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tile_processor_gpu
Commit adac766c authored by Andrey Filippov's avatar Andrey Filippov
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fixed NaN by adding fat zero to channel weights after exp()

parent edce489f
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Showing with 58 additions and 28 deletions
src/TileProcessor.cuh
View file @ adac766c
......@@ -41,22 +41,22 @@
#pragma once
#include "dtt8x8.cuh"
#define THREADSX (DTT_SIZE)
#define NUM_CAMS 4
#define NUM_PAIRS 6
#define NUM_COLORS 3
#define IMG_WIDTH 2592
#define IMG_HEIGHT 1936
#define KERNELS_HOR 164
#define KERNELS_VERT 123
#define NUM_CAMS 4
#define NUM_PAIRS 6
#define NUM_COLORS 3
#define KERNELS_LSTEP 4
#define THREADS_PER_TILE 8
#define TILES_PER_BLOCK 4
#define CORR_THREADS_PER_TILE 8
#define CORR_TILES_PER_BLOCK 4
#define IMCLT_THREADS_PER_TILE 16
#define IMCLT_TILES_PER_BLOCK 4
#define TEXTURE_THREADS_PER_TILE 8
#define TEXTURE_TILES_PER_BLOCK 1
#define IMCLT_THREADS_PER_TILE 16
#define IMCLT_TILES_PER_BLOCK 4
#define CORR_NTILE_SHIFT 8 // higher bits - number of a pair, other bits tile number
#define CORR_PAIRS_MASK 0x3f// lower bits used to address correlation pair for the selected tile
#define CORR_TEXTURE_BIT 7 // bit 7 used to request texture for the tile
......@@ -64,6 +64,7 @@
#define TASK_TEXTURE_BIT 3 // bit to request texture calculation int task field of struct tp_task
#define LIST_TEXTURE_BIT 7 // bit to request texture calculation
#define CORR_OUT_RAD 4
#define FAT_ZERO_WEIGHT 0.0001 // add to port weights to avoid nan
//7
//#define DEBUG1 1
......@@ -74,7 +75,7 @@
//#define DEBUG6 1
#define DEBUG7 1
#define DEBUG8 1
//#define DEBUG9 1
#define DEBUG9 1
#endif
......@@ -146,10 +147,10 @@
#define BAYER_RED_COL 1
//#define BAYER_BLUE_ROW (1 - BAYER_RED_ROW)
//#define BAYER_BLUE_COL (1 - BAYER_RED_COL)
#define DBG_TILE_X 40
#define DBG_TILE_Y 80
//#define DBG_TILE_X 40
//#define DBG_TILE_Y 80
#define DBG_TILE_X 49
#define DBG_TILE_Y 66
#define DBG_TILE (DBG_TILE_Y * 324 + DBG_TILE_X)
//56494
......@@ -503,6 +504,7 @@ __device__ void debayer_shot(
__device__ void tile_combine_rgba(
int colors, // number of colors
float * mclt_tile, // debayer
float * rbg_tile, // if not null - original (not-debayered) rbg tile to use for the output
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
......@@ -803,7 +805,7 @@ __global__ void convert_correct_tiles(
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
size_t dstride, // in floats (pixels)
int num_tiles, // number of tiles in task
int lpf_mask) // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green
int lpf_mask) // apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
{
dim3 t = threadIdx;
int tile_in_block = threadIdx.y;
......@@ -902,7 +904,11 @@ __global__ void textures_gen(
return; // nothing to do
}
// get number of tile
int tile_num = (gpu_texture_indices[tile_indx]) >> CORR_NTILE_SHIFT;
int tile_code = gpu_texture_indices[tile_indx];
if ((tile_code & (1 << CORR_TEXTURE_BIT)) == 0){
return; // nothing to do
}
int tile_num = tile_code >> CORR_NTILE_SHIFT;
__shared__ float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21];
__shared__ union {
float clt_tiles [NUM_CAMS][NUM_COLORS][4][DTT_SIZE][DTT_SIZE1]; // NUM_CAMS == 4
......@@ -1000,6 +1006,20 @@ __global__ void textures_gen(
__syncthreads();// __syncwarp();
} else {
// copy? - no, just remember to use mclt_tile, not mclt_dst
// will have to copy mclt_tiles -> mclt_dst as they have different gaps
// untested copy for mono mode
#pragma unroll
for (int n = 0; n <= DTT_SIZE; n += DTT_SIZE){
float * msp = mclt_tile + threadIdx.x + n;
float * dst = mclt_dst + threadIdx.x + n;
#pragma unroll
for (int row = 0; row < DTT_SIZE2; row++){
*dst = *msp;
msp += DTT_SIZE21;
dst += DTT_SIZE21;
}
}
__syncthreads();
}
#ifdef DEBUG77
// float * mclt_dst = (float *) shr.mclt_debayer[camera_num][color];
......@@ -1055,10 +1075,11 @@ __global__ void textures_gen(
}
__syncthreads();// __syncwarp();
#endif
// __shared__ float mclt_tiles [NUM_CAMS][NUM_COLORS][2*DTT_SIZE][DTT_SIZE21];
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
......@@ -1638,7 +1659,7 @@ __device__ void convertCorrectTile(
float * gpu_images,
float * gpu_clt,
const int color,
const int lpf_mask,
const int lpf_mask, // now 0
const float centerX,
const float centerY,
const int txy,
......@@ -2711,6 +2732,7 @@ __device__ void debayer(
__device__ void tile_combine_rgba(
int colors, // number of colors
float * mclt_tile, // debayer // has gaps to align with union !
float * rbg_tile, // if not null - original (not-debayered) rbg tile to use for the output
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
......@@ -2858,7 +2880,7 @@ __device__ void tile_combine_rgba(
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
d = expf(-pair_dist2r[ipair] * d) + (FAT_ZERO_WEIGHT); // 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;
......@@ -2964,7 +2986,7 @@ __device__ void tile_combine_rgba(
}
// 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);
*(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam) = expf(-ksigma * d2_ip) + (FAT_ZERO_WEIGHT);
}
// and now make a new average with those weights
// Inserting dust remove here
......@@ -3033,22 +3055,30 @@ __device__ void tile_combine_rgba(
///
float k = 0.0;
if (rbg_tile) {
float k = 0.0;
int rbga_offset = colors * (DTT_SIZE2*DTT_SIZE21); // padded in union !
#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;
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;
float * rbg_tile_i = rbg_tile + i;
#pragma unroll // non-constant
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);
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;
float * rbg_col_i = rbg_tile_i + ncol * (DTT_SIZE2*DTT_SIZE21); // different gap between tiles than MCLT_UNION_LEN
*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);
*rgba_col_i += k * *(port_weights_i + (DTT_SIZE2*DTT_SIZE21) * cam) * *(rbg_col_i + cam * rbga_offset);
}
}
}
// int colors_offset = colors * MCLT_UNION_LEN; // padded in union !
// calculate alpha from channel weights. Start with just a sum of weights?
// int used_ports = NUM_CAMS;
// if (dust_remove){
......
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