debugging (cde525c8) · Commits · Elphel / tile_processor_gpu

src/TileProcessor.cuh

+38 −20

Original line number	Diff line number	Diff line
		@@ -1031,7 +1031,11 @@ __global__ void index_direct(

		__global__ void index_correlate(
		int num_cams,
		int * sel_pairs,
		// int * sel_pairs, // unused bits should be 0
		int sel_pairs0,
		int sel_pairs1,
		int sel_pairs2,
		int sel_pairs3,
		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
		@@ -1161,7 +1165,11 @@ __device__ int get_textures_shared_size( // in bytes
		*/
		extern "C" __global__ void correlate2D(
		int num_cams,
		int * sel_pairs,
		// int * sel_pairs,
		int sel_pairs0,
		int sel_pairs1,
		int sel_pairs2,
		int sel_pairs3,
		float ** gpu_clt, // [num_cams] ->[TILES-Y][TILES-X][colors][DTT_SIZE*DTT_SIZE]
		int colors, // number of colors (3/1)
		float scale0, // scale for R
		@@ -1184,7 +1192,12 @@ extern "C" __global__ void correlate2D(
		*pnum_corr_tiles = 0;
		index_correlate<<<blocks0,threads0>>>(
		num_cams, // int num_cams,
		sel_pairs, // int * sel_pairs,
		// sel_pairs, // int * sel_pairs,
		sel_pairs0, // int sel_pairs0,
		sel_pairs1, // int sel_pairs1,
		sel_pairs2, // int sel_pairs2,
		sel_pairs3, // int sel_pairs3,

		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
		@@ -2493,7 +2506,11 @@ __global__ void create_nonoverlap_list(
		*/
		__global__ void index_correlate(
		int num_cams,
		int * sel_pairs, // unused bits should be 0
		// int * sel_pairs, // unused bits should be 0
		int sel_pairs0,
		int sel_pairs1,
		int sel_pairs2,
		int sel_pairs3,
		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
		@@ -2505,6 +2522,7 @@ __global__ void index_correlate(
		if (num_tile >= num_tiles){
		return;
		}
		int sel_pairs[] = {sel_pairs0, sel_pairs1, sel_pairs2, sel_pairs3};
		// int task_size = get_task_size(num_cams);
		int task_task =get_task_task(num_tile, gpu_ftasks, num_cams);
		if (((task_task >> TASK_CORR_BITS) & 1) == 0){ // needs correlation. Maybe just check task_task != 0?

src/TileProcessor.h

+5 −1

Original line number	Diff line number	Diff line
		@@ -65,7 +65,11 @@ extern "C" __global__ void convert_direct( // called with a single block, single

		extern "C" __global__ void correlate2D(
		int num_cams,
		int * sel_pairs,
		// int * sel_pairs,
		int sel_pairs0,
		int sel_pairs1,
		int sel_pairs2,
		int sel_pairs3,
		float ** gpu_clt, // [NUM_CAMS] ->[TILES-Y][TILES-X][NUM_COLORS][DTT_SIZE*DTT_SIZE]
		int colors, // number of colors (3/1)
		float scale0, // scale for R

src/geometry_correction.cu

+8 −3

Original line number	Diff line number	Diff line
		@@ -42,6 +42,11 @@
		#include "geometry_correction.h"
		#endif // #ifndef JCUDA

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


		// Using NUM_CAMS threads per tile
		#define THREADS_PER_BLOCK_GEOM (TILES_PER_BLOCK_GEOM * NUM_CAMS)
		///#define CYCLES_COPY_GC ((sizeof(struct gc)/sizeof(float) + THREADS_PER_BLOCK_GEOM - 1) / THREADS_PER_BLOCK_GEOM)

src/test_tp.cu

+62 −22

Original line number	Diff line number	Diff line
		@@ -30,6 +30,12 @@
		-----------------------------------------------------------------------------
		*/

		#define NOCORR
		#define NOCORR_TD
		#define NOTEXTURES
		#define NOTEXTURE_RGBA


		#include <stdio.h>
		#include <stdlib.h>
		#include <math.h>
		@@ -297,11 +303,29 @@ int main(int argc, char **argv)
		const char* rByRDist_file = "/home/eyesis/git/tile_processor_gpu/clt/main.rbyrdist";
		const char* correction_vector_file = "/home/eyesis/git/tile_processor_gpu/clt/main.correction_vector";
		const char* geometry_correction_file = "/home/eyesis/git/tile_processor_gpu/clt/main.geometry_correction";

		int sel_pairs[4];

