @@ extern "C" __global__ void textures_accumulate( ...@@ -922,7 +953,9 @@ 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] float * gpu_diff_rgb_combo, //'); // diff[NUM_CAMS], R[NUM_CAMS], B[NUM_CAMS],G[NUM_CAMS]
int tilesx)
;
// ====== end of local declarations ==== // ====== end of local declarations ====
...@@ -930,7 +963,7 @@ extern "C" __global__ void textures_accumulate( ...@@ -930,7 +963,7 @@ extern "C" __global__ void textures_accumulate(
* Calculate 2D phase correlation pairs from CLT representation. This is an outer kernel that calls other * Calculate 2D phase correlation pairs from CLT representation. This is an outer kernel that calls other
* ones with CDP, this one should be configured as correlate2D<<<1,1>>> * ones with CDP, this one should be configured as correlate2D<<<1,1>>>
* *
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][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 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
* @param scale0 scale red (or mono) component before mixing * @param scale0 scale red (or mono) component before mixing
* @param scale1 scale blue (if colors = 3) component before mixing * @param scale1 scale blue (if colors = 3) component before mixing
...@@ -938,6 +971,7 @@ extern "C" __global__ void textures_accumulate( ...@@ -938,6 +971,7 @@ extern "C" __global__ void textures_accumulate(
* @param fat_zero add this value squared to the sum of squared components before normalization * @param fat_zero add this value squared to the sum of squared components before normalization
* @param gpu_tasks array of per-tile tasks (now bits 4..9 - correlation pairs) * @param gpu_tasks array of per-tile tasks (now bits 4..9 - correlation pairs)
* @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 tilesx number of tile rows
* @param gpu_corr_indices allocated array for per-tile correlation tasks (4 bytes per tile) * @param gpu_corr_indices allocated array for per-tile correlation tasks (4 bytes per tile)
* @param pnum_corr_tiles allocated space for pointer to a number of number of correlation tiles to process * @param pnum_corr_tiles allocated space for pointer to a number of number of correlation tiles to process
* @param corr_stride, stride (in floats) for correlation outputs. * @param corr_stride, stride (in floats) for correlation outputs.
...@@ -945,7 +979,7 @@ extern "C" __global__ void textures_accumulate( ...@@ -945,7 +979,7 @@ extern "C" __global__ void textures_accumulate(
* @param gpu_corrs) allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2 * @param gpu_corrs) allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2
*/ */
extern "C" __global__ void correlate2D( extern "C" __global__ void correlate2D(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
int colors, // number of colors (3/1) int colors, // number of colors (3/1)
float scale0, // scale for R float scale0, // scale for R
float scale1, // scale for B float scale1, // scale for B
...@@ -953,6 +987,7 @@ extern "C" __global__ void correlate2D( ...@@ -953,6 +987,7 @@ extern "C" __global__ void correlate2D(
float fat_zero, // here - absolute float fat_zero, // here - absolute
struct tp_task * gpu_tasks, // array of per-tile tasks (now bits 4..9 - correlation pairs) struct tp_task * gpu_tasks, // array of per-tile tasks (now bits 4..9 - correlation pairs)
int num_tiles, // number of tiles in task int num_tiles, // number of tiles in task
int tilesx, // number of tile rows
int * gpu_corr_indices, // packed tile+pair int * gpu_corr_indices, // packed tile+pair
int * pnum_corr_tiles, // pointer to a number of correlation tiles to process int * pnum_corr_tiles, // pointer to a number of correlation tiles to process
const size_t corr_stride, // in floats const size_t corr_stride, // in floats
...@@ -966,13 +1001,14 @@ extern "C" __global__ void correlate2D( ...@@ -966,13 +1001,14 @@ extern "C" __global__ void correlate2D(
index_correlate<<<blocks0,threads0>>>( index_correlate<<<blocks0,threads0>>>(
gpu_tasks, // struct tp_task * gpu_tasks, gpu_tasks, // struct tp_task * gpu_tasks,
num_tiles, // int num_tiles, // number of tiles in task num_tiles, // int num_tiles, // number of tiles in task
tilesx, // int width, // number of tiles in a row
gpu_corr_indices, // int * gpu_corr_indices, // array of correlation tasks gpu_corr_indices, // int * gpu_corr_indices, // array of correlation tasks
pnum_corr_tiles); // int * pnum_corr_tiles); // pointer to the length of correlation tasks array pnum_corr_tiles); // int * pnum_corr_tiles); // pointer to the length of correlation tasks array
cudaDeviceSynchronize(); cudaDeviceSynchronize();
dim3 threads_corr(CORR_THREADS_PER_TILE, CORR_TILES_PER_BLOCK, 1); dim3 threads_corr(CORR_THREADS_PER_TILE, CORR_TILES_PER_BLOCK, 1);
dim3 grid_corr((*pnum_corr_tiles + CORR_TILES_PER_BLOCK-1) / CORR_TILES_PER_BLOCK,1,1); dim3 grid_corr((*pnum_corr_tiles + CORR_TILES_PER_BLOCK-1) / CORR_TILES_PER_BLOCK,1,1);
correlate2D_inner<<<grid_corr,threads_corr>>>( correlate2D_inner<<<grid_corr,threads_corr>>>(
gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
colors, // int colors, // number of colors (3/1) colors, // int colors, // number of colors (3/1)
scale0, // float scale0, // scale for R scale0, // float scale0, // scale for R
scale1, // float scale1, // scale for B scale1, // float scale1, // scale for B
...@@ -988,9 +1024,10 @@ extern "C" __global__ void correlate2D( ...@@ -988,9 +1024,10 @@ extern "C" __global__ void correlate2D(
/** /**
* Calculate 2D phase correlation pairs from CLT representation. This is an inner kernel that is called * Calculate 2D phase correlation pairs from CLT representation. This is an inner kernel that is called
* from correlate2D. If called from the CPU: <<<ceil(number_of_tiles/32),32>>> * from correlate2D. If called from the CPU: <<<ceil(number_of_tiles/32),32>>>.
* If corr_radius==0, skip normalization and inverse transform, output transform domain tiles
* *
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][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 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
* @param scale0 scale red (or mono) component before mixing * @param scale0 scale red (or mono) component before mixing
* @param scale1 scale blue (if colors = 3) component before mixing * @param scale1 scale blue (if colors = 3) component before mixing
...@@ -999,11 +1036,11 @@ extern "C" __global__ void correlate2D( ...@@ -999,11 +1036,11 @@ extern "C" __global__ void correlate2D(
* @param num_corr_tiles number of correlation tiles to process * @param num_corr_tiles number of correlation tiles to process
* @param gpu_corr_indices packed array (each element, integer contains tile+pair) of correlation tasks * @param gpu_corr_indices packed array (each element, integer contains tile+pair) of correlation tasks
* @param corr_stride, stride (in floats) for correlation outputs. * @param corr_stride, stride (in floats) for correlation outputs.
* @param corr_radius, radius of the output correlation (maximal 7 for 15x15) * @param corr_radius, radius of the output correlation (maximal 7 for 15x15). If 0 - output Transform Domain tiles, no normalization
* @param gpu_corrs) allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2 * @param gpu_corrs) allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2
*/ */
extern "C" __global__ void correlate2D_inner( extern "C" __global__ void correlate2D_inner(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
int colors, // number of colors (3/1) int colors, // number of colors (3/1)
float scale0, // scale for R float scale0, // scale for R
float scale1, // scale for B float scale1, // scale for B
...@@ -1013,11 +1050,11 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1013,11 +1050,11 @@ extern "C" __global__ void correlate2D_inner(
int * gpu_corr_indices, // packed tile+pair int * gpu_corr_indices, // packed tile+pair
const size_t corr_stride, // in floats const size_t corr_stride, // in floats
int corr_radius, // radius of the output correlation (7 for 15x15) int corr_radius, // radius of the output correlation (7 for 15x15)
float * gpu_corrs) // correlation output data float * gpu_corrs) // correlation output data (either pixel domain or transform domain
{ {
float scales[3] = {scale0, scale1, scale2}; float scales[3] = {scale0, scale1, scale2};
int corr_in_block = threadIdx.y; int corr_in_block = threadIdx.y;
int corr_num = blockIdx.x * CORR_TILES_PER_BLOCK + corr_in_block; int corr_num = blockIdx.x * CORR_TILES_PER_BLOCK + corr_in_block; // 4
if (corr_num >= num_corr_tiles){ if (corr_num >= num_corr_tiles){
return; // nothing to do return; // nothing to do
} }
...@@ -1121,10 +1158,13 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1121,10 +1158,13 @@ extern "C" __global__ void correlate2D_inner(
#endif #endif
} // if (color == 1){ // LPF only after B (nothing in mono) } // if (color == 1){ // LPF only after B (nothing in mono)
} // for (int color = 0; color < colors; color++){ } // for (int color = 0; color < colors; color++){
// Skip normalization, lpf, inverse correction and unfolding if Transform Domain output is required
if (corr_radius > 0) {
normalizeTileAmplitude( normalizeTileAmplitude(
clt_corr, // float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports clt_corr, // float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
fat_zero); // float fat_zero ) // fat zero is absolute, scale it outside fat_zero); // float fat_zero ) // fat zero is absolute, scale it outside
// Low Pass Filter from constant area (is it possible to replace?) // Low Pass Filter from constant area (is it possible to replace?)
#ifdef DBG_TILE #ifdef DBG_TILE
#ifdef DEBUG6 #ifdef DEBUG6
...@@ -1136,7 +1176,6 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1136,7 +1176,6 @@ extern "C" __global__ void correlate2D_inner(
#endif #endif
#endif #endif
#ifdef DBG_TILE #ifdef DBG_TILE
#ifdef DEBUG6 #ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
...@@ -1161,6 +1200,8 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1161,6 +1200,8 @@ extern "C" __global__ void correlate2D_inner(
} }
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#ifdef DBG_TILE #ifdef DBG_TILE
#ifdef DEBUG6 #ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
...@@ -1209,7 +1250,7 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1209,7 +1250,7 @@ extern "C" __global__ void correlate2D_inner(
int corr_tile_offset = + corr_stride * corr_num; int corr_tile_offset = + corr_stride * corr_num;
float *mem_corr = gpu_corrs + corr_tile_offset; float *mem_corr = gpu_corrs + corr_tile_offset;
#pragma unroll #pragma unroll
// for (int offs = threadIdx.x; offs < DTT_SIZE2M1*DTT_SIZE2M1; offs+=CORR_THREADS_PER_TILE){ // variable number of cycles per thread // for (int offs = threadIdx.x; offs < DTT_SIZE2M1*DTT_SIZE2M1; offs+=CORR_THREADS_PER_TILE){ // variable number of cycles per thread
for (int offs = threadIdx.x; offs < len2r1x2r1; offs+=CORR_THREADS_PER_TILE){ // variable number of cycles per thread for (int offs = threadIdx.x; offs < len2r1x2r1; offs+=CORR_THREADS_PER_TILE){ // variable number of cycles per thread
mem_corr[offs] = mclt_corr[offs]; mem_corr[offs] = mclt_corr[offs];
} }
...@@ -1219,13 +1260,402 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1219,13 +1260,402 @@ extern "C" __global__ void correlate2D_inner(
#ifdef DEBUG6 #ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
printf("\ncorrelate2D after copy to main memory\n"); printf("\ncorrelate2D after copy to main memory\n");
// debug_print_clt1(clt_corr, -1, 0xf); // debug_print_clt1(clt_corr, -1, 0xf);
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
#endif #endif
} else { // if (corr_radius > 0) { transform domain output
// int corr_tile_offset = + corr_stride * corr_num;
float *mem_corr = gpu_corrs + corr_stride * corr_num + threadIdx.x;
float *clt = clt_corr + threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE4; i++){
(*mem_corr) = (*clt);
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
__syncthreads();// __syncwarp();
} // if (corr_radius > 0) ... else
}
/**
* Combine multiple correlation pairs for quad (square) camera: 2 or 4 ortho into a single clt tile,
* and separately the two diagonals into another single one
* When adding vertical pairs to the horizontal, each quadrant is transposed, and the Q1 and Q2 are also swapped.
* when combining tho diagonals (down-right and up-right), the data in quadrants Q2 and Q3 is negated
* (corresponds to a vertical flip).
* Data can be added to the existing one (e.g. for the inter-scene accumulation of the compatible correlations).
