More editing to make dynamic number of cameras (a51d6a77) · Commits · Elphel / tile_processor_gpu

src/TileProcessor.cuh

+128 −82

Original line number	Original line	Diff line number	Diff line
	@@ -983,13 +983,17 @@ __global__ void clear_texture_list(
	int height); // <= TILES-Y, 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,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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 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( // TODO: remove __global__?
	struct tp_task * gpu_tasks,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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 width, // number of tiles in a row
	int height, // number of tiles rows		int height, // number of tiles rows
	@@ -997,13 +1001,15 @@ __global__ void mark_texture_neighbor_tiles(
	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,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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 width, // number of tiles in a row
	int height, // number of tiles rows		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); // min_x, min_y, max_x, max_y input

	__global__ void clear_texture_rbga(		__global__ void clear_texture_rbga(
	int texture_width,		int texture_width,
	@@ -1011,7 +1017,7 @@ __global__ void clear_texture_rbga(
	const size_t texture_rbga_stride, // in floats 8*stride		const size_t texture_rbga_stride, // in floats 8*stride
	float * gpu_texture_tiles); // (number of colors +1 + ?)1616 rgba texture tiles		float * gpu_texture_tiles); // (number of colors +1 + ?)1616 rgba texture tiles

	inline __device__ int get_task_size(int num_cams);		//inline __device__ int get_task_size(int num_cams);
	inline __device__ int get_task_task(int num_tile, float * gpu_ftasks, int num_cams);		inline __device__ int get_task_task(int num_tile, float * gpu_ftasks, int num_cams);
	inline __device__ int get_task_txy(int num_tile, float * gpu_ftasks, int num_cams);		inline __device__ int get_task_txy(int num_tile, float * gpu_ftasks, int num_cams);

	@@ -1034,7 +1040,9 @@ __global__ void index_correlate(
	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,		int num_cams,
			float * gpu_ftasks , // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// 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 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
	@@ -1869,7 +1877,8 @@ extern "C" __global__ void corr2D_normalize_inner(
	* 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 num_cams number of cameras		* @param num_cams number of cameras
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			//* @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 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)
	@@ -1895,7 +1904,8 @@ extern "C" __global__ void corr2D_normalize_inner(
	extern "C" __global__ void generate_RBGA(		extern "C" __global__ void generate_RBGA(
	int num_cams, // number of cameras used		int num_cams, // number of cameras used
	// Parameters to generate texture tasks		// Parameters to generate texture tasks
	struct tp_task * gpu_tasks,		float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// struct tp_task * gpu_tasks,
	int num_tiles, // number of tiles in task list		int num_tiles, // number of tiles in task list
	// 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)
	@@ -1937,7 +1947,9 @@ extern "C" __global__ void generate_RBGA(
	dim3 blocks(blocks_t, 1, 1);		dim3 blocks(blocks_t, 1, 1);
	// mark used tiles in gpu_texture_indices memory		// mark used tiles in gpu_texture_indices memory
	mark_texture_tiles <<<blocks,threads>>>(		mark_texture_tiles <<<blocks,threads>>>(
	gpu_tasks,		num_cams, // int num_cams,
			gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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		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)
	@@ -1948,7 +1960,9 @@ extern "C" __global__ void generate_RBGA(
	*(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,		num_cams, // int num_cams,
			gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// 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		width, // number of tiles in a row
	height, // number of tiles rows		height, // number of tiles rows
	@@ -1967,7 +1981,9 @@ extern "C" __global__ void generate_RBGA(
	*(num_texture_tiles+7) = 0;		*(num_texture_tiles+7) = 0;

