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tile_processor_gpu
Commit 9e1a74b7 authored by Andrey Filippov's avatar Andrey Filippov
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implemented texture generator (per-tile)

parent cea7cb2c
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Showing with 608 additions and 51 deletions
src/TileProcessor.cuh
View file @ 9e1a74b7
...@@ -73,6 +73,8 @@ ...@@ -73,6 +73,8 @@
//#define DEBUG5 1 //#define DEBUG5 1
//#define DEBUG6 1 //#define DEBUG6 1
#define DEBUG7 1 #define DEBUG7 1
#define DEBUG8 1
//#define DEBUG9 1
#endif #endif
...@@ -128,6 +130,8 @@ ...@@ -128,6 +130,8 @@
#define DTT_SIZE1 (DTT_SIZE + 1) #define DTT_SIZE1 (DTT_SIZE + 1)
#define DTT_SIZE2 (2 * DTT_SIZE) #define DTT_SIZE2 (2 * DTT_SIZE)
#define DTT_SIZE21 (DTT_SIZE2 + 1) #define DTT_SIZE21 (DTT_SIZE2 + 1)
//#define DTT_SIZE22 (DTT_SIZE2 + 2)
#define MCLT_UNION_LEN (DTT_SIZE2 * (DTT_SIZE2 + 2))
#define DTT_SIZE4 (4 * DTT_SIZE) #define DTT_SIZE4 (4 * DTT_SIZE)
#define DTT_SIZE2M1 (DTT_SIZE2 - 1) #define DTT_SIZE2M1 (DTT_SIZE2 - 1)
...@@ -496,6 +500,21 @@ __device__ void debayer_shot( ...@@ -496,6 +500,21 @@ __device__ void debayer_shot(
float * mclt_dst, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17] float * mclt_dst, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
float * mclt_tmp, float * mclt_tmp,
int debug); int debug);
__device__ void tile_combine_rgba(
int colors, // number of colors
float * mclt_tile, // debayer
float * rgba, // result
float * ports_rgb, // average values of R,G,B for each camera (R0,R1,...,B2,B3) // null
float * max_diff, // maximal (weighted) deviation of each channel from the average /null
float * port_offsets, // [port]{x_off, y_off} - just to scale pixel value differences
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 * 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 keep_weights, // return channel weights after A in RGBA - ALWAYS
int debug
);
__device__ void imclt_plane( // not implemented, not used __device__ void imclt_plane( // not implemented, not used
...@@ -859,7 +878,7 @@ __global__ void textures_gen( ...@@ -859,7 +878,7 @@ __global__ void textures_gen(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE] float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][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)
float * port_offsets, // relative ports x,y offsets - just to scale differences, may be approximate float * gpu_port_offsets, // relative ports x,y offsets - just to scale differences, may be approximate
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 min_shot, // 10.0 float min_shot, // 10.0
...@@ -872,7 +891,7 @@ __global__ void textures_gen( ...@@ -872,7 +891,7 @@ __global__ void textures_gen(
float weight1, // scale for B float weight1, // scale for B
float weight2, // scale for G float weight2, // scale for 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 int keep_weights, // return channel weights after A in RGBA (was removed)
const size_t texture_stride, // in floats (now 256*4 = 1024) const 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
{ {
...@@ -885,22 +904,31 @@ __global__ void textures_gen( ...@@ -885,22 +904,31 @@ __global__ void textures_gen(
} }
// get number of tile // get number of tile
int tile_num = (gpu_texture_indices[tile_indx]) >> CORR_NTILE_SHIFT; int tile_num = (gpu_texture_indices[tile_indx]) >> CORR_NTILE_SHIFT;
__shared__ float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21];
__shared__ union { __shared__ union {
float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1]; // NUM_CAMS == 4 float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1]; // NUM_CAMS == 4
float mclt_debayer [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21]; float mclt_debayer [NUM_CAMS][NUM_COLORS][MCLT_UNION_LEN]; // to align with clt_tiles
} shr; } shr;
__shared__ float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21];
__shared__ union { __shared__ union {
float mclt_tmp [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21]; float mclt_tmp [NUM_CAMS][NUM_COLORS][DTT_SIZE2][DTT_SIZE21];
float rgbaw [NUM_COLORS+1 + NUM_CAMS + NUM_COLORS+1][DTT_SIZE2][DTT_SIZE21];
// add more // add more
} shr1; } shr1;
// __shared__ float port_weights[NUM_CAMS][DTT_SIZE2 * DTT_SIZE21];
// __shared__ float color_avg [NUM_CAMS][DTT_SIZE2 * DTT_SIZE21];
__shared__ float port_offsets[NUM_CAMS][2];
__shared__ float ports_rgb [NUM_CAMS][NUM_COLORS]; // return to system memory (optionally pass null to skip calculation)
__shared__ float max_diff [NUM_CAMS]; // return to system memory (optionally pass null to skip calculation)
if (threadIdx.x < 2){