* This is an outer kernel that calls the inner one with CDP, this one should be configured as corr2D_combine<<<1,1>>>
*
* @param num_tiles, // number of tiles to process (each with num_pairs)
* @param num_pairs, // num pairs per tile (should be the same)
* @param init_output, // !=0 - reset output tiles to zero before accumulating
* @param pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
* @param gpu_corr_indices, // packed tile+pair
* @param gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
* @param corr_stride, // (in floats) stride for the input TD correlations
* @param gpu_corrs, // input correlation tiles
* @param corr_stride_combo, // (in floats) stride for the output TD correlations (same as input)
* @param gpu_corrs_combo) // combined correlation output (one per tile)
*/
extern "C" __global__ void corr2D_combine(
int num_tiles, // number of tiles to process (each with num_pairs)
int num_pairs, // num pairs per tile (should be the same)
int init_output, // !=0 - reset output tiles to zero before accumulating
int pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
int * gpu_corr_indices, // packed tile+pair
int * gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
const size_t corr_stride, // (in floats) stride for the input TD correlations
float * gpu_corrs, // input correlation tiles
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)
{
if (threadIdx.x == 0) { // only 1 thread, 1 block
dim3 threads_corr(CORR_THREADS_PER_TILE, CORR_TILES_PER_BLOCK_COMBINE, 1);
dim3 grid_corr((num_tiles + CORR_TILES_PER_BLOCK_COMBINE-1) / CORR_TILES_PER_BLOCK_COMBINE,1,1);
corr2D_combine_inner<<<grid_corr,threads_corr>>>(
num_tiles, // int num_tiles, // number of tiles to process (each with num_pairs)
num_pairs, // int num_pairs, // num pairs per tile (should be the same)
init_output, // int init_output, // !=0 - reset output tiles to zero before accumulating
pairs_mask, // int pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
gpu_corr_indices, // int * gpu_corr_indices, // packed tile+pair
gpu_combo_indices, // int * gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
corr_stride, // const size_t corr_stride, // (in floats) stride for the input TD correlations
gpu_corrs, // float * gpu_corrs, // input correlation tiles
corr_stride_combo, // const size_t corr_stride_combo, // (in floats) stride for the output TD correlations (same as input)
gpu_corrs_combo); // float * gpu_corrs_combo) // combined correlation output (one per tile)
}
} }
//#define CORR_TILES_PER_BLOCK_COMBINE 4 // increase to 8?
#define PAIRS_HOR_DIAG_MAIN 0x13
#define PAIRS_VERT 0x0c
#define PAIRS_DIAG_OTHER 0x20
/**
* Combine multiple correlation pairs for quad (square) camera: 2 or 4 ortho into a single clt tile,
* and separately the two diagonals into another single one
* When adding vertical pairs to the horizontal, each quadrant is transposed, and the Q1 and Q2 are also swapped.
* when combining tho diagonals (down-right and up-right), the data in quadrants Q2 and Q3 is negated
* (corresponds to a vertical flip).
* Data can be added to the existing one (e.g. for the inter-scene accumulation of the compatible correlations).
* This is an inner kernel that is called from corr2D_combine.
*
* @param num_tiles, // number of tiles to process (each with num_pairs)
* @param num_pairs, // num pairs per tile (should be the same)
* @param init_output, // !=0 - reset output tiles to zero before accumulating
* @param pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
* @param gpu_corr_indices, // packed tile+pair
* @param gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
* @param corr_stride, // (in floats) stride for the input TD correlations
* @param gpu_corrs, // input correlation tiles
* @param corr_stride_combo, // (in floats) stride for the output TD correlations (same as input)
* @param gpu_corrs_combo) // combined correlation output (one per tile)
*/
extern "C" __global__ void corr2D_combine_inner(
int num_tiles, // number of tiles to process (each with num_pairs)
int num_pairs, // num pairs per tile (should be the same)
int init_output, // !=0 - reset output tiles to zero before accumulating
int pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
int * gpu_corr_indices, // packed tile+pair
int * gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
const size_t corr_stride, // (in floats) stride for the input TD correlations
float * gpu_corrs, // input correlation tiles
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)
{
int tile_in_block = threadIdx.y;
int tile_index = blockIdx.x * CORR_TILES_PER_BLOCK_COMBINE + tile_in_block;
if (tile_index >= num_tiles){
return; // nothing to do
}
int corr_tile_index0 = tile_index * num_pairs;
if (gpu_combo_indices != 0){
int corr_pair = gpu_corr_indices[corr_tile_index0];
gpu_combo_indices[tile_index] = ((corr_pair >> CORR_NTILE_SHIFT) << CORR_NTILE_SHIFT) | pairs_mask;
}
float scale = 1.0/__popc(pairs_mask); // reverse to number of pairs to combine
__syncthreads();// __syncwarp();
__shared__ float clt_corrs [CORR_TILES_PER_BLOCK_COMBINE][4][DTT_SIZE][DTT_SIZE1];
// start of the block in shared memory
float *clt_corr = ((float *) clt_corrs) + tile_in_block * (4 * DTT_SIZE * DTT_SIZE1); // top left quadrant0
float *clt = clt_corr + threadIdx.x;
float *mem_corr = gpu_corrs_combo + corr_stride_combo * tile_index + threadIdx.x;
if (init_output != 0){ // reset combo
#pragma unroll
for (int i = 0; i < DTT_SIZE4; i++){
(*clt) = 0.0f;
clt += DTT_SIZE1;
}
} else { // read previous from device memory
#pragma unroll
for (int i = 0; i < DTT_SIZE4; i++){
(*clt) = (*mem_corr);
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
}
__syncthreads();// __syncwarp();
for (int ipair = 0; ipair < num_pairs; ipair++){ // only selected
int corr_tile_index = corr_tile_index0 + ipair;
// get number of pair
int corr_pair = gpu_corr_indices[corr_tile_index];
// int tile_num = corr_pair >> CORR_NTILE_SHIFT;
corr_pair &= (corr_pair & ((1 << CORR_NTILE_SHIFT) - 1));
int pair_bit = 1 << corr_pair;
if ((pairs_mask & pair_bit) != 0) {
// if (corr_pair > NUM_PAIRS){
// return; // BUG - should not happen
// }
if (PAIRS_HOR_DIAG_MAIN & pair_bit){ // just accumulate. This if-s will branch in all threads, no diversion
clt = clt_corr + threadIdx.x;
mem_corr = gpu_corrs + corr_stride_combo * corr_tile_index + threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE4; i++){
(*clt) += (*mem_corr);
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
} else if (PAIRS_VERT & pair_bit) { // transpose and swap Q1 and Q2
for (int q = 0; q < 4; q++){
int qr = ((q & 1) << 1) | ((q >> 1) & 1);
clt = clt_corr + qr * (DTT_SIZE1 * DTT_SIZE) + threadIdx.x;
mem_corr = gpu_corrs + corr_stride_combo * corr_tile_index + q * (DTT_SIZE * DTT_SIZE) + DTT_SIZE * threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE; i++){
(*clt) += (*mem_corr);
clt += DTT_SIZE1;
mem_corr += 1;
}
}
} else if (PAIRS_DIAG_OTHER & pair_bit) {
clt = clt_corr + threadIdx.x;
mem_corr = gpu_corrs + corr_stride_combo * corr_tile_index + threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE2; i++){ // CC, CS
(*clt) += (*mem_corr);
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
#pragma unroll
for (int i = 0; i < DTT_SIZE2; i++){ // SC, SS
(*clt) -= (*mem_corr); // negate
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
} //PAIRS_DIAG_OTHER
}
} //for (int ipair = 0; ipair < num_pairs; ipair++){ // only selected
__syncthreads();// __syncwarp();
// copy result to the device memory
clt = clt_corr + threadIdx.x;
mem_corr = gpu_corrs_combo + corr_stride_combo * tile_index + threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE4; i++){
(*mem_corr) = (*clt);
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
__syncthreads();// __syncwarp();
}
/**
* Normalize, low-pass filter, convert to pixel domain and unfold correlation tiles.This is an outer kernel
* that calls the inner one with CDP, this one should be configured as correlate2D<<<1,1>>>
*
* @param num_tiles number of correlation tiles to process
* @param corr_stride_td, stride (in floats) for correlation input (transform domain).
* @param gpu_corrs_td correlation data in transform domain
* @param corr_stride, stride (in floats) for correlation pixel-domain outputs.
* @param gpu_corrs allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2
* @param fat_zero add this value squared to the sum of squared components before normalization
* @param corr_radius, radius of the output correlation (maximal 7 for 15x15)
*/
extern "C" __global__ void corr2D_normalize(
int num_corr_tiles, // number of correlation tiles to process
const size_t corr_stride_td, // in floats
float * gpu_corrs_td, // correlation tiles in transform domain
const size_t corr_stride, // in floats
float * gpu_corrs, // correlation output data (either pixel domain or transform domain
float fat_zero, // here - absolute
int corr_radius) // radius of the output correlation (7 for 15x15)
{
if (threadIdx.x == 0) { // only 1 thread, 1 block
dim3 threads_corr(CORR_THREADS_PER_TILE, CORR_TILES_PER_BLOCK_NORMALIZE, 1);
dim3 grid_corr((num_corr_tiles + CORR_TILES_PER_BLOCK_NORMALIZE-1) / CORR_TILES_PER_BLOCK_NORMALIZE,1,1);
corr2D_normalize_inner<<<grid_corr,threads_corr>>>(
num_corr_tiles, // int num_corr_tiles, // number of correlation tiles to process
corr_stride_td, // const size_t corr_stride, // in floats
gpu_corrs_td, // float * gpu_corrs_td, // correlation tiles in transform domain
corr_stride, // const size_t corr_stride, // in floats
gpu_corrs, // float * gpu_corrs, // correlation output data (either pixel domain or transform domain
fat_zero, // float fat_zero, // here - absolute
corr_radius); // int corr_radius, // radius of the output correlation (7 for 15x15)
}
}
/**
* Normalize, low-pass filter, convert to pixel domain and unfold correlation tiles. This is an inner
* kernel that is called from corr2D_normalize.
*
* @param num_tiles number of correlation tiles to process
* @param corr_stride_td, stride (in floats) for correlation input (transform domain).
* @param gpu_corrs_td correlation data in transform domain
* @param corr_stride, stride (in floats) for correlation pixel-domain outputs.
* @param gpu_corrs allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2
* @param fat_zero add this value squared to the sum of squared components before normalization
* @param corr_radius, radius of the output correlation (maximal 7 for 15x15)
*/
extern "C" __global__ void corr2D_normalize_inner(
int num_corr_tiles, // number of correlation tiles to process
const size_t corr_stride_td, // (in floats) stride for the input TD correlations
float * gpu_corrs_td, // correlation tiles in transform domain
const size_t corr_stride, // in floats
float * gpu_corrs, // correlation output data (either pixel domain or transform domain
float fat_zero, // here - absolute
int corr_radius) // radius of the output correlation (7 for 15x15)
{
int corr_in_block = threadIdx.y;
int corr_num = blockIdx.x * CORR_TILES_PER_BLOCK_NORMALIZE + corr_in_block; // 4
if (corr_num >= num_corr_tiles){
return; // nothing to do
}
__syncthreads();// __syncwarp();
__shared__ float clt_corrs [CORR_TILES_PER_BLOCK_NORMALIZE][4][DTT_SIZE][DTT_SIZE1];
__shared__ float mlt_corrs [CORR_TILES_PER_BLOCK_NORMALIZE][DTT_SIZE2M1][DTT_SIZE2M1]; // result correlation
// set clt_corr to all zeros
float * clt_corr = ((float *) clt_corrs) + corr_in_block * (4 * DTT_SIZE * DTT_SIZE1); // top left quadrant0
float * mclt_corr = ((float *) mlt_corrs) + corr_in_block * (DTT_SIZE2M1*DTT_SIZE2M1);
// Read correlation tile from the device memory to the shared memory
float *mem_corr = gpu_corrs_td + corr_stride_td * corr_num + threadIdx.x;
float *clt = clt_corr + threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE4; i++){
(*clt) = (*mem_corr);
clt += DTT_SIZE1;
mem_corr += DTT_SIZE;
}
__syncthreads();// __syncwarp();
// normalize Amplitude
normalizeTileAmplitude(
clt_corr, // float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
fat_zero); // float fat_zero ) // fat zero is absolute, scale it outside
// Low Pass Filter from constant area (is it possible to replace?)
#ifdef DBG_TILE
#ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
printf("\ncorrelate2D CORRELATION NORMALIZED, fat_zero=%f\n",fat_zero);
debug_print_clt1(clt_corr, -1, 0xf);
}
__syncthreads();// __syncwarp();
#endif
#endif
#ifdef DBG_TILE
#ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
printf("\ncorrelate2D LPF\n");
debug_print_lpf(lpf_corr);
}
__syncthreads();// __syncwarp();
#endif
#endif
// Apply LPF filter
clt = clt_corr + threadIdx.x;
#pragma unroll
for (int q = 0; q < 4; q++){
float *lpf = lpf_corr + threadIdx.x;
#pragma unroll
for (int i = 0; i < DTT_SIZE; i++){
(*clt) *= (*lpf);
clt += DTT_SIZE1;
lpf += DTT_SIZE;
}
}
__syncthreads();// __syncwarp();
#ifdef DBG_TILE
#ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
printf("\ncorrelate2D CORRELATION LPF-ed\n");
debug_print_clt1(clt_corr, -1, 0xf);
}
__syncthreads();// __syncwarp();
#endif
#endif
// Convert correlation to pixel domain with DTT-II
dttii_2d(clt_corr);
#ifdef DBG_TILE
#ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 4)){
printf("\ncorrelate2D AFTER HOSIZONTAL (VERTICAL) PASS, corr_radius=%d\n",corr_radius);
debug_print_clt1(clt_corr, -1, 0xf);
}
__syncthreads();// __syncwarp();
#endif
#endif
// Unfold center area (2 * corr_radius + 1) * (2 * corr_radius + 1)
corrUnfoldTile(
corr_radius, // int corr_radius,
(float *) clt_corr, // float* qdata0, // [4][DTT_SIZE][DTT_SIZE1], // 4 quadrants of the clt data, rows extended to optimize shared ports
(float *) mclt_corr); // float* rslt) // [DTT_SIZE2M1][DTT_SIZE2M1]) // 15x15
__syncthreads();
#ifdef DBG_TILE
#ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
printf("\ncorrelate2D after UNFOLD, corr_radius=%d\n",corr_radius);
debug_print_corr_15x15(
corr_radius, // int corr_radius,
mclt_corr,
-1);
}
__syncthreads();// __syncwarp();
#endif
#endif
// copy (2 * corr_radius +1) x (2 * corr_radius +1) (up to 15x15) tile to the main memory
int size2r1 = 2 * corr_radius + 1;
int len2r1x2r1 = size2r1 * size2r1;
int corr_tile_offset = + corr_stride * corr_num;
mem_corr = gpu_corrs + corr_tile_offset;
#pragma unroll
for (int offs = threadIdx.x; offs < len2r1x2r1; offs+=CORR_THREADS_PER_TILE){ // variable number of cycles per thread
mem_corr[offs] = mclt_corr[offs];
}
__syncthreads();
#ifdef DBG_TILE
#ifdef DEBUG6
if ((tile_num == DBG_TILE) && (corr_pair == 0) && (threadIdx.x == 0)){
printf("\ncorrelate2D after copy to main memory\n");
// debug_print_clt1(clt_corr, -1, 0xf);
}
__syncthreads();// __syncwarp();
#endif
#endif
}
/** /**
* Calculate texture as RGBA (or YA for mono) from the in-memory frequency domain representation * Calculate texture as RGBA (or YA for mono) from the in-memory frequency domain representation
* and the per-tile task array (may be sparse). * and the per-tile task array (may be sparse).