		#if TEST_LWIR
		// testing with 16 LWIR
		int num_cams = 16;
		int num_colors = 1;
		sel_pairs[0] = 0xffffffff;
		sel_pairs[1] = 0xffffffff;
		sel_pairs[2] = 0xffffffff;
		sel_pairs[3] = 0x00ffffff;
		int num_pairs = 120;
		#else
		// testing with quad RGB
		int num_cams = 4;
		int num_colors = 3;
		int task_size = sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - num_cams);
		sel_pairs[0] = 0x3f;
		sel_pairs[1] = 0;
		sel_pairs[2] = 0;
		sel_pairs[3] = 0;
		int num_pairs = 6;
		#endif

		int task_size = get_task_size(num_cams); // sizeof(struct tp_task)/sizeof(float) - 6 * (NUM_CAMS - num_cams);

		// FIXME: update to use new correlations and num_cams
		float port_offsets4[4][2] = {// used only in textures to scale differences
		@@ -318,7 +342,6 @@ int main(int argc, char **argv)
		}
		} else {
		for (int ncam = 0; ncam < num_cams; ncam++) {
		// double alpha = 2 * Math.PI * (i + (topis0 ? 0 : 0.5))/num_sensors;
		double alpha = 2 * M_PI * (ncam) /num_cams; // math.h
		port_offsets[ncam][0] = 0.5 * sin((alpha));
		port_offsets[ncam][1] = -0.5 * cos((alpha));
		@@ -338,8 +361,8 @@ int main(int argc, char **argv)

		float * host_kern_buf = (float )malloc(KERN_SIZE sizeof(float));
		// static - see https://stackoverflow.com/questions/20253267/segmentation-fault-before-main
		static struct tp_task task_data [TILESX*TILESY]; // maximal length - each tile
		static struct tp_task task_data1 [TILESX*TILESY]; // maximal length - each tile
		/// static struct tp_task task_data [TILESX*TILESY]; // maximal length - each tile
		/// static struct tp_task task_data1 [TILESX*TILESY]; // maximal length - each tile

		float * ftask_data = (float ) malloc(TILESX TILESY * task_size * sizeof(float));
		float * ftask_data1 = (float ) malloc(TILESX TILESY * task_size * sizeof(float));
		@@ -387,8 +410,8 @@ int main(int argc, char **argv)


		// GPU pointers to GPU memory
		struct tp_task * gpu_tasks; // TODO: *** remove ! **
		float * gpu_ftasks; // TODO: *** allocate ! **
		/// struct tp_task * gpu_tasks; // TODO: *** remove ! ** DONE
		float * gpu_ftasks; // TODO: *** allocate ! ** DONE
		int * gpu_active_tiles;
		int * gpu_num_active;
		int * gpu_num_corr_tiles;
		@@ -473,13 +496,13 @@ int main(int argc, char **argv)
		gpu_corrs = alloc_image_gpu(
		&dstride_corr, // in bytes ! for one 2d phase correlation (padded 15x15x4 bytes)
		CORR_SIZE, // int width,
		NUM_PAIRS * TILESX * TILESY); // int height);
		num_pairs * TILESX * TILESY); // int height);
		// read channel images (assuming host_kern_buf size > image size, reusing it)
		// allocate all other correlation data, some may be
		gpu_corrs_td = alloc_image_gpu(
		&dstride_corr_td, // in bytes ! for one 2d phase correlation (padded 15x15x4 bytes)
		4 * DTT_SIZE * DTT_SIZE, // int width,
		NUM_PAIRS * TILESX * TILESY); // int height);
		num_pairs * TILESX * TILESY); // int height);

