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-rw-r--r--cuda/3d/cone_bp.cu340
1 files changed, 100 insertions, 240 deletions
diff --git a/cuda/3d/cone_bp.cu b/cuda/3d/cone_bp.cu
index feebda2..7312bbc 100644
--- a/cuda/3d/cone_bp.cu
+++ b/cuda/3d/cone_bp.cu
@@ -28,11 +28,6 @@ along with the ASTRA Toolbox. If not, see <http://www.gnu.org/licenses/>.
#include "astra/cuda/3d/util3d.h"
#include "astra/cuda/3d/dims3d.h"
-#ifdef STANDALONE
-#include "astra/cuda/3d/cone_fp.h"
-#include "testutil.h"
-#endif
-
#include <cstdio>
#include <cassert>
#include <iostream>
@@ -55,7 +50,13 @@ static const unsigned int g_volBlockY = 32;
static const unsigned g_MaxAngles = 1024;
-__constant__ float gC_C[12*g_MaxAngles];
+struct DevConeParams {
+ float4 fNumU;
+ float4 fNumV;
+ float4 fDen;
+};
+
+__constant__ DevConeParams gC_C[g_MaxAngles];
bool bindProjDataTexture(const cudaArray* array)
{
@@ -118,16 +119,13 @@ __global__ void dev_cone_BP(void* D_volData, unsigned int volPitch, int startAng
for (int angle = startAngle; angle < endAngle; ++angle, fAngle += 1.0f)
{
- float4 fCu = make_float4(gC_C[12*angle+0], gC_C[12*angle+1], gC_C[12*angle+2], gC_C[12*angle+3]);
- float4 fCv = make_float4(gC_C[12*angle+4], gC_C[12*angle+5], gC_C[12*angle+6], gC_C[12*angle+7]);
- float4 fCd = make_float4(gC_C[12*angle+8], gC_C[12*angle+9], gC_C[12*angle+10], gC_C[12*angle+11]);
+ float4 fCu = gC_C[angle].fNumU;
+ float4 fCv = gC_C[angle].fNumV;
+ float4 fCd = gC_C[angle].fDen;
float fUNum = fCu.w + fX * fCu.x + fY * fCu.y + fZ * fCu.z;
float fVNum = fCv.w + fX * fCv.x + fY * fCv.y + fZ * fCv.z;
- float fDen = fCd.w + fX * fCd.x + fY * fCd.y + fZ * fCd.z;
-
- // fCd.w = -|| u v s || (determinant of 3x3 matrix with cols u,v,s)
- // fDen = || u v (x-s) ||
+ float fDen = (FDKWEIGHT ? 1.0f : fCd.w) + fX * fCd.x + fY * fCd.y + fZ * fCd.z;
float fU,fV, fr;
@@ -137,18 +135,7 @@ __global__ void dev_cone_BP(void* D_volData, unsigned int volPitch, int startAng
fU = fUNum * fr;
fV = fVNum * fr;
float fVal = tex3D(gT_coneProjTexture, fU, fAngle, fV);
- if (FDKWEIGHT) {
- // The correct factor here is this one:
- // Z[idx] += (fr*fCd.w)*(fr*fCd.w)*fVal;
- // This is the square of the inverse magnification factor
- // from fX,fY,fZ to the detector.
-
- // Since we are assuming we have a circular cone
- // beam trajectory, fCd.w is constant, and we instead
- // multiply by fCd.w*fCd.w in the FDK preweighting step.