...@@ -1241,9 +1671,9 @@ extern "C" __global__ void correlate2D_inner( ...@@ -1241,9 +1671,9 @@ extern "C" __global__ void correlate2D_inner(
* @param gpu_texture_indices allocated array - 1 integer per tile to process * @param gpu_texture_indices allocated array - 1 integer per tile to process
* @param num_texture_tiles allocated array - 8 integers (may be reduced to 4 later) * @param num_texture_tiles allocated array - 8 integers (may be reduced to 4 later)
* @param woi WoI for the output texture (x,y,width,height of the woi) * @param woi WoI for the output texture (x,y,width,height of the woi)
* @param width full image width in tiles <= TILESX, use for faster processing of LWIR images (should be actual + 1) * @param width full image width in tiles <= TILES-X, use for faster processing of LWIR images (should be actual + 1)
* @param height full image height in tiles <= TILESY, use for faster processing of LWIR images * @param height full image height in tiles <= TILES-Y, use for faster processing of LWIR images
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][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 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
* @param is_lwir do not perform shot correction * @param is_lwir do not perform shot correction
...@@ -1267,10 +1697,10 @@ extern "C" __global__ void generate_RBGA( ...@@ -1267,10 +1697,10 @@ extern "C" __global__ void generate_RBGA(
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation) int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation)
int * woi, // x,y,width,height of the woi int * woi, // x,y,width,height of the woi
int width, // <= TILESX, use for faster processing of LWIR images (should be actual + 1) int width, // <= TILES-X, use for faster processing of LWIR images (should be actual + 1)
int height, // <= TILESY, use for faster processing of LWIR images int height, // <= TILES-Y, use for faster processing of LWIR images
// Parameters for the texture generation // Parameters for the texture generation
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
// TODO: use geometry_correction rXY ! // 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)
...@@ -1287,7 +1717,7 @@ extern "C" __global__ void generate_RBGA( ...@@ -1287,7 +1717,7 @@ extern "C" __global__ void generate_RBGA(
float diff_sigma = params[2]; // pixel value/pixel change float diff_sigma = params[2]; // pixel value/pixel change
float diff_threshold = params[3]; // pixel value/pixel change float diff_threshold = params[3]; // pixel value/pixel change
float min_agree = params[4]; // minimal number of channels to agree on a point (real number to work with fuzzy averages) float min_agree = params[4]; // minimal number of channels to agree on a point (real number to work with fuzzy averages)
int tilesya = ((height +3) & (~3)); //#define TILES-YA ((TILES-Y +3) & (~3))
dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1); dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
int blocks_x = (width + ((1 << THREADS_DYNAMIC_BITS) - 1)) >> THREADS_DYNAMIC_BITS; int blocks_x = (width + ((1 << THREADS_DYNAMIC_BITS) - 1)) >> THREADS_DYNAMIC_BITS;
dim3 blocks0 (blocks_x, height, 1); dim3 blocks0 (blocks_x, height, 1);
...@@ -1305,16 +1735,19 @@ extern "C" __global__ void generate_RBGA( ...@@ -1305,16 +1735,19 @@ extern "C" __global__ void generate_RBGA(
mark_texture_tiles <<<blocks,threads>>>( mark_texture_tiles <<<blocks,threads>>>(
gpu_tasks, gpu_tasks,
num_tiles, // number of tiles in task list 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) gpu_texture_indices); // packed tile + bits (now only (1 << 7)
cudaDeviceSynchronize(); cudaDeviceSynchronize();
// mark n/e/s/w used tiles from gpu_texture_indices memory to gpu_tasks lower 4 bits // mark n/e/s/w used tiles from gpu_texture_indices memory to gpu_tasks lower 4 bits
*(woi + 0) = TILESX; *(woi + 0) = width; // TILES-X;
*(woi + 1) = TILESY; *(woi + 1) = height; // TILES-Y;
*(woi + 2) = 0; // maximal x *(woi + 2) = 0; // maximal x
*(woi + 3) = 0; // maximal y *(woi + 3) = 0; // maximal y
mark_texture_neighbor_tiles <<<blocks,threads>>>( mark_texture_neighbor_tiles <<<blocks,threads>>>(
gpu_tasks, gpu_tasks,
num_tiles, // number of tiles in task list 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_texture_indices, // packed tile + bits (now only (1 << 7)
woi); // min_x, min_y, max_x, max_y woi); // min_x, min_y, max_x, max_y
...@@ -1332,7 +1765,9 @@ extern "C" __global__ void generate_RBGA( ...@@ -1332,7 +1765,9 @@ extern "C" __global__ void generate_RBGA(
gen_texture_list <<<blocks,threads>>>( gen_texture_list <<<blocks,threads>>>(
gpu_tasks, gpu_tasks,
num_tiles, // number of tiles in task list num_tiles, // number of tiles in task list
gpu_texture_indices,// packed tile + bits (now only (1 << 7) width, // number of tiles in a row
height, // int height, // number of tiles rows
gpu_texture_indices, // packed tile + bits (now only (1 << 7)
num_texture_tiles, // number of texture tiles to process num_texture_tiles, // number of texture tiles to process
woi); // x,y, here woi[2] = max_X, woi[3] - max-Y woi); // x,y, here woi[2] = max_X, woi[3] - max-Y
...@@ -1365,9 +1800,9 @@ extern "C" __global__ void generate_RBGA( ...@@ -1365,9 +1800,9 @@ extern "C" __global__ void generate_RBGA(
int border_tile = pass >> 2; int border_tile = pass >> 2;
int ntt = *(num_texture_tiles + ((pass & 3) << 1) + border_tile); int ntt = *(num_texture_tiles + ((pass & 3) << 1) + border_tile);
dim3 grid_texture((ntt + TEXTURE_TILES_PER_BLOCK-1) / TEXTURE_TILES_PER_BLOCK,1,1); // TEXTURE_TILES_PER_BLOCK = 1 dim3 grid_texture((ntt + TEXTURE_TILES_PER_BLOCK-1) / TEXTURE_TILES_PER_BLOCK,1,1); // TEXTURE_TILES_PER_BLOCK = 1
int ti_offset = (pass & 3) * (TILESX * (TILESYA >> 2)); // 1/4 int ti_offset = (pass & 3) * (width * (tilesya >> 2)); // (TILES-X * (TILES-YA >> 2)); // 1/4
if (border_tile){ if (border_tile){
ti_offset += TILESX * (TILESYA >> 2) - ntt; ti_offset += width * (tilesya >> 2) - ntt;; // TILES-X * (TILES-YA >> 2) - ntt;
} }
#ifdef DEBUG12 #ifdef DEBUG12
printf("\ngenerate_RBGA() pass= %d, border_tile= %d, ti_offset= %d, ntt=%d\n", printf("\ngenerate_RBGA() pass= %d, border_tile= %d, ti_offset= %d, ntt=%d\n",
...@@ -1383,7 +1818,7 @@ extern "C" __global__ void generate_RBGA( ...@@ -1383,7 +1818,7 @@ extern "C" __global__ void generate_RBGA(
/* */ /* */
textures_accumulate <<<grid_texture,threads_texture>>>( textures_accumulate <<<grid_texture,threads_texture>>>(
woi, // int * woi, // x, y, width,height woi, // int * woi, // x, y, width,height
gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_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) 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,
...@@ -1402,8 +1837,8 @@ extern "C" __global__ void generate_RBGA( ...@@ -1402,8 +1837,8 @@ 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
(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);
cudaDeviceSynchronize(); // not needed yet, just for testing cudaDeviceSynchronize(); // not needed yet, just for testing
/* */ /* */
} }
...@@ -1447,8 +1882,8 @@ __global__ void clear_texture_rbga( ...@@ -1447,8 +1882,8 @@ __global__ void clear_texture_rbga(
* @param gpu_texture_indices allocated array - 1 integer per tile to process * @param gpu_texture_indices allocated array - 1 integer per tile to process
* @param num_texture_tiles number of texture tiles to process (allocated 8-element integer array) * @param num_texture_tiles number of texture tiles to process (allocated 8-element integer array)
* @param woi 4-element int array ( x,y,width,height of the woi, in tiles) * @param woi 4-element int array ( x,y,width,height of the woi, in tiles)
* @param width full image width in tiles <= TILESX, use for faster processing of LWIR images (should be actual + 1) * @param width full image width in tiles <= TILES-X, use for faster processing of LWIR images (should be actual + 1)
* @param height full image height in tiles <= TILESY, use for faster processing of LWIR images * @param height full image height in tiles <= TILES-Y, use for faster processing of LWIR images
*/ */
__global__ void prepare_texture_list( __global__ void prepare_texture_list(
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
...@@ -1458,8 +1893,8 @@ __global__ void prepare_texture_list( ...@@ -1458,8 +1893,8 @@ __global__ void prepare_texture_list(
// border - down from the sam3\e 1/4 of the buffer // border - down from the sam3\e 1/4 of the buffer
int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation) int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation)
int * woi, // x,y,width,height of the woi int * woi, // x,y,width,height of the woi
int width, // <= TILESX, use for faster processing of LWIR images (should be actual + 1) int width, // <= TILES-X, use for faster processing of LWIR images (should be actual + 1)
int height) // <= TILESY, use for faster processing of LWIR images int height) // <= TILES-Y, use for faster processing of LWIR images
{ {
// int task_num = blockIdx.x; // int task_num = blockIdx.x;
// int tid = threadIdx.x; // maybe it will be just <<<1,1>>> // int tid = threadIdx.x; // maybe it will be just <<<1,1>>>
...@@ -1482,16 +1917,19 @@ __global__ void prepare_texture_list( ...@@ -1482,16 +1917,19 @@ __global__ void prepare_texture_list(
mark_texture_tiles <<<blocks,threads>>>( mark_texture_tiles <<<blocks,threads>>>(
gpu_tasks, gpu_tasks,
num_tiles, // number of tiles in task list num_tiles, // number of tiles in task list
width,
gpu_texture_indices); // packed tile + bits (now only (1 << 7) gpu_texture_indices); // packed tile + bits (now only (1 << 7)
cudaDeviceSynchronize(); cudaDeviceSynchronize();
// mark n/e/s/w used tiles from gpu_texture_indices memory to gpu_tasks lower 4 bits // mark n/e/s/w used tiles from gpu_texture_indices memory to gpu_tasks lower 4 bits
*(woi + 0) = TILESX; *(woi + 0) = width; // TILES-X;
*(woi + 1) = TILESY; *(woi + 1) = height; // TILES-Y;
*(woi + 2) = 0; // maximal x *(woi + 2) = 0; // maximal x
*(woi + 3) = 0; // maximal y *(woi + 3) = 0; // maximal y
mark_texture_neighbor_tiles <<<blocks,threads>>>( mark_texture_neighbor_tiles <<<blocks,threads>>>(
gpu_tasks, gpu_tasks,
num_tiles, // number of tiles in task list 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_texture_indices, // packed tile + bits (now only (1 << 7)
woi); // min_x, min_y, max_x, max_y woi); // min_x, min_y, max_x, max_y
cudaDeviceSynchronize(); cudaDeviceSynchronize();
...@@ -1508,7 +1946,9 @@ __global__ void prepare_texture_list( ...@@ -1508,7 +1946,9 @@ __global__ void prepare_texture_list(
gen_texture_list <<<blocks,threads>>>( gen_texture_list <<<blocks,threads>>>(