		gpu_corrs_combo = alloc_image_gpu(
		&dstride_corr_combo, // in bytes ! for one 2d phase correlation (padded 15x15x4 bytes)
		@@ -534,7 +557,8 @@ int main(int argc, char **argv)
		for (int ty = 0; ty < TILESY; ty++){
		for (int tx = 0; tx < TILESX; tx++){
		int nt = ty * TILESX + tx;
		int task_task = 0xf \| (((1 << NUM_PAIRS)-1) << TASK_CORR_BITS);
		// int task_task = 0xf \| (((1 << NUM_PAIRS)-1) << TASK_CORR_BITS);
		int task_task = 0xf \| (1 << TASK_CORR_BITS); // just 1 bit, correlation selection is defined by common corr_sel bits
		int task_txy = tx + (ty << 16);
		float task_target_disparity = DBG_DISPARITY;
		float * tp = ftask_data + task_size * nt;
		@@ -548,7 +572,7 @@ int main(int argc, char **argv)
		}
		}

		int tp_task_size = sizeof(ftask_data)/sizeof(float)/task_size;
		int tp_task_size = TILESX * TILESY; // sizeof(ftask_data)/sizeof(float)/task_size; // number of task tiles
		int num_active_tiles; // will be calculated by convert_direct


		@@ -574,8 +598,9 @@ int main(int argc, char **argv)
		#endif

		// segfault in the next
		gpu_tasks = (struct tp_task ) copyalloc_kernel_gpu((float ) &task_data, tp_task_size * (sizeof(struct tp_task)/sizeof(float)));
		gpu_ftasks = (float ) copyalloc_kernel_gpu((float ) &ftask_data, tp_task_size * task_size); // (sizeof(struct tp_task)/sizeof(float)));
		/// gpu_tasks = (struct tp_task ) copyalloc_kernel_gpu((float ) &task_data, tp_task_size * (sizeof(struct tp_task)/sizeof(float)));
		// gpu_ftasks = (float ) copyalloc_kernel_gpu((float ) &ftask_data, tp_task_size * task_size); // (sizeof(struct tp_task)/sizeof(float)));
		gpu_ftasks = (float ) copyalloc_kernel_gpu(ftask_data, tp_task_size task_size); // (sizeof(struct tp_task)/sizeof(float)));

		// build corr_indices - not needed anymore?
		/*
		@@ -599,7 +624,7 @@ int main(int argc, char **argv)
		NUM_PAIRS * TILESX * TILESY);
		*/
		// just allocate
		checkCudaErrors (cudaMalloc((void *)&gpu_corr_indices, NUM_PAIRS TILESX * TILESY*sizeof(int)));
		checkCudaErrors (cudaMalloc((void *)&gpu_corr_indices, num_pairs TILESX * TILESY*sizeof(int)));
		checkCudaErrors (cudaMalloc((void *)&gpu_corrs_combo_indices, TILESX TILESY*sizeof(int)));
		//

		@@ -849,12 +874,20 @@ int main(int argc, char **argv)
		float avgTimeGEOM = (float)sdkGetTimerValue(&timerGEOM) / (float)numIterations;
		sdkDeleteTimer(&timerGEOM);
		printf("Average TextureList run time =%f ms\n", avgTimeGEOM);

		/*
		checkCudaErrors(cudaMemcpy( // copy modified/calculated tasks
		&task_data1,
		gpu_tasks,
		tp_task_size * sizeof(struct tp_task),
		cudaMemcpyDeviceToHost));
		*/
		checkCudaErrors(cudaMemcpy( // copy modified/calculated tasks
		ftask_data1,
		gpu_ftasks,
		tp_task_size * task_size *sizeof(float),
		cudaMemcpyDeviceToHost));

		//task_size
		#if 0 // for manual browsing
		struct tp_task * old_task = &task_data [DBG_TILE];
		struct tp_task * new_task = &task_data1[DBG_TILE];
		@@ -1079,10 +1112,13 @@ int main(int argc, char **argv)
		sdkResetTimer(&timerCORR);
		sdkStartTimer(&timerCORR);
		}
		// FIXME: update to provide sel_pairs
		correlate2D<<<1,1>>>(
		num_cams, // int num_cams,
		0, // int * sel_pairs, // unused bits should be 0
		// 0, // int * sel_pairs, // unused bits should be 0
		sel_pairs[0], // int sel_pairs0 // unused bits should be 0
		sel_pairs[1], // int sel_pairs1, // unused bits should be 0
		sel_pairs[2], // int sel_pairs2, // unused bits should be 0
		sel_pairs[3], // int sel_pairs3, // unused bits should be 0
		gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
		3, // int colors, // number of colors (3/1)
		color_weights[0], // 0.25, // float scale0, // scale for R
		@@ -1156,8 +1192,11 @@ int main(int argc, char **argv)
		// FIXME: provide sel_pairs
		correlate2D<<<1,1>>>( // output TD tiles, no normalization
		num_cams, // int num_cams,
		0, // int * sel_pairs, // unused bits should be 0