port_offsets[camera_num][threadIdx.x] = * (gpu_port_offsets + 2 * camera_num + threadIdx.x);
}
#ifdef DBG_TILE #ifdef DBG_TILE
#ifdef DEBUG7 #ifdef DEBUG7
if ((tile_num == DBG_TILE) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen tile = %d\n",tile_num); printf("\ntextures_gen tile = %d\n",tile_num);
// debug_print_clt1(clt_tile1, color, 0xf); // // debug_print_clt1(clt_tile1, color, 0xf); //
// printf("\textures_gen tile = %d, pair=%d, color = %d CAMERA22\n",tile_num, corr_pair,color); // printf("\textures_gen tile = %d, pair=%d, color = %d CAMERA22\n",tile_num, corr_pair,color);
...@@ -919,14 +947,14 @@ __global__ void textures_gen( ...@@ -919,14 +947,14 @@ __global__ void textures_gen(
float * mclt_tile = (float *) mclt_tiles [camera_num][color]; float * mclt_tile = (float *) mclt_tiles [camera_num][color];
float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color]; float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
float * mclt_tmp = (float *) shr1.mclt_tmp[camera_num][color]; float * mclt_tmp = (float *) shr1.mclt_tmp[camera_num][color];
// float scale = 0.25; // float scale = 0.25;
#pragma unroll #pragma unroll
for (int q = 0; q < 4; q++) { for (int q = 0; q < 4; q++) {
float *lpf = lpf_data[(colors > 1)? color : 3] + threadIdx.x; // lpf_data[3] - mono float *lpf = lpf_data[(colors > 1)? color : 3] + threadIdx.x; // lpf_data[3] - mono
#pragma unroll #pragma unroll
for (int i = 0; i < DTT_SIZE; i++){ // copy 32 rows (4 quadrants of 8 rows) for (int i = 0; i < DTT_SIZE; i++){ // copy 32 rows (4 quadrants of 8 rows)
// *clt_tilei = *gpu_tile * (*lpf) * scale; // *clt_tilei = *gpu_tile * (*lpf) * scale;
*clt_tilei = *gpu_tile * (*lpf); *clt_tilei = *gpu_tile * (*lpf);
clt_tilei += DTT_SIZE1; clt_tilei += DTT_SIZE1;
gpu_tile += DTT_SIZE; gpu_tile += DTT_SIZE;
...@@ -935,7 +963,7 @@ __global__ void textures_gen( ...@@ -935,7 +963,7 @@ __global__ void textures_gen(
} }
__syncthreads(); __syncthreads();
#ifdef DEBUG7 #ifdef DEBUG7
if ((tile_num == DBG_TILE) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen LPF for color = %d\n",color); printf("\ntextures_gen LPF for color = %d\n",color);
debug_print_lpf(lpf_data[(colors > 1)? color : 3]); debug_print_lpf(lpf_data[(colors > 1)? color : 3]);
...@@ -953,7 +981,7 @@ __global__ void textures_gen( ...@@ -953,7 +981,7 @@ __global__ void textures_gen(
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#ifdef DEBUG7 #ifdef DEBUG7
if ((tile_num == DBG_TILE) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen mclt color = %d\n",color); printf("\ntextures_gen mclt color = %d\n",color);
debug_print_mclt( debug_print_mclt(
mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
...@@ -974,21 +1002,78 @@ __global__ void textures_gen( ...@@ -974,21 +1002,78 @@ __global__ void textures_gen(
} else { } else {
// copy? - no, just remember to use mclt_tile, not mclt_dst // copy? - no, just remember to use mclt_tile, not mclt_dst
} }
#ifdef DEBUG7 #ifdef DEBUG77
if ((tile_num == DBG_TILE) && (threadIdx.x == 0)){ // float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
printf("\ntextures_gen AFTER DEBAER color = %d\n",color);
debug_print_mclt( for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == ccam)){
color); printf("\ntextures_gen AFTER DEBAER cam= %d, color = %d\n",threadIdx.y, color);
debug_print_mclt(
mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
printf("\ntextures_gen AFTER DEBAER0 cam= %d, color = %d\n",threadIdx.y, 0);
debug_print_mclt(
(float *) shr.mclt_debayer[ccam][0], // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
} // for (int color = 0; color < colors; color++)
__syncthreads(); // __syncwarp();
/// return;
#ifdef DEBUG77
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
// if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == ccam)){
for (int nncol = 0; nncol < colors; nncol++){
printf("\ntextures_gen AFTER DEBAER1 cam= %d, color = %d\n",ccam, nncol);
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
debug_print_mclt(
(float *) shr.mclt_debayer[ccam][nncol], // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
}
} }
__syncthreads();// __syncwarp();
#endif
#ifdef DEBUG77
for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == ccam)){
for (int nncol = 0; nncol < colors; nncol++){
printf("\ntextures_gen AFTER DEBAER1 cam= %d, color = %d\n",ccam, nncol);
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
debug_print_mclt(
(float *) shr.mclt_debayer[ccam][nncol], // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
}
__syncthreads();// __syncwarp();
}
__syncthreads();// __syncwarp();
#endif
tile_combine_rgba(
colors, // int colors, // number of colors
(float*) shr.mclt_debayer, // float * mclt_tile, // debayer // has gaps to align with union !
