Commit 847dcad6 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Added per-sensor channel overlap textures.

parent a4d12418

src/TileProcessor.cuh

+38 −6
Original line number Original line Diff line number Diff line
@@ -2350,13 +2350,16 @@ extern "C" __global__ void generate_RBGA( 
	 int texture_width =        (*(woi + 2) + 1)* DTT_SIZE;

	 int texture_width =        (*(woi + 2) + 1)* DTT_SIZE;

	 int texture_tiles_height = (*(woi + 3) + 1) * DTT_SIZE;

	 int texture_tiles_height = (*(woi + 3) + 1) * DTT_SIZE;

	 int texture_slices =       colors + 1;

	 int texture_slices =       colors + 1;

	 if (keep_weights & 2){

		 texture_slices += colors * num_cams;

	 }





	 if (threadIdx.x == 0) {

	 if (threadIdx.x == 0) {





		    dim3 threads2((1 << THREADS_DYNAMIC_BITS), 1, 1);

		    dim3 threads2((1 << THREADS_DYNAMIC_BITS), 1, 1);

		    int blocks_x = (texture_width + ((1 << (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2 )) - 1)) >> (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2);

		    int blocks_x = (texture_width + ((1 << (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2 )) - 1)) >> (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2);

		    dim3 blocks2 (blocks_x, texture_tiles_height * texture_slices, 1); // each thread - 8 vertical

		    dim3 blocks2 (blocks_x, texture_tiles_height * texture_slices, 1); // each thread - 8 vertical

		    clear_texture_rbga<<<blocks2,threads2>>>( // illegal value error

		    clear_texture_rbga<<<blocks2,threads2>>>( // add clearing of multi-sensor output (keep_weights & 2 !=0)

		    		texture_width,

		    		texture_width,

					texture_tiles_height * texture_slices, // int               texture_slice_height,

					texture_tiles_height * texture_slices, // int               texture_slice_height,

					texture_rbga_stride,                   // const size_t      texture_rbga_stride,     // in floats 8*stride

					texture_rbga_stride,                   // const size_t      texture_rbga_stride,     // in floats 8*stride
@@ -2378,7 +2381,7 @@ extern "C" __global__ void generate_RBGA( 
			    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) * (width * (tilesya >> 2)); //  (TILES-X * (TILES-YA >> 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 += width * (tilesya >> 2) - ntt;; // TILES-X * (TILES-YA >> 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",
@@ -3762,7 +3765,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) 
		return; // should not happen

		return; // should not happen

	}

	}

	// if no extra and no overlap -> nothing remains, return

	// if no extra and no overlap -> nothing remains, return

	if (gpu_texture_rbg && (texture_rbg_stride != 0)) { // generate RGBA (overlapped)

	if (gpu_texture_rbg && (texture_rbg_stride != 0)) { // generate RGBA (overlapped) // keep_weights

#ifdef DEBUG7A

#ifdef DEBUG7A

		if ((tile_num == DBG_TILE)  && (threadIdx.x == 0) && (threadIdx.y == 0)){

		if ((tile_num == DBG_TILE)  && (threadIdx.x == 0) && (threadIdx.y == 0)){

//			printf("\ntextures_accumulate accumulating tile = %d, tile_code= %d, border_tile=%d\n",

//			printf("\ntextures_accumulate accumulating tile = %d, tile_code= %d, border_tile=%d\n",
@@ -3780,7 +3783,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) 
		__syncthreads();// __syncwarp();

		__syncthreads();// __syncwarp();

#endif // DEBUG12

#endif // DEBUG12

		int alpha_mode = alphaIndex[tile_code]; // only 4 lowest bits

		int alpha_mode = alphaIndex[tile_code]; // only 4 lowest bits

		if (!alpha_mode){ // only multiply if needed, alpha_mode == 0 - keep as is.

		if (!alpha_mode){ // only multiply if needed, alpha_mode == 0 - keep as is. FIXME: alpha_mode ???

			for (int pass = 0; pass < 8; pass ++) {

			for (int pass = 0; pass < 8; pass ++) {

				int row = pass * 2 + (threadIdx.y >> 1);

				int row = pass * 2 + (threadIdx.y >> 1);

				int col = ((threadIdx.y & 1) << 3) + threadIdx.x;

				int col = ((threadIdx.y & 1) << 3) + threadIdx.x;
@@ -3847,7 +3850,7 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) 
			// always copy 3 (1) colors + alpha

			// always copy 3 (1) colors + alpha

			if (colors == 3){

			if (colors == 3){

#pragma unroll

#pragma unroll

				for (int ncol = 0; ncol < colors + 1; ncol++) { // 4

				for (int ncol = 0; ncol < 3 + 1; ncol++) { // 4

					*(gpu_texture_rbg_gi + ncol * slice_stride) += *(rgba_i + ncol * (DTT_SIZE2 * DTT_SIZE21));