		// 0, // int * sel_pairs, // unused bits should be 0
		sel_pairs[0], // int sel_pairs0 // unused bits should be 0
		sel_pairs[1], // int sel_pairs1, // unused bits should be 0
		sel_pairs[2], // int sel_pairs2, // unused bits should be 0
		sel_pairs[3], // int sel_pairs3, // unused bits should be 0
		gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
		3, // int colors, // number of colors (3/1)
		color_weights[0], // 0.25, // float scale0, // scale for R
		@@ -1182,11 +1221,11 @@ int main(int argc, char **argv)
		gpu_num_corr_tiles,
		sizeof(int),
		cudaMemcpyDeviceToHost));
		num_corr_combo = num_corrs/NUM_PAIRS;
		num_corr_combo = num_corrs/num_pairs;

		corr2D_combine<<<1,1>>>( // Combine quad (2 hor, 2 vert) pairs
		num_corr_combo, // tp_task_size, // int num_tiles, // number of tiles to process (each with num_pairs)
		NUM_PAIRS, // int num_pairs, // num pairs per tile (should be the same)
		num_pairs, // int num_pairs, // num pairs per tile (should be the same)
		1, // int init_output, // !=0 - reset output tiles to zero before accumulating
		0x0f, // int pairs_mask, // selected pairs (0x3 - horizontal, 0xc - vertical, 0xf - quad, 0x30 - cross)
		gpu_corr_indices, // int * gpu_corr_indices, // packed tile+pair
		@@ -1464,7 +1503,8 @@ int main(int argc, char **argv)
		checkCudaErrors(cudaFree(gpu_clt_h[ncam]));
		checkCudaErrors(cudaFree(gpu_corr_images_h[ncam]));
		}
		checkCudaErrors(cudaFree(gpu_tasks));
		// checkCudaErrors(cudaFree(gpu_tasks));
		checkCudaErrors(cudaFree(gpu_ftasks));
		checkCudaErrors(cudaFree(gpu_active_tiles));
		checkCudaErrors(cudaFree(gpu_num_active));
		checkCudaErrors(cudaFree(gpu_kernels));

src/tp_defines.h

+15 −7

Original line number	Diff line number	Diff line
		@@ -41,14 +41,22 @@
		#ifndef JCUDA
		#include <stdio.h>
		#define THREADSX (DTT_SIZE)
		#define TEST_LWIR 1
		#define TEST_LWIR 0
		#define NUM_CAMS 16 // now maximal number of cameras
		#define NUM_PAIRS 6
		//#define NUM_PAIRS 6
		#define NUM_COLORS 1 //3
		// kernels [num_cams][num_colors][KERNELS_HOR][KERNELS_VERT][4][64]
		#if TEST_LWIR
		#define IMG_WIDTH 640
		#define IMG_HEIGHT 512
		#define KERNELS_HOR 82 // 80+2
		#define KERNELS_VERT 66 // 64+2
		#else
		#define IMG_WIDTH 2592
		#define IMG_HEIGHT 1936
		#define KERNELS_HOR 164
		#define KERNELS_VERT 123
		#define KERNELS_HOR 164 // 2592 / 16 + 2
		#define KERNELS_VERT 123 // 1936 / 16 + 2
		#endif
		#define KERNELS_LSTEP 4
		#define THREADS_PER_TILE 8
		#define TILES_PER_BLOCK 4
		@@ -73,7 +81,7 @@
		#define TASK_TEXTURE_W_BIT 3 // Texture with West neighbor
		#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 CORR_OUT_RAD 7 // full tile (15x15), was 4 (9x9)
		#define FAT_ZERO_WEIGHT 0.0001 // add to port weights to avoid nan

		#define THREADS_DYNAMIC_BITS 5 // treads in block for CDP creation of the texture list

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