- Z[idx] += fr*fr*fVal;
- } else
- Z[idx] += fVal;
+ Z[idx] += fr*fr*fVal;
fUNum += fCu.z;
fVNum += fCv.z;
@@ -215,19 +202,9 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start
for (int angle = startAngle; angle < endAngle; ++angle, fAngle += 1.0f)
{
-
- const float fCux = gC_C[12*angle+0];
- const float fCuy = gC_C[12*angle+1];
- const float fCuz = gC_C[12*angle+2];
- const float fCuc = gC_C[12*angle+3];
- const float fCvx = gC_C[12*angle+4];
- const float fCvy = gC_C[12*angle+5];
- const float fCvz = gC_C[12*angle+6];
- const float fCvc = gC_C[12*angle+7];
- const float fCdx = gC_C[12*angle+8];
- const float fCdy = gC_C[12*angle+9];
- const float fCdz = gC_C[12*angle+10];
- const float fCdc = gC_C[12*angle+11];
+ float4 fCu = gC_C[angle].fNumU;
+ float4 fCv = gC_C[angle].fNumV;
+ float4 fCd = gC_C[angle].fDen;
float fXs = fX;
for (int iSubX = 0; iSubX < iRaysPerVoxelDim; ++iSubX) {
@@ -236,14 +213,15 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start
float fZs = fZ;
for (int iSubZ = 0; iSubZ < iRaysPerVoxelDim; ++iSubZ) {
- const float fUNum = fCuc + fXs * fCux + fYs * fCuy + fZs * fCuz;
- const float fVNum = fCvc + fXs * fCvx + fYs * fCvy + fZs * fCvz;
- const float fDen = fCdc + fXs * fCdx + fYs * fCdy + fZs * fCdz;
+ const float fUNum = fCu.w + fX * fCu.x + fY * fCu.y + fZ * fCu.z;
+ const float fVNum = fCv.w + fX * fCv.x + fY * fCv.y + fZ * fCv.z;
+ const float fDen = fCd.w + fX * fCd.x + fY * fCd.y + fZ * fCd.z;
- const float fU = fUNum / fDen;
- const float fV = fVNum / fDen;
+ const float fr = __fdividef(1.0f, fDen);
+ const float fU = fUNum * fr;
+ const float fV = fVNum * fr;
- fVal += tex3D(gT_coneProjTexture, fU, fV, fAngle);
+ fVal += tex3D(gT_coneProjTexture, fU, fV, fAngle) * fr;
fZs += fSubStep;
}
@@ -259,6 +237,76 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start
}
+bool transferConstants(const SConeProjection* angles, unsigned int iProjAngles, const SProjectorParams3D& params)
+{
+ DevConeParams *p = new DevConeParams[iProjAngles];
+
+ // We need three things in the kernel:
+ // projected coordinates of pixels on the detector:
+
+ // u: || (x-s) v (s-d) || / || u v (s-x) ||
+ // v: -|| u (x-s) (s-d) || / || u v (s-x) ||
+
+ // ray density weighting factor for the adjoint
+ // || u v (s-d) ||^2 / ( |cross(u,v)| * || u v (s-x) ||^2 )
+
+ // FDK weighting factor
+ // ( || u v s || / || u v (s-x) || ) ^ 2
+
+ // Since u and v are ratios with the same denominator, we have
+ // a degree of freedom to scale the denominator. We use that to make
+ // the square of the denominator equal to the relevant weighting factor.
