/*!*****************************************************************************
*******************************************************************************
\note init_vision_processing
\date June 1999
\remarks
initialization for vision processing
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
int
init_vision_processing(void)
{
int i,j;
static int firsttime = TRUE;
stereo_mode = VISION_3D_MODE;
if (firsttime) {
firsttime = FALSE;
blobpp = (BlobPP *) my_calloc(max_blobs+1,sizeof(BlobPP),MY_STOP);
}
#if 1
/* initialize matrices */
if (!init_matrices())
return FALSE;
#endif
/* initialize filtering */
if (!init_filters())
return FALSE;
/* initialize post processing */
if (!init_pp((char *)vision_default_pp))
return FALSE;
return TRUE;
}
int main(int argc, char **argv)
{
int N = (argc == 2) ? atoi(argv[1]) : 1024;
double *a,*b,*c;
init_matrices(N,&a,&b,&c);
matmul(N,a,b,c);
return 0;
}
void scm_render::set_size(int w, int h)
{
free_ogl();
width = w;
height = h;
init_ogl();
init_matrices();
}
scm_render::scm_render(int w, int h) :
width(w), height(h), blur(0), wire(false), frame0(0), frame1(0)
{
init_ogl();
init_matrices();
for (int i = 0; i < 16; i++)
midentity(previous_T[i]);
}
void trial(char* alg, int m, int k, int n, int threads, int max_depth, int num_iters, char* output) {
int i, iter, success = 0, num_failures = 0;
double *Gflops = (double*) malloc(num_iters * sizeof(double));
double *cacheClearer = (double*) malloc(100000000); //L3 cache is less than 100MB
for(i = 0; i < 12500000; i++) cacheClearer[i] = i;
while (success == 0) {
double *A[NUM_SMALL_MATRICES_MAX], *B[NUM_SMALL_MATRICES_MAX], *C[NUM_SMALL_MATRICES_MAX];
// discover how many multiplies are needed and init them
int num_matrices = init_matrices(m, k, n, A, B, C, max_depth);
// printf("Num matrices required: %d\n", num_matrices);
success = 1;
for (iter = 0; iter < num_iters; iter++) {
struct timeval start, end;
clearCache(cacheClearer);
gettimeofday(&start, NULL);
for (i = 0; i < num_matrices; i++) {
multiply(m, k, n, A[i], B[i], C[i], max_depth);
}
gettimeofday(&end, NULL);
double seconds = (end.tv_sec - start.tv_sec) + 1.0e-6 * (end.tv_usec - start.tv_usec);
Gflops[iter] = num_matrices * 2e-9 * m * k * n / seconds;
printf("%s,%d,%d,%d,%d,%d,%f", alg, m, k, n, max_depth, threads, Gflops[iter]);
if (seconds < 0.05 && num_failures < MAX_NUM_FAILURES) {
printf(" WARNING: Matrix size may be too small to produce accurate timing data. Re-running...\n");
num_failures++;
success = 0;
break;
}
printf("\n");
}
if (num_failures == MAX_NUM_FAILURES) {
printf("ERROR: data at %s,%d,%d,%d,%d,%d should be gathered again\n", alg, m, k, n, max_depth, threads);
}
for (i=0; i<num_matrices; i++) free(A[i]);
for (i=0; i<num_matrices; i++) free(B[i]);
for (i=0; i<num_matrices; i++) free(C[i]);
}
FILE *f = fopen(output,"a");
for (iter = 0; iter < num_iters; iter++) {
fprintf(f,"%s,%d,%d,%d,%d,%d,%f\n", alg, m, k, n, max_depth, threads, Gflops[iter]);
}
fclose(f);
free(Gflops);
free(cacheClearer);
// correctnessTest(m, k, n, max_depth);
}
int main()
{
uthread_arg_t *uarg;
int inx, i ,j;
gtthread_app_init();
init_matrices();
// print_matrix(&A);
// print_matrix(&B);
// print_matrix(&C);
gettimeofday(&tv1,NULL);
j = 0;
for (i=0; i<4; ++i)
{
for(inx=0; inx<NUM_THREADS; inx++)
{
uarg = &uargs[inx];
uarg->_A = &A[i];
uarg->_B = &B[i];
uarg->_C = &C[i];
uarg->tid = inx;
uarg->gid = i; // Every matrix in a different group
uarg->matrix_size = sizes[i];
uarg->start_row = (inx * sizes[i]/NUM_THREADS);
#ifdef GT_GROUP_SPLIT
/* Wanted to split the columns by groups !!! */
uarg->start_col = (uarg->gid * PER_GROUP_COLS);
#endif
uthread_create(&utids[j], uthread_mulmat, uarg, uarg->gid);
j++;
}
}
// for(i=0; i < 100000; ++i) {
// for(j=0; j<9000; ++j) {
//
// }
// }
gtthread_app_exit();
// print_matrix(&A);
// print_matrix(&B);
// print_matrix(&C);
// fprintf(stderr, "********************************");
return(0);
}
static int test_init(void) {
int ierr;
rt_set_oneshot_mode();
printk("PGM STARTING\n");
init_matrices();
// Create real-time tasks
ierr = rt_task_init_cpuid(&sens_task, // task
senscode, // rt_thread
0, // data
STACK_SIZE, // stack_size
3, // priority
0, // uses_fpu
0, // signal
0); // cpuid
ierr = rt_task_init_cpuid(&act_task, // task
actcode, // rt_thread
0, // data
STACK_SIZE, // stack_size
4, // priority
0, // uses_fpu
0, // signal
0); // cpuid
// init semaphores
rt_typed_sem_init(&sensDone, // semaphore pointer
0, // initial value
BIN_SEM); // semaphore type
if (!ierr) {
start_rt_timer(nano2count(TICK_PERIOD));
now = rt_get_time();
// Start tasks
rt_task_make_periodic(&sens_task, now, nano2count(PERIOD));
//rt_task_resume(&act_task);
}
//return ierr;
return 0; // pour ne pas faire planter le kernel
}
EngineBrute(Star **&stars, const int &stars_count_, const float &gravity_constant){
stars_count = stars_count_;
init_matrices();
update_matrices(stars, gravity_constant);
}
int main(int argc, char *argv[])
//int main()
{
isCreditScheduler = 0;
if(argc > 1)
if(*argv[1] == '1')
isCreditScheduler = 1;
isCreditScheduler = 1;
uthread_arg_t *uarg;
int inx,i;
// kthread_block_signal(SIGVTALRM);
// kthread_block_signal(SIGUSR1);
gtthread_app_init();
uthread_info_init(); // initialises the uthread info that is shared among all uthreads. Used for logging purposes.
init_possible_groups();
for(i=0;i<TOTAL_GROUPS;i++)
init_matrices(&possible_groups[i]);
//int current_matrix_size_index, current_row_index, current_credit_value_index, current_num_thread_per_group_index, current_num_group_index;
int size, rows_per_thread, current_row = 0, group_id = 0;
for(inx=0; inx<NUM_THREADS; inx++)
{
size = possible_groups[group_id].matrix_size;
rows_per_thread = size / (THREADS_PER_GROUP);
uarg = &uargs[inx];
uarg->_A = matrices_A[group_id];
uarg->_B = matrices_B[group_id];
uarg->_C = matrices_C[group_id];
uarg->tid = inx;
uarg->gid = group_id;
uarg->start_row = current_row;
uarg->end_row = current_row + rows_per_thread;
uarg->start_col = 0;
uarg->end_col = size;
int credit = matrices_A[group_id]->matrix_group->credit_value;
printf("group_id: %d, current_row: %d, rows_per_thread: %d, size: %d, credits: %d, inx: %d, NUM_THREADS: %d\n",
group_id, current_row, rows_per_thread, size, credit, inx, NUM_THREADS);
current_row = current_row + rows_per_thread;
if(current_row == size)
{
current_row = 0;
group_id++;
}
//#ifdef GT_GROUP_SPLIT
// Wanted to split the columns by groups !!! *
//uarg->start_col = (uarg->gid * PER_GROUP_COLS);
//#endif
// printf("going to uthread_create\n");
