Skip to content

T
tile_processor_gpu
Commit e6b4b9cb authored by Andrey Filippov's avatar Andrey Filippov
Browse files
Options

adding comments

parent f72160f5
Show whitespace changes
Inline Side-by-side
Showing with 561 additions and 232 deletions
src/TileProcessor.cuh
View file @ e6b4b9cb
......@@ -34,7 +34,6 @@
**************************************************************************
* \file TileProcessor.cuh
* \brief Top level of the Tile Processor for frequency domain
*/
// Avoiding includes in jcuda, all source files will be merged
#pragma once
......@@ -106,10 +105,11 @@ GPU run time =523.451927ms, (direct conversion: 24.080189999999998ms, imclt: 17.
#define TILESY (IMG_HEIGHT / DTT_SIZE)
#define CONVERT_DIRECT_INDEXING_THREADS_LOG2 5
#define CONVERT_DIRECT_INDEXING_THREADS (1 << CONVERT_DIRECT_INDEXING_THREADS_LOG2) // 32
// Make TILESYA >= TILESX and a multiple of 4
#define TILESYA ((TILESY +3) & (~3))
// increase row length by 1 so vertical passes will use different ports
// increase row length by 1 so vertical passes will use different ports
#define MCLT_UNION_LEN (DTT_SIZE2 * (DTT_SIZE2 + 2))
struct CltExtra{
......@@ -122,6 +122,7 @@ struct CltExtra{
float dyc_dx;
float dyc_dy;
};
/*
Python code to generate constant coefficients:
def setup_hwindow(n=8, l=4):
......@@ -319,11 +320,7 @@ def printAlphaFade(transform_size):
print("};")
else:
print(",")
printAlphaFade(8)
"""
*/
......@@ -345,11 +342,7 @@ __constant__ int fold_indx2[2][16] = {{0x24,0x25,0x26,0x27,0x27,0x26,0x25,0x24,0
// addd to the current index and result should be AND-ed with 0x3f. inc_e is for even rows (0,2, ...) while inc_o - for odd ones (1,3,)
__constant__ int fold_inc[]= {0x02feee12, 0x021eeef2};
//__constant__ int imclt_indx[16] = {0x24,0x2c,0x34,0x3c,0x3c,0x34,0x2c,0x24,0x1c,0x22,0x21,0x20,0x20,0x21,0x22,0x23};
//__constant__ int imclt_indx9[16] = {0x28,0x31,0x3a,0x43,0x43,0x3a,0x31,0x28,0x1f,0x16,0x0d,0x04,0x04,0x0d,0x16,0x1f};
// LPF for sigma 0.9 each color (modify through cudaMemcpyToSymbol() or similar in Driver API
//#ifndef NOICLT
__constant__ float lpf_data[4][64]={
{ // red
1.00000000f, 0.87041007f, 0.65943687f, 0.43487258f, 0.24970076f, 0.12518080f, 0.05616371f, 0.02728573f,
......@@ -420,6 +413,7 @@ __constant__ int pairs[6][2]={
{2, 1}};
__constant__ int alphaIndex[16] = {0, 1, 2, 5, 3, 0, 6, 0, 4, 7, 0, 0, 8, 0, 0, 0};
__constant__ float alphaFade[9][256] = {
{1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f,
1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f, 1.000000f,
......@@ -710,7 +704,6 @@ __constant__ float alphaFade[9][256] = {
0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f,
0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f, 0.997592f}};
//#endif
__device__ void convertCorrectTile(
struct CltExtra * gpu_kernel_offsets, // [tileY][tileX][color]
float * gpu_kernels, // [tileY][tileX][color]
......@@ -741,48 +734,53 @@ __device__ void debug_print_clt1(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color,
int mask);
__device__ void debug_print_clt_scaled(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color,
int mask,
float scale); // scale printed results
__device__ void debug_print_mclt(
float * mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color);
__device__ void debug_print_corr_15x15(
int corr_radius,
float * mclt_tile, //DTT_SIZE2M1 x DTT_SIZE2M1
const int color);
// Fractional pixel shift (phase rotation), horizontal. In-place.
__device__ void shiftTileHor( // implemented, used
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
float residual_shift );
// Fractional pixel shift (phase rotation), vertical. In-place.
__device__ void shiftTileVert( // implemented, used
float *clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
float residual_shift );
__device__ void convolveTiles( // implemented, used
float* clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // 4 quadrants of the clt data, rows extended to optimize shared ports
float* kernel); // [4][DTT_SIZE][DTT_SIZE1]) // 4 quadrants of the CLT kernel (DTT3 converted)
__device__ void correlateAccumulateTiles(
float scale, // scale correlation
float* clt_tile1, // [4][DTT_SIZE][DTT_SIZE1], // 4 quadrants of the clt data 1, rows extended to optimize shared ports
float* clt_tile2, // [4][DTT_SIZE][DTT_SIZE1], // 4 quadrants of the clt data 2, rows extended to optimize shared ports
float* corr_tile); // [4][DTT_SIZE][DTT_SIZE1]) // 4 quadrants of the correlation result
__device__ void resetCorrelation(
float* corr_tile); // [4][DTT_SIZE][DTT_SIZE1]) // 4 quadrants of the correlation result
__device__ void normalizeTileAmplitude(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
float fat_zero); // fat zero is absolute, scale it outside
//__device__ void imclt( // for 16 threads implemented, used // why is it twice?
// float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9]
// float * mclt_tile ); // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
__device__ void imclt8threads(// for 8 threads
int do_acc, // 1 - add to previous value, 0 - overwrite
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports [4][8][9]
float * mclt_tile, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
int debug);
__device__ void debayer(
const int rb_mode, // 0 - green, 1 - r/b
float * mclt_src, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
......@@ -797,23 +795,7 @@ __device__ void debayer_shot(
float * mclt_dst, // [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE], // +1 to alternate column ports[16][17]
float * mclt_tmp,
int debug);
/*
__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
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 tile_combine_rgba(
int colors, // number of colors
float * mclt_tile, // debayer // has gaps to align with union !
