3d gaussian splatting核心代码注释（CUDA部分）

rasterizer_impl.cu：

// 查找最高有效位(most significant bit），输入变量n表示tile编号最大值x、y的乘积
uint32_t getHigherMsb(uint32_t n)
{
    uint32_t msb = sizeof(n) * 4;               //4*4=16
    uint32_t step = msb;
    while (step > 1)
    {
       step /= 2;                              //缩小2倍
       if (n >> msb)                           //右移16位，相当于除以2的16次方
          msb += step;
       else
          msb -= step;
    }
    if (n >> msb)                               //如果n的最高位大于0，则msb+1
       msb++;
    return msb;
}

// Wrapper method to call auxiliary coarse frustum containment test.
// Mark all Gaussians that pass it.
__global__ void checkFrustum(int P,
    const float* orig_points,
    const float* viewmatrix,
    const float* projmatrix,
    bool* present)
{
    auto idx = cg::this_grid().thread_rank();
    if (idx >= P)
       return;

    float3 p_view;
    present[idx] = in_frustum(idx, orig_points, viewmatrix, projmatrix, false, p_view);
}

//计算2d高斯椭圆中心点points_xy在2d像素平面上占据的tile的tileID，并将tileID|depth组合成64位的key值，value值为高斯球的编号
__global__ void duplicateWithKeys(
    int P,
    const float2* points_xy,
    const float* depths,
    const uint32_t* offsets,                        //累计的tiles数量的数组
    uint64_t* gaussian_keys_unsorted,               //未排序的key（tileID|depth）
    uint32_t* gaussian_values_unsorted,             //未排序的valu（depth）
    int* radii,                                     //高斯球的半径
    dim3 grid)                                      //block编号的xy两个极大值
{
    auto idx = cg::this_grid().thread_rank();
    if (idx >= P)
       return;

    // Generate no key/value pair for invisible Gaussians
    if (radii[idx] > 0)
    {
       // Find this Gaussian's offset in buffer for writing keys/values.
       uint32_t off = (idx == 0) ? 0 : offsets[idx - 1];               //第idx个高斯球前面已经占据的tiles总数
       uint2 rect_min, rect_max;
        //计算像素点points_xy[idx]在半径为radii[idx]的圆所占据的网格编号的最小值和最大值
       getRect(points_xy[idx], radii[idx], rect_min, rect_max, grid);

       // For each tile that the bounding rect overlaps, emit a 
       // key/value pair. The key is |  tile ID  |      depth      |,
       // and the value is the ID of the Gaussian. Sorting the values 
       // with this key yields Gaussian IDs in a list, such that they
       // are first sorted by tile and then by depth. 
       for (int y = rect_min.y; y < rect_max.y; y++)
       {
          for (int x = rect_min.x; x < rect_max.x; x++)
          {
             uint64_t key = y * grid.x + x;                  //计算当前block所在的tileID
             key <<= 32;                                     //左移32位，把后面的32位空出来
             key |= *((uint32_t*)&depths[idx]);              //后32位存高斯的深度值
             //把上步得到的key，存到第off个（也即是当前高斯球前面的所有高斯所占据的tiles数量）gaussian_keys_unsorted的uint64_t数组中
             gaussian_keys_unsorted[off] = key;
                //values设置为idx
             gaussian_values_unsorted[off] = idx;
             off++;
          }
       }
    }
}

// Check keys to see if it is at the start/end of one tile's range in 
// the full sorted list. If yes, write start/end of this tile. 
// Run once per instanced (duplicated) Gaussian ID.
//一个thread处理一个point_list_keys中的tile，总共L个tile；point_list_keys：已经排序过的key列表，tileID从小到大排列（优先），depth从小到大排列；
//ranges：每一项存储对应tile的的id范围[0，L-1]，这个id表示的是在point_list_keys中的索引，通过binningState.point_list找到对应高斯球编号
//例如：point_list_keys值如下：tileID：0 0 0 0 1 1 1 2 2 3 4 4...
//                           depth: 1 2 3 4 1 4 5 3 4 2 3 5... ，那么point_list_keys[0]中的tileID即为0，ranges[0].x = 0
__global__ void identifyTileRanges(int L, uint64_t* point_list_keys, uint2* ranges)
{
    auto idx = cg::this_grid().thread_rank();
    if (idx >= L)
       return;