+
+
+ for (unsigned int i = 0; i < iProjAngles; ++i) {
+ Vec3 u(angles[i].fDetUX, angles[i].fDetUY, angles[i].fDetUZ);
+ Vec3 v(angles[i].fDetVX, angles[i].fDetVY, angles[i].fDetVZ);
+ Vec3 s(angles[i].fSrcX, angles[i].fSrcY, angles[i].fSrcZ);
+ Vec3 d(angles[i].fDetSX, angles[i].fDetSY, angles[i].fDetSZ);
+
+
+
+ double fScale;
+ if (!params.bFDKWeighting) {
+ // goal: 1/fDen^2 = || u v (s-d) ||^2 / ( |cross(u,v)| * || u v (s-x) ||^2 )
+ // fDen = ( sqrt(|cross(u,v)|) * || u v (s-x) || ) / || u v (s-d) ||
+ // i.e. scale = sqrt(|cross(u,v)|) * / || u v (s-d) ||
+
+
+ // NB: for cross(u,v) we invert the volume scaling (for the voxel
+ // size normalization) to get the proper dimensions for
+ // the scaling of the adjoint
+
+ fScale = sqrt(scaled_cross3(u,v,Vec3(params.fVolScaleX,params.fVolScaleY,params.fVolScaleZ)).norm()) / det3(u, v, s-d);
+ } else {
+ // goal: 1/fDen = || u v s || / || u v (s-x) ||
+ // fDen = || u v (s-x) || / || u v s ||
+ // i.e., scale = 1 / || u v s ||
+
+ fScale = 1.0 / det3(u, v, s);
+ }
+
+ p[i].fNumU.w = fScale * det3(s,v,d);
+ p[i].fNumU.x = fScale * det3x(v,s-d);
+ p[i].fNumU.y = fScale * det3y(v,s-d);
+ p[i].fNumU.z = fScale * det3z(v,s-d);
+ p[i].fNumV.w = -fScale * det3(s,u,d);
+ p[i].fNumV.x = -fScale * det3x(u,s-d);
+ p[i].fNumV.y = -fScale * det3y(u,s-d);
+ p[i].fNumV.z = -fScale * det3z(u,s-d);
+ p[i].fDen.w = fScale * det3(u, v, s); // == 1.0 for FDK
+ p[i].fDen.x = -fScale * det3x(u, v);
+ p[i].fDen.y = -fScale * det3y(u, v);
+ p[i].fDen.z = -fScale * det3z(u, v);
+ }
+
+ // TODO: Check for errors
+ cudaMemcpyToSymbol(gC_C, p, iProjAngles*sizeof(DevConeParams), 0, cudaMemcpyHostToDevice);
+
+ return true;
+}
+
+
bool ConeBP_Array(cudaPitchedPtr D_volumeData,
cudaArray *D_projArray,
const SDimensions3D& dims, const SConeProjection* angles,
@@ -267,44 +315,21 @@ bool ConeBP_Array(cudaPitchedPtr D_volumeData,
bindProjDataTexture(D_projArray);
float fOutputScale;
- if (params.bFDKWeighting)
- fOutputScale = params.fOutputScale / (params.fVolScaleX * params.fVolScaleY * params.fVolScaleZ);
- else
+ if (params.bFDKWeighting) {
+ // NB: assuming cube voxels here
+ fOutputScale = params.fOutputScale / (params.fVolScaleX);
+ } else {
fOutputScale = params.fOutputScale * (params.fVolScaleX * params.fVolScaleY * params.fVolScaleZ);
+ }
for (unsigned int th = 0; th < dims.iProjAngles; th += g_MaxAngles) {
unsigned int angleCount = g_MaxAngles;
if (th + angleCount > dims.iProjAngles)
angleCount = dims.iProjAngles - th;
- // transfer angles to constant memory
- float* tmp = new float[12*angleCount];
-
-
- // NB: We increment angles at the end of the loop body.