......@@ -842,24 +824,22 @@ __device__ void imclt_plane( // not implemented, not used
float * gpu_rbg, // WIDTH, HEIGHT
const size_t dstride); // in floats (pixels)
//extern "C"
__global__ void clear_texture_list(
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int width, // <= TILESX, use for faster processing of LWIR images
int height); // <= TILESY, use for faster processing of LWIR images
//extern "C"
__global__ void mark_texture_tiles(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
int * gpu_texture_indices); // packed tile + bits (now only (1 << 7)
//extern "C"
__global__ void mark_texture_neighbor_tiles(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
int * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
int * woi); // x,y,width,height of the woi
//extern "C"
__global__ void gen_texture_list(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
......@@ -867,14 +847,12 @@ __global__ void gen_texture_list(
int * num_texture_tiles, // number of texture tiles to process
int * woi); // x,y,width,height of the woi
//extern "C"
__global__ void clear_texture_rbga(
int texture_width,
int texture_slice_height,
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 index_direct(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task
......@@ -886,12 +864,13 @@ __global__ void index_correlate(
int num_tiles, // number of tiles in task
int * gpu_corr_indices, // array of correlation tasks
int * pnum_corr_tiles); // pointer to the length of correlation tasks array
__global__ void create_nonoverlap_list(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task
int * nonoverlap_list, // pointer to the calculated number of non-zero tiles
int * pnonoverlap_length); // indices to gpu_tasks // should be initialized to zero
//extern "C"
__global__ void convert_correct_tiles(
float ** gpu_kernel_offsets, // [NUM_CAMS],
float ** gpu_kernels, // [NUM_CAMS],
......@@ -947,6 +926,24 @@ extern "C" __global__ void textures_accumulate(
// ====== end of local declarations ====
/**
* Calculate 2D phase correlation pairs from CLT representation. This is an outer kernel that calls other
* ones with CDP, this one should be configured as correlate2D<<<1,1>>>
*
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param scale0 scale red (or mono) component before mixing
* @param scale1 scale blue (if colors = 3) component before mixing
* @param scale2 scale green (if colors = 3) component before mixing
* @param fat_zero add this value squared to the sum of squared components before normalization
* @param gpu_tasks array of per-tile tasks (now bits 4..9 - correlation pairs)
* @param num_tiles number of tiles int gpu_tasks array prepared for processing
* @param gpu_corr_indices allocated array for per-tile correlation tasks (4 bytes per tile)
* @param pnum_corr_tiles allocated space for pointer to a number of number of correlation tiles to process
* @param corr_stride, stride (in floats) for correlation outputs.
* @param corr_radius, radius of the output correlation (maximal 7 for 15x15)
* @param gpu_corrs) allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2
*/
extern "C" __global__ void correlate2D(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
int colors, // number of colors (3/1)
......@@ -989,6 +986,22 @@ extern "C" __global__ void correlate2D(
}
}
/**
* Calculate 2D phase correlation pairs from CLT representation. This is an inner kernel that is called
* from correlate2D. If called from the CPU: <<<ceil(number_of_tiles/32),32>>>
*
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param scale0 scale red (or mono) component before mixing
* @param scale1 scale blue (if colors = 3) component before mixing
* @param scale2 scale green (if colors = 3) component before mixing
* @param fat_zero add this value squared to the sum of squared components before normalization
* @param num_corr_tiles number of correlation tiles to process
* @param gpu_corr_indices packed array (each element, integer contains tile+pair) of correlation tasks
* @param corr_stride, stride (in floats) for correlation outputs.
* @param corr_radius, radius of the output correlation (maximal 7 for 15x15)
* @param gpu_corrs) allocated array for the correlation output data (each element stride, payload: (2*corr_radius+1)^2
*/
extern "C" __global__ void correlate2D_inner(
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
int colors, // number of colors (3/1)
......@@ -1002,8 +1015,6 @@ extern "C" __global__ void correlate2D_inner(
int corr_radius, // radius of the output correlation (7 for 15x15)
float * gpu_corrs) // correlation output data
{
/// int thr3 = threadIdx.x >> 3; // now zero?
/// int column = threadIdx.x; // modify to use 2 * 8 threads, if needed.
float scales[3] = {scale0, scale1, scale2};
int corr_in_block = threadIdx.y;
int corr_num = blockIdx.x * CORR_TILES_PER_BLOCK + corr_in_block;
......@@ -1213,10 +1224,41 @@ extern "C" __global__ void correlate2D_inner(
__syncthreads();// __syncwarp();
#endif
#endif
}
#define USE_CDP
#ifdef USE_CDP
/**
* Calculate texture as RGBA (or YA for mono) from the in-memory frequency domain representation
* and the per-tile task array (may be sparse).
* Determines WoI from min/max Y,X of the selected tiles, returns calculated WoI in woi parameter
* color is the outer index of the result, the image is moved to the top-left corner
* (woi.x -> 0, woi.y -> 0, packed texture_rbga_stride per line, number of output lines per slice
* is woi.height.
*
* This kernel launches others with CDP, from CPU it is just <<<1,1>>>
*
* @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 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 woi WoI for the output texture (x,y,width,height of the woi)
* @param width full image width in tiles <= TILESX, use for faster processing of LWIR images (should be actual + 1)
* @param height full image height in tiles <= TILESY, use for faster processing of LWIR images
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param gpu_geometry_correction geometry correction structure, used for rXY to determine pairs weight
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param is_lwir do not perform shot correction
* @param params array of 5 float parameters (mitigating CUDA_ERROR_INVALID_PTX):
* min_shot shot noise minimal value (10.0)
* scale_shot scale shot noise (3.0)
* diff_sigma pixel value/pixel change (1.5)
* diff_threshold pixel value/pixel change (10)
* min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages) (3.0)
* @param weights scales for R,B,G {0.294118, 0.117647, 0.588235}
* @param dust_remove do not reduce average weight when only one image differs much from the average (true)
* @param keep_weights return channel weights after A in RGBA (was removed)
* @param texture_rbga_stride output stride (in floats)
* @param gpu_texture_tiles output array (number of colors +1 + ?) * woi.height * output stride(first woi.width valid) float values
*/
extern "C" __global__ void generate_RBGA(
// Parameters to generate texture tasks
struct tp_task * gpu_tasks,
......@@ -1234,20 +1276,11 @@ extern "C" __global__ void generate_RBGA(
int colors, // number of colors (3/1)
int is_lwir, // do not perform shot correction
float params[5], // mitigating CUDA_ERROR_INVALID_PTX
/*
float min_shot, // 10.0
float scale_shot, // 3.0
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 weights[3], // scale for R,B,G
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 (was removed)
const size_t texture_rbga_stride, // in floats
float * gpu_texture_tiles) // (number of colors +1 + ?)*16*16 rgba texture tiles
// float aaaa)
// float * gpu_diff_rgb_combo) // diff[NUM_CAMS], R[NUM_CAMS], B[NUM_CAMS],G[NUM_CAMS]
{
float min_shot = params[0]; // 10.0
float scale_shot = params[1]; // 3.0
......@@ -1255,10 +1288,7 @@ extern "C" __global__ void generate_RBGA(
float diff_threshold = params[3]; // pixel value/pixel change
float min_agree = params[4]; // minimal number of channels to agree on a point (real number to work with fuzzy averages)
// TODO use atomic_add to increment num_texture_tiles
// TODO calculate woi
dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
int blocks_x = (width + ((1 << THREADS_DYNAMIC_BITS) - 1)) >> THREADS_DYNAMIC_BITS;
dim3 blocks0 (blocks_x, height, 1);
......@@ -1287,14 +1317,6 @@ dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
num_tiles, // number of tiles in task list
gpu_texture_indices, // packed tile + bits (now only (1 << 7)
woi); // min_x, min_y, max_x, max_y
// REMOVE when done!