    // Read tile ID from key. Update start/end of tile range if at limit.
    uint64_t key = point_list_keys[idx];
    uint32_t currtile = key >> 32;          //key右移32位，得到tileID
    if (idx == 0)                           //第0个point_list_keys，也即tileID最小且depth最小的point_list_keys项
       ranges[currtile].x = 0;             //tileID最小的ranges项的x值赋值为0
    else                                    //如果idx=4，那么currtile=1，prevtile=0，就设置ranges[0].y=4,ranges[1].x=4,
    {
       uint32_t prevtile = point_list_keys[idx - 1] >> 32;         //前一个tileID
       if (currtile != prevtile)                    //与前一个tileID不相等的话，设置前一个ranges.y和自己的ranges.x
       {
          ranges[prevtile].y = idx;
          ranges[currtile].x = idx;
       }
    }
    if (idx == L - 1)                                //最后一个point_list_keys项的话，设置ranges[currtile].y为L
       ranges[currtile].y = L;
}

// Mark Gaussians as visible/invisible, based on view frustum testing
void CudaRasterizer::Rasterizer::markVisible(
    int P,
    float* means3D,
    float* viewmatrix,
    float* projmatrix,
    bool* present)
{
    checkFrustum << <(P + 255) / 256, 256 >> > (
       P,
       means3D,
       viewmatrix, projmatrix,
       present);
}
//给GeometryState geom分配内存，P:高斯球数量
CudaRasterizer::GeometryState CudaRasterizer::GeometryState::fromChunk(char*& chunk, size_t P)
{
    GeometryState geom;
    obtain(chunk, geom.depths, P, 128);
    obtain(chunk, geom.clamped, P * 3, 128);
    obtain(chunk, geom.internal_radii, P, 128);
    obtain(chunk, geom.means2D, P, 128);
    obtain(chunk, geom.cov3D, P * 6, 128);
    obtain(chunk, geom.conic_opacity, P, 128);
    obtain(chunk, geom.rgb, P * 3, 128);
    obtain(chunk, geom.tiles_touched, P, 128);
    //计算数组的前缀和,InclusiveSum表示包括自身，ExclusiveSum表示不包括自身
    //参数：第三个in，第四个out，最后一个num。当第一个参数为NULL时, 所需的分配大小被写入第二个参数，并且不执行任何工作
    //https://github.com/dmlc/cub/blob/master/cub/device/device_scan.cuh
    cub::DeviceScan::InclusiveSum(nullptr, geom.scan_size, geom.tiles_touched, geom.tiles_touched, P);      //计算所需内存大小
    obtain(chunk, geom.scanning_space, geom.scan_size, 128);
    obtain(chunk, geom.point_offsets, P, 128);
    return geom;
}
//给ImageState img分配内存，N:图片中tile的总数
CudaRasterizer::ImageState CudaRasterizer::ImageState::fromChunk(char*& chunk, size_t N)
{
    ImageState img;
    obtain(chunk, img.accum_alpha, N, 128);
    obtain(chunk, img.n_contrib, N, 128);
    obtain(chunk, img.ranges, N, 128);
    return img;
}
//给BinningState binning分配内存，表示装箱状态，P:高斯球数量
CudaRasterizer::BinningState CudaRasterizer::BinningState::fromChunk(char*& chunk, size_t P)
{
    BinningState binning;
    obtain(chunk, binning.point_list, P, 128);
    obtain(chunk, binning.point_list_unsorted, P, 128);
    obtain(chunk, binning.point_list_keys, P, 128);
    obtain(chunk, binning.point_list_keys_unsorted, P, 128);
    cub::DeviceRadixSort::SortPairs(            //基数排序，
       nullptr, binning.sorting_size,
       binning.point_list_keys_unsorted, binning.point_list_keys,
       binning.point_list_unsorted, binning.point_list, P);
    obtain(chunk, binning.list_sorting_space, binning.sorting_size, 128);
    return binning;
}