					*(gpu_texture_rbg_gi + ncol * slice_stride) += *(rgba_i + ncol * (DTT_SIZE2 * DTT_SIZE21));

				}

				}

			} else { // assuming colors = 1

			} else { // assuming colors = 1
@@ -3856,7 +3859,36 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1) 
					*(gpu_texture_rbg_gi + ncol * slice_stride) += *(rgba_i + ncol * (DTT_SIZE2 * DTT_SIZE21));

					*(gpu_texture_rbg_gi + ncol * slice_stride) += *(rgba_i + ncol * (DTT_SIZE2 * DTT_SIZE21));

				}

				}

			}

			}

///			}

		}

		if (keep_weights & 2){ // copy individual sensors output

			for (int ncam = 0; ncam < num_cams; ncam++) {

				float * mclt_dst_ncam = mclt_debayer +  (ncam * colors ) * (MCLT_UNION_LEN);

				if (!alpha_mode){ // only multiply if needed, alpha_mode == 0 - keep as is. FIXME: alpha_mode ???

					for (int pass = 0; pass < 8; pass ++) {

						int row = pass * 2 + (threadIdx.y >> 1);

						int col = ((threadIdx.y & 1) << 3) + threadIdx.x;

						int i  = row * DTT_SIZE21 + col;

						int gi = row * DTT_SIZE2  + col;

						float * mclt_dst_i = mclt_dst_ncam +  i;

						for (int ncol = 0; ncol < colors; ncol++) {

							*(mclt_dst_i + ncol * (MCLT_UNION_LEN)) *= alphaFade[alpha_mode][gi]; // reduce [tile_code] by LUT

						}

					}

				}

				for (int pass = 0; pass < 8; pass ++) {

					int row = pass * 2 + (threadIdx.y >> 1);          // row    inside a tile (0..15)

					int col = ((threadIdx.y & 1) << 3) + threadIdx.x; // column inside a tile (0..15)

					int g_row = row + tile_y0;

					int g_col = col + tile_x0;

					int i  = row * DTT_SIZE21 + col;

					int gi = g_row * texture_rbg_stride  + g_col; // offset to the top left corner

					float * gpu_texture_rbg_gi = gpu_texture_rbg + gi + (colors + 1 + colors * ncam) * slice_stride;

					float * mclt_dst_i = mclt_dst_ncam +  i;

					for (int ncol = 0; ncol < colors; ncol++) { // 4

						*(gpu_texture_rbg_gi + ncol * slice_stride) += *(mclt_dst_i + ncol * (MCLT_UNION_LEN));

					}

				}

			}

		}

		}

	} // 	if (gpu_texture_rbg) { // generate RGBA

	} // 	if (gpu_texture_rbg) { // generate RGBA

	if (calc_extra){ // gpu_diff_rgb_combo

	if (calc_extra){ // gpu_diff_rgb_combo

src/test_tp.cu

+6 −0
Original line number Original line Diff line number Diff line
@@ -532,6 +532,9 @@ void generate_RBGA_host( 
	 int texture_width =        (cpu_woi[2] + 1) * DTT_SIZE;

	 int texture_width =        (cpu_woi[2] + 1) * DTT_SIZE;

	 int texture_tiles_height = (cpu_woi[3] + 1) * DTT_SIZE;

	 int texture_tiles_height = (cpu_woi[3] + 1) * DTT_SIZE;

	 int texture_slices =       colors + 1;

	 int texture_slices =       colors + 1;

	 if (keep_weights & 2){

		 texture_slices += colors * num_cams;

	 }





	 dim3 threads2((1 << THREADS_DYNAMIC_BITS), 1, 1);

	 dim3 threads2((1 << THREADS_DYNAMIC_BITS), 1, 1);

	 int blocks_x2 = (texture_width + ((1 << (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2 )) - 1)) >> (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2);

	 int blocks_x2 = (texture_width + ((1 << (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2 )) - 1)) >> (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2);
@@ -1175,6 +1178,9 @@ int main(int argc, char **argv) 
    int rgba_width =   (TILESX+1) * DTT_SIZE;

    int rgba_width =   (TILESX+1) * DTT_SIZE;

    int rgba_height =  (TILESY+1) * DTT_SIZE;

    int rgba_height =  (TILESY+1) * DTT_SIZE;

    int rbga_slices =  texture_colors + 1; // 4/1

    int rbga_slices =  texture_colors + 1; // 4/1

    if (keep_texture_weights & 2){

    	rbga_slices += texture_colors * num_cams;

    }





    gpu_textures_rbga = alloc_image_gpu(

    gpu_textures_rbga = alloc_image_gpu(

    		&dstride_textures_rbga,              // in bytes ! for one rgba/ya 16x16 tile

    		&dstride_textures_rbga,              // in bytes ! for one rgba/ya 16x16 tile