/*
*(woi + 0) -= 1;
*(woi + 1) -= 1;
*(woi + 2) += 1;
*(woi + 3) += 1;
*/
cudaDeviceSynchronize();
// Generate tile indices list, upper 24 bits - tile index, lower 4 bits: n/e/s/w neighbors, bit 7 - set to 1
......@@ -1323,14 +1345,9 @@ dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
// texture_rbga_stride
int texture_width = (*(woi + 2) + 1)* DTT_SIZE;
int texture_tiles_height = (*(woi + 3) + 1) * DTT_SIZE;
/// int texture_height = texture_tiles_height * DTT_SIZE;
int texture_slices = colors + 1;
if (threadIdx.x == 0) {
//DTT_SIZE_LOG2
// dim3 threads2((1 << THREADS_DYNAMIC_BITS), 1, 1);
// int blocks_x = (texture_width + ((1 << THREADS_DYNAMIC_BITS) - 1)) >> THREADS_DYNAMIC_BITS;
// dim3 blocks2 (blocks_x, texture_tiles_height * texture_slices, 1); // each thread - 8 vertical
dim3 threads2((1 << THREADS_DYNAMIC_BITS), 1, 1);
int blocks_x = (texture_width + ((1 << (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2 )) - 1)) >> (THREADS_DYNAMIC_BITS + DTT_SIZE_LOG2);
......@@ -1369,9 +1386,7 @@ dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
gpu_clt, // float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
ntt, // size_t num_texture_tiles, // number of texture tiles to process
gpu_texture_indices + ti_offset, // int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
// gpu_port_offsets, // float * gpu_port_offsets, // relative ports x,y offsets - just to scale differences, may be approximate
gpu_geometry_correction, // struct gc * gpu_geometry_correction,
// (float *) gpu_geometry_correction ->pXY0,
colors, // int colors, // number of colors (3/1)
is_lwir, // int is_lwir, // do not perform shot correction
min_shot, // float min_shot, // 10.0
......@@ -1395,11 +1410,16 @@ dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
}
__syncthreads();
}
/**
* Helper kernel for generate_RBGA() - zeroes output array (next passes accumulate)
* @param texture_width texture width in pixels, aligned to DTT_SIZE
* @param texture_slice_height full number of output rows: texture height in pixels, multiplied by number of color slices
* @param texture_rbga_stride texture line stride in floats
* @param gpu_texture_tiles pointer to the texture output
*/
// blockDim.x * gridDim.x >= width
//extern "C"
__global__ void clear_texture_rbga(
int texture_width, // aligned to DTT_SIZE
int texture_slice_height,
......@@ -1418,27 +1438,29 @@ __global__ void clear_texture_rbga(
}
}
/**
* prepare list of texture tiles, woi, and calculate orthogonal neighbors for tiles (in 4 bits of the task field
* use 4x8=32 threads,
* 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,
*
* @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 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 woi 4-element int array ( x,y,width,height of the woi, in tiles)
* @param width full image width in tiles <= TILESX, use for faster processing of LWIR images (should be actual + 1)
* @param height full image height in tiles <= TILESY, use for faster processing of LWIR images
*/
//extern "C"
__global__ void prepare_texture_list(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
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,
// border - down from the sam3\e 1/4 of the buffer
int * num_texture_tiles, // number of texture tiles to process (4 separate elements for accumulation)
int * num_texture_tiles, // number of texture tiles to process (8 separate elements for accumulation)
int * woi, // x,y,width,height of the woi
int width, // <= TILESX, use for faster processing of LWIR images (should be actual + 1)
int height) // <= TILESY, use for faster processing of LWIR images
{
// TODO use atomic_add to increment num_texture_tiles
// TODO calculate woi
// int task_num = blockIdx.x;
// int tid = threadIdx.x; // maybe it will be just <<<1,1>>>
dim3 threads0((1 << THREADS_DYNAMIC_BITS), 1, 1);
......@@ -1497,8 +1519,15 @@ __global__ void prepare_texture_list(
__syncthreads();
}
/**
* Helper kernel for prepare_texture_list() (for generate_RBGA) - clear texture list
*
* @param gpu_texture_indices allocated array - 1 integer per tile to process
* @param width full image width in tiles <= TILESX, use for faster processing of LWIR images (should be actual + 1)
* @param height full image height in tiles <= TILESY, use for faster processing of LWIR images
*/
// blockDim.x * gridDim.x >= width
//extern "C"
__global__ void clear_texture_list(
int * gpu_texture_indices,// packed tile + bits (now only (1 << 7)
int width, // <= TILESX, use for faster processing of LWIR images
......@@ -1511,9 +1540,16 @@ __global__ void clear_texture_list(
}
*(gpu_texture_indices + col + row * TILESX) = 0;
}
/**
* Helper kernel for prepare_texture_list() (for generate_RBGA) - mark used tiles in
* gpu_texture_indices memory
*
* @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 gpu_texture_indices allocated array - 1 integer per tile to process
*/
// treads (*,1,1), blocks = (*,1,1)
//extern "C"
__global__ void mark_texture_tiles(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
......@@ -1531,10 +1567,18 @@ __global__ void mark_texture_tiles(
*(gpu_texture_indices + (cxy & 0xffff) + (cxy >> 16) * TILESX) = 1;
}
/**
* Helper kernel for prepare_texture_list() (for generate_RBGA) - calculate and save
* bitmap of available neighbors in 4 directions (needed for alpha generation of
* the result textures to fade along the border.