gpu_tasks, gpu_tasks,
num_tiles, // number of tiles in task list num_tiles, // number of tiles in task list
gpu_texture_indices,// packed tile + bits (now only (1 << 7) width, // number of tiles in a row
height, // int height, // number of tiles rows
gpu_texture_indices, // packed tile + bits (now only (1 << 7)
num_texture_tiles, // number of texture tiles to process num_texture_tiles, // number of texture tiles to process
woi); // x,y, here woi[2] = max_X, woi[3] - max-Y woi); // x,y, here woi[2] = max_X, woi[3] - max-Y
...@@ -1523,22 +1963,22 @@ __global__ void prepare_texture_list( ...@@ -1523,22 +1963,22 @@ __global__ void prepare_texture_list(
* Helper kernel for prepare_texture_list() (for generate_RBGA) - clear texture list * Helper kernel for prepare_texture_list() (for generate_RBGA) - clear texture list
* *
* @param gpu_texture_indices allocated array - 1 integer per tile to process * @param gpu_texture_indices allocated array - 1 integer per tile to process
* @param width full image width in tiles <= TILESX, use for faster processing of LWIR images (should be actual + 1) * @param width full image width in tiles <= TILES-X, use for faster processing of LWIR images (should be actual + 1)
* @param height full image height in tiles <= TILESY, use for faster processing of LWIR images * @param height full image height in tiles <= TILES-Y, use for faster processing of LWIR images
*/ */
// blockDim.x * gridDim.x >= width // blockDim.x * gridDim.x >= width
__global__ void clear_texture_list( __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, // <= TILESX, use for faster processing of LWIR images int width, // <= TILES-X, use for faster processing of LWIR images
int height) // <= TILESY, use for faster processing of LWIR images int height) // <= TILES-Y, use for faster processing of LWIR images
{ {
int col = blockDim.x * blockIdx.x + threadIdx.x; int col = blockDim.x * blockIdx.x + threadIdx.x;
int row = blockIdx.y; int row = blockIdx.y;
if (col > width) { if (col > width) {
return; return;
} }
*(gpu_texture_indices + col + row * TILESX) = 0; *(gpu_texture_indices + col + row * width) = 0; // TILES-X) = 0;
} }
/** /**
* Helper kernel for prepare_texture_list() (for generate_RBGA) - mark used tiles in * Helper kernel for prepare_texture_list() (for generate_RBGA) - mark used tiles in
...@@ -1546,6 +1986,7 @@ __global__ void clear_texture_list( ...@@ -1546,6 +1986,7 @@ __global__ void clear_texture_list(
* *
* @param gpu_tasks array of per-tile tasks (struct tp_task) * @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 gpu_texture_indices allocated array - 1 integer per tile to process * @param gpu_texture_indices allocated array - 1 integer per tile to process
*/ */
...@@ -1553,6 +1994,7 @@ __global__ void clear_texture_list( ...@@ -1553,6 +1994,7 @@ __global__ void clear_texture_list(
__global__ void mark_texture_tiles( __global__ void mark_texture_tiles(
struct tp_task * gpu_tasks, 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 * gpu_texture_indices) // packed tile + bits (now only (1 << 7) int * gpu_texture_indices) // packed tile + bits (now only (1 << 7)
{ {
int task_num = blockDim.x * blockIdx.x + threadIdx.x; int task_num = blockDim.x * blockIdx.x + threadIdx.x;
...@@ -1564,7 +2006,7 @@ __global__ void mark_texture_tiles( ...@@ -1564,7 +2006,7 @@ __global__ void mark_texture_tiles(
return; // NOP tile return; // NOP tile
} }
int cxy = gpu_tasks[task_num].txy; int cxy = gpu_tasks[task_num].txy;
*(gpu_texture_indices + (cxy & 0xffff) + (cxy >> 16) * TILESX) = 1; *(gpu_texture_indices + (cxy & 0xffff) + (cxy >> 16) * width) = 1; // TILES-X) = 1;
} }
/** /**
...@@ -1574,6 +2016,8 @@ __global__ void mark_texture_tiles( ...@@ -1574,6 +2016,8 @@ __global__ void mark_texture_tiles(
* *
* @param gpu_tasks array of per-tile tasks (struct tp_task) * @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 height number of tiles rows
* @param gpu_texture_indices allocated array - 1 integer per tile to process * @param gpu_texture_indices allocated array - 1 integer per tile to process
* @param woi 4-element int array ( x,y,width,height of the woi, in tiles) * @param woi 4-element int array ( x,y,width,height of the woi, in tiles)
*/ */
...@@ -1581,6 +2025,8 @@ __global__ void mark_texture_tiles( ...@@ -1581,6 +2025,8 @@ __global__ void mark_texture_tiles(
__global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
struct tp_task * gpu_tasks, 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 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
...@@ -1601,10 +2047,15 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? ...@@ -1601,10 +2047,15 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
atomicMax(woi+2, x); atomicMax(woi+2, x);
atomicMax(woi+3, y); atomicMax(woi+3, y);
int d = 0; int d = 0;
if ((y > 0) && *(gpu_texture_indices + x + (y - 1) * TILESX)) d |= (1 << TASK_TEXTURE_N_BIT); // if ((y > 0) && *(gpu_texture_indices + x + (y - 1) * TILES-X)) d |= (1 << TASK_TEXTURE_N_BIT);
if ((x < (TILESX - 1)) && *(gpu_texture_indices + (x + 1) + y * TILESX)) d |= (1 << TASK_TEXTURE_E_BIT); // if ((x < (TILES-X - 1)) && *(gpu_texture_indices + (x + 1) + y * TILES-X)) d |= (1 << TASK_TEXTURE_E_BIT);
if ((y < (TILESY - 1)) && *(gpu_texture_indices + x + (y + 1) * TILESX)) d |= (1 << TASK_TEXTURE_S_BIT); // if ((y < (TILES-Y - 1)) && *(gpu_texture_indices + x + (y + 1) * TILES-X)) d |= (1 << TASK_TEXTURE_S_BIT);
if ((x > 0) && *(gpu_texture_indices + (x - 1) + y * TILESX)) d |= (1 << TASK_TEXTURE_W_BIT); // if ((x > 0) && *(gpu_texture_indices + (x - 1) + y * TILES-X)) d |= (1 << TASK_TEXTURE_W_BIT);
if ((y > 0) && *(gpu_texture_indices + x + (y - 1) * width)) d |= (1 << TASK_TEXTURE_N_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 ((x > 0) && *(gpu_texture_indices + (x - 1) + y * width)) d |= (1 << TASK_TEXTURE_W_BIT);
gpu_tasks[task_num].task = ((task ^ d) & TASK_TEXTURE_BITS) ^ task; gpu_tasks[task_num].task = ((task ^ d) & TASK_TEXTURE_BITS) ^ task;
} }
...@@ -1624,11 +2075,14 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__? ...@@ -1624,11 +2075,14 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
__global__ void gen_texture_list( __global__ void gen_texture_list(
struct tp_task * gpu_tasks, 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 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 * 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
{ {
int tilesya = ((height +3) & (~3)); //#define TILES-YA ((TILES-Y +3) & (~3))
int task_num = blockDim.x * blockIdx.x + threadIdx.x; int task_num = blockDim.x * blockIdx.x + threadIdx.x;
if (task_num >= num_tiles) { if (task_num >= num_tiles) {
return; // nothing to do return; // nothing to do
...@@ -1654,19 +2108,23 @@ __global__ void gen_texture_list( ...@@ -1654,19 +2108,23 @@ __global__ void gen_texture_list(
// don't care if calculate extra pixels that still fit into memory // don't care if calculate extra pixels that still fit into memory
int is_border = (x == woi[0]) || (y == woi[1]) || (x == (TILESX - 1)) || (y == woi[3]); // int is_border = (x == woi[0]) || (y == woi[1]) || (x == (TILES-X - 1)) || (y == woi[3]);
int is_border = (x == woi[0]) || (y == woi[1]) || (x == (width - 1)) || (y == woi[3]);
int buff_head = 0; int buff_head = 0;
int num_offset = 0; int num_offset = 0;
if (x & 1) { if (x & 1) {
buff_head += TILESX * (TILESYA >> 2); //TILESYA - 2 LSB == 00 // buff_head += TILES-X * (TILES-YA >> 2); //TILES-YA - 2 LSB == 00
buff_head += width * (tilesya >> 2); //TILES-YA - 2 LSB == 00
num_offset += 2; // int * num_offset += 2; // int *
} }
if (y & 1) { if (y & 1) {
buff_head += TILESX * (TILESYA >> 1); // buff_head += TILES-X * (TILES-YA >> 1);
buff_head += width * (tilesya >> 1);
num_offset += 4; // int * num_offset += 4; // int *
} }
if (is_border){ if (is_border){
buff_head += (TILESX * (TILESYA >> 2) - 1); // end of the buffer // buff_head += (TILES-X * (TILES-YA >> 2) - 1); // end of the buffer
buff_head += (width * (tilesya >> 2) - 1); // end of the buffer
num_offset += 1; // int * num_offset += 1; // int *
} }
gpu_texture_indices += buff_head; gpu_texture_indices += buff_head;
...@@ -1685,7 +2143,8 @@ __global__ void gen_texture_list( ...@@ -1685,7 +2143,8 @@ __global__ void gen_texture_list(
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // DEBUG12 #endif // DEBUG12
*(gpu_texture_indices + buf_offset) = task | ((x + y * TILESX) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT); // *(gpu_texture_indices + buf_offset) = task | ((x + y * TILES-X) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT);
*(gpu_texture_indices + buf_offset) = task | ((x + y * width) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT);
} }
/** /**
...@@ -1718,12 +2177,14 @@ __global__ void index_direct( ...@@ -1718,12 +2177,14 @@ __global__ void index_direct(
* *
* @param gpu_tasks array of per-tile tasks (struct tp_task) * @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 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( __global__ void create_nonoverlap_list(
struct tp_task * gpu_tasks, 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 * nonoverlap_list, // pointer to the calculated number of non-zero tiles int * nonoverlap_list, // pointer to the calculated number of non-zero tiles
int * pnonoverlap_length) // indices to gpu_tasks // should be initialized to zero int * pnonoverlap_length) // indices to gpu_tasks // should be initialized to zero
{ {
...@@ -1735,7 +2196,8 @@ __global__ void create_nonoverlap_list( ...@@ -1735,7 +2196,8 @@ __global__ void create_nonoverlap_list(
return; // nothing to do return; // nothing to do
} }
int cxy = gpu_tasks[num_tile].txy; int cxy = gpu_tasks[num_tile].txy;
int texture_task_code = (((cxy & 0xffff) + (cxy >> 16) * TILESX) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT) | TASK_TEXTURE_BITS; // int texture_task_code = (((cxy & 0xffff) + (cxy >> 16) * TILES-X) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT) | TASK_TEXTURE_BITS;
int texture_task_code = (((cxy & 0xffff) + (cxy >> 16) * width) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT) | TASK_TEXTURE_BITS;
if (gpu_tasks[num_tile].task != 0) { if (gpu_tasks[num_tile].task != 0) {
nonoverlap_list[atomicAdd(pnonoverlap_length, 1)] = texture_task_code; nonoverlap_list[atomicAdd(pnonoverlap_length, 1)] = texture_task_code;
} }
...@@ -1744,6 +2206,7 @@ __global__ void create_nonoverlap_list( ...@@ -1744,6 +2206,7 @@ __global__ void create_nonoverlap_list(
/** /**
* Helper kernel for correlate2D() - generates dense list of correlation tasks. * Helper kernel for correlate2D() - generates dense list of correlation tasks.