// Forward rendering procedure for differentiable rasterization
// of Gaussians.
int CudaRasterizer::Rasterizer::forward(
    std::function<char* (size_t)> geometryBuffer,
    std::function<char* (size_t)> binningBuffer,
    std::function<char* (size_t)> imageBuffer,
    const int P, int D, int M,
    const float* background,
    const int width, int height,
    const float* means3D,
    const float* shs,
    const float* colors_precomp,
    const float* opacities,
    const float* scales,
    const float scale_modifier,
    const float* rotations,
    const float* cov3D_precomp,
    const float* viewmatrix,
    const float* projmatrix,
    const float* cam_pos,
    const float tan_fovx, float tan_fovy,
    const bool prefiltered,
    float* out_color,
    int* radii,
    bool debug)
{   //计算焦距fx，fy
    const float focal_y = height / (2.0f * tan_fovy);
    const float focal_x = width / (2.0f * tan_fovx);
    //模版函数required调用fromChunk函数来获取内存，返回结束地址，也即所需存储大小
    size_t chunk_size = required<GeometryState>(P);
    //调用rasterize_points.cu文件中的resizeFunctional函数里面嵌套的匿名函数lambda来调整显存块大小，并返回首地址
    char* chunkptr = geometryBuffer(chunk_size);
    // 用显存块首地址作为参数，调用本文件上的fromChunk函数来申请显存
    GeometryState geomState = GeometryState::fromChunk(chunkptr, P);

    if (radii == nullptr)
    {
       radii = geomState.internal_radii;
    }
    //网格中block块的数量，确保覆盖全图
    dim3 tile_grid((width + BLOCK_X - 1) / BLOCK_X, (height + BLOCK_Y - 1) / BLOCK_Y, 1);
    //块中线程数量，16*16
    dim3 block(BLOCK_X, BLOCK_Y, 1);

    // Dynamically resize image-based auxiliary buffers during training
    //模版函数required调用fromChunk函数来获取内存，返回结束地址，也即所需存储大小
    size_t img_chunk_size = required<ImageState>(width * height);
    char* img_chunkptr = imageBuffer(img_chunk_size);
    ImageState imgState = ImageState::fromChunk(img_chunkptr, width * height);

    if (NUM_CHANNELS != 3 && colors_precomp == nullptr)
    {
       throw std::runtime_error("For non-RGB, provide precomputed Gaussian colors!");
    }

    // Run preprocessing per-Gaussian (transformation, bounding, conversion of SHs to RGB)
    CHECK_CUDA(FORWARD::preprocess(
       P, D, M,
       means3D,
       (glm::vec3*)scales,
       scale_modifier,
       (glm::vec4*)rotations,
       opacities,
       shs,
       geomState.clamped,
       cov3D_precomp,
       colors_precomp,
       viewmatrix, projmatrix,
       (glm::vec3*)cam_pos,
       width, height,
       focal_x, focal_y,
       tan_fovx, tan_fovy,
       radii,
       geomState.means2D,
       geomState.depths,
       geomState.cov3D,
       geomState.rgb,
       geomState.conic_opacity,
       tile_grid,
       geomState.tiles_touched,
       prefiltered
    ), debug)

    // Compute prefix sum over full list of touched tile counts by Gaussians
    // E.g., [2, 3, 0, 2, 1] -> [2, 5, 5, 7, 8]
    //同步运行InclusiveSum，获取tiles_touched数组的前缀和，存到point_offsets中
    CHECK_CUDA(cub::DeviceScan::InclusiveSum(geomState.scanning_space, geomState.scan_size, geomState.tiles_touched, geomState.point_offsets, P), debug)