*
* @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 gpu_texture_indices allocated array - 1 integer per tile to process
* @param woi 4-element int array ( x,y,width,height of the woi, in tiles)
*/
// treads (*,1,1), blocks = (*,1,1)
//extern "C"
__global__ void mark_texture_neighbor_tiles(
__global__ void mark_texture_neighbor_tiles( // TODO: remove __global__?
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
int * gpu_texture_indices, // packed tile + bits (now only (1 << 7)
......@@ -1545,13 +1589,10 @@ __global__ void mark_texture_neighbor_tiles(
if (task_num >= num_tiles) {
return; // nothing to do
}
// struct tp_task * gpu_task = &gpu_tasks[task_num];
// int task = gpu_task->task;
int task = gpu_tasks[task_num].task;
if (!(task & TASK_TEXTURE_BITS)){ // here any bit in TASK_TEXTURE_BITS is sufficient
return; // NOP tile
}
// int cxy = gpu_task->txy;
int cxy = gpu_tasks[task_num].txy;
int x = (cxy & 0xffff);
int y = (cxy >> 16);
......@@ -1567,7 +1608,19 @@ __global__ void mark_texture_neighbor_tiles(
gpu_tasks[task_num].task = ((task ^ d) & TASK_TEXTURE_BITS) ^ task;
}
//extern "C"
/**
* Helper kernel for prepare_texture_list() (for generate_RBGA) - generate
* list of tiles for texture calculation. As the tiles overlap, there are four lists
* 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
* used anymore.
*
* @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 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 woi 4-element int array ( x,y,width,height of the woi, in tiles)
*/
__global__ void gen_texture_list(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
......@@ -1600,9 +1653,7 @@ __global__ void gen_texture_list(
#endif // DEBUG12
// int is_border = (x == woi[0]) || (y == woi[1]) || (x == woi[2]) || (y == woi[3]);
// don't care if calculate extra pixels that still fit into memory
// int is_border = (x == woi[0]) || (y == woi[1]) || (x == (TILESX - 1)) || (y == (TILESY - 1));
int is_border = (x == woi[0]) || (y == woi[1]) || (x == (TILESX - 1)) || (y == woi[3]);
int buff_head = 0;
int num_offset = 0;
......@@ -1620,7 +1671,7 @@ __global__ void gen_texture_list(
}
gpu_texture_indices += buff_head;
num_texture_tiles += num_offset;
// using atomic operation in global memory - slow, but as operations here are per-til, not per- pixel, it should be OK
// using atomic operation in global memory - slow, but as operations here are per-tile, not per- pixel, it should be OK
int buf_offset = atomicAdd(num_texture_tiles, 1);
if (is_border){
buf_offset = -buf_offset;
......@@ -1637,11 +1688,15 @@ __global__ void gen_texture_list(
*(gpu_texture_indices + buf_offset) = task | ((x + y * TILESX) << CORR_NTILE_SHIFT) | (1 << LIST_TEXTURE_BIT);
}
#endif //#ifdef USE_CDP
// not maintaining order of the tiles to be processed
//extern "C"
/**
* Helper kernel for convert_direct() - generates dense list of tiles for direct MCLT.
* Tile order from the original (sparse) list is not preserved
*
* @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 active_tiles integer array to place the generated list
* @param pnum_active_tiles single-element integer array return generated list length
*/
__global__ void index_direct(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task
......@@ -1656,6 +1711,16 @@ __global__ void index_direct(
active_tiles[atomicAdd(pnum_active_tiles, 1)] = num_tile;
}
}
/**
* 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
*
* @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 nonoverlap_list integer array to place the generated list
* @param pnonoverlap_length single-element integer array return generated list length
*/
__global__ void create_nonoverlap_list(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task
......@@ -1676,6 +1741,15 @@ __global__ void create_nonoverlap_list(
}
}
/**
* Helper kernel for correlate2D() - generates dense list of correlation tasks.
* With the quad camera each tile may generate up to 6 pairs (int array elements)
*
* @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 gpu_corr_indices integer array to place the generated list
* @param pnum_corr_tiles single-element integer array return generated list length
*/
__global__ void index_correlate(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task
......@@ -1700,9 +1774,29 @@ __global__ void index_correlate(
}
}
/**
* Direct MCLT transform and aberration correction with space-variant deconvolution
* kernels. Results are used to output aberration-corrected images, textures and
* 2D phase correlations.
* This kernel is called from the CPU with <<<1,1>>>
*
* @param gpu_kernel_offsets array of per-camera pointers to array of struct CltExtra (one element per kernel)
* @param gpu_kernels array of per-camera pointers to array of kernels (clt representation)
* @param gpu_images array of per-camera pointers to Bayer images
* @param gpu_tasks array of per-tile tasks (struct tp_task)
* @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations
* [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param dstride stride (in floats) for the input Bayer images
* @param num_tiles number of tiles int gpu_tasks array prepared for processing
* @param lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
* @param woi_width image width (was constant IMG_WIDTH, now variable to use with EO+LWIR
* @param woi_height image height (was constant IMG_HEIGHT, now variable to use with EO+LWIR
* @param kernels_hor number of deconvolution kernels per image width
* @param kernels_vert number of deconvolution kernels per image height
* @param gpu_active_tiles pointer to the calculated list of tiles
* @param pnum_active_tiles pointer to the number of active tiles
*/
extern "C" __global__ void convert_direct( // called with a single block, single thread
// struct CltExtra ** gpu_kernel_offsets, // [NUM_CAMS], // changed for jcuda to avoid struct parameters
float ** gpu_kernel_offsets, // [NUM_CAMS],
float ** gpu_kernels, // [NUM_CAMS],
float ** gpu_images, // [NUM_CAMS],
......@@ -1715,8 +1809,8 @@ extern "C" __global__ void convert_direct( // called with a single block, singl
int woi_height,
int kernels_hor,
int kernels_vert,
int * gpu_active_tiles, // pointer to the calculated number of non-zero tiles
int * pnum_active_tiles) // indices to gpu_tasks
int * gpu_active_tiles, // pointer to the calculated list of tiles
int * pnum_active_tiles) // pointer to the number of active tiles
{
dim3 threads0(CONVERT_DIRECT_INDEXING_THREADS, 1, 1);
dim3 blocks0 ((num_tiles + CONVERT_DIRECT_INDEXING_THREADS -1) >> CONVERT_DIRECT_INDEXING_THREADS_LOG2,1, 1);
......@@ -1748,7 +1842,23 @@ extern "C" __global__ void convert_direct( // called with a single block, singl
}
}
//extern "C"
/**
* Helper kernel for convert_direct() - perform actual conversion.
