AutoSens 2020

Gepura will be at AutoSens 2020!

We will discuss some key programming principles for heterogeneous systems, in particular how to optimize across components (on the low-level image processing level and on the system level) to answer questions such as above. We present our own Quasar compiler and programming framework for this purpose. We will demonstrate a toolchain for Radar/LiDAR/RGB sensor fusion.

For more information: click here. See you there!


Quasar Technology Powers Nedinsco’s Depth View Pro Vision System

A result of our successful collaboration with the companies Invenira and Nedinsco: the Depth View Pro camera offers an extended depth-of-field to capture 3D objects. The processing speed of 25 fps for 5 MP images is made possible thanks to Quasar acceleration!

A small demonstration of the image quality is given below:

More information on this product can be found on the Depth View Pro product page.

Quasar showcase: Interactive ImageJ plugin for Restoration of 3D Electron Microscopy

The Flemish Institute for Biotechnology (VIB) has just released an interactive ImageJ plugin for restoration of 3D electron microscopy. The plugin was realized entirely using the Gepura/Quasar software! In fact, the Quasar runtime takes care of the GPU acceleration, giving tremendous speedups compared to multi-core CPU code! A scientific paper discussing the results of this research also appeared in Nature last Friday (Feb. 7, 2020):


An interactive ImageJ plugin for semi-automated image denoising in electron microscopy

Realtime lens distortion corrections on UltraHD 4k video streams using Quasar

Quasar was used at imec Ghent to perform realtime lens distortion corrections on UltraHD 4k video streams.

Because the quality of digital image sensors often outperforms the quality of optical lens systems, the sensors capture various distortions (such as chromatic aberration, noise, blur and various other unwanted effects). Now, software comes in for an effective quality compensation at affordable cost. Before, lens correction algorithms were only available for offline processing (e.g., in software like Photoshop), but now, with use of GPUs and the Quasar software, the algorithms could easily be developed and tested in real-time. On a PC platform with GPU, UltraHD 4k video could be processed at 30 fps.

Read more in the imec Magazine article from April 2019.

Real-time SDR to HDR video conversion using Quasar

The conversion from low-dynamic range video to high dynamic range content that can be displayed on, e.g., high dynamic range TVs, faces several obstacles: dealing with artifacts such as ‘ghost’ and ‘halo’ images, recognizing bright objects in dark environments, converting light and dark settings in a visually distinct way and carrying out all of these calculations in real-time on a GPU. Existing software solutions struggle with these problems and are unable to achieve the required quality in the end result.

By automatically handling the mapping from algorithm to GPU, Quasar allows application specialists to focus on the application at hand, focusing on the quality of the algorithms rather than hardware specific details. At the same time the algorithm can be tested on high resolution datasets and in realtime. This led to the development of a SDR->HDR conversion algorithm, from which the result can be inspected below.

Left – visual artifacts occurring during traditional conversion to HDR. Right – processing result of software developed using Quasar

Read more in the imec magazine.

See also our previous blog post from February, with a video example.

New Feature in Quasar: Cooperative Thread Groups

The latest release of Quasar now offers support for CUDA 9 cooperative groups. Below, we describe how cooperative groups can be used from Quasar. Overall, cooperative threading brings some interesting optimization possibilities for Quasar kernel functions.

1 Synchronization granularity

The keyword syncthreads now accepts a parameter that indicates which threads are being synchronized. This allows more fine grain control on the synchronization.

Keyword Description
syncthreads(warp) performs synchronization across the current (possibly diverged) warp (32 threads)
syncthreads(block) performs synchronization across the current block
syncthreads(grid) performs synchronization across the entire grid
syncthreads(multi_grid) performs synchronization across the entire multi-grid (multi-GPU)
syncthreads(host) synchronizes all host (CPU and GPU threads)


The first statement syncthreads(warp) allows divergent threads to synchronize at any time (it is also useful in the context of Volta’s independent scheduling). syncthreads(block) is equivalent to syncthreads in previous versions of Quasar. The grid synchronization primitive syncthreads(grid) is particularly interesting, it is a feature of CUDA 9 that was not available before. It allows to place barriers inside kernel function that synchronize all blocks. The following function:

function y = gaussian_filter_separable(x, fc, n)
    function [] = __kernel__ gaussian_filter_hor(x : cube, y : cube, fc : vec, n : int, pos : vec3)
        sum = 0.
        for i=0..numel(fc)-1
            sum = sum + x[pos + [0,i-n,0]] * fc[i]
        y[pos] = sum
    function [] = __kernel__ gaussian_filter_ver(x : cube, y : cube, fc : vec, n : int, pos : vec3)
        sum = 0.
        for i=0..numel(fc)-1
            sum = sum + x[pos + [i-n,0,0]] * fc[i]
        y[pos] = sum

    z = uninit(size(x))
    y = uninit(size(x))
    parallel_do (size(y), x, z, fc, n, gaussian_filter_hor)
    parallel_do (size(y), z, y, fc, n, gaussian_filter_ver)