* With the quad camera each tile may generate up to 6 pairs (int array elements) * With the quad camera each tile may generate up to 6 pairs (int array elements)
* Tiles are not ordered, but the correlation pairs for each tile are
* *
* @param gpu_tasks array of per-tile tasks (struct tp_task) * @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
...@@ -1753,6 +2216,7 @@ __global__ void create_nonoverlap_list( ...@@ -1753,6 +2216,7 @@ __global__ void create_nonoverlap_list(
__global__ void index_correlate( __global__ void index_correlate(
struct tp_task * gpu_tasks, 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 * 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
{ {
...@@ -1767,7 +2231,8 @@ __global__ void index_correlate( ...@@ -1767,7 +2231,8 @@ __global__ void index_correlate(
int txy = gpu_tasks[num_tile].txy; int txy = gpu_tasks[num_tile].txy;
int tx = txy & 0xffff; int tx = txy & 0xffff;
int ty = txy >> 16; int ty = txy >> 16;
int nt = ty * TILESX + tx; // int nt = ty * TILES-X + tx;
int nt = ty * width + tx;
for (int b = 0; b < NUM_PAIRS; b++) if ((cm & (1 << b)) != 0) { for (int b = 0; b < NUM_PAIRS; b++) if ((cm & (1 << b)) != 0) {
gpu_corr_indices[indx++] = (nt << CORR_NTILE_SHIFT) | b; gpu_corr_indices[indx++] = (nt << CORR_NTILE_SHIFT) | b;
} }
...@@ -1785,12 +2250,12 @@ __global__ void index_correlate( ...@@ -1785,12 +2250,12 @@ __global__ void index_correlate(
* @param gpu_images array of per-camera pointers to Bayer images * @param gpu_images array of per-camera pointers to Bayer images
* @param gpu_tasks array of per-tile tasks (struct tp_task) * @param gpu_tasks array of per-tile tasks (struct tp_task)
* @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations * @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations
* [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] * [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param dstride stride (in floats) for the input Bayer images * @param dstride stride (in floats) for the input Bayer images
* @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 lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! * @param lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
* @param woi_width image width (was constant IMG_WIDTH, now variable to use with EO+LWIR * @param woi_width image width (was constant IMG-WIDTH, now variable to use with EO+LWIR
* @param woi_height image height (was constant IMG_HEIGHT, now variable to use with EO+LWIR * @param woi_height image height (was constant IMG-HEIGHT, now variable to use with EO+LWIR
* @param kernels_hor number of deconvolution kernels per image width * @param kernels_hor number of deconvolution kernels per image width
* @param kernels_vert number of deconvolution kernels per image height * @param kernels_vert number of deconvolution kernels per image height
* @param gpu_active_tiles pointer to the calculated list of tiles * @param gpu_active_tiles pointer to the calculated list of tiles
...@@ -1801,7 +2266,7 @@ extern "C" __global__ void convert_direct( // called with a single block, singl ...@@ -1801,7 +2266,7 @@ extern "C" __global__ void convert_direct( // called with a single block, singl
float ** gpu_kernels, // [NUM_CAMS], float ** gpu_kernels, // [NUM_CAMS],
float ** gpu_images, // [NUM_CAMS], float ** gpu_images, // [NUM_CAMS],
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS][TILE-SY][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
size_t dstride, // in floats (pixels) size_t dstride, // in floats (pixels)
int num_tiles, // number of tiles in task int num_tiles, // number of tiles in task
int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
...@@ -1810,7 +2275,8 @@ extern "C" __global__ void convert_direct( // called with a single block, singl ...@@ -1810,7 +2275,8 @@ extern "C" __global__ void convert_direct( // called with a single block, singl
int kernels_hor, int kernels_hor,
int kernels_vert, int kernels_vert,
int * gpu_active_tiles, // pointer to the calculated list of tiles int * gpu_active_tiles, // pointer to the calculated list of tiles
int * pnum_active_tiles) // pointer to the number of active tiles int * pnum_active_tiles, // pointer to the number of active tiles
int tilesx)
{ {
dim3 threads0(CONVERT_DIRECT_INDEXING_THREADS, 1, 1); dim3 threads0(CONVERT_DIRECT_INDEXING_THREADS, 1, 1);
dim3 blocks0 ((num_tiles + CONVERT_DIRECT_INDEXING_THREADS -1) >> CONVERT_DIRECT_INDEXING_THREADS_LOG2,1, 1); dim3 blocks0 ((num_tiles + CONVERT_DIRECT_INDEXING_THREADS -1) >> CONVERT_DIRECT_INDEXING_THREADS_LOG2,1, 1);
...@@ -1832,13 +2298,15 @@ extern "C" __global__ void convert_direct( // called with a single block, singl ...@@ -1832,13 +2298,15 @@ extern "C" __global__ void convert_direct( // called with a single block, singl
gpu_tasks, // struct tp_task * gpu_tasks, // array of tasks gpu_tasks, // struct tp_task * gpu_tasks, // array of tasks
gpu_active_tiles, // int * gpu_active_tiles, // indices in gpu_tasks to non-zero tiles gpu_active_tiles, // int * gpu_active_tiles, // indices in gpu_tasks to non-zero tiles
*pnum_active_tiles, // int num_active_tiles, // number of tiles in task *pnum_active_tiles, // int num_active_tiles, // number of tiles in task
gpu_clt, // float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] gpu_clt, // float ** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
dstride, // size_t dstride, // in floats (pixels) dstride, // size_t dstride, // in floats (pixels)
lpf_mask, // int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! lpf_mask, // int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
woi_width, // int woi_width, // varaible to swict between EO and LWIR woi_width, // int woi_width, // varaible to swict between EO and LWIR
woi_height, // int woi_height, // varaible to swict between EO and LWIR woi_height, // int woi_height, // varaible to swict between EO and LWIR
kernels_hor, // int kernels_hor, // varaible to swict between EO and LWIR kernels_hor, // int kernels_hor, // varaible to swict between EO and LWIR
kernels_vert); // int kernels_vert); // varaible to swict between EO and LWIR kernels_vert, // ); // int kernels_vert); // varaible to swict between EO and LWIR
tilesx); // int tilesx)
} }
} }
...@@ -1854,8 +2322,8 @@ extern "C" __global__ void convert_direct( // called with a single block, singl ...@@ -1854,8 +2322,8 @@ extern "C" __global__ void convert_direct( // called with a single block, singl
* @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations * @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations
* @param dstride stride (in floats) for the input Bayer images * @param dstride stride (in floats) for the input Bayer images
* @param lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! * @param lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
* @param woi_width image width (was constant IMG_WIDTH, now variable to use with EO+LWIR * @param woi_width image width (was constant IMG-WIDTH, now variable to use with EO+LWIR
* @param woi_height image height (was constant IMG_HEIGHT, now variable to use with EO+LWIR * @param woi_height image height (was constant IMG-HEIGHT, now variable to use with EO+LWIR
* @param kernels_hor number of deconvolution kernels per image width * @param kernels_hor number of deconvolution kernels per image width
* @param kernels_vert number of deconvolution kernels per image height * @param kernels_vert number of deconvolution kernels per image height
*/ */
...@@ -1866,14 +2334,16 @@ __global__ void convert_correct_tiles( ...@@ -1866,14 +2334,16 @@ __global__ void convert_correct_tiles(
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
int * gpu_active_tiles, // indices in gpu_tasks to non-zero tiles int * gpu_active_tiles, // indices in gpu_tasks to non-zero tiles
int num_active_tiles, // number of tiles in task int num_active_tiles, // number of tiles in task
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
size_t dstride, // in floats (pixels) size_t dstride, // in floats (pixels)
int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
int woi_width, int woi_width,
int woi_height, int woi_height,
int kernels_hor, int kernels_hor,
int kernels_vert) int kernels_vert,
int tilesx)
{ {
// int tilesx = TILES-X;
dim3 t = threadIdx; dim3 t = threadIdx;
int tile_in_block = threadIdx.y; int tile_in_block = threadIdx.y;
int task_indx = blockIdx.x * TILES_PER_BLOCK + tile_in_block; int task_indx = blockIdx.x * TILES_PER_BLOCK + tile_in_block;
...@@ -1944,7 +2414,8 @@ __global__ void convert_correct_tiles( ...@@ -1944,7 +2414,8 @@ __global__ void convert_correct_tiles(
woi_width, // int woi_width, woi_width, // int woi_width,
woi_height, // int woi_height, woi_height, // int woi_height,
kernels_hor, // int kernels_hor, kernels_hor, // int kernels_hor,
kernels_vert); //int kernels_vert) kernels_vert, //int kernels_vert)
tilesx); // int tilesx);
__syncthreads(); __syncthreads();
} }
} }
...@@ -1964,7 +2435,7 @@ __global__ void convert_correct_tiles( ...@@ -1964,7 +2435,7 @@ __global__ void convert_correct_tiles(
* @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 gpu_texture_indices allocated array - 1 integer per tile to process * @param gpu_texture_indices allocated array - 1 integer per tile to process
* @param num_texture_tiles allocated array - 8 integers (may be reduced to 4 later) * @param num_texture_tiles allocated array - 8 integers (may be reduced to 4 later)
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][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 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
* @param is_lwir do not perform shot correction * @param is_lwir do not perform shot correction
...@@ -1983,28 +2454,26 @@ __global__ void convert_correct_tiles( ...@@ -1983,28 +2454,26 @@ __global__ void convert_correct_tiles(
extern "C" __global__ void textures_nonoverlap( extern "C" __global__ void textures_nonoverlap(
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
// int num_tilesx, // number of tiles in a row
// declare arrays in device code? // declare arrays in device code?
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int * pnum_texture_tiles, // returns total number of elements in gpu_texture_indices array int * pnum_texture_tiles, // returns total number of elements in gpu_texture_indices array
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
// TODO: use geometry_correction rXY ! // 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
float params[5], float params[5],
// 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)
float weights[3], // scale for R,B,G float weights[3], // scale for R,B,G
int dust_remove, // Do not reduce average weight when only one image differs much from the average int dust_remove, // Do not reduce average weight when only one image differs much from the average
// int keep_weights, // return channel weights after A in RGBA (was removed) (should be 0 if gpu_texture_rbg)?
// combining both non-overlap and overlap (each calculated if pointer is not null ) // combining both non-overlap and overlap (each calculated if pointer is not null )
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] float * gpu_diff_rgb_combo, // diff[NUM_CAMS], R[NUM_CAMS], B[NUM_CAMS],G[NUM_CAMS]
int num_tilesx)
// num_tilesx in the end - worked, after num_tiles - did not compile with JIT in Eclipse
{ {
// int num_tilesx = TILES-X;
float min_shot = params[0]; // 10.0 float min_shot = params[0]; // 10.0
float scale_shot = params[1]; // 3.0 float scale_shot = params[1]; // 3.0
float diff_sigma = params[2]; // pixel value/pixel change float diff_sigma = params[2]; // pixel value/pixel change
...@@ -2019,6 +2488,7 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2019,6 +2488,7 @@ extern "C" __global__ void textures_nonoverlap(
create_nonoverlap_list<<<blocks0,threads0>>>( create_nonoverlap_list<<<blocks0,threads0>>>(
gpu_tasks, // struct tp_task * gpu_tasks, gpu_tasks, // struct tp_task * gpu_tasks,
num_tiles, // int num_tiles, // number of tiles in task num_tiles, // int num_tiles, // number of tiles in task
num_tilesx, // int width, // number of tiles in a row
gpu_texture_indices, // int * nonoverlap_list, // pointer to the calculated number of non-zero tiles gpu_texture_indices, // int * nonoverlap_list, // pointer to the calculated number of non-zero tiles
pnum_texture_tiles); // int * pnonoverlap_length) // indices to gpu_tasks // should be initialized to zero pnum_texture_tiles); // int * pnonoverlap_length) // indices to gpu_tasks // should be initialized to zero
cudaDeviceSynchronize(); cudaDeviceSynchronize();
...@@ -2027,7 +2497,7 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2027,7 +2497,7 @@ extern "C" __global__ void textures_nonoverlap(
textures_accumulate <<<grid_texture,threads_texture>>>( textures_accumulate <<<grid_texture,threads_texture>>>(
(int *) 0, // int * woi, // x, y, width,height (int *) 0, // int * woi, // x, y, width,height
gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_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
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,
...@@ -2046,7 +2516,8 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2046,7 +2516,8 @@ 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
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);
} }
} }
...@@ -2060,7 +2531,7 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2060,7 +2531,7 @@ extern "C" __global__ void textures_nonoverlap(
* non-overlapped (if gpu_texture_tiles != 0 and texture_stride !=0), * non-overlapped (if gpu_texture_tiles != 0 and texture_stride !=0),
* and low-resolution (1/8) gpu_diff_rgb_combo (if gpu_diff_rgb_combo !=0) * and low-resolution (1/8) gpu_diff_rgb_combo (if gpu_diff_rgb_combo !=0)
* @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 [TILESY][TILESX][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 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
...@@ -2082,7 +2553,7 @@ extern "C" __global__ void textures_nonoverlap( ...@@ -2082,7 +2553,7 @@ extern "C" __global__ void textures_nonoverlap(
*/ */
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 * woi, // x, y, width,height int * woi, // x, y, width,height
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_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,// 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 !
...@@ -2102,8 +2573,10 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2102,8 +2573,10 @@ 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
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 = TILES-X;
// (float *) gpu_geometry_correction ->pXY0, // (float *) gpu_geometry_correction ->pXY0,
// float weights[3] = {weight0, weight1, weight2}; // float weights[3] = {weight0, weight1, weight2};
// will process exactly 4 cameras in one block (so this number is not adjustable here NUM_CAMS should be == 4 ! // will process exactly 4 cameras in one block (so this number is not adjustable here NUM_CAMS should be == 4 !
...@@ -2344,8 +2817,6 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2344,8 +2817,6 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
__syncthreads(); // _syncthreads();1 __syncthreads(); // _syncthreads();1
// return either only 4 slices (RBGA) or all 12 (with weights and rms) if keep_weights // return either only 4 slices (RBGA) or all 12 (with weights and rms) if keep_weights
// float rgbaw [NUM_COLORS + 1 + NUM_CAMS + NUM_COLORS + 1][DTT_SIZE2][DTT_SIZE21]; // float rgbaw [NUM_COLORS + 1 + NUM_CAMS + NUM_COLORS + 1][DTT_SIZE2][DTT_SIZE21];
// size_t texture_tile_offset = + tile_indx * texture_stride; // size_t texture_tile_offset = + tile_indx * texture_stride;
...@@ -2441,8 +2912,8 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2441,8 +2912,8 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
} }
} }
int slice_stride = texture_rbg_stride * (*(woi + 3) + 1) * DTT_SIZE; // offset to the next color int slice_stride = texture_rbg_stride * (*(woi + 3) + 1) * DTT_SIZE; // offset to the next color
int tileY = tile_num / TILESX; // slow, but 1 per tile int tileY = tile_num / tilesx; // TILES-X; // slow, but 1 per tile
int tileX = tile_num - tileY * TILESX; int tileX = tile_num - tileY * tilesx; // TILES-X;
int tile_x0 = (tileX - *(woi + 0)) * DTT_SIZE; // - (DTT_SIZE/2); // may be negative == -4 int tile_x0 = (tileX - *(woi + 0)) * 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 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;
...@@ -2480,8 +2951,8 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2480,8 +2951,8 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
#endif // DEBUG12 #endif // DEBUG12
/// if (!border_tile || /// if (!border_tile ||
/// ((g_row >= 0) && (g_col >= 0) && (g_row < (DTT_SIZE * TILESY)) && (g_col < (DTT_SIZE * TILESX)))){ /// ((g_row >= 0) && (g_col >= 0) && (g_row < (DTT_SIZE * TILES-Y)) && (g_col < (DTT_SIZE * TILES-X)))){
/// ((g_row >= 0) && (g_col >= 0) && (g_row < height) && (g_col < (DTT_SIZE * TILESX)))){ /// ((g_row >= 0) && (g_col >= 0) && (g_row < height) && (g_col < (DTT_SIZE * TILES-X)))){
// always copy 3 (1) colors + alpha // always copy 3 (1) colors + alpha
if (colors == 3){ if (colors == 3){
#pragma unroll #pragma unroll
...@@ -2550,7 +3021,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2550,7 +3021,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
* Generate per-camera aberration-corrected images from the in-memory frequency domain representation. * Generate per-camera aberration-corrected images from the in-memory frequency domain representation.