*
* @param gpu_kernel_offsets array of per-camera pointers to array of struct CltExtra (one element per kernel)
* @param gpu_kernels array of per-camera pointers to array of kernels (clt representation)
* @param gpu_images array of per-camera pointers to Bayer images
* @param gpu_tasks array of per-tile tasks (struct tp_task)
* @param gpu_active_tiles pointer to the calculated list of tiles
* @param num_active_tiles number of active tiles
* @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations
* @param dstride stride (in floats) for the input Bayer images
* @param lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
* @param woi_width image width (was constant IMG_WIDTH, now variable to use with EO+LWIR
* @param woi_height image height (was constant IMG_HEIGHT, now variable to use with EO+LWIR
* @param kernels_hor number of deconvolution kernels per image width
* @param kernels_vert number of deconvolution kernels per image height
*/
__global__ void convert_correct_tiles(
float ** gpu_kernel_offsets, // [NUM_CAMS],
float ** gpu_kernels, // [NUM_CAMS],
......@@ -1758,7 +1868,6 @@ __global__ void convert_correct_tiles(
int num_active_tiles, // number of tiles in task
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. Now - always 0 !
int woi_width,
int woi_height,
......@@ -1767,8 +1876,6 @@ __global__ void convert_correct_tiles(
{
dim3 t = threadIdx;
int tile_in_block = threadIdx.y;
// int task_num = blockIdx.x * TILES_PER_BLOCK + tile_in_block;
// if (task_num >= num_tiles) return; // nothing to do
int task_indx = blockIdx.x * TILES_PER_BLOCK + tile_in_block;
if (task_indx >= num_active_tiles){
return; // nothing to do
......@@ -1843,6 +1950,36 @@ __global__ void convert_correct_tiles(
}
}
/**
* Calculate texture tiles without combining in overlapping areas (16x16 for each 8x8 of the image)
* from the in-memory frequency domain representation and the per-tile task array (may be sparse).
* Determines WoI from min/max Y,X of the selected tiles, returns calculated WoI in woi parameter
* color is the outer index of the result, the image is moved to the top-left corner
* (woi.x -> 0, woi.y -> 0, packed texture_rbga_stride per line, number of output lines per slice
* is woi.height.
*
* This kernel launches others with CDP, from CPU it is just <<<1,1>>>
*
* @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 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 gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param gpu_geometry_correction geometry correction structure, used for rXY to determine pairs weight
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param is_lwir do not perform shot correction
* @param params array of 5 float parameters (mitigating CUDA_ERROR_INVALID_PTX):
* min_shot shot noise minimal value (10.0)
* scale_shot scale shot noise (3.0)
* diff_sigma pixel value/pixel change (1.5)
* diff_threshold pixel value/pixel change (10)
* min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages) (3.0)
* @param weights scales for R,B,G {0.294118, 0.117647, 0.588235}
* @param dust_remove do not reduce average weight when only one image differs much from the average (true)
* @param texture_stride output stride in floats (now 256*4 = 1024)
* @param gpu_texture_tiles output array (number of colors +1 + ?)*16*16 rgba texture tiles) float values. Will not be calculated if null
* @param gpu_diff_rgb_combo low-resolution output, with per-camera mismatch an each color average. Will not be calculated if null
*/
extern "C" __global__ void textures_nonoverlap(
struct tp_task * gpu_tasks,
int num_tiles, // number of tiles in task list
......@@ -1914,7 +2051,35 @@ extern "C" __global__ void textures_nonoverlap(
}
//#undef USE_textures_gen
/**
* Helper for generate_RBGA() and textures_nonoverlap()
*
* Calculate texture as RGBA (or YA for mono) from the in-memory frequency domain representation
* and from the int array of texture indices.
* Output overlapped (if gpu_texture_rbg != 0 and texture_rbg_stride !=0),
* non-overlapped (if gpu_texture_tiles != 0 and texture_stride !=0),
* and low-resolution (1/8) gpu_diff_rgb_combo (if gpu_diff_rgb_combo !=0)
* @param woi WoI for the output texture (x,y,width,height of the woi), may be null if overlapped output is not used
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param num_texture_tiles number of texture tiles to process
* @param gpu_texture_indices array - 1 integer per tile to process
* @param gpu_geometry_correction geometry correction structure, used for rXY to determine pairs weight
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param is_lwir do not perform shot correction
* @param min_shot shot noise minimal value (10.0)
* @param scale_shot scale shot noise (3.0)
* @param diff_sigma pixel value/pixel change (1.5)
* @param diff_threshold pixel value/pixel change (10)
* @param min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages) (3.0)
* @param weights scales for R,B,G {0.294118, 0.117647, 0.588235}
* @param dust_remove do not reduce average weight when only one image differs much from the average (true)
* @param keep_weights return channel weights after A in RGBA (was removed)
* @param texture_rbg_stride output stride for overlapped texture in floats, or 0 to skip
* @param gpu_texture_rbg output array (number of colors +1 + ?) * woi.height * output stride(first woi.width valid) float values (or 0)
* @param texture_stride output stride for non-overlapping texture tile output in floats (or 0 to skip)
* @param gpu_texture_tiles output of the non-overlapping tiles (or 0 to skip)
* @param gpu_diff_rgb_combo low-resolution output, with per-camera mismatch an each color average. Will not be calculated if null
*/
extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
int * woi, // x, y, width,height
float ** gpu_clt, // [NUM_CAMS] ->[TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
......@@ -2164,20 +2329,16 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
// if calc_extra, rbg_tile will be ignored and output generated with blurred (debayered) data. Done so as debayered data is needed
// to calculate max_diff_shared
calc_extra, // int calc_extra, // 1 - calcualate ports_rgb, max_diff
ports_rgb_shared, // float ports_rgb_shared [NUM_COLORS][NUM_CAMS], // return to system memory (optionally pass null to skip calculation)
max_diff_shared, // float max_diff_shared [NUM_CAMS], // return to system memory (optionally pass null to skip calculation)
max_diff_tmp, // float max_diff_tmp [NUM_CAMS][TEXTURE_THREADS_PER_TILE],
ports_rgb_tmp, // float ports_rgb_tmp [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE], // [4*3][8]
(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 dust_remove, // Do not reduce average weight when only one image differs much from the average
keep_weights, // int keep_weights, // return channel weights and rms after A in RGBA (weight are always calculated)
debug ); // int debug );
......@@ -2385,11 +2546,23 @@ extern "C" __global__ void textures_accumulate( // (8,4,1) (N,1,1)
/**
* Generate per-camera aberration-corrected images from the in-memory frequency domain representation.