(float *) shr1.rgbaw, // float * rgba, // result
(float * ) 0, // float * ports_rgb, // average values of R,G,B for each camera (R0,R1,...,B2,B3) // null
(float * ) 0, // float * max_diff, // maximal (weighted) deviation of each channel from the average /null
(float *) port_offsets, // float * port_offsets, // [port]{x_off, y_off} - just to scale pixel value differences
diff_sigma, // float diff_sigma, // pixel value/pixel change
diff_threshold, // float diff_threshold, // pixel value/pixel change
min_agree, // float min_agree, NOT USED? // minimal number of channels to agree on a point (real number to work with fuzzy averages)
weights, // float * chn_weights, // color channel weights, sum == 1.0
dust_remove, // int dust_remove, // Do not reduce average weight when only one image differes much from the average
dust_remove, // int keep_weights, // return channel weights after A in RGBA - ALWAYS
(tile_num == DBG_TILE) ); //int debug );
#ifdef DEBUG7 #ifdef DEBUG7
if ((tile_num == DBG_TILE) && (threadIdx.x == 0)){ if ((tile_num == DBG_TILE) && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntextures_gen tile done = %d\n",tile_num); printf("\ntextures_gen tile done = %d\n",tile_num);
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
...@@ -2244,7 +2329,7 @@ __device__ void imclt8threads( ...@@ -2244,7 +2329,7 @@ __device__ void imclt8threads(
float * clt_tile2 = clt_tile1 + (DTT_SIZE1 * DTT_SIZE); float * clt_tile2 = clt_tile1 + (DTT_SIZE1 * DTT_SIZE);
float * clt_tile3 = clt_tile2 + (DTT_SIZE1 * DTT_SIZE); float * clt_tile3 = clt_tile2 + (DTT_SIZE1 * DTT_SIZE);
#ifdef DEBUG7 #ifdef DEBUG7
if (debug &&(threadIdx.x == 0)){ if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\nDTT Tiles before IDTT\n"); printf("\nDTT Tiles before IDTT\n");
debug_print_clt_scaled(clt_tile, -1, 0xf, 0.25); // only 1 quadrant for R,B and 2 - for G debug_print_clt_scaled(clt_tile, -1, 0xf, 0.25); // only 1 quadrant for R,B and 2 - for G
} }
...@@ -2283,7 +2368,7 @@ __device__ void imclt8threads( ...@@ -2283,7 +2368,7 @@ __device__ void imclt8threads(
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#ifdef DEBUG7 #ifdef DEBUG7
if (debug &&(threadIdx.x == 0)){ if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\nDTT Tiles after IDTT\n"); printf("\nDTT Tiles after IDTT\n");
debug_print_clt_scaled(clt_tile, -1, 0xf, 0.25); // only 1 quadrant for R,B and 2 - for G debug_print_clt_scaled(clt_tile, -1, 0xf, 0.25); // only 1 quadrant for R,B and 2 - for G
} }
...@@ -2301,7 +2386,7 @@ __device__ void imclt8threads( ...@@ -2301,7 +2386,7 @@ __device__ void imclt8threads(
int clt_offset = imclt_indx9[column]; // index in each of the 4 iclt quadrants, accounting for stride=9 int clt_offset = imclt_indx9[column]; // index in each of the 4 iclt quadrants, accounting for stride=9
float * rslt = mclt_tile + column; float * rslt = mclt_tile + column;
#ifdef DEBUG7 #ifdef DEBUG7
if (debug &&(threadIdx.x == 0)){ if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\nUnrolling: thr3=%d, thr3m=%d, column=%d, thr012=%d, column4=%d, wcolumn=%d, hw=%f, clt_offset=%d\n", printf("\nUnrolling: thr3=%d, thr3m=%d, column=%d, thr012=%d, column4=%d, wcolumn=%d, hw=%f, clt_offset=%d\n",
thr3, thr3m, column, thr012, column4, wcolumn, hw, clt_offset); thr3, thr3m, column, thr012, column4, wcolumn, hw, clt_offset);
debug_print_clt1(clt_tile, -1, 0xf); // only 1 quadrant for R,B and 2 - for G debug_print_clt1(clt_tile, -1, 0xf); // only 1 quadrant for R,B and 2 - for G
...@@ -2388,10 +2473,15 @@ __device__ void imclt8threads( ...@@ -2388,10 +2473,15 @@ __device__ void imclt8threads(
} }
#ifdef DEBUG7 #ifdef DEBUG7
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
if (debug &&(threadIdx.x == 0)){ for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\nMCLT Tiles after IMCLT\n"); if (debug && (threadIdx.x == 0) && (threadIdx.y == ccam)){
debug_print_mclt(mclt_tile, -1); // only 1 quadrant for R,B and 2 - for G printf("\nMCLT Tiles after IMCLT, cam=%d\n", threadIdx.y);
} debug_print_mclt(
mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