* This kernel launches others with CDP, from CPU it is just <<<1,1>>> * This kernel launches others with CDP, from CPU it is just <<<1,1>>>
* *
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] * @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param gpu_corr_images array of NUM_CAMS pointers to the output images, [width, colors* height]. width height are from woi_twidth, woi_theight * @param gpu_corr_images array of NUM_CAMS pointers to the output images, [width, colors* height]. width height are from woi_twidth, woi_theight
* @param apply_lpf TODO: now it is not used - restore after testing * @param apply_lpf TODO: now it is not used - restore after testing
* @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
...@@ -2560,7 +3031,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) ...@@ -2560,7 +3031,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
*/ */
extern "C" extern "C"
__global__ void imclt_rbg_all( __global__ void imclt_rbg_all(
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
float ** gpu_corr_images, // [NUM_CAMS][width, colors* height] float ** gpu_corr_images, // [NUM_CAMS][width, colors* height]
int apply_lpf, // TODO: now it is not used - restore? int apply_lpf, // TODO: now it is not used - restore?
int colors, int colors,
...@@ -2580,7 +3051,7 @@ __global__ void imclt_rbg_all( ...@@ -2580,7 +3051,7 @@ __global__ void imclt_rbg_all(
dim3 grid_imclt((tiles_in_pass + IMCLT_TILES_PER_BLOCK-1) / IMCLT_TILES_PER_BLOCK,1,1); dim3 grid_imclt((tiles_in_pass + IMCLT_TILES_PER_BLOCK-1) / IMCLT_TILES_PER_BLOCK,1,1);
// printf("grid_imclt= (%d, %d, %d)\n",grid_imclt.x, grid_imclt.y, grid_imclt.z); // printf("grid_imclt= (%d, %d, %d)\n",grid_imclt.x, grid_imclt.y, grid_imclt.z);
imclt_rbg<<<grid_imclt,threads_imclt>>>( imclt_rbg<<<grid_imclt,threads_imclt>>>(
gpu_clt[ncam], // float * gpu_clt, // [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] gpu_clt[ncam], // float * gpu_clt, // [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
gpu_corr_images[ncam], // float * gpu_rbg, // WIDTH, 3 * HEIGHT gpu_corr_images[ncam], // float * gpu_rbg, // WIDTH, 3 * HEIGHT
1, // int apply_lpf, 1, // int apply_lpf,
colors, // int colors, // defines lpf filter colors, // int colors, // defines lpf filter
...@@ -2603,7 +3074,7 @@ __global__ void imclt_rbg_all( ...@@ -2603,7 +3074,7 @@ __global__ void imclt_rbg_all(
/** /**
* 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.
* *
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] * @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param gpu_corr_images array of NUM_CAMS pointers to the output images, [width, colors* height]. width height are from woi_twidth, woi_theight * @param gpu_corr_images array of NUM_CAMS pointers to the output images, [width, colors* height]. width height are from woi_twidth, woi_theight
* @param apply_lpf TODO: now it is not used - restore after testing * @param apply_lpf TODO: now it is not used - restore after testing
* @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
...@@ -2616,7 +3087,7 @@ __global__ void imclt_rbg_all( ...@@ -2616,7 +3087,7 @@ __global__ void imclt_rbg_all(
*/ */
extern "C" extern "C"
__global__ void imclt_rbg( __global__ void imclt_rbg(
float * gpu_clt, // [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float * gpu_clt, // [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
float * gpu_rbg, // WIDTH, 3 * HEIGHT float * gpu_rbg, // WIDTH, 3 * HEIGHT
int apply_lpf, int apply_lpf,
int colors, // was mono int colors, // was mono
...@@ -3050,8 +3521,8 @@ __device__ void normalizeTileAmplitude( ...@@ -3050,8 +3521,8 @@ __device__ void normalizeTileAmplitude(
* @param window_hor_cos array in shared memory for window horizontal cosine [2*DTT_SIZE] * @param window_hor_cos array in shared memory for window horizontal cosine [2*DTT_SIZE]
* @param window_hor_sin array in shared memory for window horizontal cosine [2*DTT_SIZE] * @param window_hor_sin array in shared memory for window horizontal cosine [2*DTT_SIZE]
* @param window_vert_cos array in shared memory for window horizontal cosine [2*DTT_SIZE] * @param window_vert_cos array in shared memory for window horizontal cosine [2*DTT_SIZE]
* @param woi_width image width (was constant IMG_WIDTH, now variable to use with EO+LWIR * @param woi_width image width (was constant IMG-WIDTH, now variable to use with EO+LWIR
* @param woi_height image height (was constant IMG_HEIGHT, now variable to use with EO+LWIR * @param woi_height image height (was constant IMG-HEIGHT, now variable to use with EO+LWIR
* @param kernels_hor number of deconvolution kernels per image width * @param kernels_hor number of deconvolution kernels per image width
* @param kernels_vert number of deconvolution kernels per image height * @param kernels_vert number of deconvolution kernels per image height
*/ */
...@@ -3076,11 +3547,13 @@ __device__ void convertCorrectTile( ...@@ -3076,11 +3547,13 @@ __device__ void convertCorrectTile(
int woi_width, int woi_width,
int woi_height, int woi_height,
int kernels_hor, int kernels_hor,
int kernels_vert) int kernels_vert,
int tilesx)
{ {
// int tilesx = TILES-X;
// TODO: pass these values instead of constants to handle EO/LWIR // TODO: pass these values instead of constants to handle EO/LWIR
int max_px = woi_width - 1; // IMG_WIDTH - 1; // odd int max_px = woi_width - 1; // IMG-WIDTH - 1; // odd
int max_py = woi_height - 1; // IMG_HEIGHT - 1; // odd int max_py = woi_height - 1; // IMG-HEIGHT - 1; // odd
int max_pxm1 = max_px - 1; // even int max_pxm1 = max_px - 1; // even
int max_pym1 = max_py - 1; // even int max_pym1 = max_py - 1; // even
int max_kernel_hor = kernels_hor - 1; // KERNELS_HOR -1; int max_kernel_hor = kernels_hor - 1; // KERNELS_HOR -1;
...@@ -3173,12 +3646,16 @@ __device__ void convertCorrectTile( ...@@ -3173,12 +3646,16 @@ __device__ void convertCorrectTile(
int_topleft[1] = itly; int_topleft[1] = itly;
#ifdef DEBUG_OOB11 #ifdef DEBUG_OOB11
#ifdef IMG_WIDTH
#ifdef IMG_HEIGHT
if ((int_topleft[0] < 0) || (int_topleft[1] < 0) || (int_topleft[0] >= (IMG_WIDTH - DTT_SIZE)) || (int_topleft[1] >= IMG_HEIGHT - DTT_SIZE)){ if ((int_topleft[0] < 0) || (int_topleft[1] < 0) || (int_topleft[0] >= (IMG_WIDTH - DTT_SIZE)) || (int_topleft[1] >= IMG_HEIGHT - DTT_SIZE)){
printf("Source data OOB, left=%d, top=%d\n",int_topleft[0],int_topleft[1]); printf("Source data OOB, left=%d, top=%d\n",int_topleft[0],int_topleft[1]);
printf("\n"); printf("\n");
printf("\n"); printf("\n");
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
} }
#endif // IMG_HEIGHT
#endif // IMG_WIDTH
#endif // DEBUG_OOB1 #endif // DEBUG_OOB1
...@@ -3456,10 +3933,11 @@ __device__ void convertCorrectTile( ...@@ -3456,10 +3933,11 @@ __device__ void convertCorrectTile(
} }
int offset_src = threadIdx.x; int offset_src = threadIdx.x;
int offset_dst = (((txy >> 16) * TILESX + (txy & 0xfff))*NUM_COLORS + color)* ( 4 * DTT_SIZE * DTT_SIZE) + threadIdx.x; // int offset_dst = (((txy >> 16) * TILES-X + (txy & 0xfff))*NUM_COLORS + color)* ( 4 * DTT_SIZE * DTT_SIZE) + threadIdx.x;
int offset_dst = (((txy >> 16) * tilesx + (txy & 0xfff))*NUM_COLORS + color)* ( 4 * DTT_SIZE * DTT_SIZE) + threadIdx.x;
float * clt_src = clt_tile + offset_src; // threadIdx.x; float * clt_src = clt_tile + offset_src; // threadIdx.x;
float * clt_dst = gpu_clt + offset_dst; // ((ty * TILESX + tx)*NUM_COLORS + color)* ( 4 * DTT_SIZE * DTT_SIZE1) + threadIdx.x; // gpu_kernels + kernel_full_index* (DTT_SIZE * DTT_SIZE * 4); float * clt_dst = gpu_clt + offset_dst; // ((ty * TILES-X + tx)*NUM_COLORS + color)* ( 4 * DTT_SIZE * DTT_SIZE1) + threadIdx.x; // gpu_kernels + kernel_full_index* (DTT_SIZE * DTT_SIZE * 4);
//#ifndef NOICLT //#ifndef NOICLT
#ifdef DEBUG3 #ifdef DEBUG3
...@@ -3741,7 +4219,7 @@ __device__ void tile_combine_rgba( ...@@ -3741,7 +4219,7 @@ __device__ void tile_combine_rgba(
float * port_offsets, // [port]{x_off, y_off} - just to scale pixel value differences float * port_offsets, // [port]{x_off, y_off} - just to scale pixel value differences
// int port_mask, // which port to use, 0xf - all 4 (will modify as local variable) // int port_mask, // which port to use, 0xf - all 4 (will modify as local variable)
float diff_sigma, // pixel value/pixel change float diff_sigma, // pixel value/pixel change
float diff_threshold,// pixel value/pixel change float diff_threshold,// pixel value/pixel change - never used
// next not used // next not used
// boolean diff_gauss, // when averaging images, use gaussian around average as weight (false - sharp all/nothing) // boolean diff_gauss, // when averaging images, use gaussian around average as weight (false - sharp all/nothing)
float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages) float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
...@@ -3753,7 +4231,7 @@ __device__ void tile_combine_rgba( ...@@ -3753,7 +4231,7 @@ __device__ void tile_combine_rgba(
float * alpha = rgba + (colors * (DTT_SIZE2*DTT_SIZE21)); float * alpha = rgba + (colors * (DTT_SIZE2*DTT_SIZE21));
float * port_weights = alpha + (DTT_SIZE2*DTT_SIZE21); float * port_weights = alpha + (DTT_SIZE2*DTT_SIZE21);
float * crms = port_weights + NUM_CAMS*(DTT_SIZE2*DTT_SIZE21); // calculated only if keep_weights float * crms = port_weights + NUM_CAMS*(DTT_SIZE2*DTT_SIZE21); // calculated only if keep_weights
float threshold2 = diff_sigma * diff_threshold; float threshold2 = diff_sigma * diff_threshold; // never used?
threshold2 *= threshold2; // squared to compare with diff^2 threshold2 *= threshold2; // squared to compare with diff^2
float pair_dist2r [NUM_CAMS*(NUM_CAMS-1)/2]; // new double [ports*(ports-1)/2]; // reversed squared distance between images - to be used with gaussian. Can be calculated once ! float pair_dist2r [NUM_CAMS*(NUM_CAMS-1)/2]; // new double [ports*(ports-1)/2]; // reversed squared distance between images - to be used with gaussian. Can be calculated once !
int pair_ports[NUM_CAMS*(NUM_CAMS-1)/2][2]; // int [][] pair_ports = new int [ports*(ports-1)/2][2]; int pair_ports[NUM_CAMS*(NUM_CAMS-1)/2][2]; // int [][] pair_ports = new int [ports*(ports-1)/2][2];
......