* This kernel launches others with CDP, from CPU it is just <<<1,1>>>
*
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param gpu_corr_images array of NUM_CAMS pointers to the output images, [width, colors* height]. width height are from woi_twidth, woi_theight
* @param apply_lpf TODO: now it is not used - restore after testing
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param woi_twidth full image width in tiles
* @param woi_theight full image height in tiles
* @param dstride output images stride in floats
*/
extern "C"
__global__ void imclt_rbg_all(
float ** gpu_clt, // [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
float ** gpu_corr_images, // [NUM_CAMS][WIDTH, 3 * HEIGHT]
int apply_lpf,
float ** gpu_corr_images, // [NUM_CAMS][width, colors* height]
int apply_lpf, // TODO: now it is not used - restore?
int colors,
int woi_twidth,
int woi_theight,
......@@ -2426,6 +2599,21 @@ __global__ void imclt_rbg_all(
}
/**
* Helper kernel for imclt_rbg_all(), generate per-camera -per color image from the in-memory frequency domain representation.
*
* @param gpu_clt array of NUM_CAMS pointers to the CLT (frequency domain) data [NUM_CAMS][TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
* @param gpu_corr_images array of NUM_CAMS pointers to the output images, [width, colors* height]. width height are from woi_twidth, woi_theight
* @param apply_lpf TODO: now it is not used - restore after testing
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param color color to process
* @param v_offset vertical offset (0,1) for accumulating overlapping tiles
* @param h_offset horizontal offset (0,1) for accumulating overlapping tiles
* @param woi_twidth full image width in tiles
* @param woi_theight full image height in tiles
* @param dstride output images stride in floats
*/
extern "C"
__global__ void imclt_rbg(
float * gpu_clt, // [TILESY][TILESX][NUM_COLORS][DTT_SIZE*DTT_SIZE]
......@@ -2561,9 +2749,13 @@ __global__ void imclt_rbg(
#endif //#ifdef DBG_MARK_DBG_TILE
}
// Fractional pixel shift (phase rotation), horizontal. In-place. uses 8 threads (.x)
/**
* Fractional pixel shift (phase rotation), horizontal. In-place. uses 8 threads (.x)
* Used in convert_direct() -> convert_correct_tiles() -> convertCorrectTile
*
* @param clt_tile transform domain representation of a tile: [4][8][8+1], // +1 to alternate column ports
* @param residual_shift fractional pixel shift [-0.5, +0.5)
*/
__device__ void shiftTileHor(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
float residual_shift )
......@@ -2595,7 +2787,13 @@ __device__ void shiftTileHor(
}
}
/**
* Fractional pixel shift (phase rotation), vertical. In-place. uses 8 threads (.x)
* Used in convert_direct() -> convert_correct_tiles() -> convertCorrectTile
*
* @param clt_tile transform domain representation of a tile: [4][8][8+1], // +1 to alternate column ports
* @param residual_shift fractional pixel shift [-0.5, +0.5)
*/
__device__ void shiftTileVert(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
float residual_shift)
......@@ -2627,6 +2825,13 @@ __device__ void shiftTileVert(
}
}
/**
* Convolve image tile with the kernel tile in transform domain
* Used in convert_direct() -> convert_correct_tiles() -> convertCorrectTile
*
* @param clt_tile transform domain representation of a tile [4][8][8+1], // +1 to alternate column ports
* @param kernel transform domain representation of a kernel [4][8][8+1], // +1 to alternate column ports
*/
__device__ void convolveTiles(
float* clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // 4 quadrants of the clt data, rows extended to optimize shared ports
float* kernel) // [4][DTT_SIZE][DTT_SIZE1]) // 4 quadrants of the CLT kernel (DTT3 converted)
......@@ -2678,6 +2883,19 @@ __device__ void convolveTiles(
}
}
/**
* Calculate 2D correlation of a pair from CLT representation and accumulate with a specified color weight
* Called from correlate2D()->correlate2D_inner()
*
* @param scale weight of the current component for accumulation.
* @param clt_tile1 transform domain representation of a tile [4][8][8+1], 4 quadrants of the clt data 1,
* rows extended to optimize shared ports
* @param clt_tile2 transform domain representation of a tile [4][8][8+1]
* @param corr_tile result tile [4][8][8+1], should be initialized with resetCorrelation() before
* the first color component.
*/
__device__ void correlateAccumulateTiles(
float scale, // scale correlation
float* clt_tile1, // [4][DTT_SIZE][DTT_SIZE1], // 4 quadrants of the clt data 1, rows extended to optimize shared ports
......@@ -2741,6 +2959,12 @@ __device__ void correlateAccumulateTiles(
}
}
/**
* Initailize 2D correlation (CLT representation) before accumulating colors.
* Called from correlate2D()->correlate2D_inner()
*
* @param corr_tile pointer to a tile [4][8][8+1] to be reset to all 0-s.
*/
__device__ void resetCorrelation(
float* corr_tile) // [4][DTT_SIZE][DTT_SIZE1]) // 4 quadrants of the correlation result
{
......@@ -2764,6 +2988,14 @@ __device__ void resetCorrelation(
}
}
/**
* Normalize 2D correlation (CLT representation) to make it phase correlation.
* Called from correlate2D()->correlate2D_inner()
*
* @param clt_tile pointer to a correlation result tile [4][8][8+1] to be normalized
* @param fat_zero value to add to amplitudes for regularization. Absolute value,
* scale if needed outside.