    // Retrieve total number of Gaussian instances to launch and resize aux buffers
    int num_rendered;
    // 把指针（point_offsets + P - 1），也就是point_offsets数组的最后一个元素的值，赋给num_rendered，也就是总共覆盖的tiles数量
    CHECK_CUDA(cudaMemcpy(&num_rendered, geomState.point_offsets + P - 1, sizeof(int), cudaMemcpyDeviceToHost), debug);
    //计算所需的BinningState的数量，即每个高斯球覆盖的tile都有对应的装箱状态BinningState数据
    size_t binning_chunk_size = required<BinningState>(num_rendered);
    //调整显存块大小，并返回首地址
    char* binning_chunkptr = binningBuffer(binning_chunk_size);
    //用显存块首地址作为参数，调用fromChunk函数来申请显存
    BinningState binningState = BinningState::fromChunk(binning_chunkptr, num_rendered);

    // For each instance to be rendered, produce adequate [ tile | depth ] key 
    // and corresponding dublicated Gaussian indices to be sorted
    duplicateWithKeys << <(P + 255) / 256, 256 >> > (
       P,
       geomState.means2D,
       geomState.depths,
       geomState.point_offsets,                        // 这里用到上步InclusiveSum得到的累计高斯球touch的tiles数
       binningState.point_list_keys_unsorted,          // 存储key（tileID|depth）
       binningState.point_list_unsorted,               // 存储对应的高斯球idx
       radii,                                          // 像素平面上高斯圆的半径，最长轴的3倍
       tile_grid)                                      // 全图中tile的数量
    CHECK_CUDA(, debug)                                 // 同步，并检查错误
    //查找tile_grid.x * tile_grid.y的最高位
    int bit = getHigherMsb(tile_grid.x * tile_grid.y);

    // Sort complete list of (duplicated) Gaussian indices by keys//依据key进行基数排序，
    //https://nvlabs.github.io/cub/structcub_1_1_device_radix_sort.html
    CHECK_CUDA(cub::DeviceRadixSort::SortPairs(
       binningState.list_sorting_space,                                      //辅助空间
       binningState.sorting_size,                                            //辅助空间大小
       binningState.point_list_keys_unsorted, binningState.point_list_keys,  //d_keys_in,d_keys_out
       binningState.point_list_unsorted, binningState.point_list,            //d_values_in, d_values_out
       num_rendered, 0, 32 + bit), debug)                                    //总共覆盖的tiles数量，开始bit位，结束比特位
    //imgState.ranges的值设置成0，长度为tile_grid.x * tile_grid.y * sizeof(uint2)
    CHECK_CUDA(cudaMemset(imgState.ranges, 0, tile_grid.x * tile_grid.y * sizeof(uint2)), debug);

    // Identify start and end of per-tile workloads in sorted list
    if (num_rendered > 0)
       identifyTileRanges << <(num_rendered + 255) / 256, 256 >> > (
          num_rendered,
          binningState.point_list_keys,
          imgState.ranges);
    CHECK_CUDA(, debug)

    // Let each tile blend its range of Gaussians independently in parallel
    const float* feature_ptr = colors_precomp != nullptr ? colors_precomp : geomState.rgb;
    CHECK_CUDA(FORWARD::render(
       tile_grid, block,
       imgState.ranges,
       binningState.point_list,
       width, height,
       geomState.means2D,
       feature_ptr,
       geomState.conic_opacity,
       imgState.accum_alpha,
       imgState.n_contrib,
       background,
       out_color), debug)

    return num_rendered;
}

forward.cu：

// 2D协方差矩阵计算的前向版本,mean:高斯点在世界坐标系的坐标，focla_x,focal_y:相机焦距，tan_fovx,tan_fovy:相机视场角的tan值，cov3D：3d椭球的协方差矩阵，viewmatrix：视角变换矩阵
// 计算结果存在cov中，并返回
__device__ float3 computeCov2D(const float3& mean, float focal_x, float focal_y, float tan_fovx, float tan_fovy, const float* cov3D, const float* viewmatrix)
{
    // The following models the steps outlined by equations 29
    // and 31 in "EWA Splatting" (Zwicker et al., 2002). 
    // Additionally considers aspect / scaling of viewport.
    // Transposes used to account for row-/column-major conventions.
    float3 t = transformPoint4x3(mean, viewmatrix);