src/main/resources/kernels/TileProcessor.h
View file @ fabadb74
...@@ -48,7 +48,7 @@ extern "C" __global__ void convert_direct( // called with a single block, single ...@@ -48,7 +48,7 @@ extern "C" __global__ void convert_direct( // called with a single block, single
float ** gpu_kernels, // [NUM_CAMS], float ** gpu_kernels, // [NUM_CAMS],
float ** gpu_images, // [NUM_CAMS], float ** gpu_images, // [NUM_CAMS],
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
size_t dstride, // in floats (pixels) size_t dstride, // in floats (pixels)
int num_tiles, // number of tiles in task int num_tiles, // number of tiles in task
int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 ! int lpf_mask, // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
...@@ -57,10 +57,12 @@ extern "C" __global__ void convert_direct( // called with a single block, single ...@@ -57,10 +57,12 @@ extern "C" __global__ void convert_direct( // called with a single block, single
int kernels_hor, int kernels_hor,
int kernels_vert, int kernels_vert,
int * gpu_active_tiles, // pointer to the calculated number of non-zero tiles int * gpu_active_tiles, // pointer to the calculated number of non-zero tiles
int * pnum_active_tiles); // indices to gpu_tasks int * pnum_active_tiles, // indices to gpu_tasks
int tilesx);
extern "C" __global__ void correlate2D( extern "C" __global__ void correlate2D(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
int colors, // number of colors (3/1) int colors, // number of colors (3/1)
float scale0, // scale for R float scale0, // scale for R
float scale1, // scale for B float scale1, // scale for B
...@@ -68,41 +70,58 @@ extern "C" __global__ void correlate2D( ...@@ -68,41 +70,58 @@ extern "C" __global__ void correlate2D(
float fat_zero, // here - absolute float fat_zero, // here - absolute
struct tp_task * gpu_tasks, // array of per-tile tasks (now bits 4..9 - correlation pairs) struct tp_task * gpu_tasks, // array of per-tile tasks (now bits 4..9 - correlation pairs)
int num_tiles, // number of tiles in task int num_tiles, // number of tiles in task
int tilesx, // number of tile rows
int * gpu_corr_indices, // packed tile+pair int * gpu_corr_indices, // packed tile+pair
int * pnum_corr_tiles, // pointer to a number of correlation tiles to process int * pnum_corr_tiles, // pointer to a number of correlation tiles to process
const size_t corr_stride, // in floats const size_t corr_stride, // in floats
int corr_radius, // radius of the output correlation (7 for 15x15) int corr_radius, // radius of the output correlation (7 for 15x15)
float * gpu_corrs); // correlation output data float * gpu_corrs); // correlation output data
extern "C" __global__ void corr2D_normalize(
int num_corr_tiles, // number of correlation tiles to process
const size_t corr_stride_td, // in floats
float * gpu_corrs_td, // correlation tiles in transform domain
const size_t corr_stride, // in floats
float * gpu_corrs, // correlation output data (either pixel domain or transform domain
float fat_zero, // here - absolute
int corr_radius); // radius of the output correlation (7 for 15x15)
extern "C" __global__ void corr2D_combine(
int num_tiles, // number of tiles to process (each with num_pairs)
int num_pairs, // num pairs per tile (should be the same)
int init_output, // !=0 - reset output tiles to zero before accumulating
int pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
int * gpu_corr_indices, // packed tile+pair
int * gpu_combo_indices, // output if noty null: packed tile+pairs_mask (will point to the first used pair
const size_t corr_stride, // (in floats) stride for the input TD correlations
float * gpu_corrs, // input correlation tiles
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)
extern "C" __global__ void textures_nonoverlap( extern "C" __global__ void textures_nonoverlap(
struct tp_task * gpu_tasks, struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list int num_tiles, // number of tiles in task list
// int num_tilesx, // number of tiles in a row
// declare arrays in device code? // declare arrays in device code?
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int * pnum_texture_tiles, // returns total number of elements in gpu_texture_indices array int * pnum_texture_tiles, // returns total number of elements in gpu_texture_indices array
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
// TODO: use geometry_correction rXY ! // 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
float params[5], float params[5],
// 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)
float weights[3], // scale for R,B,G float weights[3], // scale for R,B,G
int dust_remove, // Do not reduce average weight when only one image differs much from the average int dust_remove, // Do not reduce average weight when only one image differs much from the average
// int keep_weights, // return channel weights after A in RGBA (was removed) (should be 0 if gpu_texture_rbg)?
// combining both non-overlap and overlap (each calculated if pointer is not null ) // combining both non-overlap and overlap (each calculated if pointer is not null )
size_t texture_stride, // in floats (now 256*4 = 1024) // may be 0 if not needed size_t texture_stride, // in floats (now 256*4 = 1024) // may be 0 if not needed
float * gpu_texture_tiles, // (number of colors +1 + ?)*16*16 rgba texture tiles // may be 0 if not needed float * gpu_texture_tiles, // (number of colors +1 + ?)*16*16 rgba texture tiles // may be 0 if not needed
float * gpu_diff_rgb_combo); // diff[NUM_CAMS], R[NUM_CAMS], B[NUM_CAMS],G[NUM_CAMS] // may be 0 if not needed float * gpu_diff_rgb_combo, //); // diff[NUM_CAMS], R[NUM_CAMS], B[NUM_CAMS],G[NUM_CAMS] // may be 0 if not needed
int num_tilesx);
extern "C" extern "C"
__global__ void imclt_rbg_all( __global__ void imclt_rbg_all(
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS][TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
float ** gpu_corr_images, // [NUM_CAMS][WIDTH, 3 * HEIGHT] float ** gpu_corr_images, // [NUM_CAMS][WIDTH, 3 * HEIGHT]
int apply_lpf, int apply_lpf,
int colors, int colors,
...@@ -111,7 +130,7 @@ __global__ void imclt_rbg_all( ...@@ -111,7 +130,7 @@ __global__ void imclt_rbg_all(
const size_t dstride); // in floats (pixels) const size_t dstride); // in floats (pixels)
extern "C" __global__ void imclt_rbg( extern "C" __global__ void imclt_rbg(
float * gpu_clt, // [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float * gpu_clt, // [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
float * gpu_rbg, // WIDTH, 3 * HEIGHT float * gpu_rbg, // WIDTH, 3 * HEIGHT
int apply_lpf, int apply_lpf,
int mono, // defines lpf filter int mono, // defines lpf filter
...@@ -130,22 +149,15 @@ extern "C" __global__ void generate_RBGA( ...@@ -130,22 +149,15 @@ extern "C" __global__ void generate_RBGA(
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7) int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation) int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation)
int * woi, // x,y,width,height of the woi int * woi, // x,y,width,height of the woi
int width, // <= TILESX, use for faster processing of LWIR images (should be actual + 1) int width, // <= TILES-X, use for faster processing of LWIR images (should be actual + 1)
int height, // <= TILESY, use for faster processing of LWIR images int height, // <= TILES-Y, use for faster processing of LWIR images
// Parameters for the texture generation // Parameters for the texture generation
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
// TODO: use geometry_correction rXY ! // 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
float params[5], // mitigating CUDA_ERROR_INVALID_PTX float params[5], // mitigating CUDA_ERROR_INVALID_PTX
/*
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)
*/
float weights[3], // scale for R,B,G float weights[3], // scale for R,B,G
int dust_remove, // Do not reduce average weight when only one image differs much from the average int dust_remove, // Do not reduce average weight when only one image differs much from the average
int keep_weights, // return channel weights after A in RGBA (was removed) int keep_weights, // return channel weights after A in RGBA (was removed)
......
src/main/resources/kernels/geometry_correction.cu
View file @ fabadb74
...@@ -294,7 +294,6 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -294,7 +294,6 @@ extern "C" __global__ void get_tiles_offsets(
float * gpu_rByRDist, // length should match RBYRDIST_LEN float * gpu_rByRDist, // length should match RBYRDIST_LEN
trot_deriv * gpu_rot_deriv) trot_deriv * gpu_rot_deriv)
{ {
// int task_num = blockIdx.x * blockDim.x + threadIdx.x; // blockIdx.x * TILES_PER_BLOCK_GEOM + threadIdx.x
int task_num = blockIdx.x * blockDim.y + threadIdx.y; // blockIdx.x * TILES_PER_BLOCK_GEOM + threadIdx.y int task_num = blockIdx.x * blockDim.y + threadIdx.y; // blockIdx.x * TILES_PER_BLOCK_GEOM + threadIdx.y
if (task_num >= num_tiles){ if (task_num >= num_tiles){
return; return;
...@@ -306,6 +305,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -306,6 +305,7 @@ extern "C" __global__ void get_tiles_offsets(
__shared__ float rByRDist [RBYRDIST_LEN]; __shared__ float rByRDist [RBYRDIST_LEN];
__shared__ struct corr_vector extrinsic_corr; __shared__ struct corr_vector extrinsic_corr;
__shared__ trot_deriv rot_deriv; __shared__ trot_deriv rot_deriv;
__shared__ float pY_offsets[TILES_PER_BLOCK_GEOM][NUM_CAMS];
float pXY[2]; // result to be copied to task float pXY[2]; // result to be copied to task
// copy data common to all threads // copy data common to all threads
{ {
...@@ -362,8 +362,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -362,8 +362,7 @@ extern "C" __global__ void get_tiles_offsets(
(extrinsic_corr.imu_move[0] != 0.0) || (extrinsic_corr.imu_move[0] != 0.0) ||
(extrinsic_corr.imu_move[1] != 0.0) || (extrinsic_corr.imu_move[1] != 0.0) ||
(extrinsic_corr.imu_move[2] != 0.0); (extrinsic_corr.imu_move[2] != 0.0);
// Temporary
imu_exists = 0;
#ifdef DEBUG21 #ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("\nTile = %d, camera= %d\n", task_num, ncam); printf("\nTile = %d, camera= %d\n", task_num, ncam);
...@@ -373,6 +372,9 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -373,6 +372,9 @@ extern "C" __global__ void get_tiles_offsets(
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // DEBUG21 #endif // DEBUG21
// String dbg_s = corr_vector.toString(); // String dbg_s = corr_vector.toString();
/* Starting with required tile center X, Y and nominal distortion, for each sensor port: /* Starting with required tile center X, Y and nominal distortion, for each sensor port:
* 1) unapply common distortion (maybe for different - master camera) * 1) unapply common distortion (maybe for different - master camera)
...@@ -401,15 +403,10 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -401,15 +403,10 @@ extern "C" __global__ void get_tiles_offsets(
float pXcd = px - 0.5 * geometry_correction.pixelCorrectionWidth; float pXcd = px - 0.5 * geometry_correction.pixelCorrectionWidth;
float pYcd = py - 0.5 * geometry_correction.pixelCorrectionHeight; float pYcd = py - 0.5 * geometry_correction.pixelCorrectionHeight;
// float rXY [NUM_CAMS][2];
float rXY [2]; float rXY [2];
// for (int i = 0; i < NUM_CAMS;i++){
// rXY[ncam][0] = geometry_correction.rXY[ncam][0];
// rXY[ncam][1] = geometry_correction.rXY[ncam][1];
rXY[0] = geometry_correction.rXY[ncam][0]; rXY[0] = geometry_correction.rXY[ncam][0];
rXY[1] = geometry_correction.rXY[ncam][1]; rXY[1] = geometry_correction.rXY[ncam][1];
// }
float rD = sqrtf(pXcd*pXcd + pYcd*pYcd)*0.001*geometry_correction.pixelSize; // distorted radius in a virtual center camera float rD = sqrtf(pXcd*pXcd + pYcd*pYcd)*0.001*geometry_correction.pixelSize; // distorted radius in a virtual center camera
float rND2R=getRByRDist(rD/geometry_correction.distortionRadius, rByRDist); float rND2R=getRByRDist(rD/geometry_correction.distortionRadius, rByRDist);
...@@ -489,9 +486,17 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -489,9 +486,17 @@ extern "C" __global__ void get_tiles_offsets(
float pYid = pYci * rD2rND; float pYid = pYci * rD2rND;
pXY[0] = pXid + geometry_correction.pXY0[ncam][0]; pXY[0] = pXid + geometry_correction.pXY0[ncam][0];
pXY[1] = pYid + geometry_correction.pXY0[ncam][1]; pXY[1] = pYid + geometry_correction.pXY0[ncam][1];
// new for ERS
pY_offsets[threadIdx.y][ncam] = pXY[1] - geometry_correction.woi_tops[ncam];
__syncthreads();
// Each thread re-calculate same sum
float lines_avg = 0;
for (int i = 0; i < NUM_CAMS; i ++){
lines_avg += pY_offsets[threadIdx.y][i];
}
lines_avg *= (1.0/NUM_CAMS);
// used when calculating derivatives, TODO: combine calculations ! // used when calculating derivatives, TODO: combine calculations !