	gen_texture_list <<<blocks,threads>>>(		gen_texture_list <<<blocks,threads>>>(
	gpu_tasks,		num_cams, // int num_cams,
			gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// 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		width, // number of tiles in a row
	height, // int height, // number of tiles rows		height, // int height, // number of tiles rows
	@@ -2003,7 +2019,7 @@ extern "C" __global__ void generate_RBGA(
	// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	// dim3 threads_texture(TEXTURE_THREADS/num_cams, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS/num_cams, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	int num_cams_per_thread = TEXTURE_THREADS / TEXTURE_THREADS_PER_TILE; // 4 cameras parallel, then repeat		int num_cams_per_thread = NUM_THREADS / TEXTURE_THREADS_PER_TILE; // 4 cameras parallel, then repeat
	dim3 threads_texture(TEXTURE_THREADS_PER_TILE, num_cams_per_thread, 1); // TEXTURE_TILES_PER_BLOCK, 1);		dim3 threads_texture(TEXTURE_THREADS_PER_TILE, num_cams_per_thread, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	// dim3 threads_texture(TEXTURE_THREADS/num_cams, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS/num_cams, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	@@ -2094,7 +2110,9 @@ __global__ void clear_texture_rbga(
	* Helper kernel for generate_RBGA() - prepare list of texture tiles, woi, and calculate orthogonal		* Helper kernel for generate_RBGA() - prepare list of texture tiles, woi, and calculate orthogonal
	* neighbors for tiles (in 4 bits of the task field. Use 4x8=32 threads,		* neighbors for tiles (in 4 bits of the task field. Use 4x8=32 threads,
	*		*
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param num_cams number of cameras
			* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			//* @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 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)
	@@ -2103,7 +2121,9 @@ __global__ void clear_texture_rbga(
	* @param height full image height in tiles <= TILES-Y, 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,		int num_cams, // number of cameras used
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// struct tp_task * gpu_tasks,
	int num_tiles, // number of tiles in task list		int num_tiles, // number of tiles in task list
	int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)		int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
	// modified to have 8 length - split each subsequence into non-border/border tiles. Non-border will grow up,		// modified to have 8 length - split each subsequence into non-border/border tiles. Non-border will grow up,
	@@ -2132,7 +2152,9 @@ __global__ void prepare_texture_list(
	dim3 blocks(blocks_t, 1, 1);		dim3 blocks(blocks_t, 1, 1);
	// mark used tiles in gpu_texture_indices memory		// mark used tiles in gpu_texture_indices memory
	mark_texture_tiles <<<blocks,threads>>>(		mark_texture_tiles <<<blocks,threads>>>(
	gpu_tasks,		num_cams,
			gpu_ftasks,
			// gpu_tasks,
	num_tiles, // number of tiles in task list		num_tiles, // number of tiles in task list
	width,		width,
	gpu_texture_indices); // packed tile + bits (now only (1 << 7)		gpu_texture_indices); // packed tile + bits (now only (1 << 7)
	@@ -2143,7 +2165,9 @@ __global__ void prepare_texture_list(
	*(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,		num_cams,
			gpu_ftasks,
			// 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		width, // number of tiles in a row
	height, // number of tiles rows		height, // number of tiles rows
	@@ -2161,7 +2185,9 @@ __global__ void prepare_texture_list(
	*(num_texture_tiles+7) = 0;		*(num_texture_tiles+7) = 0;

	gen_texture_list <<<blocks,threads>>>(		gen_texture_list <<<blocks,threads>>>(
	gpu_tasks,		num_cams,
			gpu_ftasks,
			// 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		width, // number of tiles in a row
	height, // int height, // number of tiles rows		height, // int height, // number of tiles rows
	@@ -2201,7 +2227,9 @@ __global__ void clear_texture_list(
	* 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
	* gpu_texture_indices memory		* gpu_texture_indices memory
	*		*
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param num_cams number of cameras <= NUM_CAMS
			* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			//* @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 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
	@@ -2209,7 +2237,9 @@ __global__ void clear_texture_list(

	// treads (,1,1), blocks = (,1,1)		// treads (,1,1), blocks = (,1,1)
	__global__ void mark_texture_tiles(		__global__ void mark_texture_tiles(
	struct tp_task * gpu_tasks,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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 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)
	@@ -2218,11 +2248,15 @@ __global__ void mark_texture_tiles(
	if (task_num >= num_tiles) {		if (task_num >= num_tiles) {
	return; // nothing to do		return; // nothing to do
	}		}
	int task = gpu_tasks[task_num].task;		/// int task = gpu_tasks[task_num].task;
			int task = get_task_task(task_num, gpu_ftasks, num_cams);

	if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient		if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient
	return; // NOP tile		return; // NOP tile
	}		}
	int cxy = gpu_tasks[task_num].txy;		/// int cxy = gpu_tasks[task_num].txy;
			int cxy = get_task_txy(task_num, gpu_ftasks, num_cams);

	(gpu_texture_indices + (cxy & 0xffff) + (cxy >> 16) width) = 1; // TILES-X) = 1;		(gpu_texture_indices + (cxy & 0xffff) + (cxy >> 16) width) = 1; // TILES-X) = 1;
	}		}