}
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
} }
...@@ -2426,11 +2516,14 @@ __device__ void debayer_shot( ...@@ -2426,11 +2516,14 @@ __device__ void debayer_shot(
__syncthreads(); __syncthreads();
#ifdef DEBUG7 #ifdef DEBUG7
if (debug && (threadIdx.x == 0)){ for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\ndebayer_shot HWINDOW_SQi applied \n"); if (debug && (threadIdx.x == 0) && (threadIdx.y == ccam)){
debug_print_mclt( printf("\ndebayer_shot HWINDOW_SQi applied, camera = %d\n",threadIdx.y);
mclt_tmp, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) debug_print_mclt(
-1); mclt_tmp, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
...@@ -2441,14 +2534,19 @@ __device__ void debayer_shot( ...@@ -2441,14 +2534,19 @@ __device__ void debayer_shot(
mclt_dst, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17] mclt_dst, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
debug); debug);
#ifdef DEBUG7 #ifdef DEBUG7
if (debug && (threadIdx.x == 0)){ for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\ndebayer_shot debayer() applied \n"); if (debug && (threadIdx.x == 0) && (threadIdx.y == ccam)){
debug_print_mclt( printf("\ndebayer_shot debayer() applied, camera = %d\n",threadIdx.y);
mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) debug_print_mclt(
-1); mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
if (scale_shot > 0.0) { if (scale_shot > 0.0) {
float k = rsqrtf(min_shot); float k = rsqrtf(min_shot);
...@@ -2466,11 +2564,14 @@ __device__ void debayer_shot( ...@@ -2466,11 +2564,14 @@ __device__ void debayer_shot(
mcltp += (DTT_SIZE21-DTT_SIZE2); mcltp += (DTT_SIZE21-DTT_SIZE2);
} }
#ifdef DEBUG7 #ifdef DEBUG7
if (debug && (threadIdx.x == 0)){ for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\ndebayer_shot sqrt applied, scale_shot = %f, min_shot = %f, k= %f\n",scale_shot, min_shot, k); if (debug && (threadIdx.x == 0) && (threadIdx.y == ccam)){
debug_print_mclt( printf("\ndebayer_shot sqrt applied, camera = %d, scale_shot = %f, min_shot = %f, k= %f\n",threadIdx.y, scale_shot, min_shot, k);
mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) debug_print_mclt(
-1); mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
...@@ -2495,11 +2596,14 @@ __device__ void debayer_shot( ...@@ -2495,11 +2596,14 @@ __device__ void debayer_shot(
__syncthreads(); __syncthreads();
#ifdef DEBUG7 #ifdef DEBUG7
if (debug && (threadIdx.x == 0)){ for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\ndebayer_shot HWINDOW2 applied \n"); if (debug && (threadIdx.x == 0) && (threadIdx.y == ccam)){
debug_print_mclt( printf("\ndebayer_shot HWINDOW2 applied, camera = %d \n",threadIdx.y);
mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports) debug_print_mclt(
-1); mclt_dst, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
-1);
}
__syncthreads();// __syncwarp();
} }
__syncthreads();// __syncwarp(); __syncthreads();// __syncwarp();
#endif #endif
...@@ -2565,7 +2669,460 @@ __device__ void debayer( ...@@ -2565,7 +2669,460 @@ __device__ void debayer(
} }
//DTT_SIZE21 //DTT_SIZE21
__device__ void tile_combine_rgba(
int colors, // number of colors
float * mclt_tile, // debayer // has gaps to align with union !
float * rgba, // result
float * ports_rgb, // average values of R,G,B for each camera (R0,R1,...,B2,B3) // null
float * max_diff, // maximal (weighted) deviation of each channel from the average /null
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)
float diff_sigma, // pixel value/pixel change
float diff_threshold, // pixel value/pixel change
// next not used
// 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 * 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 keep_weights, // return channel weights after A in RGBA - ALWAYS
int debug
)
{
float * alpha = rgba + (colors * (DTT_SIZE2*DTT_SIZE21));
float * port_weights = alpha + (DTT_SIZE2*DTT_SIZE21);
float * crms = port_weights + NUM_CAMS*(DTT_SIZE2*DTT_SIZE21); // results are never used?
float threshold2 = diff_sigma * diff_threshold;
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 !
