adding more to correlation (75fa734d) · Commits · Elphel / tile_processor_gpu

src/TileProcessor.cuh

+92 −72

Original line number	Original line	Diff line number	Diff line
	@@ -815,7 +815,7 @@ __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);

	@@ -1003,7 +1003,8 @@ 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 [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]		* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
	* @param 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
	@@ -1014,7 +1015,7 @@ 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(
	@@ -1028,7 +1029,7 @@ 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;
	@@ -1136,6 +1137,9 @@ 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
	@@ -1151,7 +1155,6 @@ 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)){
	@@ -1176,6 +1179,8 @@ 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)){
	@@ -1239,6 +1244,22 @@ extern "C" __global__ void correlate2D_inner(
	__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 q = 0; q < 4; q++){
			#pragma unroll
			for (int i = 0; i < DTT_SIZE; i++){
			(mem_corr) = (clt);
			clt += DTT_SIZE1;
			mem_corr += DTT_SIZE;
			}
			}
			__syncthreads();// __syncwarp();
			} // if (corr_radius > 0) ... else

	}		}

	/**		/**
	@@ -1791,6 +1812,7 @@ __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
	@@ -2401,8 +2423,6 @@ 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;
	@@ -3805,7 +3825,7 @@ __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)
	@@ -3817,7 +3837,7 @@ __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_SIZE2DTT_SIZE21); // calculated only if keep_weights		float * crms = port_weights + NUM_CAMS(DTT_SIZE2DTT_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];