	@@ -2231,7 +2265,9 @@ __global__ void mark_texture_tiles(
	* bitmap of available neighbors in 4 directions (needed for alpha generation of		* bitmap of available neighbors in 4 directions (needed for alpha generation of
	* the result textures to fade along the border.		* the result textures to fade along the border.
	*		*
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param num_cams number of cameras
			* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// * @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 width number of tiles in a row
	* @param height number of tiles rows		* @param height number of tiles rows
	@@ -2240,7 +2276,9 @@ __global__ void mark_texture_tiles(
	*/		*/
	// treads (,1,1), blocks = (,1,1)		// treads (,1,1), blocks = (,1,1)
	__global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?		__global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
	struct tp_task * gpu_tasks,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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 width, // number of tiles in a row
	int height, // number of tiles rows		int height, // number of tiles rows
	@@ -2252,11 +2290,14 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
	if (task_num >= num_tiles) {		if (task_num >= num_tiles) {
	return; // nothing to do		return; // nothing to do
	}		}
	int task = gpu_tasks[task_num].task;		/// int task = gpu_tasks[task_num].task;
			int task = get_task_task(task_num, gpu_ftasks, num_cams);
	if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient		if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient
	return; // NOP tile		return; // NOP tile
	}		}
	int cxy = gpu_tasks[task_num].txy;		/// int cxy = gpu_tasks[task_num].txy;
			int cxy = get_task_txy(task_num, gpu_ftasks, num_cams);

	int x = (cxy & 0xffff);		int x = (cxy & 0xffff);
	int y = (cxy >> 16);		int y = (cxy >> 16);
	atomicMin(woi+0, x);		atomicMin(woi+0, x);
	@@ -2264,16 +2305,12 @@ __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) TILES-X)) d \|= (1 << TASK_TEXTURE_N_BIT);
	// if ((x < (TILES-X - 1)) && (gpu_texture_indices + (x + 1) + y TILES-X)) d \|= (1 << TASK_TEXTURE_E_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 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 ((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 ((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 ((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);		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;
			(int ) (gpu_ftasks + get_task_size(num_cams) * task_num) = ((task ^ d) & TASK_TEXTURE_BITS) ^ task;
	}		}

	/**		/**
	@@ -2282,15 +2319,18 @@ __global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
	* of non-overlapping tiles (odd/even rows/columns). At first made 8 lists, with pairs of		* of non-overlapping tiles (odd/even rows/columns). At first made 8 lists, with pairs of
	* growing up and down for inner and border tiles, but now border attribute is not		* growing up and down for inner and border tiles, but now border attribute is not
	* used anymore.		* used anymore.
	*		* @param num_cams number of cameras
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// * @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 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)
	*/		*/
	__global__ void gen_texture_list(		__global__ void gen_texture_list(
	struct tp_task * gpu_tasks,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			/// 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 width, // number of tiles in a row
	int height, // number of tiles rows		int height, // number of tiles rows
	@@ -2305,11 +2345,13 @@ __global__ void gen_texture_list(
	return; // nothing to do		return; // nothing to do
	}		}

	int task = gpu_tasks[task_num].task & TASK_TEXTURE_BITS;		/// int task = gpu_tasks[task_num].task & TASK_TEXTURE_BITS;
			int task = get_task_task(task_num, gpu_ftasks, num_cams);
	if (!task){ // here any bit in TASK_TEXTURE_BITS is sufficient		if (!task){ // here any bit in TASK_TEXTURE_BITS is sufficient
	return; // NOP tile		return; // NOP tile
	}		}
	int cxy = gpu_tasks[task_num].txy;		// int cxy = gpu_tasks[task_num].txy;
			int cxy = get_task_txy(task_num, gpu_ftasks, num_cams);
	int x = (cxy & 0xffff);		int x = (cxy & 0xffff);
	int y = (cxy >> 16);		int y = (cxy >> 16);

	@@ -2325,22 +2367,18 @@ __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 == (TILES-X - 1)) \|\| (y == woi[3]);
	int is_border = (x == woi[0]) \|\| (y == woi[1]) \|\| (x == (width - 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 += TILES-X * (TILES-YA >> 2); //TILES-YA - 2 LSB == 00
	buff_head += width * (tilesya >> 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 += TILES-X * (TILES-YA >> 1);
	buff_head += width * (tilesya >> 1);		buff_head += width * (tilesya >> 1);
	num_offset += 4; // int *		num_offset += 4; // int *
	}		}
	if (is_border){		if (is_border){
	// buff_head += (TILES-X * (TILES-YA >> 2) - 1); // end of the buffer
	buff_head += (width * (tilesya >> 2) - 1); // end of the buffer		buff_head += (width * (tilesya >> 2) - 1); // end of the buffer
	num_offset += 1; // int *		num_offset += 1; // int *
	}		}
	@@ -2360,13 +2398,11 @@ __global__ void gen_texture_list(
	}		}
	__syncthreads();// __syncwarp();		__syncthreads();// __syncwarp();
	#endif // DEBUG12		#endif // DEBUG12
	// (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);		(gpu_texture_indices + buf_offset) = task \| ((x + y width) << CORR_NTILE_SHIFT) \| (1 << LIST_TEXTURE_BIT);
	}		}
			//inline __device__ int get_task_size(int num_cams){
	inline __device__ int get_task_size(int num_cams){		// return sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - num_cams);
	return sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - num_cams);		//}
	}