float pY_offset = pY_offsets[threadIdx.y][ncam] - lines_avg;
#ifdef DEBUG21 #ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("pXci0 = %f, pYci0 = %f\n", pXci0, pYci0); printf("pXci0 = %f, pYci0 = %f\n", pXci0, pYci0);
...@@ -501,6 +506,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -501,6 +506,7 @@ extern "C" __global__ void get_tiles_offsets(
printf("rD2rND = %f\n", rD2rND); printf("rD2rND = %f\n", rD2rND);
printf("pXid = %f, pYid = %f\n", pXid, pYid); printf("pXid = %f, pYid = %f\n", pXid, pYid);
printf("pXY[0] = %f, pXY[1] = %f\n", pXY[0], pXY[1]); // OK printf("pXY[0] = %f, pXY[1] = %f\n", pXY[0], pXY[1]); // OK
printf("lines_avg = %f, pY_offset = %f\n", lines_avg, pY_offset);
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // DEBUG21 #endif // DEBUG21
...@@ -514,14 +520,10 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -514,14 +520,10 @@ extern "C" __global__ void get_tiles_offsets(
#pragma unroll #pragma unroll
for (int j = 0; j< 3; j++){ for (int j = 0; j< 3; j++){
// drvi_daz[j] = rot_deriv.d_daz[ncam][j][0] * rvi[0] + rot_deriv.d_daz[ncam][j][1] * rvi[1] + rot_deriv.d_daz[ncam][j][2] * rvi[2];
// drvi_dtl[j] = rot_deriv.d_tilt[ncam][j][0] * rvi[0] + rot_deriv.d_tilt[ncam][j][1] * rvi[1] + rot_deriv.d_tilt[ncam][j][2] * rvi[2];
// drvi_drl[j] = rot_deriv.d_roll[ncam][j][0] * rvi[0] + rot_deriv.d_roll[ncam][j][1] * rvi[1] + rot_deriv.d_roll[ncam][j][2] * rvi[2];
drvi_daz[j] = rot_deriv.d_daz[ncam][j][0] * pXci0 + rot_deriv.d_daz[ncam][j][1] * pYci0 + rot_deriv.d_daz[ncam][j][2] * fl_pix; drvi_daz[j] = rot_deriv.d_daz[ncam][j][0] * pXci0 + rot_deriv.d_daz[ncam][j][1] * pYci0 + rot_deriv.d_daz[ncam][j][2] * fl_pix;
drvi_dtl[j] = rot_deriv.d_tilt[ncam][j][0] * pXci0 + rot_deriv.d_tilt[ncam][j][1] * pYci0 + rot_deriv.d_tilt[ncam][j][2] * fl_pix; drvi_dtl[j] = rot_deriv.d_tilt[ncam][j][0] * pXci0 + rot_deriv.d_tilt[ncam][j][1] * pYci0 + rot_deriv.d_tilt[ncam][j][2] * fl_pix;
drvi_drl[j] = rot_deriv.d_roll[ncam][j][0] * pXci0 + rot_deriv.d_roll[ncam][j][1] * pYci0 + rot_deriv.d_roll[ncam][j][2] * fl_pix; drvi_drl[j] = rot_deriv.d_roll[ncam][j][0] * pXci0 + rot_deriv.d_roll[ncam][j][1] * pYci0 + rot_deriv.d_roll[ncam][j][2] * fl_pix;
} }
// double [][] avi = {{pXci0}, {pYci0},{fl_pix}};
float dpXci_dazimuth = drvi_daz[0] * norm_z - pXci * drvi_daz[2] / rvi[2]; float dpXci_dazimuth = drvi_daz[0] * norm_z - pXci * drvi_daz[2] / rvi[2];
float dpYci_dazimuth = drvi_daz[1] * norm_z - pYci * drvi_daz[2] / rvi[2]; float dpYci_dazimuth = drvi_daz[1] * norm_z - pYci * drvi_daz[2] / rvi[2];
...@@ -573,25 +575,6 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -573,25 +575,6 @@ extern "C" __global__ void get_tiles_offsets(
// unity vector in the direction of radius // unity vector in the direction of radius
float c_dist = pXci/rNDi; float c_dist = pXci/rNDi;
float s_dist = pYci/rNDi; float s_dist = pYci/rNDi;
/*
double [][] arot2= {
{c_dist, s_dist},
{-s_dist, c_dist}};
Matrix rot2 = new Matrix(arot2); // convert from non-distorted X,Y to parallel and perpendicular (CCW) to the radius
double [][] ascale_distort = {
{rD2rND + ri* drD2rND_dri, 0 },
{0, rD2rND}};
Matrix scale_distort = new Matrix(ascale_distort); // scale component parallel to radius as distortion derivative, perpendicular - as distortion
Matrix dd2 = rot2.transpose().times(scale_distort).times(rot2).times(dd1);
disp_dist[i][0] = dd2.get(0, 0);
disp_dist[i][1] = dd2.get(0, 1);
disp_dist[i][2] = dd2.get(1, 0); // d_py/d_disp
disp_dist[i][3] = dd2.get(1, 1);
*/
//#undef NVRTC_BUG //#undef NVRTC_BUG
float drD2rND_dri = 0.0; float drD2rND_dri = 0.0;
{ {
...@@ -612,11 +595,6 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -612,11 +595,6 @@ extern "C" __global__ void get_tiles_offsets(
} }
float scale_distort00 = rD2rND + ri* drD2rND_dri; float scale_distort00 = rD2rND + ri* drD2rND_dri;
float scale_distort11 = rD2rND; float scale_distort11 = rD2rND;
// float rot2Xdd1[2][2];
// rot2Xdd1[0][0] = c_dist * dd1[0][0] + s_dist * dd1[1][0];
// rot2Xdd1[0][1] = c_dist * dd1[0][1] + s_dist * dd1[1][1];
// rot2Xdd1[1][0] = -s_dist * dd1[0][0] + c_dist * dd1[1][0];
// rot2Xdd1[1][1] = -s_dist * dd1[0][1] + c_dist * dd1[1][1];
float scale_distortXrot2Xdd1[2][2]; float scale_distortXrot2Xdd1[2][2];
scale_distortXrot2Xdd1[0][0] = ( c_dist * dd1[0][0] + s_dist * dd1[1][0]) * scale_distort00; scale_distortXrot2Xdd1[0][0] = ( c_dist * dd1[0][0] + s_dist * dd1[1][0]) * scale_distort00;
scale_distortXrot2Xdd1[0][1] = ( c_dist * dd1[0][1] + s_dist * dd1[1][1]) * scale_distort00; scale_distortXrot2Xdd1[0][1] = ( c_dist * dd1[0][1] + s_dist * dd1[1][1]) * scale_distort00;
...@@ -651,6 +629,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -651,6 +629,7 @@ extern "C" __global__ void get_tiles_offsets(
// float imu_move[3]; // dx/dt, dy/dt, dz/dt 16..19 geometry_correction.imu_move // float imu_move[3]; // dx/dt, dy/dt, dz/dt 16..19 geometry_correction.imu_move
// ERS linear does not yet use per-port rotations, probably not needed // ERS linear does not yet use per-port rotations, probably not needed
if (imu_exists){ if (imu_exists){
/*
float delta_t = disp_dist[2] * disparity * geometry_correction.line_time; // positive for top cameras, negative - for bottom //disp_dist[2]=dd2.get(1, 0) float delta_t = disp_dist[2] * disparity * geometry_correction.line_time; // positive for top cameras, negative - for bottom //disp_dist[2]=dd2.get(1, 0)
float ers_Xci = delta_t * ( float ers_Xci = delta_t * (
dpXci_dtilt * extrinsic_corr.imu_rot[0] + dpXci_dtilt * extrinsic_corr.imu_rot[0] +
...@@ -660,9 +639,22 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -660,9 +639,22 @@ extern "C" __global__ void get_tiles_offsets(
dpYci_dtilt * extrinsic_corr.imu_rot[0] + dpYci_dtilt * extrinsic_corr.imu_rot[0] +
dpYci_dazimuth * extrinsic_corr.imu_rot[1] + dpYci_dazimuth * extrinsic_corr.imu_rot[1] +
dpYci_droll * extrinsic_corr.imu_rot[2]); dpYci_droll * extrinsic_corr.imu_rot[2]);
#ifdef DEBUG210 */
float ers_x =
dpXci_dtilt * extrinsic_corr.imu_rot[0] +
dpXci_dazimuth * extrinsic_corr.imu_rot[1] +
dpXci_droll * extrinsic_corr.imu_rot[2];
float ers_y =
dpYci_dtilt * extrinsic_corr.imu_rot[0] +
dpYci_dazimuth * extrinsic_corr.imu_rot[1] +
dpYci_droll * extrinsic_corr.imu_rot[2];
#ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("delta_t = %f, ers_Xci = %f, ers_Yci = %f\n", delta_t, ers_Xci, ers_Yci); // printf("delta_t = %f, ers_Xci = %f, ers_Yci = %f\n", delta_t, ers_Xci, ers_Yci);
printf("ers_x = %f, ers_y = %f\n", ers_x, ers_y);
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif // DEBUG21 #endif // DEBUG21
...@@ -674,22 +666,30 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -674,22 +666,30 @@ extern "C" __global__ void get_tiles_offsets(
dpXci_pYci_imu_lin[1][1] = wdisparity / k; // dpy/ dworld_Y dpXci_pYci_imu_lin[1][1] = wdisparity / k; // dpy/ dworld_Y
dpXci_pYci_imu_lin[0][2] = (xyz[0] / k) * dwdisp_dz; // dpx/ dworld_Z dpXci_pYci_imu_lin[0][2] = (xyz[0] / k) * dwdisp_dz; // dpx/ dworld_Z
dpXci_pYci_imu_lin[1][2] = (xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z dpXci_pYci_imu_lin[1][2] = (xyz[1] / k) * dwdisp_dz; // dpy/ dworld_Z
/*
ers_Xci += delta_t* ( ers_Xci += delta_t* (
dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] + dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +
dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2]); dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2]);
ers_Yci += delta_t* ( ers_Yci += delta_t* (
dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] + dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +
dpXci_pYci_imu_lin[1][2] * extrinsic_corr.imu_move[2]); dpXci_pYci_imu_lin[1][2] * extrinsic_corr.imu_move[2]);
pXY[0] += ers_Xci * rD2rND; // added correction to pixel X */
pXY[1] += ers_Yci * rD2rND; // added correction to pixel Y ers_x += dpXci_pYci_imu_lin[0][0] * extrinsic_corr.imu_move[0] +
dpXci_pYci_imu_lin[0][2] * extrinsic_corr.imu_move[2];
ers_y += dpXci_pYci_imu_lin[1][1] * extrinsic_corr.imu_move[1] +
dpXci_pYci_imu_lin[1][2] * extrinsic_corr.imu_move[2];
float delta_t = (pY_offset/ (1.0 - geometry_correction.line_time * ers_y)) * geometry_correction.line_time; // positive for top cameras, negative - for bottom //disp_dist[2]=dd2.get(1, 0)
#ifdef DEBUG210 pXY[0] += delta_t * ers_x * rD2rND; // added correction to pixel X
pXY[1] += delta_t * ers_y * rD2rND; // added correction to pixel Y
#ifdef DEBUG21
if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){ if ((ncam == DBG_CAM) && (task_num == DBG_TILE)){
printf("k = %f, wdisparity = %f, dwdisp_dz = %f\n", k, wdisparity, dwdisp_dz); printf("k = %f, wdisparity = %f, dwdisp_dz = %f\n", k, wdisparity, dwdisp_dz);
printf("dpXci_pYci_imu_lin[0][0] = %f, dpXci_pYci_imu_lin[0][2] = %f\n", dpXci_pYci_imu_lin[0][0],dpXci_pYci_imu_lin[0][2]); printf("dpXci_pYci_imu_lin[0][0] = %f, dpXci_pYci_imu_lin[0][2] = %f\n", dpXci_pYci_imu_lin[0][0],dpXci_pYci_imu_lin[0][2]);
printf("dpXci_pYci_imu_lin[1][1] = %f, dpXci_pYci_imu_lin[1][2] = %f\n", dpXci_pYci_imu_lin[1][1],dpXci_pYci_imu_lin[1][2]); printf("dpXci_pYci_imu_lin[1][1] = %f, dpXci_pYci_imu_lin[1][2] = %f\n", dpXci_pYci_imu_lin[1][1],dpXci_pYci_imu_lin[1][2]);
printf("delta_t = %f, ers_Xci = %f, ers_Yci = %f\n", delta_t, ers_Xci, ers_Yci); printf("delta_t = %f, ers_x = %f, ers_y = %f\n", delta_t, ers_x, ers_y);
printf("pXY[0] = %f, pXY[1] = %f\n", pXY[0], pXY[1]); // OK printf("pXY[0] = %f, pXY[1] = %f\n", pXY[0], pXY[1]); // OK
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
...@@ -703,6 +703,7 @@ extern "C" __global__ void get_tiles_offsets( ...@@ -703,6 +703,7 @@ extern "C" __global__ void get_tiles_offsets(
} }
extern "C" __global__ void calcReverseDistortionTable( extern "C" __global__ void calcReverseDistortionTable(
struct gc * geometry_correction, struct gc * geometry_correction,
float * rByRDist) float * rByRDist)
...@@ -841,6 +842,7 @@ __device__ void printGeometryCorrection(struct gc * g){ ...@@ -841,6 +842,7 @@ __device__ void printGeometryCorrection(struct gc * g){
printf("%22s: %f\n","cameraRadius", g->cameraRadius); printf("%22s: %f\n","cameraRadius", g->cameraRadius);
printf("%22s: %f\n","disparityRadius", g->disparityRadius); printf("%22s: %f\n","disparityRadius", g->disparityRadius);
printf("%22s: %f, %f, %f, %f \n","woi_tops", g->woi_tops[0], g->woi_tops[1], g->woi_tops[2], g->woi_tops[3]);
#endif //ifndef JCUDA #endif //ifndef JCUDA
} }
......
src/main/resources/kernels/geometry_correction.h
View file @ fabadb74
...@@ -138,6 +138,7 @@ struct gc { ...@@ -138,6 +138,7 @@ struct gc {
// only used for the multi-quad systems // only used for the multi-quad systems
float cameraRadius; // =0; // average distance from the "mass center" of the sensors to the sensors float cameraRadius; // =0; // average distance from the "mass center" of the sensors to the sensors
float disparityRadius; // =150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad float disparityRadius; // =150.0; // distance between cameras to normalize disparity units to. sqrt(2)*disparityRadius for quad
float woi_tops [NUM_CAMS]; // used to calculate scanline timing
}; };
#define RAD_COEFF_LEN 7 #define RAD_COEFF_LEN 7
extern "C" __global__ void get_tiles_offsets( extern "C" __global__ void get_tiles_offsets(
......
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