From 64abe91dd26e98001f3f5c7cc73543f5f94cb80d Mon Sep 17 00:00:00 2001 From: Willem Jan Palenstijn Date: Wed, 3 Apr 2019 18:25:52 +0200 Subject: Improve adjoint matching for fan/cone BP functions, and clean up --- cuda/3d/cone_bp.cu | 207 +++++++++++++++++++++++++++++++++++------------------ cuda/3d/fdk.cu | 3 +- 2 files changed, 139 insertions(+), 71 deletions(-) (limited to 'cuda/3d') diff --git a/cuda/3d/cone_bp.cu b/cuda/3d/cone_bp.cu index 2a7ec80..a614c29 100644 --- a/cuda/3d/cone_bp.cu +++ b/cuda/3d/cone_bp.cu @@ -55,7 +55,13 @@ 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 +124,13 @@ __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; @@ -137,20 +140,7 @@ __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 magnification factor - // from fX,fY,fZ to the virtual detector, where the - // virtual detector is the plane through the origin - // parallel to the detector, so spanned by u,v. - - // 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; @@ -217,19 +207,9 @@ __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) { @@ -238,14 +218,15 @@ __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; } @@ -260,6 +241,119 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start } } +struct Vec3 { + double x; + double y; + double z; + Vec3(double x_, double y_, double z_) : x(x_), y(y_), z(z_) { } + Vec3 operator+(const Vec3 &b) const { + return Vec3(x + b.x, y + b.y, z + b.z); + } + Vec3 operator-(const Vec3 &b) const { + return Vec3(x - b.x, y - b.y, z - b.z); + } + Vec3 operator-() const { + return Vec3(-x, -y, -z); + } + double norm() const { + return sqrt(x*x + y*y + z*z); + } +}; + +double det3x(const Vec3 &b, const Vec3 &c) { + return (b.y * c.z - b.z * c.y); +} +double det3y(const Vec3 &b, const Vec3 &c) { + return -(b.x * c.z - b.z * c.x); +} + +double det3z(const Vec3 &b, const Vec3 &c) { + return (b.x * c.y - b.y * c.x); +} + +double det3(const Vec3 &a, const Vec3 &b, const Vec3 &c) { + return a.x * det3x(b,c) + a.y * det3y(b,c) + a.z * det3z(b,c); +} + +Vec3 cross3(const Vec3 &a, const Vec3 &b) { + return Vec3(det3x(a,b), det3y(a,b), det3z(a,b)); +} + +Vec3 scaled_cross3(const Vec3 &a, const Vec3 &b, const Vec3 &sc) { + Vec3 ret = cross3(a, b); + ret.x *= sc.y * sc.z; + ret.y *= sc.x * sc.z; + ret.z *= sc.x * sc.y; + return ret; +} + + +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 + + + + 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, @@ -279,34 +373,9 @@ bool ConeBP_Array(cudaPitchedPtr D_volumeData, 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); diff --git a/cuda/3d/fdk.cu b/cuda/3d/fdk.cu index 1294721..92d3ef6 100644 --- a/cuda/3d/fdk.cu +++ b/cuda/3d/fdk.cu @@ -92,10 +92,9 @@ __global__ void devFDK_preweight(void* D_projData, unsigned int projPitch, unsig // pi / (2 * iProjAngles) : scaling of the integral over angles // fVoxSize ^ 2 : ... - const float fW1 = fSrcOrigin * fDetUSize * fDetVSize; const float fW2 = fCentralRayLength / (fDetUSize * fSrcOrigin); const float fW3 = fVoxSize * fVoxSize; - const float fW = fCentralRayLength * fW1 * fW1 * fW2 * fW3 * (M_PI / 2.0f) / (float)dims.iProjAngles; + const float fW = fCentralRayLength * fW2 * fW3 * (M_PI / 2.0f) / (float)dims.iProjAngles; for (int detectorV = startDetectorV; detectorV < endDetectorV; ++detectorV) { -- cgit v1.2.3