lib/knn/src/knn_cuda_kernel.cu

/** Modifed version of knn-CUDA from https://github.com/vincentfpgarcia/kNN-CUDA

 * The modifications are

 *      removed texture memory usage

 *      removed split query KNN computation

 *      added feature extraction with bilinear interpolation

 *

 * Last modified by Christopher B. Choy <chrischoy@ai.stanford.edu> 12/23/2016

 */

// Includes
#include <cstdio>
#include "cuda.h"

#include "knn_cuda_kernel.h"

// Constants used by the program
#define BLOCK_DIM                      16
#define DEBUG                          0

/**

  * Computes the distance between two matrix A (reference points) and

  * B (query points) containing respectively wA and wB points.

  *

  * @param A     pointer on the matrix A

  * @param wA    width of the matrix A = number of points in A

  * @param B     pointer on the matrix B

  * @param wB    width of the matrix B = number of points in B

  * @param dim   dimension of points = height of matrices A and B

  * @param AB    pointer on the matrix containing the wA*wB distances computed

  */
__global__ void cuComputeDistanceGlobal( float* A, int wA,

    float* B, int wB, int dim, float* AB){

  // Declaration of the shared memory arrays As and Bs used to store the sub-matrix of A and B
  __shared__ float shared_A[BLOCK_DIM][BLOCK_DIM];
  __shared__ float shared_B[BLOCK_DIM][BLOCK_DIM];

  // Sub-matrix of A (begin, step, end) and Sub-matrix of B (begin, step)
  __shared__ int begin_A;
  __shared__ int begin_B;
  __shared__ int step_A;
  __shared__ int step_B;
  __shared__ int end_A;

  // Thread index
  int tx = threadIdx.x;
  int ty = threadIdx.y;

  // Other variables
  float tmp;
  float ssd = 0;

  // Loop parameters
  begin_A = BLOCK_DIM * blockIdx.y;
  begin_B = BLOCK_DIM * blockIdx.x;
  step_A  = BLOCK_DIM * wA;
  step_B  = BLOCK_DIM * wB;
  end_A   = begin_A + (dim-1) * wA;

    // Conditions
  int cond0 = (begin_A + tx < wA); // used to write in shared memory
  int cond1 = (begin_B + tx < wB); // used to write in shared memory & to computations and to write in output matrix
  int cond2 = (begin_A + ty < wA); // used to computations and to write in output matrix

  // Loop over all the sub-matrices of A and B required to compute the block sub-matrix
  for (int a = begin_A, b = begin_B; a <= end_A; a += step_A, b += step_B) {
    // Load the matrices from device memory to shared memory; each thread loads one element of each matrix
    if (a/wA + ty < dim){
      shared_A[ty][tx] = (cond0)? A[a + wA * ty + tx] : 0;
      shared_B[ty][tx] = (cond1)? B[b + wB * ty + tx] : 0;
    }
    else{
      shared_A[ty][tx] = 0;
      shared_B[ty][tx] = 0;
    }

    // Synchronize to make sure the matrices are loaded
    __syncthreads();

    // Compute the difference between the two matrixes; each thread computes one element of the block sub-matrix
    if (cond2 && cond1){
      for (int k = 0; k < BLOCK_DIM; ++k){
        tmp = shared_A[k][ty] - shared_B[k][tx];
        ssd += tmp*tmp;
      }
    }

    // Synchronize to make sure that the preceding computation is done before loading two new sub-matrices of A and B in the next iteration
    __syncthreads();
  }

  // Write the block sub-matrix to device memory; each thread writes one element
  if (cond2 && cond1)
    AB[(begin_A + ty) * wB + begin_B + tx] = ssd;
}


/**

  * Gathers k-th smallest distances for each column of the distance matrix in the top.

  *

  * @param dist        distance matrix

  * @param ind         index matrix

  * @param width       width of the distance matrix and of the index matrix

  * @param height      height of the distance matrix and of the index matrix

  * @param k           number of neighbors to consider

  */
__global__ void cuInsertionSort(float *dist, long *ind, int width, int height, int k){

  // Variables
  int l, i, j;
  float *p_dist;
  long  *p_ind;
  float curr_dist, max_dist;
  long  curr_row,  max_row;
  unsigned int xIndex = blockIdx.x * blockDim.x + threadIdx.x;

  if (xIndex<width){
    // Pointer shift, initialization, and max value
    p_dist   = dist + xIndex;
    p_ind    = ind  + xIndex;
    max_dist = p_dist[0];
    p_ind[0] = 1;