-
-
-#define TRANSFER_TO_CONSTANT(expr,name) do { for (unsigned int i = 0; i < angleCount; ++i) tmp[12*i+name] = (expr) ; } while (0)
-
- TRANSFER_TO_CONSTANT( (angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetVY - (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetVZ , 0 );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetVZ -(angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetVX , 1 );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetVX - (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetVY , 2 );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSY*angles[i].fDetVZ - angles[i].fDetSZ*angles[i].fDetVY)*angles[i].fSrcX - (angles[i].fDetSX*angles[i].fDetVZ - angles[i].fDetSZ*angles[i].fDetVX)*angles[i].fSrcY + (angles[i].fDetSX*angles[i].fDetVY - angles[i].fDetSY*angles[i].fDetVX)*angles[i].fSrcZ , 3 );
-
- TRANSFER_TO_CONSTANT( (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetUZ-(angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetUY, 4 );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetUX - (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetUZ , 5 );
- TRANSFER_TO_CONSTANT((angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetUY-(angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetUX , 6 );
- TRANSFER_TO_CONSTANT( -(angles[i].fDetSY*angles[i].fDetUZ - angles[i].fDetSZ*angles[i].fDetUY)*angles[i].fSrcX + (angles[i].fDetSX*angles[i].fDetUZ - angles[i].fDetSZ*angles[i].fDetUX)*angles[i].fSrcY - (angles[i].fDetSX*angles[i].fDetUY - angles[i].fDetSY*angles[i].fDetUX)*angles[i].fSrcZ , 7 );
-
- TRANSFER_TO_CONSTANT( angles[i].fDetUY*angles[i].fDetVZ - angles[i].fDetUZ*angles[i].fDetVY , 8 );
- TRANSFER_TO_CONSTANT( angles[i].fDetUZ*angles[i].fDetVX - angles[i].fDetUX*angles[i].fDetVZ , 9 );
- TRANSFER_TO_CONSTANT( angles[i].fDetUX*angles[i].fDetVY - angles[i].fDetUY*angles[i].fDetVX , 10 );
- TRANSFER_TO_CONSTANT( -angles[i].fSrcX * (angles[i].fDetUY*angles[i].fDetVZ - angles[i].fDetUZ*angles[i].fDetVY) - angles[i].fSrcY * (angles[i].fDetUZ*angles[i].fDetVX - angles[i].fDetUX*angles[i].fDetVZ) - angles[i].fSrcZ * (angles[i].fDetUX*angles[i].fDetVY - angles[i].fDetUY*angles[i].fDetVX) , 11 );
-
-#undef TRANSFER_TO_CONSTANT
- cudaMemcpyToSymbol(gC_C, tmp, angleCount*12*sizeof(float), 0, cudaMemcpyHostToDevice);
-
- delete[] tmp;
+ bool ok = transferConstants(angles, angleCount, params);
+ if (!ok)
+ return false;
dim3 dimBlock(g_volBlockX, g_volBlockY);
@@ -353,168 +378,3 @@ bool ConeBP(cudaPitchedPtr D_volumeData,
}
-
-#ifdef STANDALONE
-int main()
-{
- astraCUDA3d::SDimensions3D dims;
- dims.iVolX = 512;
- dims.iVolY = 512;
- dims.iVolZ = 512;
- dims.iProjAngles = 496;
- dims.iProjU = 512;
- dims.iProjV = 512;
- dims.iRaysPerDetDim = 1;
- dims.iRaysPerVoxelDim = 1;
-
- cudaExtent extentV;
- extentV.width = dims.iVolX*sizeof(float);
- extentV.height = dims.iVolY;
- extentV.depth = dims.iVolZ;
-
- cudaPitchedPtr volData; // pitch, ptr, xsize, ysize
-
- cudaMalloc3D(&volData, extentV);
-
- cudaExtent extentP;
- extentP.width = dims.iProjU*sizeof(float);
- extentP.height = dims.iProjAngles;
- extentP.depth = dims.iProjV;
-
- cudaPitchedPtr projData; // pitch, ptr, xsize, ysize
-
- cudaMalloc3D(&projData, extentP);
- cudaMemset3D(projData, 0, extentP);
-
-#if 0