	inline __device__ int get_task_task(int num_tile, float * gpu_ftasks, int num_cams) {		inline __device__ int get_task_task(int num_tile, float * gpu_ftasks, int num_cams) {
	return (int ) (gpu_ftasks + get_task_size(num_cams) * num_tile);		return (int ) (gpu_ftasks + get_task_size(num_cams) * num_tile);
	@@ -2374,7 +2410,6 @@ inline __device__ int get_task_task(int num_tile, float * gpu_ftasks, int num_ca
	inline __device__ int get_task_txy(int num_tile, float * gpu_ftasks, int num_cams) {		inline __device__ int get_task_txy(int num_tile, float * gpu_ftasks, int num_cams) {
	return (int ) (gpu_ftasks + get_task_size(num_cams) * num_tile + 1);		return (int ) (gpu_ftasks + get_task_size(num_cams) * num_tile + 1);
	}		}

	/**		/**
	* Helper kernel for convert_direct() - generates dense list of tiles for direct MCLT.		* Helper kernel for convert_direct() - generates dense list of tiles for direct MCLT.
	* Tile order from the original (sparse) list is not preserved		* Tile order from the original (sparse) list is not preserved
	@@ -2408,14 +2443,18 @@ __global__ void index_direct(
	* Helper kernel for textures_nonoverlap() - generates dense list of tiles for non-overlap		* Helper kernel for textures_nonoverlap() - generates dense list of tiles for non-overlap
	* (i.e. colors x 16 x 16 per each tile in the list ) texture tile generation		* (i.e. colors x 16 x 16 per each tile in the list ) texture tile generation
	*		*
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param num_cams number of cameras <= NUM_CAMS
			* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			//* @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 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,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// 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 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
	@@ -2425,13 +2464,16 @@ __global__ void create_nonoverlap_list(
	if (num_tile >= num_tiles){		if (num_tile >= num_tiles){
	return;		return;
	}		}
	if ((gpu_tasks[num_tile].task & TASK_TEXTURE_BITS) == 0){		int task_task = get_task_task(num_tile, gpu_ftasks, num_cams);
			/// if ((gpu_tasks[num_tile].task & TASK_TEXTURE_BITS) == 0){
			if ((task_task & TASK_TEXTURE_BITS) == 0){
	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) * TILES-X) << CORR_NTILE_SHIFT) \| (1 << LIST_TEXTURE_BIT) \| TASK_TEXTURE_BITS;		int cxy = get_task_txy(num_tile, gpu_ftasks, num_cams);
	int texture_task_code = (((cxy & 0xffff) + (cxy >> 16) * width) << 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) {
			if (task_task != 0) {
	nonoverlap_list[atomicAdd(pnonoverlap_length, 1)] = texture_task_code;		nonoverlap_list[atomicAdd(pnonoverlap_length, 1)] = texture_task_code;
	}		}
	}		}
	@@ -2746,7 +2788,8 @@ __global__ void convert_correct_tiles(
	* 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 num_cams number of cameras		* @param num_cams number of cameras
	* @param gpu_tasks array of per-tile tasks (struct tp_task)		* @param gpu_ftasks flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// * @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 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)
	@@ -2768,7 +2811,8 @@ __global__ void convert_correct_tiles(
	*/		*/
	extern "C" __global__ void textures_nonoverlap(		extern "C" __global__ void textures_nonoverlap(
	int num_cams, // number of cameras		int num_cams, // number of cameras
	struct tp_task * gpu_tasks,		float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats
			// 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		// int num_tilesx, // number of tiles in a row
	// declare arrays in device code?		// declare arrays in device code?
	@@ -2802,13 +2846,15 @@ extern "C" __global__ void textures_nonoverlap(
	if (threadIdx.x == 0) { // only 1 thread, 1 block		if (threadIdx.x == 0) { // only 1 thread, 1 block
	*pnum_texture_tiles = 0;		*pnum_texture_tiles = 0;
	create_nonoverlap_list<<<blocks0,threads0>>>(		create_nonoverlap_list<<<blocks0,threads0>>>(
	gpu_tasks, // struct tp_task * gpu_tasks,		num_cams, // int num_cams,
			gpu_ftasks, // float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// 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		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();
	int num_cams_per_thread = TEXTURE_THREADS / TEXTURE_THREADS_PER_TILE; // 4 cameras parallel, then repeat		int num_cams_per_thread = NUM_THREADS / TEXTURE_THREADS_PER_TILE; // 4 cameras parallel, then repeat
	// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS_PER_TILE, NUM_CAMS, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	dim3 threads_texture(TEXTURE_THREADS_PER_TILE, num_cams_per_thread, 1); // TEXTURE_TILES_PER_BLOCK, 1);		dim3 threads_texture(TEXTURE_THREADS_PER_TILE, num_cams_per_thread, 1); // TEXTURE_TILES_PER_BLOCK, 1);
	// dim3 threads_texture(TEXTURE_THREADS/num_cams, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);		// dim3 threads_texture(TEXTURE_THREADS/num_cams, num_cams, 1); // TEXTURE_TILES_PER_BLOCK, 1);