int pair_ports[NUM_CAMS*(NUM_CAMS-1)/2][2]; // int [][] pair_ports = new int [ports*(ports-1)/2][2];
int indx = 0;
float ksigma = 1.0/(2.0*diff_sigma*diff_sigma); // multiply by a weighted sum of squares of the differences
#ifdef DEBUG9
__shared__ int dbg_bestPort1 [DTT_SIZE2*DTT_SIZE21];
__shared__ int dbg_bestPort2 [DTT_SIZE2*DTT_SIZE21];
#endif // #ifdef DEBUG9
#pragma unroll
for (int i = 0; i < NUM_CAMS; i++) { // if ((port_mask & ( 1 << i)) != 0){
#pragma unroll
for (int j = i+1; j < NUM_CAMS; j++) { // if ((port_mask & ( 1 << j)) != 0){
// double dx = port_offsets[j][0] - port_offsets[i][0];
// double dy = port_offsets[j][1] - port_offsets[i][1];
float dx = *(port_offsets + 2 * j) - *(port_offsets + 2 * i);
float dy = *(port_offsets + 2 * j + 1) - *(port_offsets + 2 * i + 1);
pair_ports[indx][0] = i;
pair_ports[indx][1] = j;
pair_dist2r[indx++] = ksigma / (dx*dx+dy*dy); // 2*sigma^2 * r^2
}
}
int colors_offset = colors * MCLT_UNION_LEN; // padded in union !
#ifdef DEBUG8
__syncthreads();// __syncwarp();
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntile_combine_rgba ksigma = %f\n",ksigma);
for (int i = 0; i < indx; i++) {
printf("%02d: %d :%d %f\n",i,pair_ports[i][0], pair_ports[i][1], pair_dist2r[i]);
}
}
__syncthreads();// __syncwarp();
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int ccam = 0; ccam < NUM_CAMS; ccam++) { // if ((port_mask & ( 1 << i)) != 0){
for (int nncol = 0; nncol < colors; nncol++){
printf("\ntile_combine_rgba cam = %d, color = %d\n",ccam, nncol);
debug_print_mclt(
mclt_tile + ((nncol + colors * ccam) * MCLT_UNION_LEN),
-1);
}
}
printf("\ntile_combine_rgba break 1\n");
}
__syncthreads();// __syncwarp();
#endif
for (int pass = 0; pass < 8; pass ++) {
// below non-parametrized !
int row = pass * 2 + (threadIdx.y >> 1);
int col = ((threadIdx.y & 1) << 3) + threadIdx.x;
int i = row * DTT_SIZE21 + col;
float * crms_i = crms+i;
float * port_weights_i = port_weights + i;
float * mclt_tile_i = mclt_tile + i; // has gaps to align in a union !
float * alpha_i = alpha + i;
if (keep_weights){
float sw = 0.0;
for (int ncol = 0; ncol < colors; ncol ++ ) { // if (iclt_tile[0][ncol] != null){
float s0 = 0, s1 = 0, s2 = 0;
float * crms_col_i = crms_i + (DTT_SIZE2*DTT_SIZE21) * ncol;
float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol;
for (int cam = 0; cam < NUM_CAMS; cam++) { // if ((port_mask & ( 1 << ip)) != 0){
s0 += 1.0;
float d = * (mclt_col_i + colors_offset * cam);
s1 += d;
s2 += d * d;
}
float mse = (s0*s2 - s1*s1) / (s0 * s0);
* crms_col_i = sqrtf(mse);
sw += *(chn_weights +ncol) * mse;
}
*(crms_i + (DTT_SIZE2*DTT_SIZE21) * colors) = sqrtf(sw); // will fade as window
}
#ifdef DEBUG9
}
#ifdef DEBUG8
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int ncol = 0; ncol < colors; ncol++) {
printf("\n+++++ crms[%d] +++++\n",ncol);
debug_print_mclt(
crms + (ncol * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
printf("\n+++++ cmrs_combo +++++\n");
debug_print_mclt(
crms + (colors * (DTT_SIZE2*DTT_SIZE21)), //
-1);
}
__syncthreads();// __syncwarp();
#endif
__syncthreads();// __syncwarp();
for (int pass = 0; pass < 8; pass ++) {
// below non-parametrized !
int row = pass * 2 + (threadIdx.y >> 1);
int col = ((threadIdx.y & 1) << 3) + threadIdx.x;
int i = row * DTT_SIZE21 + col;
float * crms_i = crms+i;
float * port_weights_i = port_weights + i;
float * mclt_tile_i = mclt_tile + i; // has gaps to align in a union !