    const float limx = 1.3f * tan_fovx;
    const float limy = 1.3f * tan_fovy;
    const float txtz = t.x / t.z;
    const float tytz = t.y / t.z;
    t.x = min(limx, max(-limx, txtz)) * t.z;
    t.y = min(limy, max(-limy, tytz)) * t.z;

    glm::mat3 J = glm::mat3(
       focal_x / t.z, 0.0f, -(focal_x * t.x) / (t.z * t.z),
       0.0f, focal_y / t.z, -(focal_y * t.y) / (t.z * t.z),
       0, 0, 0);

    glm::mat3 W = glm::mat3(
       viewmatrix[0], viewmatrix[4], viewmatrix[8],
       viewmatrix[1], viewmatrix[5], viewmatrix[9],
       viewmatrix[2], viewmatrix[6], viewmatrix[10]);

    glm::mat3 T = W * J;
    //Vrk：3d协方差矩阵
    glm::mat3 Vrk = glm::mat3(
       cov3D[0], cov3D[1], cov3D[2],
       cov3D[1], cov3D[3], cov3D[4],
       cov3D[2], cov3D[4], cov3D[5]);
    //cov: (W^T*J)^T * Vrk^T  * (W^T*J)  == (J*W)* Vrk^T * (W^T*J^T)
    glm::mat3 cov = glm::transpose(T) * glm::transpose(Vrk) * T;

    // Apply low-pass filter: every Gaussian should be at least
    // one pixel wide/high. Discard 3rd row and column.//确保协方差矩阵正定，数值稳定性考虑
    cov[0][0] += 0.3f;
    cov[1][1] += 0.3f;
    return { float(cov[0][0]), float(cov[0][1]), float(cov[1][1]) };
}

// 在世界坐标系中，将高斯的旋转和缩放属性转换为3d协方差矩阵，同时注意四元数归一化。
// scale：缩放，mod：缩放的模长，rot：四元数旋转
// cov3D：返回的协方差矩阵,RS*(RS)T
__device__ void computeCov3D(const glm::vec3 scale, float mod, const glm::vec4 rot, float* cov3D)
{
    // Create scaling matrix
    glm::mat3 S = glm::mat3(1.0f);
    S[0][0] = mod * scale.x;
    S[1][1] = mod * scale.y;
    S[2][2] = mod * scale.z;

    // Normalize quaternion to get valid rotation//从四元数计算旋转矩阵
    glm::vec4 q = rot;// / glm::length(rot);
    float r = q.x;
    float x = q.y;
    float y = q.z;
    float z = q.w;

    // Compute rotation matrix from quaternion
    glm::mat3 R = glm::mat3(
       1.f - 2.f * (y * y + z * z), 2.f * (x * y - r * z), 2.f * (x * z + r * y),
       2.f * (x * y + r * z), 1.f - 2.f * (x * x + z * z), 2.f * (y * z - r * x),
       2.f * (x * z - r * y), 2.f * (y * z + r * x), 1.f - 2.f * (x * x + y * y)
    );

    glm::mat3 M = S * R;

    // Compute 3D world covariance matrix Sigma
    glm::mat3 Sigma = glm::transpose(M) * M;

    // Covariance is symmetric, only store upper right
    cov3D[0] = Sigma[0][0];
    cov3D[1] = Sigma[0][1];
    cov3D[2] = Sigma[0][2];
    cov3D[3] = Sigma[1][1];
    cov3D[4] = Sigma[1][2];
    cov3D[5] = Sigma[2][2];
}