- float* slice = new float[256*256];
- cudaPitchedPtr ptr;
- ptr.ptr = slice;
- ptr.pitch = 256*sizeof(float);
- ptr.xsize = 256*sizeof(float);
- ptr.ysize = 256;
-
- for (unsigned int i = 0; i < 256*256; ++i)
- slice[i] = 1.0f;
- for (unsigned int i = 0; i < 256; ++i) {
- cudaExtent extentS;
- extentS.width = dims.iVolX*sizeof(float);
- extentS.height = dims.iVolY;
- extentS.depth = 1;
- cudaPos sp = { 0, 0, 0 };
- cudaPos dp = { 0, 0, i };
- cudaMemcpy3DParms p;
- p.srcArray = 0;
- p.srcPos = sp;
- p.srcPtr = ptr;
- p.dstArray = 0;
- p.dstPos = dp;
- p.dstPtr = volData;
- p.extent = extentS;
- p.kind = cudaMemcpyHostToDevice;
- cudaMemcpy3D(&p);
-#if 0
- if (i == 128) {
- for (unsigned int j = 0; j < 256*256; ++j)
- slice[j] = 0.0f;
- }
-#endif
- }
-#endif
-
-
- astraCUDA3d::SConeProjection angle[512];
- angle[0].fSrcX = -5120;
- angle[0].fSrcY = 0;
- angle[0].fSrcZ = 0;
-
- angle[0].fDetSX = 512;
- angle[0].fDetSY = -256;
- angle[0].fDetSZ = -256;
-
- angle[0].fDetUX = 0;
- angle[0].fDetUY = 1;
- angle[0].fDetUZ = 0;
-
- angle[0].fDetVX = 0;
- angle[0].fDetVY = 0;
- angle[0].fDetVZ = 1;
-
-#define ROTATE0(name,i,alpha) do { angle[i].f##name##X = angle[0].f##name##X * cos(alpha) - angle[0].f##name##Y * sin(alpha); angle[i].f##name##Y = angle[0].f##name##X * sin(alpha) + angle[0].f##name##Y * cos(alpha); } while(0)
- for (int i = 1; i < 512; ++i) {
- angle[i] = angle[0];
- ROTATE0(Src, i, i*2*M_PI/512);
- ROTATE0(DetS, i, i*2*M_PI/512);
- ROTATE0(DetU, i, i*2*M_PI/512);
- ROTATE0(DetV, i, i*2*M_PI/512);
- }
-#undef ROTATE0
-
-#if 0
- astraCUDA3d::ConeFP(volData, projData, dims, angle, 1.0f);
-#endif
-#if 0
- float* bufs = new float[180*512];
-
- for (int i = 0; i < 512; ++i) {
- cudaMemcpy(bufs, ((float*)projData.ptr)+180*512*i, 180*512*sizeof(float), cudaMemcpyDeviceToHost);
-
- printf("%d %d %d\n", projData.pitch, projData.xsize, projData.ysize);
-
- char fname[20];
- sprintf(fname, "sino%03d.png", i);
- saveImage(fname, 180, 512, bufs);
- }
-
- float* bufp = new float[512*512];
-
- for (int i = 0; i < 180; ++i) {
- for (int j = 0; j < 512; ++j) {
- cudaMemcpy(bufp+512*j, ((float*)projData.ptr)+180*512*j+512*i, 512*sizeof(float), cudaMemcpyDeviceToHost);
- }
-
- char fname[20];
- sprintf(fname, "proj%03d.png", i);
- saveImage(fname, 512, 512, bufp);
- }
-#endif
-#if 0
- for (unsigned int i = 0; i < 256*256; ++i)
- slice[i] = 0.0f;
- for (unsigned int i = 0; i < 256; ++i) {
- cudaExtent extentS;
- extentS.width = dims.iVolX*sizeof(float);
- extentS.height = dims.iVolY;
- extentS.depth = 1;
- cudaPos sp = { 0, 0, 0 };
- cudaPos dp = { 0, 0, i };
- cudaMemcpy3DParms p;
- p.srcArray = 0;
- p.srcPos = sp;
- p.srcPtr = ptr;
- p.dstArray = 0;
- p.dstPos = dp;
- p.dstPtr = volData;
- p.extent = extentS;
- p.kind = cudaMemcpyHostToDevice;
- cudaMemcpy3D(&p);
- }
-#endif
-
- astraCUDA3d::ConeBP(volData, projData, dims, angle, 1.0f);
-#if 0
- float* buf = new float[256*256];
-
- for (int i = 0; i < 256; ++i) {
- cudaMemcpy(buf, ((float*)volData.ptr)+256*256*i, 256*256*sizeof(float), cudaMemcpyDeviceToHost);
-
- printf("%d %d %d\n", volData.pitch, volData.xsize, volData.ysize);
-
- char fname[20];
- sprintf(fname, "vol%03d.png", i);
- saveImage(fname, 256, 256, buf);
- }
-#endif
-
-}
-#endif
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