src/TileProcessor.h

+5 −3

src/geometry_correction.cu

+75 −28

File changed.

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src/geometry_correction.h

+12 −3

Original line number	Original line	Diff line number	Diff line
	@@ -41,6 +41,8 @@
	#include "tp_defines.h"		#include "tp_defines.h"
	#endif		#endif

			#define get_task_size(x) (sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - x))

	#define NVRTC_BUG 1		#define NVRTC_BUG 1
	#ifndef M_PI		#ifndef M_PI
	#define M_PI 3.14159265358979323846 /* pi */		#define M_PI 3.14159265358979323846 /* pi */
	@@ -60,8 +62,9 @@ struct tp_task {
	int txy;		int txy;
	unsigned short sxy[2];		unsigned short sxy[2];
	};		};
	float xy[NUM_CAMS][2];
	float target_disparity;		float target_disparity;
			float xy[NUM_CAMS][2];
			// float target_disparity;
	float disp_dist[NUM_CAMS][4]; // calculated with getPortsCoordinates()		float disp_dist[NUM_CAMS][4]; // calculated with getPortsCoordinates()
	};		};

	@@ -142,7 +145,9 @@ struct gc {
	};		};
	#define RAD_COEFF_LEN 7		#define RAD_COEFF_LEN 7
	extern "C" __global__ void get_tiles_offsets(		extern "C" __global__ void get_tiles_offsets(
	struct tp_task * gpu_tasks,		int num_cams,
			// struct tp_task * gpu_tasks,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
	int num_tiles, // number of tiles in task		int num_tiles, // number of tiles in task
	struct gc * gpu_geometry_correction,		struct gc * gpu_geometry_correction,
	struct corr_vector * gpu_correction_vector,		struct corr_vector * gpu_correction_vector,
	@@ -150,7 +155,9 @@ extern "C" __global__ void get_tiles_offsets(
	trot_deriv * gpu_rot_deriv);		trot_deriv * gpu_rot_deriv);

	extern "C" __global__ void calculate_tiles_offsets(		extern "C" __global__ void calculate_tiles_offsets(
	struct tp_task * gpu_tasks,		int num_cams,
			float * gpu_ftasks, // flattened tasks, 27 floats for quad EO, 99 floats for LWIR16
			// struct tp_task * gpu_tasks,
	int num_tiles, // number of tiles in task		int num_tiles, // number of tiles in task
	struct gc * gpu_geometry_correction,		struct gc * gpu_geometry_correction,
	struct corr_vector * gpu_correction_vector,		struct corr_vector * gpu_correction_vector,
	@@ -160,6 +167,7 @@ extern "C" __global__ void calculate_tiles_offsets(

	// uses NUM_CAMS blocks, (3,3,3) threads		// uses NUM_CAMS blocks, (3,3,3) threads
	extern "C" __global__ void calc_rot_deriv(		extern "C" __global__ void calc_rot_deriv(
			int num_cams,
	struct corr_vector * gpu_correction_vector,		struct corr_vector * gpu_correction_vector,
	trot_deriv * gpu_rot_deriv);		trot_deriv * gpu_rot_deriv);

	@@ -170,3 +178,4 @@ extern "C" __global__ void calcReverseDistortionTable(
	float * rByRDist);		float * rByRDist);

src/test_tp.cu

+9 −3

File changed.

Preview size limit exceeded, changes collapsed.