*/
__device__ void normalizeTileAmplitude(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports
float fat_zero ) // fat zero is absolute, scale it outside
......@@ -2797,102 +3029,32 @@ __device__ void normalizeTileAmplitude(
}
}
__device__ void debug_print_lpf(
float * lpf_tile)
{
#ifdef HAS_PRINTF
for (int dbg_row = 0; dbg_row < DTT_SIZE; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE; dbg_col++){
printf ("%10.5f ", lpf_tile[dbg_row * DTT_SIZE + dbg_col]);
}
printf("\n");
}
#endif
}
__device__ void debug_print_clt1(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color,
int mask)
{
#ifdef HAS_PRINTF
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_quadrant = 0; dbg_quadrant < 4; dbg_quadrant++){
printf("----------- Quadrant (c(h)-c(v), s-c, c-s, s-s) = %d -----------\n",dbg_quadrant);
if ((mask >> dbg_quadrant) & 1) {
for (int dbg_row = 0; dbg_row < DTT_SIZE; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE; dbg_col++){
printf ("%10.5f ", clt_tile[(dbg_quadrant*DTT_SIZE + dbg_row)*DTT_SIZE1 + dbg_col]);
}
printf("\n");
}
}
printf("\n");
}
#endif
}
__device__ void debug_print_clt_scaled(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color,
int mask,
float scale)
{
#ifdef HAS_PRINTF
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_quadrant = 0; dbg_quadrant < 4; dbg_quadrant++){
printf("----------- Quadrant (c(h)-c(v), s-c, c-s, s-s) = %d -----------\n",dbg_quadrant);
if ((mask >> dbg_quadrant) & 1) {
for (int dbg_row = 0; dbg_row < DTT_SIZE; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE; dbg_col++){
printf ("%10.5f ", scale * clt_tile[(dbg_quadrant*DTT_SIZE + dbg_row)*DTT_SIZE1 + dbg_col]);
}
printf("\n");
}
}
printf("\n");
}
#endif
}
__device__ void debug_print_mclt(
float * mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color)
{
#ifdef HAS_PRINTF
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_row = 0; dbg_row < DTT_SIZE2; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE2; dbg_col++){
printf ("%10.4f ", mclt_tile[dbg_row *DTT_SIZE21 + dbg_col]);
}
printf("\n");
}
printf("\n");
#endif
}
__device__ void debug_print_corr_15x15(
int corr_radius,
float * mclt_tile, //DTT_SIZE2M1 x DTT_SIZE2M1
const int color)
{
#ifdef HAS_PRINTF
int size2r1 = 2 * corr_radius + 1;
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_row = 0; dbg_row < size2r1; dbg_row++){
for (int dbg_col = 0; dbg_col < size2r1; dbg_col++){
printf ("%10.5f ", mclt_tile[dbg_row * size2r1 + dbg_col]);
}
printf("\n");
}
printf("\n");
#endif
}
/**
* Used in convert_direct()->convert_correct_tiles() to convert/correct a single tile
*
* @param gpu_kernel_offsets array of per-camera pointers to array of struct CltExtra (one element per kernel)
* @param gpu_kernels array of per-camera pointers to array of kernels (clt representation)
* @param gpu_images array of per-camera pointers to Bayer images
* @param gpu_clt output array of per-camera aberration-corrected transform-domain image representations
* @param color color component
* @param lpf_mask apply lpf to colors : bit 0 - red, bit 1 - blue, bit2 - green. Now - always 0 !
* @param centerX full X-offset of the tile center, calculated from the geometry, distortions and disparity
* @param centerY full Y-offset of the tile center
* @param txy integer value combining tile X (low 16 bits) and tile Y (high 16 bits)
* @param dstride stride (in floats) for the input Bayer images
* @param clt_tile image tile in shared memory [4][DTT_SIZE][DTT_SIZE1] (just allocated)
* @param clt_kernels kernel tile in shared memory [4][DTT_SIZE][DTT_SIZE1] (just allocated)
* @param int_topleft tile left and top, declared in shared memory (just allocated) [2]
* @param residual_shift tile fractional pixel shift (x,y) in shared memory (just allocated) [2]
* @param window_hor_cos array in shared memory for window horizontal cosine [2*DTT_SIZE]
* @param window_hor_sin array in shared memory for window horizontal cosine [2*DTT_SIZE]
* @param window_vert_cos array in shared memory for window horizontal cosine [2*DTT_SIZE]
* @param woi_width image width (was constant IMG_WIDTH, now variable to use with EO+LWIR
* @param woi_height image height (was constant IMG_HEIGHT, now variable to use with EO+LWIR
* @param kernels_hor number of deconvolution kernels per image width
* @param kernels_vert number of deconvolution kernels per image height
*/
__device__ void convertCorrectTile(
struct CltExtra * gpu_kernel_offsets, // [tileY][tileX][color]
float * gpu_kernels, // [tileY][tileX][color]
......@@ -3324,7 +3486,19 @@ __device__ void convertCorrectTile(
/**
* Prepare for matching images to generate textures - measure difference in a noise-equivalent way,
* relative to the shot noise at that intensity value. Do not use it for the images that are not shot-noise limited
* Used in {generate_RBGA(), textures_nonoverlap()} -> textures_accumulate()
*
* @param rb_mode color type: 0 - green, 1 - r/b
* @param min_shot shot noise minimal value (10.0)
* @param scale_shot scale shot noise (3.0)
* @param mclt_src mclt source tile (from inverse transform) [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE]
* @param mclt_dst mclt destination tile (from inverse transform) [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE]
* @param mclt_tmp mclt tmp tile [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE]
* @param debug debug if != 0
*/
__device__ void debayer_shot(
const int rb_mode, // 0 - green, 1 - r/b
float min_shot, // 10.0
......@@ -3463,8 +3637,17 @@ __device__ void debayer_shot(
}
// 8 threads
__device__ void debayer(
/**
* Simple de-Bayer LPF - convolution with color-variant 3x3 kernels. Input is RGB, not Bayer
* relative to the shot noise at that intensity value. Do not use it for the images that are not shot-noise limited
* Used in {generate_RBGA(), textures_nonoverlap()} -> textures_accumulate() -> debayer_shot()
*
* @param rb_mode color type: 0 - green, 1 - r/b
* @param mclt_src mclt source tile (from inverse transform) [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE]
* @param mclt_dst mclt destination tile (from inverse transform) [2* DTT_SIZE][DTT_SIZE1+ DTT_SIZE]
* @param debug debug if != 0
*/
__device__ void debayer( // 8 threads
const int rb_mode, // 0 - green, 1 - r/b
float * mclt_src, // [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]
......@@ -3519,6 +3702,31 @@ __device__ void debayer(
*(mclt_dst + offs) = *(mclt_src + offs);
}
/**
* Combines multi-camera rgba tiles
* Used in {generate_RBGA(), textures_nonoverlap()} -> textures_accumulate()
*
* @param colors number of colors used: 3 for RGB or 1 for monochrome
* @param mclt_tile tile after debayer (shared memory, has gaps to align with union !)