uthread_create(&utids[inx], uthread_mulmat, uarg, uarg->gid, credit, possible_groups[group_id].matrix_size);
//` printf("exit from uthread_create\n");
}
// kthread_unblock_signal(SIGVTALRM);
// kthread_unblock_signal(SIGUSR1);
FILE *fp, *fp1;
fp = fopen("stat.txt","w+");
fp1 = fopen("stat1.txt","w+");
gtthread_app_exit();
print_statistics(fp,fp1);
init_group_stats();
print_group_stats(fp,fp1);
verify_answer();
fclose(fp);
fclose(fp1);
// for(i=0;i<TOTAL_GROUPS;i++)
// {
// int size = possible_groups[i].matrix_size;
// printf("Matrix A, i:%d, size: %d, credits: %d\n", i, size, possible_groups[i].credit_value);
// print_matrix(matrices_A[i], size);
// printf("Matrix B, i:%d, size: %d, credits: %d\n", i, size, possible_groups[i].credit_value);
// print_matrix(matrices_B[i], size);
// printf("Matrix C, i:%d, size: %d, credits: %d\n", i, size, possible_groups[i].credit_value);
// print_matrix(matrices_C[i], size);
// }
// print_matrix(&C);
// fprintf(stderr, "********************************");
return(0);
}
void
img_makePalette(int cmapsize, int tablesize, int lookupsize,
float lscale, float weight,
int prevclrs, int doMac,
unsigned char *reds,
unsigned char *greens,
unsigned char *blues,
unsigned char *lookup)
{
CmapEntry *pCmap;
int i, ix;
#ifdef STATS
double ave_dL, ave_dE;
double max_dL, max_dE;
#endif /* STATS */
#ifdef TIMES
clock_t start, mid, tbl, end;
start = clock();
#endif /* TIMES */
init_matrices();
Lscale = lscale;
Weight = weight;
cmapmax = cmapsize;
total = 0;
for (i = 0; i < prevclrs; i++) {
add_color(reds[i], greens[i], blues[i], TRUE);
}
add_color(0, 0, 0, TRUE);
add_color(255,255,255, TRUE);
/* do grays next; otherwise find_nearest may break! */
init_grays();
if (doMac) {
init_mac_palette();
}
init_pastels();
init_primaries();
/* special case some blues */
add_color(0,0,192,TRUE);
add_color(0x30,0x20,0x80,TRUE);
add_color(0x20,0x60,0xc0,TRUE);
init_virt_cmap(lookupsize, tablesize);
while (total < cmapsize) {
handle_biggest_offenders(tablesize, cmapsize);
}
memcpy(reds, cmap_r, cmapsize);
memcpy(greens, cmap_g, cmapsize);
memcpy(blues, cmap_b, cmapsize);
#ifdef TIMES
mid = clock();
#endif /* TIMES */
pCmap = virt_cmap;
for (i = 0; i < num_virt_cmap_entries; i++, pCmap++) {
if (pCmap->nextidx < 0) {
continue;
}
if (pCmap->nextidx < total) {
ix = find_nearest(pCmap);
}
}
#ifdef TIMES
tbl = clock();
#endif /* TIMES */
pCmap = virt_cmap;
if (tablesize != lookupsize) {
int r, g, b;
for (r = 0; r < lookupsize; ++r)
{
for (g = 0; g < lookupsize; ++g)
{
for (b = 0; b < lookupsize; ++b, pCmap++)
{
float L, U, V;
float bestd = 0;
CmapEntry *pTest;
if (pCmap->nextidx >= 0) {
continue;
}
#ifdef DEBUG
if (r == g && g == b) {
jio_fprintf(stderr, "GRAY VALUE!?\n");
}
#endif /* DEBUG */
L = pCmap->L;
U = pCmap->U;
V = pCmap->V;
for (i = 0; i < 8; i++) {
int ri, gi, bi;
float d, t;
ri = (i & 1) ? prevtest[r] : nexttest[r];
gi = (i & 2) ? prevtest[g] : nexttest[g];
bi = (i & 4) ? prevtest[b] : nexttest[b];
pTest = &virt_cmap[((ri * lookupsize)
+ gi) * lookupsize
+ bi];
#ifdef DEBUG
if (pTest->nextidx < 0) {
jio_fprintf(stderr, "OOPS!\n");
}
#endif /* DEBUG */
ix = pTest->bestidx;
t = Ltab[ix] - L; d = t * t * Lscale;
if (i != 0 && d > bestd) continue;
t = Utab[ix] - U; d += t * t;
