PyCuAmpcor: add sum_area_table based correlation surface normalization to allow arbitrary window size (used to be limited by the 1024 max cuda threads)

contrib/PyCuAmpcor/CMakeLists.txt

@@ -21,6 +21,8 @@ cython_add_module(PyCuAmpcor
     src/cuArraysPadding.cu
     src/cuCorrFrequency.cu
     src/cuCorrNormalization.cu
+    src/cuCorrNormalizationSAT.cu
+    src/cuCorrNormalizer.cu
     src/cuCorrTimeDomain.cu
     src/cuDeramp.cu
     src/cuEstimateStats.cu

contrib/PyCuAmpcor/examples/cuDenseOffsets.py

@@ -141,16 +141,6 @@ def cmdLineParse(iargs = None):
     parser = createParser()
     inps = parser.parse_args(args=iargs)
 
-    # check oversampled window size
-    if (inps.winwidth + 2 * inps.srcwidth ) * inps.raw_oversample > 1024:
-        msg = 'The oversampled window width, ' \
-              'as computed by (winwidth+2*srcwidth)*raw_oversample, ' \
-              'exceeds the current implementation limit of 1,024. ' \
-              f'Please reduce winwidth: {inps.winwidth}, ' \
-              f'srcwidth: {inps.srcwidth}, ' \
-              f'or raw_oversample: {inps.raw_oversample}.'
-        raise ValueError(msg)
-
     return inps
 
 

contrib/PyCuAmpcor/src/Makefile

@@ -15,7 +15,8 @@ NVCC=nvcc
 DEPS = cudaUtil.h cudaError.h cuArrays.h GDALImage.h cuAmpcorParameter.h
 OBJS =  GDALImage.o cuArrays.o cuArraysCopy.o cuArraysPadding.o cuOverSampler.o \
 		cuSincOverSampler.o cuDeramp.o cuOffset.o \
-		cuCorrNormalization.o cuAmpcorParameter.o cuCorrTimeDomain.o cuCorrFrequency.o \
+		cuCorrNormalization.o cuCorrNormalizationSAT.o cuCorrNormalizer.o \
+		cuAmpcorParameter.o cuCorrTimeDomain.o cuCorrFrequency.o \
 		cuAmpcorChunk.o cuAmpcorController.o cuEstimateStats.o
 
 all: pyampcor
@@ -47,6 +48,12 @@ cuOffset.o: cuOffset.cu $(DEPS)
 cuCorrNormalization.o: cuCorrNormalization.cu $(DEPS)
 	$(NVCC) $(NVCCFLAGS) -c -o $@ cuCorrNormalization.cu
 
+cuCorrNormalizationSAT.o: cuCorrNormalizationSAT.cu $(DEPS)
+	$(NVCC) $(NVCCFLAGS) -c -o $@ cuCorrNormalizationSAT.cu
+
+cuCorrNormalizer.o: cuCorrNormalizer.cu $(DEPS)
+	$(NVCC) $(NVCCFLAGS) -c -o $@ cuCorrNormalizer.cu
+
 cuAmpcorParameter.o: cuAmpcorParameter.cu
 	$(NVCC) $(NVCCFLAGS) -c -o $@ cuAmpcorParameter.cu
 

contrib/PyCuAmpcor/src/SConscript

@@ -11,6 +11,7 @@ listFiles = ['GDALImage.cu', 'cuArrays.cu', 'cuArraysCopy.cu',
              'cuArraysPadding.cu', 'cuOverSampler.cu',
              'cuSincOverSampler.cu', 'cuDeramp.cu',
              'cuOffset.cu', 'cuCorrNormalization.cu',
+             'cuCorrNormalizationSAT.cu', 'cuCorrNormalizer.cu'
              'cuAmpcorParameter.cu', 'cuCorrTimeDomain.cu',
              'cuAmpcorController.cu', 'cuCorrFrequency.cu',
              'cuAmpcorChunk.cu', 'cuEstimateStats.cu']

contrib/PyCuAmpcor/src/cuAmpcorChunk.cu

@@ -54,7 +54,7 @@ void cuAmpcorChunk::run(int idxDown_, int idxAcross_)
 #endif
 
     // normalize the correlation surface
-    cuCorrNormalize(r_referenceBatchRaw, r_secondaryBatchRaw, r_corrBatchRaw, stream);
+    corrNormalizerRaw->execute(r_corrBatchRaw, r_referenceBatchRaw, r_secondaryBatchRaw, stream);
 