float * alpha_i = alpha + i;
#endif // #ifdef DEBUG9
for (int cam = 0; cam < NUM_CAMS; cam++) {
*(port_weights_i + cam*(DTT_SIZE2*DTT_SIZE21)) = 0.0;
}
int row_sym = row ^ ((row & 8)? 0xf : 0);
int col_sym = col ^ ((col & 8)? 0xf : 0);
float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym];
float wnd2_inv = 1.0/wnd2;
#pragma unroll
for (int ipair = 0; ipair < (NUM_CAMS*(NUM_CAMS-1)/2); ipair++){
float d = 0;
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null){
// double dc = iclt_tile[pair_ports[ip][0]][ncol][i] - iclt_tile[pair_ports[ip][1]][ncol][i];
float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol;
float dc =
*(mclt_col_i + colors_offset * pair_ports[ipair][0]) -
*(mclt_col_i + colors_offset * pair_ports[ipair][1]);
dc *= wnd2_inv; // to compensate fading near the edges
d+= *(chn_weights + ncol) * dc * dc;
}
d = expf(-pair_dist2r[ipair] * d); // 0.5 for exact match, lower for mismatch. Add this weight to both ports involved
// Add weight to both channels in a pair
*(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * pair_ports[ipair][0]) +=d;
*(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * pair_ports[ipair][1]) +=d;
}
// find 2 best ports (resolving 2 pairs of close values)
int bestPort1 = 0;
float best_val= *port_weights_i;
#pragma unroll
for (int cam = bestPort1 + 1; cam < NUM_CAMS; cam++) {
float val = *(port_weights_i + cam * (DTT_SIZE2*DTT_SIZE21));
if (val > best_val){
bestPort1 = cam;
best_val = val;
}
}
int bestPort2 = (bestPort1 == 0) ? 1 : 0;
best_val= *(port_weights_i + bestPort2 * (DTT_SIZE2*DTT_SIZE21));
#pragma unroll
for (int cam = bestPort2 + 1; cam < NUM_CAMS; cam++){
float val = *(port_weights_i + cam * (DTT_SIZE2*DTT_SIZE21));
if ((cam != bestPort1) && (val > best_val)){
bestPort2 = cam;
best_val = val;
}
}
#ifdef DEBUG9
dbg_bestPort1[i] = bestPort1;
dbg_bestPort2[i] = bestPort2;
#endif // #ifdef DEBUG9
// find weighted average between these 2 ports
float pw1 = *(port_weights_i + bestPort1 * (DTT_SIZE2*DTT_SIZE21));
float w1 = pw1/(pw1 + *(port_weights_i + bestPort2 * (DTT_SIZE2*DTT_SIZE21)));
float w2 = 1.0 - w1;
float * rgba_i = rgba + i;
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null) {
float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol;
* (rgba_i + ncol * (DTT_SIZE2*DTT_SIZE21))=
w1 * *(mclt_col_i + colors_offset * bestPort1) +
w2 * *(mclt_col_i + colors_offset * bestPort2);
}
#ifdef DEBUG9
}
#ifdef DEBUG8
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\n===== port_weight[%d] ====\n",ccam);
debug_print_mclt(
port_weights + (ccam * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
printf("\n+++++ best ports +++++\n");
for (int dbg_row = 0; dbg_row < DTT_SIZE2; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE2; dbg_col++){
printf ("%1d[%1d] ",dbg_bestPort1[dbg_row *DTT_SIZE21 + dbg_col],dbg_bestPort2[dbg_row *DTT_SIZE21 + dbg_col]);
}
printf("\n");
}
printf("\n");
for (int ncol = 0; ncol < colors; ncol++) {
printf("\n+++++ rgba[%d] +++++\n",ncol);
debug_print_mclt(
rgba + (ncol * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
}
__syncthreads();// __syncwarp();
#endif
__syncthreads();// __syncwarp();
for (int pass = 0; pass < 8; pass ++) {
// below non-parametrized !
int row = pass * 2 + (threadIdx.y >> 1);
int col = ((threadIdx.y & 1) << 3) + threadIdx.x;
int i = row * DTT_SIZE21 + col;
float * crms_i = crms+i;
float * port_weights_i = port_weights + i;
float * mclt_tile_i = mclt_tile + i; // has gaps to align in a union !
float * alpha_i = alpha + i;
float * rgba_i = rgba + i;
int row_sym = row ^ ((row & 8)? 0xf : 0);
int col_sym = col ^ ((col & 8)? 0xf : 0);
float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym];
float wnd2_inv = 1.0/wnd2;
#endif // #ifdef DEBUG9
// recalculate all weights using difference from this average of the best pair
for (int cam = 0; cam < NUM_CAMS; cam++) { // if ((port_mask & ( 1 << ip)) != 0){
float * mclt_cam_i = mclt_tile_i + cam * colors_offset;
float d2_ip = 0;
for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null){
float * mclt_cam_col_i = mclt_cam_i + MCLT_UNION_LEN * ncol; // DTT_SIZE2*DTT_SIZE21 * ncol;
float dc = *(mclt_cam_col_i) - * (rgba_i + ncol * (DTT_SIZE2*DTT_SIZE21));
dc *= wnd2_inv; // /= lt_window[i]; // to compensate fading near the edges
d2_ip += *(chn_weights + ncol) * dc * dc;
}
// TODO: Should it use pair_dist2r ? no as it is relative?