Can now be simplified to:

function y = gaussian_filter_separable(x, fc, n)
    function [] = __kernel__ gaussian_filter_separable(x : cube, y : cube, z : cube, fc : vec, n : int, pos : vec3)
        sum = 0.
        for i=0..numel(fc)-1
            sum = sum + x[pos + [0,i-n,0]] * fc[i]
        z[pos] = sum
        sum = 0.
        for i=0..numel(fc)-1
            sum = sum + z[pos + [i-n,0,0]] * fc[i]
        y[pos] = sum
    z = uninit(size(x))
    y = uninit(size(x))
    parallel_do (size(y), x, y, z, fc, n, gaussian_filter_separable)

The advantage is not only in the improved readability of the code, but the number of kernel function calls can be reduced which further increases the performance. Note: this feature requires at least a Pascal GPU.

2 Interwarp communication

New special kernel function parameters (similar to blkpos, pos etc.) will be added to control the GPU threads.

Parameter Type Description
coalesced_threads thread_block a thread block of coalesced threads
this_thread_block thread_block describes the current thread block
this_grid thread_block describes the current grid
this_multi_grid thread_block describes the current multi-GPU grid


The new thread_block class will have the following methods.

Method Description
sync() Synchronizes all threads within the thread block
partition(size : int) Allows partitioning a thread block into smaller blocks
shfl(var, src_thread_idx : int) Direct copy from another thread
shfl_up(var, delta : int) Direct copy from another thread, with index specified relatively
shfl_down(var, delta : int) Direct copy from another thread, with index specified relatively
shfl_xor(var, mask : int) Direct copy from another thread, with index specified by a XOR relative to the current thread index
all(predicate) Returns true if the predicate for all threads within the thread block evaluates to non-zero
any(predicate) Returns true if the predicate for any thread within the thread block evaluates to non-zero
ballot(predicate) Evaluates the predicate for all threads within the thread block and returns a mask where every bit corresponds to one predicate from one thread
match_any(value) Returns a mask of all threads that have the same value
match_all(value) Returns a mask only if all threads that share the same value, otherwise returns 0.


In principle, the above functions allow threads to communicate with each other. The shuffle operations allow taking values from other active threads (active means not disabled due to thread divergence). all, any, ballot, match_any and match_all allow to determine whether the threads have reached a given state.

The warp shuffle operations require a Kepler GPU and allow the use of shared memory to be avoided (register access is faster than shared memory). This may bring again performance benefits for computationally intensive kernels such as convolutions and parallel reductions (sum, min, max, prod etc.).

Using this functionality will require the CUDA target to be specified explicitly (i.e., the functionality cannot be easily simulated by the CPU). This may be obtained by placing the following code attribute inside the kernel: {!kernel target="nvidia_cuda"}. For CPU execution a separate kernel needs to be written. Luckily, several of the warp shuffling optimizations can be integrated in the compiler optimization stages, so that only one single kernel needs to be written.

Real-time High Dynamic Range Upconversion of Video

The following video demonstrates a real-time standard dynamic range (SDR) to high dynamic range (HDR) upconversion algorithm that was developed entirely in Quasar. The purpose of this algorithm is to display movies stored in SDR format on a HDR television. A user interface, also developed in Quasar, gives the user a few slides to choose how the conversion is done (e.g., which specular highlights are being boosted and to what extent).

"Raw upscaling" indicates direct scaling of the SDR to the HDR range, without additional processing of the video content. "Proposed method" refers to the SDR to HDR conversion algorithm.

(note: this video is played at a higher speed for viewing purposes)

Quasar Autonomous Vehicles Demo

The following demo demonstrates the use of Quasar in autonomous driving applications. A Lidar is mounted on an electric bus, together with two RGB cameras. The incoming video signals are fused and processed in real-time using algorithms developed in Quasar.