if (i != 0 && d > bestd) continue;
t = Vtab[ix] - V; d += t * t;
if (i != 0 && d > bestd) continue;
bestd = d;
pCmap->bestidx = ix;
}
}
}
}
}
pCmap = virt_cmap;
for (i = 0; i < num_virt_cmap_entries; i++) {
*lookup++ = (pCmap++)->bestidx;
}
#ifdef TIMES
end = clock();
#endif /* TIMES */
#ifdef STATS
max_dL = 0.0;
max_dE = 0.0;
ave_dL = 0.0;
ave_dE = 0.0;
pCmap = virt_cmap;
for (i = 0; i < num_virt_cmap_entries; i++, pCmap++) {
double t, dL, dU, dV, dE;
if (pCmap->nextidx < 0) {
int ix = pCmap->bestidx;
dL = pCmap->L - Ltab[ix]; dL *= dL;
dU = pCmap->U - Utab[ix]; dU *= dU;
dV = pCmap->V - Vtab[ix]; dV *= dV;
dE = dL * Lscale + dU + dV;
dE = WEIGHT_DIST(dE, pCmap->L);
} else {
dL = pCmap->dL;
dE = pCmap->dE;
}
if (dL > max_dL) max_dL = dL;
t = UNWEIGHT_DIST(dE,dL) - dL*(Lscale-1);
if (t > max_dE) max_dE = t;
ave_dL += (dL > 0) ? sqrt(dL) : 0.0;
ave_dE += (t > 0) ? sqrt(t) : 0.0;
}
jio_fprintf(stderr, "colors=%d, tablesize=%d, cubesize=%d, ",
cmapsize, tablesize, lookupsize);
jio_fprintf(stderr, "Lscale=%5.3f, Weight=%5.3f mac=%s\n",
(double)lscale, (double)weight, doMac ? "true" : "false");
jio_fprintf(stderr, "Worst case error dL = %5.3f, dE = %5.3f\n",
sqrt(max_dL), sqrt(max_dE));
jio_fprintf(stderr, "Average error dL = %5.3f, dE = %5.3f\n",
ave_dL / num_virt_cmap_entries, ave_dE / num_virt_cmap_entries);
#endif /* STATS */
#ifdef TIMES
jio_fprintf(stderr, "%f seconds to find colors\n",
(double)(mid - start) / CLOCKS_PER_SEC);
jio_fprintf(stderr, "%f seconds to finish nearest colors\n",
(double)(tbl - mid) / CLOCKS_PER_SEC);
jio_fprintf(stderr, "%f seconds to make lookup table\n",
(double)(end - tbl) / CLOCKS_PER_SEC);
jio_fprintf(stderr, "%f seconds total\n",
(double)(end - start) / CLOCKS_PER_SEC);
#endif /* TIMES */
free(virt_cmap);
virt_cmap = 0;
}
static int install_white(SINGLE_QSP_ARG_DECL)
{
int j,k;
float wc[3]; /* white chromaticity */
float uv[3]; /* unit vector */
float *ptr;
if( init_matrices(SINGLE_QSP_ARG) < 0 ) return(-1);
/* we assume we already have the white point */
if( ! know_white )
error1("install_white: white point not defined!?");
for(j=0;j<3;j++) wc[j] = _white[j];
showvec(wc);
rgb2rb(wc); /* now we have the chromaticity of the white point */
advise("white transformed to opponent space");
showvec(wc);
for(j=0;j<3;j++) uv[j] = wc[j];
uv[0]+= 0.1; /* take a step in the red cone direction */
rb2rgb(uv);
for(j=0;j<3;j++) uv[j] -= _white[j];
/* now have an rgb vector for an red cone step */
/* normalize this relative to the white point */
/* this is to guarantee that amp. of +-1 won't overflow */
advise("red cone vector");
showvec(wc);
wnorm(uv);
/* now set the entries of the o2p matrix */
for(j=0;j<3;j++) o2p_mat[j][0] = uv[j];
for(j=0;j<3;j++) uv[j] = wc[j];
uv[1]+= 0.1; /* take a step in the blue cone direction */
rb2rgb(uv);
for(j=0;j<3;j++) uv[j] -= _white[j];
/* now have an rgb vector for a blue cone step */
wnorm(uv);
for(j=0;j<3;j++) o2p_mat[j][1] = uv[j];
for(j=0;j<3;j++) uv[j] = _white[j];
wnorm(uv);
for(j=0;j<3;j++) o2p_mat[j][2] = uv[j];
ptr = (float *)OBJ_DATA_PTR(o2p_dp);
for(j=0;j<3;j++)
for(k=0;k<3;k++)
*ptr++ = o2p_mat[j][k];
dp_copy(p2o_dp,o2p_dp);
dt_invert(p2o_dp);
ptr = (float *)OBJ_DATA_PTR(p2o_dp);
for(j=0;j<3;j++)
for(k=0;k<3;k++)
p2o_mat[j][k] = *ptr++;
return(0);
}