// port_weights[ip][i] = Math.exp(-ksigma * d2[ip]);
*(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam) = expf(-ksigma * d2_ip);
}
// and now make a new average with those weights
// Inserting dust remove here
if (dust_remove) {
int worstPort = 0;
float worst_val= *port_weights_i;
#pragma unroll
for (int cam = 1; cam < NUM_CAMS; cam++) {
float val = *(port_weights_i + cam * (DTT_SIZE2*DTT_SIZE21));
if (val < worst_val){
worstPort = cam;
worst_val = val;
}
}
float avg = -worst_val; // avoid conditional
#pragma unroll
for (int cam = 0; cam < NUM_CAMS; cam++){
avg += *(port_weights_i + cam * (DTT_SIZE2*DTT_SIZE21));
}
avg /= (NUM_CAMS -1);
float scale = 1.0 + worst_val * (avg - worst_val)/(avg * avg * (NUM_CAMS-1));
for (int cam = 0; cam < NUM_CAMS; cam++){
if (cam != worstPort){
*(port_weights_i + cam * (DTT_SIZE2*DTT_SIZE21)) *= scale;
}
}
*(port_weights_i + worstPort * (DTT_SIZE2*DTT_SIZE21)) *= worst_val/avg;
}
#ifdef DEBUG9
}
#ifdef DEBUG8
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
for (int ccam = 0; ccam < NUM_CAMS; ccam++) {
printf("\n===== UPDATED port_weight[%d] after dust_remove ====\n",ccam);
debug_print_mclt(
port_weights + (ccam * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
}
__syncthreads();// __syncwarp();
#endif
__syncthreads();// __syncwarp();
for (int pass = 0; pass < 8; pass ++) {
// below non-parametrized !
int row = pass * 2 + (threadIdx.y >> 1);
int col = ((threadIdx.y & 1) << 3) + threadIdx.x;
int i = row * DTT_SIZE21 + col;
float * crms_i = crms+i;
float * port_weights_i = port_weights + i;
float * mclt_tile_i = mclt_tile + i; // has gaps to align in a union !
float * alpha_i = alpha + i;
float * rgba_i = rgba + i;
int row_sym = row ^ ((row & 8)? 0xf : 0);
int col_sym = col ^ ((col & 8)? 0xf : 0);
float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQ[col_sym];
float wnd2_inv = 1.0/wnd2;
#endif // #ifdef DEBUG9
///
float k = 0.0;
#pragma unroll
for (int cam = 0; cam < NUM_CAMS; cam++){
k += *(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam); // port_weights[ip][i];
}
k = 1.0/k;
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++) { // if (iclt_tile[0][ncol] != null) {
float * rgba_col_i = rgba_i + ncol * (DTT_SIZE2*DTT_SIZE21);
float * mclt_col_i = mclt_tile_i + MCLT_UNION_LEN * ncol;
*rgba_col_i = 0.0; // color_avg[ncol][i] = 0;
#pragma unroll
for (int cam = 0; cam < NUM_CAMS; cam++) {
*rgba_col_i += k * *(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam) * *(mclt_col_i + cam * colors_offset);
}
}
// calculate alpha from channel weights. Start with just a sum of weights?
// int used_ports = NUM_CAMS;
// if (dust_remove){
// used_ports--;
// }
float a = 0;
#pragma unroll
for (int cam = 0; cam < NUM_CAMS; cam++) {
a += *(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam);
}
*alpha_i = wnd2 * a / NUM_CAMS; // used_ports;
}// for (int pass = 0; pass < 8; pass ++)
__syncthreads();
#ifdef DEBUG8
if (debug && (threadIdx.x == 0) && (threadIdx.y == 0)){
printf("\ntile_combine_rgba() final\n");
for (int ncol = 0; ncol < colors; ncol++) {
printf("\ntile_combine_rgba() rgba[%d]\n",ncol);
debug_print_mclt(
rgba + (ncol * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
printf("\ntile_combine_rgba() alpha\n");
debug_print_mclt(
alpha, //
-1);
for (int cam = 0; cam < colors; cam++) {
printf("\ntile_combine_rgba() port_weights[%d]\n",cam);
debug_print_mclt(
port_weights + (cam * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
for (int ncol = 0; ncol < (colors + 1); ncol++) {
printf("\ntile_combine_rgba() crms[%d]\n",ncol);
debug_print_mclt(
crms + (ncol * (DTT_SIZE2*DTT_SIZE21)),
-1);
}
}
__syncthreads();// __syncwarp();
#endif
if (max_diff){
__shared__ float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE]; // [4][8]
int cam = threadIdx.y;
max_diff_tmp[cam][threadIdx.x] = 0.0;
#pragma unroll
for (int pass = 0; pass < 32; pass++){
int row = (pass >> 1);
int col = ((pass & 1) << 3) + threadIdx.x;
int i = row * DTT_SIZE21 + col;
int row_sym = row ^ ((row & 8)? 0xf : 0);
int col_sym = col ^ ((col & 8)? 0xf : 0);
float wnd2 = HWINDOW_SQ[row_sym] * HWINDOW_SQi[col_sym];
// float * port_weights_i = port_weights + i;