// 计算每一个高斯球投影出来的圆半径及覆盖的范围，一个线程处理一个高斯球
template<int C>
__global__ void preprocessCUDA(int P, int D, int M,                         // P:高斯球的数量，D：，M:
    const float* orig_points,
    const glm::vec3* scales,
    const float scale_modifier,
    const glm::vec4* rotations,
    const float* opacities,
    const float* shs,
    bool* clamped,
    const float* cov3D_precomp,
    const float* colors_precomp,
    const float* viewmatrix,
    const float* projmatrix,
    const glm::vec3* cam_pos,
    const int W, int H,
    const float tan_fovx, float tan_fovy,
    const float focal_x, float focal_y,
    int* radii,
    float2* points_xy_image,
    float* depths,
    float* cov3Ds,
    float* rgb,
    float4* conic_opacity,
    const dim3 grid,                                        //block块的范围
    uint32_t* tiles_touched,                                //
    bool prefiltered)
{
    auto idx = cg::this_grid().thread_rank();               // 线程在组内的标号，区间为[0,num_threads)
    if (idx >= P)                                           // 如果编号大于高斯球的数量，则返回，也就是说一个线程对应一个高斯球处理
       return;

    // Initialize radius and touched tiles to 0. If this isn't changed,
    // this Gaussian will not be processed further.//半径和tile数
    radii[idx] = 0;
    tiles_touched[idx] = 0;

    // Perform near culling, quit if outside执行近剔除，如果超出范围则退出.idx:0-255，thread的id号；
    float3 p_view;
    if (!in_frustum(idx, orig_points, viewmatrix, projmatrix, prefiltered, p_view))
       return;

    // Transform point by projecting //p_orig：空间3d点，projmatrix:投影矩阵c2w
    float3 p_orig = { orig_points[3 * idx], orig_points[3 * idx + 1], orig_points[3 * idx + 2] };
    float4 p_hom = transformPoint4x4(p_orig, projmatrix);
    float p_w = 1.0f / (p_hom.w + 0.0000001f);
    //投影到相机ndc坐标系后的高斯球中心坐标
    float3 p_proj = { p_hom.x * p_w, p_hom.y * p_w, p_hom.z * p_w };

    // If 3D covariance matrix is precomputed, use it, otherwise compute from scaling and rotation parameters.
    const float* cov3D;
    if (cov3D_precomp != nullptr)
    {
       cov3D = cov3D_precomp + idx * 6;            //第idx个高斯球的3d协方差
    }
    else
    {   //用缩放和旋转计算三个轴长度（3d协方差矩阵）
       computeCov3D(scales[idx], scale_modifier, rotations[idx], cov3Ds + idx * 6);
       cov3D = cov3Ds + idx * 6;
    }

    // Compute 2D screen-space covariance matrix//计算椭球投影成椭圆的样子，用对称2D矩阵记录（abbc）
    float3 cov = computeCov2D(p_orig, focal_x, focal_y, tan_fovx, tan_fovy, cov3D, viewmatrix);

    // Invert covariance (EWA algorithm)//数值求2*2方阵[cov.x,cov.y,cov.y,cov.z]abbc的特征值
    float det = (cov.x * cov.z - cov.y * cov.y);                //2*2矩阵的模，ac - b^2
    if (det == 0.0f)
       return;
    float det_inv = 1.f / det;
    float3 conic = { cov.z * det_inv, -cov.y * det_inv, cov.x * det_inv };      //2d协方差矩阵的逆 det*(c,-b,a)

    // Compute extent in screen space (by finding eigenvalues of
    // 2D covariance matrix). Use extent to compute a bounding rectangle
    // of screen-space tiles that this Gaussian overlaps with. Quit if
    // rectangle covers 0 tiles. 
    float mid = 0.5f * (cov.x + cov.z);
    float lambda1 = mid + sqrt(max(0.1f, mid * mid - det));
    float lambda2 = mid - sqrt(max(0.1f, mid * mid - det));
    float my_radius = ceil(3.f * sqrt(max(lambda1, lambda2)));              //最长轴的3倍，覆盖99%的区域
    float2 point_image = { ndc2Pix(p_proj.x, W), ndc2Pix(p_proj.y, H) };    //高斯球中心的像素坐标
    uint2 rect_min, rect_max;
    //计算圆覆盖了哪些tile，返回rect_min, rect_max
    getRect(point_image, my_radius, rect_min, rect_max, grid);
    if ((rect_max.x - rect_min.x) * (rect_max.y - rect_min.y) == 0)
       return;