 #ifdef CUAMPCOR_DEBUG
     // dump the normalized correlation surface
@@ -155,7 +155,7 @@ void cuAmpcorChunk::run(int idxDown_, int idxAcross_)
 #endif
 
     // normalize the correlation surface
-    cuCorrNormalize(r_referenceBatchOverSampled, r_secondaryBatchOverSampled, r_corrBatchZoomIn, stream);
+    corrNormalizerOverSampled->execute(r_corrBatchZoomIn, r_referenceBatchOverSampled, r_secondaryBatchOverSampled, stream);
 
 #ifdef CUAMPCOR_DEBUG
     // dump the oversampled correlation surface (normalized)
@@ -549,10 +549,22 @@ cuAmpcorChunk::cuAmpcorChunk(cuAmpcorParameter *param_, GDALImage *reference_, G
             stream);
         cuCorrFreqDomain_OverSampled = new cuFreqCorrelator(
             param->searchWindowSizeHeight, param->searchWindowSizeWidth,
-            param->numberWindowDownInChunk*param->numberWindowAcrossInChunk,
+            param->numberWindowDownInChunk * param->numberWindowAcrossInChunk,
             stream);
     }
 
+    corrNormalizerRaw = new cuNormalizer(
+        param->searchWindowSizeHeightRaw,
+        param->searchWindowSizeWidthRaw,
+        param->numberWindowDownInChunk * param->numberWindowAcrossInChunk
+        );
+
+    corrNormalizerOverSampled = new cuNormalizer(
+        param->searchWindowSizeHeight,
+        param->searchWindowSizeWidth,
+        param->numberWindowDownInChunk * param->numberWindowAcrossInChunk
+        );
+
 
 #ifdef CUAMPCOR_DEBUG
     std::cout << "all objects in chunk are created ...\n";

contrib/PyCuAmpcor/src/cuAmpcorChunk.h

@@ -14,6 +14,7 @@
 #include "cuOverSampler.h"
 #include "cuSincOverSampler.h"
 #include "cuCorrFrequency.h"
+#include "cuCorrNormalizer.h"
 
 
 /**
@@ -64,6 +65,10 @@ private:
     // cross-correlation processor with frequency domain algorithm
     cuFreqCorrelator *cuCorrFreqDomain, *cuCorrFreqDomain_OverSampled;
 
+    // correlation surface normalizer
+    cuNormalizer *corrNormalizerRaw;
+    cuNormalizer *corrNormalizerOverSampled;
+
     // save offset results in different stages
     cuArrays<int2> *offsetInit;
     cuArrays<int2> *offsetZoomIn;

contrib/PyCuAmpcor/src/cuAmpcorController.cu

@@ -102,7 +102,7 @@ void cuAmpcorController::runAmpcor()
         << nChunksDown << " x " << nChunksAcross  << std::endl;
 
     // iterative over chunks down
-    int message_interval = nChunksDown/10;
+    int message_interval = std::max(nChunksDown/10, 1);
     for(int i = 0; i<nChunksDown; i++)
     {
         if(i%message_interval == 0)

contrib/PyCuAmpcor/src/cuAmpcorUtil.h

@@ -58,9 +58,18 @@ void cuDerampMethod1(cuArrays<float2> *images, cudaStream_t stream);
 void cuArraysPadding(cuArrays<float2> *image1, cuArrays<float2> *image2, cudaStream_t stream);
 void cuArraysPaddingMany(cuArrays<float2> *image1, cuArrays<float2> *image2, cudaStream_t stream);
 
-//in cuCorrNormalization.cu: utities to normalize the cross correlation function
+//in cuCorrNormalization.cu: utilities to normalize the cross correlation function
 void cuArraysSubtractMean(cuArrays<float> *images, cudaStream_t stream);
 void cuCorrNormalize(cuArrays<float> *templates, cuArrays<float> *images, cuArrays<float> *results, cudaStream_t stream);
+void cuCorrNormalize64(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream);
+void cuCorrNormalize128(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream);
+void cuCorrNormalize256(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream);
+void cuCorrNormalize512(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream);
+void cuCorrNormalize1024(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream);
+
+// in cuCorrNormalizationSAT.cu: to normalize the cross correlation function with sum area table
+void cuCorrNormalizeSAT(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary,
+    cuArrays<float> * referenceSum2, cuArrays<float> *secondarySAT, cuArrays<float> *secondarySAT2, cudaStream_t stream);
 
 //in cuOffset.cu: utitilies for determining the max locaiton of cross correlations or the offset
 void cuArraysMaxloc2D(cuArrays<float> *images, cuArrays<int2> *maxloc, cuArrays<float> *maxval, cudaStream_t stream);

contrib/PyCuAmpcor/src/cuCorrNormalization.cu

@@ -321,7 +321,6 @@ __global__ void cuCorrNormalize_kernel(
  * @param[in] stream cudaStream
  * @warning The current implementation uses one thread for one column, therefore,
  *   the secondary window width is limited to <=1024, the max threads in a block.
- * @todo an implementation for arbitrary window width, might not be as efficient
  */
 void cuCorrNormalize(cuArrays<float> *templates, cuArrays<float> *images, cuArrays<float> *results, cudaStream_t stream)
 {
@@ -376,7 +375,72 @@ void cuCorrNormalize(cuArrays<float> *templates, cuArrays<float> *images, cuArra
         throw;
     }
 
-
 }
 
+void cuCorrNormalize64(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    const int nImages = correlation->count;
+    const dim3 grid(1, 1, nImages);
+    const float invReferenceSize = 1.0f/reference->size;
+    cuCorrNormalize_kernel< 6><<<grid,  64, 0, stream>>>(nImages,
+                reference->devData, reference->height, reference->width, reference->size,
+                secondary->devData, secondary->height, secondary->width, secondary->size,
+                correlation->devData, correlation->height, correlation->width, correlation->size,
+                invReferenceSize);
+    getLastCudaError("cuCorrNormalize kernel error");
+}
+
+void cuCorrNormalize128(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    const int nImages = correlation->count;
+    const dim3 grid(1, 1, nImages);
+    const float invReferenceSize = 1.0f/reference->size;
+    cuCorrNormalize_kernel< 7><<<grid,  128, 0, stream>>>(nImages,
+                reference->devData, reference->height, reference->width, reference->size,
+                secondary->devData, secondary->height, secondary->width, secondary->size,
+                correlation->devData, correlation->height, correlation->width, correlation->size,
+                invReferenceSize);
+    getLastCudaError("cuCorrNormalize kernel error");
+}
+
+void cuCorrNormalize256(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    const int nImages = correlation->count;
+    const dim3 grid(1, 1, nImages);
+    const float invReferenceSize = 1.0f/reference->size;
+    cuCorrNormalize_kernel< 8><<<grid,  256, 0, stream>>>(nImages,
+                reference->devData, reference->height, reference->width, reference->size,
+                secondary->devData, secondary->height, secondary->width, secondary->size,
+                correlation->devData, correlation->height, correlation->width, correlation->size,
+                invReferenceSize);
+    getLastCudaError("cuCorrNormalize kernel error");
+}
+
+void cuCorrNormalize512(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    const int nImages = correlation->count;
+    const dim3 grid(1, 1, nImages);
+    const float invReferenceSize = 1.0f/reference->size;
+    cuCorrNormalize_kernel< 9><<<grid,  512, 0, stream>>>(nImages,
+                reference->devData, reference->height, reference->width, reference->size,
+                secondary->devData, secondary->height, secondary->width, secondary->size,
+                correlation->devData, correlation->height, correlation->width, correlation->size,
+                invReferenceSize);
+    getLastCudaError("cuCorrNormalize kernel error");
+}
+
+void cuCorrNormalize1024(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    const int nImages = correlation->count;
+    const dim3 grid(1, 1, nImages);
+    const float invReferenceSize = 1.0f/reference->size;
+    cuCorrNormalize_kernel< 10><<<grid,  1024, 0, stream>>>(nImages,
+                reference->devData, reference->height, reference->width, reference->size,
+                secondary->devData, secondary->height, secondary->width, secondary->size,
+                correlation->devData, correlation->height, correlation->width, correlation->size,
+                invReferenceSize);
+    getLastCudaError("cuCorrNormalize kernel error");
+}
+
+
 // end of file

contrib/PyCuAmpcor/src/cuCorrNormalizationSAT.cu

@@ -0,0 +1,201 @@
+/*
+ * @file cuCorrNormalizationSAT.cu
+ * @brief Utilities to normalize the 2D correlation surface with the sum area table
+ *
+ */
+
+#include <cooperative_groups.h>
+#include <cooperative_groups/reduce.h>
+// my declarations
+#include "cuAmpcorUtil.h"
+// for FLT_EPSILON
+#include <float.h>
+
+// alias for cuda cooperative groups
+namespace cg = cooperative_groups;
+
+
+/**
+ * cuda kernel for sum value^2 (std)
+ * compute the sum value square (std) of the reference image
+ * @param[out] sum2 sum of value square
+ * @param[in] images the reference images
+ * @param[in] n total elements in one image nx*ny
+ * @param[in] batch number of images
+ * @note use one thread block for each image, blockIdx.x is image index
+ **/
+
+__global__ void sum_square_kernel(float *sum2, const float *images, int n, int batch)
+{
+    // get block id for each image
+    int imageid = blockIdx.x;
+    const float *image = images + imageid*n;
+
+    // get the thread block
+    cg::thread_block cta = cg::this_thread_block();
+    // get the shared memory
+    extern float __shared__ sdata[];
+
+    // get the current thread
+    int tid = cta.thread_rank();
+
+    // stride over grid and add the values to shared memory
+    sdata[tid] = 0;
+
+    for(int i = tid; i < n; i += cta.size() ) {
+        auto value = image[i];
+        sdata[tid] += value*value;
+    }
+
+    cg::sync(cta);
+
+    // partition thread block into tiles in size 32 (warp)
+    cg::thread_block_tile<32> tile32 = cg::tiled_partition<32>(cta);
+
+    // reduce in each tile with warp
+    sdata[tid] = cg::reduce(tile32, sdata[tid], cg::plus<float>());
+    cg::sync(cta);
+
+    // reduce all tiles with thread 0
+    if(tid == 0) {
+        float sum = 0.0;
+        for (int i = 0; i < cta.size(); i += tile32.size())
+            sum += sdata[i];
+        // assign the value to results
+        sum2[imageid] = sum;
+    }
+}
+
+/**
+ * cuda kernel for 2d sum area table
+ * Compute the (inclusive) sum area table of the value and value^2 of a batch of 2d images.
+ * @param[out] sat the sum area table
+ * @param[out] sat2 the sum area table of value^2
+ * @param[in] data search images
+ * @param[in] nx image height (subleading dimension)
+ * @param[in] ny image width (leading dimension)
+ * @param[in] batch number of images
+ **/
+
+__global__ void sat2d_kernel(float *sat, float * sat2, const float *data, int nx, int ny, int batch)
+{
+    // get block id for each image
+    int imageid = blockIdx.x;
+
+    // get the thread id for each row/column
+    int tid =  threadIdx.x;
+
+    // compute prefix-sum along row at first
+    // the number of rows may be bigger than the number of threads, iterate
+    for (int row = tid; row < nx; row += blockDim.x) {
+        // running sum for value and value^2
+        float sum = 0.0f;
+        float sum2 = 0.0f;
+        // starting position for this row
+        int index = (imageid*nx+row)*ny;
+        // iterative over column
+        for (int i=0; i<ny; i++, index++) {
+            float val = data[index];
+            sum += val;
+            sat[index] = sum;
+            sum2 += val*val;
+            sat2[index] = sum2;
+        }
+    }
+
+    // wait till all rows are done
+    __syncthreads();
+
+    // compute prefix-sum along column
+    for (int col = tid; col < ny; col += blockDim.x) {
+
+        // start position of the current column
+        int index = col + imageid*nx*ny;
+
+        // assign sum with the first line value
+        float sum = sat[index];
+        float sum2 = sat2[index];
+    	// iterative over rest lines
+    	for (int i=1; i<nx; i++) {
+            index += ny;
+            sum += sat[index];
+            sat[index] = sum;
+            sum2 += sat2[index];
+            sat2[index] = sum2;
+        }
+    }
+    // all done
+}
+
+
+
+
+__global__ void cuCorrNormalizeSAT_kernel(float *correlation, const float *referenceSum2, const float *secondarySat,
+    const float *secondarySat2, const int corNX, const int corNY, const int referenceNX, const int referenceNY,
+    const int secondaryNX, const int secondaryNY)
+{
+    //get the image id from block z index
+    int imageid = blockIdx.z;
+
+    // get the thread id as pixel in correlation surface
+    int tx = threadIdx.x + blockDim.x*blockIdx.x;
+    int ty = threadIdx.y + blockDim.y*blockIdx.y;
+    // check the range
+    if (tx < corNX && ty < corNY) {
+        // get the reference std
+        float refSum2 = referenceSum2[imageid];
+
+        // compute the sum and sum square of the search image from the sum area table
+        // sum
+        const float *sat = secondarySat + imageid*secondaryNX*secondaryNY;
+        // get sat values for four corners
+        float topleft = (tx > 0 && ty > 0) ? sat[(tx-1)*secondaryNY+(ty-1)] : 0.0;
+        float topright = (tx > 0 ) ? sat[(tx-1)*secondaryNY+(ty+referenceNY-1)] : 0.0;
+        float bottomleft = (ty > 0) ? sat[(tx+referenceNX-1)*secondaryNY+(ty-1)] : 0.0;
+        float bottomright = sat[(tx+referenceNX-1)*secondaryNY+(ty+referenceNY-1)];
+        // get the sum
+        float secondarySum = bottomright + topleft - topright - bottomleft;
+        // sum of value^2
+        const float *sat2 = secondarySat2 + imageid*secondaryNX*secondaryNY;
+        // get sat2 values for four corners
+        topleft = (tx > 0 && ty > 0) ? sat2[(tx-1)*secondaryNY+(ty-1)] : 0.0;
+        topright = (tx > 0 ) ? sat2[(tx-1)*secondaryNY+(ty+referenceNY-1)] : 0.0;
+        bottomleft = (ty > 0) ? sat2[(tx+referenceNX-1)*secondaryNY+(ty-1)] : 0.0;
+        bottomright = sat2[(tx+referenceNX-1)*secondaryNY+(ty+referenceNY-1)];
+        float secondarySum2 = bottomright + topleft - topright - bottomleft;
+
+        // compute the normalization
+        float norm2 = (secondarySum2-secondarySum*secondarySum/(referenceNX*referenceNY))*refSum2;
+        // normalize the correlation surface
+        correlation[(imageid*corNX+tx)*corNY+ty] *= rsqrtf(norm2 + FLT_EPSILON);
+    }
+}
+
+
+void cuCorrNormalizeSAT(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary,
+    cuArrays<float> * referenceSum2, cuArrays<float> *secondarySat, cuArrays<float> *secondarySat2, cudaStream_t stream)
+{
+    // compute the std of reference image
+    // note that the mean is already subtracted
+    int nthreads = 256;
+    int sMemSize = nthreads*sizeof(float);
+    int nblocks = reference->count;
+    sum_square_kernel<<<nblocks, nthreads, sMemSize, stream>>>(referenceSum2->devData, reference->devData,
+        reference->width * reference->height, reference->count);
+    getLastCudaError("reference image sum_square kernel error");
+
+    // compute the sum area table of the search images
+    sat2d_kernel<<<nblocks, nthreads, 0, stream>>>(secondarySat->devData, secondarySat2->devData, secondary->devData,
+        secondary->height, secondary->width, secondary->count);
+    getLastCudaError("search image sat kernel error");
+
+    nthreads = NTHREADS2D;
+    dim3 blockSize(nthreads, nthreads, 1);
+    dim3 gridSize(IDIVUP(correlation->height,nthreads), IDIVUP(correlation->width,nthreads), correlation->count);
+    cuCorrNormalizeSAT_kernel<<<gridSize, blockSize, 0, stream>>>(correlation->devData,
+        referenceSum2->devData, secondarySat->devData, secondarySat2->devData,
+        correlation->height, correlation->width,
+        reference->height, reference->width,
+        secondary->height, secondary->width);
+    getLastCudaError("cuCorrNormalizeSAT_kernel kernel error");
+}

contrib/PyCuAmpcor/src/cuCorrNormalizer.cu

@@ -0,0 +1,107 @@
+/*
+ * @file cuNormalizer.cu
+ * @brief processors to normalize the correlation surface
+ *
+ */
+
+#include "cuCorrNormalizer.h"
+#include "cuAmpcorUtil.h"
+
+cuNormalizer::cuNormalizer(int secondaryNX, int secondaryNY, int count)
+{
+    // depending on NY, choose different processor
+    if(secondaryNY <= 64) {
+        processor = new cuNormalize64();
+    }
+    else if (secondaryNY <= 128) {
+        processor = new cuNormalize128();
+    }
+    else if (secondaryNY <= 256) {
+        processor = new cuNormalize256();
+    }
+    else if (secondaryNY <= 512) {
+        processor = new cuNormalize512();
+    }
+    else if (secondaryNY <= 1024) {
+        processor = new cuNormalize1024();
+    }
+    else {
+        processor = new cuNormalizeSAT(secondaryNX, secondaryNY, count);
+    }
+}
+
+cuNormalizer::~cuNormalizer()
+{
+    delete processor;
+}
+
+void cuNormalizer::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    processor->execute(correlation, reference, secondary, stream);
+}
+
+/**
+ *
+ *
+ **/
+
+cuNormalizeSAT::cuNormalizeSAT(int secondaryNX, int secondaryNY, int count)
+{
+    // allocate the work array
+    // reference sum square
+    referenceSum2 = new cuArrays<float>(1, 1, count);
+    referenceSum2->allocate();
+
+    // secondary sum and sum square
+    secondarySAT = new cuArrays<float>(secondaryNX, secondaryNY, count);
+    secondarySAT->allocate();
+    secondarySAT2 = new cuArrays<float>(secondaryNX, secondaryNY, count);
+    secondarySAT2->allocate();
+};
+
+cuNormalizeSAT::~cuNormalizeSAT()
+{
+    delete referenceSum2;
+    delete secondarySAT;
+    delete secondarySAT2;
+}
+
+void cuNormalizeSAT::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    cuCorrNormalizeSAT(correlation, reference, secondary,
+        referenceSum2, secondarySAT, secondarySAT2, stream);
+}
+
+void cuNormalize64::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    cuCorrNormalize64(correlation, reference, secondary, stream);
+}
+
+void cuNormalize128::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    cuCorrNormalize128(correlation, reference, secondary, stream);
+}
+
+void cuNormalize256::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    cuCorrNormalize256(correlation, reference, secondary, stream);
+}
+
+void cuNormalize512::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    cuCorrNormalize512(correlation, reference, secondary, stream);
+}
+
+void cuNormalize1024::execute(cuArrays<float> *correlation,
+    cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream)
+{
+    cuCorrNormalize1024(correlation, reference, secondary, stream);
+}
+
+// end of file

contrib/PyCuAmpcor/src/cuCorrNormalizer.h

@@ -0,0 +1,91 @@
+/*
+ * @file cuNormalizer.h
+ * @brief normalize the correlation surface
+ *
+ * cuNormalizeProcessor is an abstract class for processors to normalize the correlation surface.
+ * It has different implementations wrt different image sizes.
+ * cuNormalize64, 128, ... 1024 use a shared memory accelerated algorithm, which are limited by the number of cuda threads in a block.
+ * cuNormalizeSAT uses the sum area table based algorithm, which applies to any size (used for >1024).
+ * cuNormalizer is a wrapper class which determines which processor to use.
+ */
+
+#ifndef __CUNORMALIZER_H
+#define __CUNORMALIZER_H
+
+#include "cuArrays.h"
+#include "cudaUtil.h"
+
+/**
+ * Abstract class interface for correlation surface normalization processor
+ * with different implementations
+ */
+class cuNormalizeProcessor {
+public:
+    // default constructor and destructor
+    cuNormalizeProcessor() {}
+    ~cuNormalizeProcessor() {}
+    // execute interface
+    virtual void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *secondary, cudaStream_t stream) = 0;
+};
+
+class cuNormalizer {
+private:
+    cuNormalizeProcessor *processor;
+public:
+     // disable the default constructor
+     cuNormalizer() = delete;
+     // constructor with the secondary dimension
+     cuNormalizer(int secondaryNX, int secondaryNY, int count);
+     // destructor
+     ~cuNormalizer();
+     // execute correlation surface normalization
+     void execute(cuArrays<float> *correlation, cuArrays<float> *reference, cuArrays<float> *secondary,
+        cudaStream_t stream);
+};
+
+
+class cuNormalize64 : public cuNormalizeProcessor
+{
+public:
+    void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *search, cudaStream_t stream) override;
+};
+
+class cuNormalize128 : public cuNormalizeProcessor
+{
+public:
+    void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *search, cudaStream_t stream) override;
+};
+
+class cuNormalize256 : public cuNormalizeProcessor
+{
+public:
+    void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *search, cudaStream_t stream) override;
+};
+
+class cuNormalize512 : public cuNormalizeProcessor
+{
+public:
+    void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *search, cudaStream_t stream) override;
+};
+
+class cuNormalize1024 : public cuNormalizeProcessor
+{
+public:
+    void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *search, cudaStream_t stream) override;
+};
+
+class cuNormalizeSAT : public cuNormalizeProcessor
+{
+private:
+    cuArrays<float> *referenceSum2;
+    cuArrays<float> *secondarySAT;
+    cuArrays<float> *secondarySAT2;
+
+public:
+    cuNormalizeSAT(int secondaryNX, int secondaryNY, int count);
+    ~cuNormalizeSAT();
+    void execute(cuArrays<float> * correlation, cuArrays<float> *reference, cuArrays<float> *search, cudaStream_t stream) override;
+};
+
+#endif
+// end of file