float * mclt_cam_i = mclt_tile + colors_offset * cam + i;
float d2 = 0.0;
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++){
float dc = *(mclt_cam_i + (DTT_SIZE2*DTT_SIZE21) * ncol) - *(rgba + (DTT_SIZE2*DTT_SIZE21) * ncol + i);
d2 += *(chn_weights + ncol) * dc * dc;
}
d2 *= wnd2;
max_diff_tmp[cam][threadIdx.x] = fmaxf(max_diff_tmp[cam][threadIdx.x], d2);
}
__syncthreads();
if (threadIdx.x == 0){ // combine results
float mx = 0.0;
#pragma unroll
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
mx = fmaxf(mx, max_diff_tmp[cam][i]);
}
max_diff[cam] = sqrtf(mx);
}
}
if (ports_rgb) {
__shared__ float ports_rgb_tmp [NUM_CAMS][NUM_COLORS][TEXTURE_THREADS_PER_TILE]; // [4*3][8]
int cam = threadIdx.y;
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++){
ports_rgb_tmp[cam][ncol][threadIdx.x] = 0.0;
}
#pragma unroll
for (int pass = 0; pass < 32; pass++){
int row = (pass >> 1);
int col = ((pass & 1) << 3) + threadIdx.x;
int i = row * DTT_SIZE21 + col;
// int row_sym = row ^ ((row & 8)? 0xf : 0);
float * mclt_cam_i = mclt_tile + colors_offset * cam + i;
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++){
ports_rgb_tmp[cam][ncol][threadIdx.x] += *(mclt_cam_i + (DTT_SIZE2*DTT_SIZE21) * ncol);
}
}
__syncthreads();
if (threadIdx.x == 0){ // combine results
#pragma unroll
for (int ncol = 0; ncol < colors; ncol++){
ports_rgb[ncol * NUM_CAMS + cam] = 0;
#pragma unroll
for (int i = 0; i < TEXTURE_THREADS_PER_TILE; i++){
int indx = ncol * NUM_CAMS + cam;
ports_rgb[indx] += ports_rgb_tmp[cam][ncol][i];
}
ports_rgb[indx] /= DTT_SIZE2*DTT_SIZE2; // correct for window?
}
}
}
}
src/dtt8x8.cu
View file @ 9e1a74b7
...@@ -740,7 +740,7 @@ int main(int argc, char **argv) ...@@ -740,7 +740,7 @@ int main(int argc, char **argv)
#ifndef NOTEXTURES #ifndef NOTEXTURES
// cudaProfilerStart(); // cudaProfilerStart();
// testing textures // testing textures
dim3 threads_texture(TEXTURE_THREADS_PER_TILE, TEXTURE_TILES_PER_BLOCK, 1); dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);
dim3 grid_texture((num_textures + TEXTURE_TILES_PER_BLOCK-1) / TEXTURE_TILES_PER_BLOCK,1,1); dim3 grid_texture((num_textures + TEXTURE_TILES_PER_BLOCK-1) / TEXTURE_TILES_PER_BLOCK,1,1);
printf("threads_texture=(%d, %d, %d)\n",threads_texture.x,threads_texture.y,threads_texture.z); printf("threads_texture=(%d, %d, %d)\n",threads_texture.x,threads_texture.y,threads_texture.z);
printf("grid_texture=(%d, %d, %d)\n",grid_texture.x,grid_texture.y,grid_texture.z); printf("grid_texture=(%d, %d, %d)\n",grid_texture.x,grid_texture.y,grid_texture.z);
...@@ -773,11 +773,11 @@ int main(int argc, char **argv) ...@@ -773,11 +773,11 @@ int main(int argc, char **argv)
10.0f, // float diff_threshold, // pixel value/pixel change 10.0f, // float diff_threshold, // pixel value/pixel change
// int diff_gauss, // when averaging images, use gaussian around average as weight (false - sharp all/nothing) // int diff_gauss, // when averaging images, use gaussian around average as weight (false - sharp all/nothing)
3.0, // float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages) 3.0, // float min_agree, // minimal number of channels to agree on a point (real number to work with fuzzy averages)
0.294118, // float weight0, // scale for R 0.294118, // float weight0, // scale for R
0.117647, // float weight1, // scale for B 0.117647, // float weight1, // scale for B
0.588235, // float weight2, // scale for G 0.588235, // float weight2, // scale for G
1.0, // int dust_remove, // Do not reduce average weight when only one image differes much from the average 1, // int dust_remove, // Do not reduce average weight when only one image differes much from the average
// 1.0, // int keep_weights, // return channel weights after A in RGBA 1, // int keep_weights, // return channel weights after A in RGBA
dstride_textures/sizeof(float), // const size_t texture_stride, // in floats (now 256*4 = 1024) dstride_textures/sizeof(float), // const size_t texture_stride, // in floats (now 256*4 = 1024)
gpu_textures); // float * gpu_texture_tiles); // 4*16*16 rgba texture tiles gpu_textures); // float * gpu_texture_tiles); // 4*16*16 rgba texture tiles
......
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