    // If colors have been precomputed, use them, otherwise convert
    // spherical harmonics coefficients to RGB color.//从球谐函数系数求投影点颜色
    if (colors_precomp == nullptr)
    {
       glm::vec3 result = computeColorFromSH(idx, D, M, (glm::vec3*)orig_points, *cam_pos, shs, clamped);
       rgb[idx * C + 0] = result.x;                //C为模版参数，表示通道数，这里是3
       rgb[idx * C + 1] = result.y;
       rgb[idx * C + 2] = result.z;
    }

    // Store some useful helper data for the next steps.
    depths[idx] = p_view.z;                             //第idx个高斯球的中心点的深度值
    radii[idx] = my_radius;                             //高斯椭圆的长轴半径，超过这个范围高斯分布的值很小
    points_xy_image[idx] = point_image;                 //第idx个高斯椭圆的像素坐标
    // Inverse 2D covariance and opacity neatly pack into one float4
    conic_opacity[idx] = { conic.x, conic.y, conic.z, opacities[idx] };             //2d协方差矩阵的逆和不透明度
    tiles_touched[idx] = (rect_max.y - rect_min.y) * (rect_max.x - rect_min.x);     //存储所覆盖的tile的数量
}

// Main rasterization method. Collaboratively works on one tile per
// block, each thread treats one pixel. Alternates between fetching 
// and rasterizing data.//渲染，一个block一个tile，一个thread一个像素
template <uint32_t CHANNELS>
__global__ void __launch_bounds__(BLOCK_X * BLOCK_Y)
renderCUDA(
    const uint2* __restrict__ ranges,
    const uint32_t* __restrict__ point_list,
    int W, int H,
    const float2* __restrict__ points_xy_image,
    const float* __restrict__ features,
    const float4* __restrict__ conic_opacity,
    float* __restrict__ final_T,
    uint32_t* __restrict__ n_contrib,
    const float* __restrict__ bg_color,
    float* __restrict__ out_color)
{
    // Identify current tile and associated min/max pixel range.
    auto block = cg::this_thread_block();                                           //创建线程块block
    uint32_t horizontal_blocks = (W + BLOCK_X - 1) / BLOCK_X;                       //水平块数
    //group_index()：当前block在grid中的三维索引，相当于blockIdx
    uint2 pix_min = { block.group_index().x * BLOCK_X, block.group_index().y * BLOCK_Y };   //最小像素坐标
    uint2 pix_max = { min(pix_min.x + BLOCK_X, W), min(pix_min.y + BLOCK_Y , H) };          //最大像素坐标
    //thread_index()：当前thread在block中的三维索引，相当于threadIdx
    uint2 pix = { pix_min.x + block.thread_index().x, pix_min.y + block.thread_index().y }; //当前线程正在处理的像素坐标
    uint32_t pix_id = W * pix.y + pix.x;                        //像素id，二维展平成一维后
    float2 pixf = { (float)pix.x, (float)pix.y };               //浮点型像素坐标

    // Check if this thread is associated with a valid pixel or outside.//在图像内的像素点
    bool inside = pix.x < W&& pix.y < H;
    // Done threads can help with fetching, but don't rasterize //渲染结束标志，初始值取inside的相反值
    bool done = !inside;

    // Load start/end range of IDs to process in bit sorted list.
    // 当前tile在point_list_keys中的范围，包括x下界和y上届
    uint2 range = ranges[block.group_index().y * horizontal_blocks + block.group_index().x];
    // rounds表示每个线程需要处理的高斯球的数量
    const int rounds = ((range.y - range.x + BLOCK_SIZE - 1) / BLOCK_SIZE);
    // toDo=range.y-range.x表示当前tile（block）对应的需要计算的高斯球的数量
    int toDo = range.y - range.x;

    // Allocate storage for batches of collectively fetched data.
    //共享显存，被同一个block的thread共享的存储
    __shared__ int collected_id[BLOCK_SIZE];                            // 记录各线程处理的高斯球的编号
    __shared__ float2 collected_xy[BLOCK_SIZE];                         // 记录各线程处理的高斯球中心在2d平面的投影坐标
    __shared__ float4 collected_conic_opacity[BLOCK_SIZE];              // 记录各线程处理的高斯球的2d协方差矩阵的逆和不透明度

