Commit a6844c60 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

reconciled geometry with java

parent dba4dfce

src/TileProcessor.cuh

+40 −12
Original line number Diff line number Diff line
@@ -110,14 +110,6 @@ GPU run time =523.451927ms, (direct conversion: 24.080189999999998ms, imclt: 17. 


#define MCLT_UNION_LEN   (DTT_SIZE2 * (DTT_SIZE2 + 2))



// Use CORR_OUT_RAD for the correlation output

//#define DBG_TILE_X     40

//#define DBG_TILE_Y     80

#define DBG_TILE_X     161 // 49

#define DBG_TILE_Y     111 // 66



#define DBG_TILE    (DBG_TILE_Y * 324 + DBG_TILE_X)

#undef DBG_MARK_DBG_TILE



//56494

// struct tp_task
@@ -1150,6 +1142,7 @@ __global__ void generate_RBGA( 
			int                height, // <= TILESY, use for faster processing of LWIR images

// Parameters for the texture generation

			float          ** gpu_clt,            // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]

			// TODO: use geometry_correction rXY !

			float           * gpu_port_offsets,       // relative ports x,y offsets - just to scale differences, may be approximate

			int               colors,             // number of colors (3/1)

			int               is_lwir,            // do not perform shot correction
@@ -1900,11 +1893,11 @@ __global__ void textures_gen( 
#endif // ifdef USE_textures_gen

extern "C"

__global__ void textures_accumulate(

//		int               border_tile,        // if 1 - watch for border

		int             * woi,                // x, y, width,height

		float          ** gpu_clt,            // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]

		size_t            num_texture_tiles,  // number of texture tiles to process

		int             * gpu_texture_indices,// packed tile + bits (now only (1 << 7)

		// TODO: use geometry_correction rXY !

		float           * gpu_port_offsets,       // relative ports x,y offsets - just to scale differences, may be approximate

		int               colors,             // number of colors (3/1)

		int               is_lwir,            // do not perform shot correction
@@ -2006,14 +1999,21 @@ __global__ void textures_accumulate( 
		}

		__syncthreads();// __syncwarp();

#endif

		// perform idct



#ifdef DBG_TILE		// perform idct

		imclt8threads(

				0,          // int     do_acc,     // 1 - add to previous value, 0 - overwrite

				clt_tile,   //        [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9]

				mclt_tile,  // float * mclt_tile )

				((tile_num == DBG_TILE)  && (threadIdx.x == 0)));

#else

		imclt8threads(

				0,          // int     do_acc,     // 1 - add to previous value, 0 - overwrite

				clt_tile,   //        [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9]

				mclt_tile,  // float * mclt_tile )

				0);

#endif

		__syncthreads();// __syncwarp();



#ifdef DEBUG7

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

			printf("\ntextures_gen mclt color = %d\n",color);
@@ -2024,6 +2024,7 @@ __global__ void textures_accumulate( 
		__syncthreads();// __syncwarp();

#endif

		if (colors > 1) {

#ifdef DBG_TILE

			debayer_shot(

					(color < 2), // const int rb_mode,    // 0 - green, 1 - r/b

					min_shot,    // float     min_shot,   // 10.0
@@ -2032,6 +2033,16 @@ __global__ void textures_accumulate( 
					mclt_dst,    // float   * mclt_dst,   // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]

					mclt_tmp,    // float   * mclt_tmp,

					((tile_num == DBG_TILE)  && (threadIdx.x == 0))); // int debug);

#else

			debayer_shot(

					(color < 2), // const int rb_mode,    // 0 - green, 1 - r/b

					min_shot,    // float     min_shot,   // 10.0

					scale_shot,  // float     scale_shot, // 3.0 (0.0 for mono)

					mclt_tile,   // float   * mclt_src,   // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]

					mclt_dst,    // float   * mclt_dst,   // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]

					mclt_tmp,    // float   * mclt_tmp,

					0); // int debug);

#endif

			__syncthreads();// __syncwarp();

		} else {

			// copy? - no, just remember to use mclt_tile, not mclt_dst
@@ -2105,6 +2116,7 @@ __global__ void textures_accumulate( 
	__syncthreads();// __syncwarp();

#endif

//	__shared__ float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21];

#ifdef DBG_TILE

	tile_combine_rgba(

			colors,                    // int     colors,        // number of colors

			(float*) shr.mclt_debayer, // float * mclt_tile,     // debayer // has gaps to align with union !
@@ -2120,7 +2132,23 @@ __global__ void textures_accumulate( 
			dust_remove,               // int     dust_remove,    // Do not reduce average weight when only one image differes much from the average

			keep_weights,              // int     keep_weights,   // return channel weights and rms after A in RGBA (weight are always calculated)

			(tile_num == DBG_TILE) );  //int     debug );



#else

	tile_combine_rgba(

			colors,                    // int     colors,        // number of colors

			(float*) shr.mclt_debayer, // float * mclt_tile,     // debayer // has gaps to align with union !

			(float*) mclt_tiles,       // float * rbg_tile,      // if not null - original (not-debayered) rbg tile to use for the output

			(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

			keep_weights,              // int     keep_weights,   // return channel weights and rms after A in RGBA (weight are always calculated)

			0);  //int     debug );

#endif

// 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];

//	size_t texture_tile_offset = + tile_indx * texture_stride;

src/TileProcessor.h

+3 −2
Original line number Diff line number Diff line
@@ -80,11 +80,11 @@ extern "C" __global__ void clear_texture_rbga( 
		const size_t      texture_rbga_stride,     // in floats 8*stride

		float           * gpu_texture_tiles);  // (number of colors +1 + ?)*16*16 rgba texture tiles

extern "C" __global__ void textures_accumulate(

//		int               border_tile,        // if 1 - watch for border

		int             * woi,                // x, y, width,height

		float          ** gpu_clt,            // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]

		size_t            num_texture_tiles,  // number of texture tiles to process

		int             * gpu_texture_indices,// packed tile + bits (now only (1 << 7)

		// TODO: use geometry_correction rXY !

		float           * gpu_port_offsets,   // relative ports x,y offsets - just to scale differences, may be approximate

		int               colors,             // number of colors (3/1)

		int               is_lwir,            // do not perform shot correction
@@ -127,6 +127,7 @@ __global__ void generate_RBGA( 
			int                height, // <= TILESY, use for faster processing of LWIR images

// Parameters for the texture generation

			float          ** gpu_clt,            // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]

			// TODO: use geometry_correction rXY !

			float           * gpu_port_offsets,       // relative ports x,y offsets - just to scale differences, may be approximate

			int               colors,             // number of colors (3/1)

			int               is_lwir,            // do not perform shot correction