    // Part 1 : sort kth firt elementZ
    for (l=1; l<k; l++){
      curr_row  = l * width;
      curr_dist = p_dist[curr_row];
      if (curr_dist<max_dist){
        i=l-1;
        for (int a=0; a<l-1; a++){
          if (p_dist[a*width]>curr_dist){
            i=a;
            break;
          }
        }
        for (j=l; j>i; j--){
          p_dist[j*width] = p_dist[(j-1)*width];
          p_ind[j*width]   = p_ind[(j-1)*width];
        }
        p_dist[i*width] = curr_dist;
        p_ind[i*width]   = l+1;
      } else {
        p_ind[l*width] = l+1;
      }
      max_dist = p_dist[curr_row];
    }

    // Part 2 : insert element in the k-th first lines
    max_row = (k-1)*width;
    for (l=k; l<height; l++){
      curr_dist = p_dist[l*width];
      if (curr_dist<max_dist){
        i=k-1;
        for (int a=0; a<k-1; a++){
          if (p_dist[a*width]>curr_dist){
            i=a;
            break;
          }
        }
        for (j=k-1; j>i; j--){
          p_dist[j*width] = p_dist[(j-1)*width];
          p_ind[j*width]   = p_ind[(j-1)*width];
        }
        p_dist[i*width] = curr_dist;
        p_ind[i*width]   = l+1;
        max_dist             = p_dist[max_row];
      }
    }
  }
}


/**

  * Computes the square root of the first line (width-th first element)

  * of the distance matrix.

  *

  * @param dist    distance matrix

  * @param width   width of the distance matrix

  * @param k       number of neighbors to consider

  */
__global__ void cuParallelSqrt(float *dist, int width, int k){
    unsigned int xIndex = blockIdx.x * blockDim.x + threadIdx.x;
    unsigned int yIndex = blockIdx.y * blockDim.y + threadIdx.y;
  if (xIndex<width && yIndex<k)
    dist[yIndex*width + xIndex] = sqrt(dist[yIndex*width + xIndex]);
}


//-----------------------------------------------------------------------------------------------//
//                                   K-th NEAREST NEIGHBORS                                      //
//-----------------------------------------------------------------------------------------------//

/**

  * K nearest neighbor algorithm

  * - Initialize CUDA

  * - Allocate device memory

  * - Copy point sets (reference and query points) from host to device memory

  * - Compute the distances + indexes to the k nearest neighbors for each query point

  * - Copy distances from device to host memory

  *

  * @param ref_host      reference points ; pointer to linear matrix

  * @param ref_nb        number of reference points ; width of the matrix

  * @param query_host    query points ; pointer to linear matrix

  * @param query_nb      number of query points ; width of the matrix

  * @param dim           dimension of points ; height of the matrices

  * @param k             number of neighbor to consider

  * @param dist_host     distances to k nearest neighbors ; pointer to linear matrix

  * @param dist_host     indexes of the k nearest neighbors ; pointer to linear matrix

  *

  */
void knn_device(float* ref_dev, int ref_nb, float* query_dev, int query_nb,

    int dim, int k, float* dist_dev, long* ind_dev, cudaStream_t stream){

  // Grids and threads
  dim3 g_16x16(query_nb/16, ref_nb/16, 1);
  dim3 t_16x16(16, 16, 1);
  if (query_nb%16 != 0) g_16x16.x += 1;
  if (ref_nb  %16 != 0) g_16x16.y += 1;
  //
  dim3 g_256x1(query_nb/256, 1, 1);
  dim3 t_256x1(256, 1, 1);
  if (query_nb%256 != 0) g_256x1.x += 1;

  dim3 g_k_16x16(query_nb/16, k/16, 1);
  dim3 t_k_16x16(16, 16, 1);
  if (query_nb%16 != 0) g_k_16x16.x += 1;
  if (k  %16 != 0) g_k_16x16.y += 1;

  // Kernel 1: Compute all the distances
  cuComputeDistanceGlobal<<<g_16x16, t_16x16, 0, stream>>>(ref_dev, ref_nb,
      query_dev, query_nb, dim, dist_dev);

  // Kernel 2: Sort each column
  cuInsertionSort<<<g_256x1, t_256x1, 0, stream>>>(dist_dev, ind_dev,
      query_nb, ref_nb, k);

  // Kernel 3: Compute square root of k first elements
  // cuParallelSqrt<<<g_k_16x16,t_k_16x16, 0, stream>>>(dist_dev, query_nb, k);

#if DEBUG
  unsigned int  size_of_float = sizeof(float);
  unsigned long size_of_long  = sizeof(long);

  float* dist_host = new float[query_nb * k];
  long*  idx_host  = new long[query_nb * k];

  // Memory copy of output from device to host
  cudaMemcpy(&dist_host[0], dist_dev,
      query_nb * k *size_of_float, cudaMemcpyDeviceToHost);

  cudaMemcpy(&idx_host[0], ind_dev,
      query_nb * k * size_of_long, cudaMemcpyDeviceToHost);

  int i = 0;
  for(i = 0; i < 100; i++){
    printf("IDX[%d]: %d\n", i, (int)idx_host[i]);
  }
#endif
}