    // Initialize helper variables
    float T = 1.0f;                 // 透射率
    uint32_t contributor = 0;       // 计算经过了多少高斯
    uint32_t last_contributor = 0;  // 存储最终经过的高斯球数量
    float C[CHANNELS] = { 0 };      // 最后渲染的颜色

    // Iterate over batches until all done or range is complete
    for (int i = 0; i < rounds; i++, toDo -= BLOCK_SIZE)
    {
       // 如果一个block里面全部thread完成，则退出循环
       int num_done = __syncthreads_count(done);
       if (num_done == BLOCK_SIZE)
          break;

       // 共同从全局显存读取每一个高斯数据到共享显存，已经结束的thread去取
       int progress = i * BLOCK_SIZE + block.thread_rank();                //thread_rank：当前线程在组内的标号，区间为[0, num_threads)
       if (range.x + progress < range.y)                                   //如果当前线程有效，即处理的高斯球不越界
       {
           //point_list表示与已排序的point_list_keys对应的高斯球编号，coll_id为当前线程处理的高斯球编号
          int coll_id = point_list[range.x + progress];
          collected_id[block.thread_rank()] = coll_id;                            //当前线程处理的高斯球id
          collected_xy[block.thread_rank()] = points_xy_image[coll_id];           //points_xy_image:高斯椭圆中心在像素平面的坐标
          collected_conic_opacity[block.thread_rank()] = conic_opacity[coll_id];  //2d协方差矩阵的逆和不透明度
       }
       block.sync();

       // 每个线程遍历当前batch一堆高斯球
       for (int j = 0; !done && j < min(BLOCK_SIZE, toDo); j++)
       {
          // Keep track of current position in range
          contributor++;

          // Resample using conic matrix (cf. "Surface 
          // Splatting" by Zwicker et al., 2001)//圆锥形矩阵
          float2 xy = collected_xy[j];                    //2d高斯椭圆中心像素坐标
          float2 d = { xy.x - pixf.x, xy.y - pixf.y };    //像素点与2d高斯中心点的距离
          float4 con_o = collected_conic_opacity[j];      //2d协方差矩阵的逆和不透明度
          float power = -0.5f * (con_o.x * d.x * d.x + con_o.z * d.y * d.y) - con_o.y * d.x * d.y;    // 计算高斯分布概率的指数部分
          if (power > 0.0f)
             continue;

          // Eq. (2) from 3D Gaussian splatting paper.// 通过与高斯不透明度相乘获得alpha值及其从平均值开始的指数衰减。避免数值不稳定性
          // Obtain alpha by multiplying with Gaussian opacity
          // and its exponential falloff from mean.
          // Avoid numerical instabilities (see paper appendix). 
          float alpha = min(0.99f, con_o.w * exp(power));         //通过power值和不透明度计算alpha值
          if (alpha < 1.0f / 255.0f)
             continue;
          float test_T = T * (1 - alpha);                         //由alpha计算透射率
          if (test_T < 0.0001f)
          {
             done = true;
             continue;
          }

          // Eq. (3) from 3D Gaussian splatting paper.//颜色alpha合成
          for (int ch = 0; ch < CHANNELS; ch++)
             C[ch] += features[collected_id[j] * CHANNELS + ch] * alpha * T;

          T = test_T;

          // Keep track of last range entry to update this
          // pixel.
          last_contributor = contributor;
       }
    }
    // 所有处理有效像素的thread都会将其最终渲染数据
    // 写入帧缓冲区和辅助缓冲区
    if (inside)
    {
       final_T[pix_id] = T;                                                // 输出最终pix_id像素点的T值
       n_contrib[pix_id] = last_contributor;                               // 输出贡献的高斯球数
       for (int ch = 0; ch < CHANNELS; ch++)
          out_color[ch * H * W + pix_id] = C[ch] + T * bg_color[ch];      //
    }
}