* @param rbg_tile if not null (usually) - original (not-debayered) rbg tile to use for the output
* @param rgba result
* @param calc_extra calculate ports_rgb, max_diff. If not null - will ignore rbg_tile, so this mode
* should not be combined with texture generation. It is intended to generate a
* lo-res (1/8) images for macro correlation
* @param ports_rgb_shared shared memory data to be used to return lo-res images tile average color [NUM_COLORS][NUM_CAMS]
* @param max_diff_shared shared memory data to be used to return lo-res images tile mismatch form average [NUM_CAMS]
* @param max_diff_tmp shared memory to be used here for temporary storage [NUM_CAMS][TEXTURE_THREADS_PER_TILE]
* @param ports_rgb_tmp shared memory to be used here for temporary storage [NUM_COLORS][NUM_CAMS][TEXTURE_THREADS_PER_TILE], [4*3][8]
* @param port_offsets [port]{x_off, y_off} - just to scale pixel value differences (quad - {{-0.5, -0.5},{0.5,-0.5},{-0.5,0.5},{0.5,0.5}}
* @param diff_sigma pixel value/pixel change (1.5)
* @param diff_threshold pixel value/pixel change (10)
* @param min_agree minimal number of channels to agree on a point (real number to work with fuzzy averages) (3.0)
* @param weights scales for R,B,G {0.294118, 0.117647, 0.588235}
* @param dust_remove do not reduce average weight when only one image differs much from the average (true)
* @param keep_weights return channel weights after A in RGBA (weight are always calculated, not so for the crms)
* @param debug debug if != 0
*/
//DTT_SIZE21
__device__ void tile_combine_rgba(
int colors, // number of colors
......@@ -3533,13 +3741,13 @@ __device__ void tile_combine_rgba(
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
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, // eturn channel weights and rms after A in RGBA (weight are always calculated, not so for the crms)
int dust_remove, // Do not reduce average weight when only one image differs much from the average
int keep_weights, // return channel weights and rms after A in RGBA (weight are always calculated, not so for the crms)
int debug)
{
float * alpha = rgba + (colors * (DTT_SIZE2*DTT_SIZE21));
......@@ -4061,6 +4269,128 @@ __device__ void tile_combine_rgba(
#endif // #ifdef DEBUG22
}
}
// ------------- Debugging functions, output compared against tested CPU/Java implementation ---
/**
* Print LPF data (8x8)
* @param lpf_tile LPF data to print
*/
__device__ void debug_print_lpf(
float * lpf_tile)
{
#ifdef HAS_PRINTF
for (int dbg_row = 0; dbg_row < DTT_SIZE; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE; dbg_col++){
printf ("%10.5f ", lpf_tile[dbg_row * DTT_SIZE + dbg_col]);
}
printf("\n");
}
#endif
}
/**
* Print CLT tile (4x8x8)
* @param clt_tile CLT data to print [4][DTT_SIZE][DTT_SIZE + 1], // +1 to alternate column ports)
* @param color print color if >=0, skip if negative
*/
__device__ void debug_print_clt1(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color,
int mask)
{
#ifdef HAS_PRINTF
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_quadrant = 0; dbg_quadrant < 4; dbg_quadrant++){
printf("----------- Quadrant (c(h)-c(v), s-c, c-s, s-s) = %d -----------\n",dbg_quadrant);
if ((mask >> dbg_quadrant) & 1) {
for (int dbg_row = 0; dbg_row < DTT_SIZE; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE; dbg_col++){
printf ("%10.5f ", clt_tile[(dbg_quadrant*DTT_SIZE + dbg_row)*DTT_SIZE1 + dbg_col]);
}
printf("\n");
}
}
printf("\n");
}
#endif
}
/**
* Print selected quadrants of CLT tile (4x8x8)
* @param clt_tile CLT data to print [4][DTT_SIZE][DTT_SIZE + 1], // +1 to alternate column ports)
* @param color print color if >=0, skip if negative
* @param mask bitmask of the quadrants to include in the output
* @param scale scale all results by this value
*/
__device__ void debug_print_clt_scaled(
float * clt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color,
int mask,
float scale)
{
#ifdef HAS_PRINTF
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_quadrant = 0; dbg_quadrant < 4; dbg_quadrant++){
printf("----------- Quadrant (c(h)-c(v), s-c, c-s, s-s) = %d -----------\n",dbg_quadrant);
if ((mask >> dbg_quadrant) & 1) {
for (int dbg_row = 0; dbg_row < DTT_SIZE; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE; dbg_col++){
printf ("%10.5f ", scale * clt_tile[(dbg_quadrant*DTT_SIZE + dbg_row)*DTT_SIZE1 + dbg_col]);
}
printf("\n");
}
}
printf("\n");
}
#endif
}
/**
* Print MCLT tile (16x16)
* @param mclt_tile MCLT data to print [4][2*DTT_SIZE][2*DTT_SIZE + 1], // +1 to alternate column ports)
* @param color print color if >=0, skip if negative
*/
__device__ void debug_print_mclt(
float * mclt_tile, // [4][DTT_SIZE][DTT_SIZE1], // +1 to alternate column ports)
const int color)
{
#ifdef HAS_PRINTF
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_row = 0; dbg_row < DTT_SIZE2; dbg_row++){
for (int dbg_col = 0; dbg_col < DTT_SIZE2; dbg_col++){
printf ("%10.4f ", mclt_tile[dbg_row *DTT_SIZE21 + dbg_col]);
}
printf("\n");
}
printf("\n");
#endif
}
/**
* Print 2D correlation tile (maximal 15x15 , ((2 * corr_radius + 1) * (2 * corr_radius + 1)) )
* @param corr_radius correlation radius - reduces amount of correlation data by trimming outer elements
* @param mclt_tile 2D correlation tile in a line-scan order [(2 * corr_radius + 1) * (2 * corr_radius + 1)]
* @param color print color if >=0, skip if negative
*/
__device__ void debug_print_corr_15x15(
int corr_radius,
float * mclt_tile, //DTT_SIZE2M1 x DTT_SIZE2M1
const int color)
{
#ifdef HAS_PRINTF
int size2r1 = 2 * corr_radius + 1;
if (color >= 0) printf("----------- Color = %d -----------\n",color);
for (int dbg_row = 0; dbg_row < size2r1; dbg_row++){
for (int dbg_col = 0; dbg_col < size2r1; dbg_col++){
printf ("%10.5f ", mclt_tile[dbg_row * size2r1 + dbg_col]);
}
printf("\n");
}
printf("\n");
#endif
}
......
src/geometry_correction.cu
View file @ e6b4b9cb
......@@ -131,7 +131,6 @@ extern "C" __global__ void calc_rot_deriv(
struct corr_vector * gpu_correction_vector,
trot_deriv * gpu_rot_deriv)
{
// __shared__ float zoom;
__shared__ float sincos [4][2]; // {az,tilt,roll, d_az, d_tilt, d_roll, d_az}{cos,sin}
__shared__ float matrices[5 + 7 +4][3][3];
float angle;
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment