stim/cuda/ivote/update_dir_global.cuh

#ifndef STIM_CUDA_UPDATE_DIR_GLOBALD_H
#define STIM_CUDA_UPDATE_DIR_GLOBAL_H
# include <iostream>
# include <cuda.h>
#include <stim/cuda/cudatools.h>
#include <stim/cuda/sharedmem.cuh>
#include <stim/visualization/aabb2.h>
#include <stim/visualization/colormap.h>
#include <math.h>
#include "cpyToshare.cuh" 
//#define RMAX_TEST	8
namespace stim{
	namespace cuda{
		template<typename T>
		__global__ void cuda_update_dir(T* gpuDir, T* gpuVote, T* gpuGrad, T* gpuTable, T phi, int rmax,  int x,  int y){
			extern __shared__ T S[];
			T* shared_atan = S;
			size_t n_table = (rmax * 2 + 1) * (rmax * 2 + 1);
			stim::cuda::threadedMemcpy((char*)shared_atan, (char*)gpuTable, sizeof(T) * n_table, threadIdx.x, blockDim.x);
			//T* shared_vote = &S[n_table];
			//size_t template_size_x = (blockDim.x + 2 * rmax);
			//size_t template_size_y = (blockDim.y + 2 * rmax);
			//stim::cuda::threadedMemcpy2D((char*)shared_vote, (char*)gpuVote, template_size_x, template_size_y, x,  threadIdx.y * blockDim.x + threadIdx.x, blockDim.x * blockDim.y);
			
			int xi = blockIdx.x * blockDim.x + threadIdx.x;				//calculate the 2D coordinates for this current thread.
			int yi = blockIdx.y * blockDim.y + threadIdx.y;
			if(xi >= x || yi >= y) return;								//if the index is outside of the image, terminate the kernel
			int i = yi * x + xi;										//convert 2D coordinates to 1D
			float theta = gpuGrad[2*i];									//calculate the voting direction based on the grtadient direction - global memory fetch
			
			stim::aabb2<int> bb(xi, yi);								//initialize a bounding box at the current point
			bb.insert(xi + ceil(rmax * cos(theta)),       ceil(yi + rmax * sin(theta)));
			bb.insert(xi + ceil(rmax * cos(theta - phi)), yi + ceil(rmax * sin(theta - phi)));		//insert one corner of the triangle into the bounding box
			bb.insert(xi + ceil(rmax * cos(theta + phi)), yi + ceil(rmax * sin(theta + phi)));		//insert the final corner into the bounding box
			int x_table = 2*rmax +1;
			int lut_i;
			T rmax_sq = rmax * rmax;
			T dx_sq, dy_sq;
			bb.trim_low(0, 0);															//make sure the bounding box doesn't go outside the image
			bb.trim_high(x-1, y-1);
			int by, bx;
			int dx, dy;													//coordinate relative to (xi, yi)
			T v;
			T max_v = 0;												//initialize the maximum vote value to zero
			T alpha;
			int max_dx = bb.low[0];
			int max_dy = bb.low[1];
			for(by = bb.low[1]; by <= bb.high[1]; by++){					//for each element in the bounding box
				dy = by - yi;											//calculate the y coordinate of the current point relative to yi
				dy_sq = dy * dy;
				for(bx = bb.low[0]; bx <= bb.high[0]; bx++){
					dx = bx - xi;
					dx_sq = dx * dx;
					lut_i = (rmax - dy) * x_table + rmax - dx;
					alpha = shared_atan[lut_i];
					if(dx_sq + dy_sq < rmax_sq && abs(alpha - theta) < phi){
						v = gpuVote[by * x + bx];				// find the vote value for the current counter
						if(v > max_v){
							max_v = v;
							max_dx = dx;
							max_dy = dy;
						}
					}
				}
			}			
			gpuDir[i] = atan2((T)max_dy, (T)max_dx);
		}
	
		// this kernel calculates the voting direction for the next iteration based on the angle between the location of this voter and the maximum vote value in its voting area.
		template<typename T>
		__global__ void leila_cuda_update_dir(T* gpuDir, T* gpuVote, T* gpuGrad, T* gpuTable, T phi, int rmax,  int x,  int y){
			
			// calculate the 2D coordinates for this current thread.
			int xi = blockIdx.x * blockDim.x + threadIdx.x;
			int yi = blockIdx.y * blockDim.y + threadIdx.y;
			if(xi >= x || yi >= y) return;													//if the index is outside of the image, terminate the kernel
			int i = yi * x + xi;												// convert 2D coordinates to 1D
			
			float theta = gpuGrad[2*i];											// calculate the voting direction based on the grtadient direction - global memory fetch			
			gpuDir[i] = 0;														//initialize the vote direction to zero			
			float max = 0;														// define a local variable to maximum value of the vote image in the voting area for this voter
			int id_x = 0;														// define two local variables for the x and y position of the maximum
			int id_y = 0;
			
			int x_table = 2*rmax +1;											// compute the size of window which will be checked for finding the voting area for this voter
			int rmax_sq = rmax * rmax;
			int tx_rmax = threadIdx.x + rmax;
			float atan_angle;
			float vote_c;
			int xidx, yidx, yr_sq, xr_sq;
			for(int yr = -rmax; yr <= rmax; yr++){
				yidx = yi + yr;													//compute the index into the image
				if (yidx >= 0 && yidx < y){									//if the current y-index is inside the image
					yr_sq = yr * yr;											//compute the square of yr, to save time later
					for(int xr = -rmax; xr <= rmax; xr++){
						xidx = xi + xr;
						if(xidx >= 0 && xidx < x){
							xr_sq = xr * xr;
							unsigned int ind_t = (rmax - yr) * x_table + rmax - xr;
							// calculate the angle between the voter and the current pixel in x and y directions
							atan_angle = gpuTable[ind_t];
							//atan_angle = atan2((T)yr, (T)xr);
											
							// check if the current pixel is located in the voting area of this voter.
							if (((xr_sq + yr_sq)< rmax_sq) && (abs(atan_angle - theta) <phi)){
								
								vote_c = gpuVote[yidx * x + xidx];				// find the vote value for the current counter
							// compare the vote value of this pixel with the max value to find the maxima and its index.
								if  (vote_c>max) {
									max = vote_c;
									id_x =  xr;
									id_y =  yr;
								}
							}
						}
					}
				}
			}
							
			unsigned int ind_m = (rmax - id_y) * x_table + (rmax - id_x);
			float new_angle = gpuTable[ind_m];
			if(xi < x && yi < y)
				gpuDir[i] = new_angle;
		}										//end kernel
		
		// this kernel updates the gradient direction by the calculated voting direction.
		template<typename T>
		__global__ void cuda_update_grad(T* gpuGrad, T* gpuDir, int x, int y){
			// calculate the 2D coordinates for this current thread.
			int xi = blockIdx.x * blockDim.x + threadIdx.x;
			int yi = blockIdx.y * blockDim.y + threadIdx.y;
			if(xi >= x || yi >= y) return;
		
			// convert 2D coordinates to 1D
			int i = yi * x + xi;
			
			//update the gradient image with the vote direction
			gpuGrad[2*i] = gpuDir[i];
		}
		
		template<typename T>
		void gpu_update_dir(T* gpuVote, T* gpuGrad, T* gpuTable, T phi, unsigned int rmax, unsigned int x, unsigned int y){
			//calculate the number of bytes in the array
			unsigned int bytes = x * y * sizeof(T);
			
			// allocate space on the GPU for the updated vote direction
			T* gpuDir;
			HANDLE_ERROR( cudaMalloc(&gpuDir, bytes) );	
			unsigned int max_threads = stim::maxThreadsPerBlock();
			//dim3 threads(min(x, max_threads), 1);
			//dim3 blocks(x/threads.x, y);
			dim3 threads( sqrt(max_threads), sqrt(max_threads) );
			dim3 blocks(x/threads.x + 1, y/threads.y + 1);
			size_t table_bytes = sizeof(T) * (rmax * 2 + 1) * (rmax * 2 + 1);
			//size_t curtain = 2 * rmax;
			//size_t template_bytes = sizeof(T) * (threads.x + curtain) * (threads.y + curtain);
			size_t shared_mem_req = table_bytes;// + template_bytes;
			std::cout<<"Shared Memory required: "<<shared_mem_req<<std::endl;
			size_t shared_mem = stim::sharedMemPerBlock();
			if(shared_mem_req > shared_mem){
				std::cout<<"Error: insufficient shared memory for this implementation of cuda_update_dir()."<<std::endl;
				exit(1);
			}
			//call the kernel to calculate the new voting direction
			cuda_update_dir <<< blocks, threads, shared_mem_req>>>(gpuDir, gpuVote, gpuGrad, gpuTable, phi, rmax, x , y);
			stim::gpu2image<T>(gpuDir, "dir_david.bmp", x, y, -pi, pi, stim::cmBrewer);
			//exit(0);
			threads = dim3( sqrt(max_threads), sqrt(max_threads) );
			blocks = dim3(x/threads.x + 1, y/threads.y + 1);
			//call the kernel to update the gradient direction
			cuda_update_grad <<< blocks, threads >>>(gpuGrad, gpuDir, x , y);
			//free allocated memory
			HANDLE_ERROR( cudaFree(gpuDir) );
		}
		
		template<typename T>
		void cpu_update_dir(T* cpuVote, T* cpuGrad,T* cpuTable, T phi, unsigned int rmax, unsigned int x, unsigned int y){
			//calculate the number of bytes in the array
			unsigned int bytes = x * y * sizeof(T);
			//calculate the number of bytes in the atan2 table
			unsigned int bytes_table = (2*rmax+1) * (2*rmax+1) * sizeof(T);
			//allocate space on the GPU for the Vote Image
			T* gpuVote;
			cudaMalloc(&gpuVote, bytes);
			//copy the input vote image to the GPU
			HANDLE_ERROR(cudaMemcpy(gpuVote, cpuVote, bytes, cudaMemcpyHostToDevice));	
			//allocate space on the GPU for the input Gradient image
			T* gpuGrad;
			HANDLE_ERROR(cudaMalloc(&gpuGrad, bytes*2));
			//copy the Gradient data to the GPU
			HANDLE_ERROR(cudaMemcpy(gpuGrad, cpuGrad, bytes*2, cudaMemcpyHostToDevice));
			//allocate space on the GPU for the atan2 table
			T* gpuTable;
			HANDLE_ERROR(cudaMalloc(&gpuTable, bytes_table));
			//copy the atan2 values to the GPU
			HANDLE_ERROR(cudaMemcpy(gpuTable, cpuTable, bytes_table, cudaMemcpyHostToDevice));
						
			//call the GPU version of the update direction function
			gpu_update_dir<T>(gpuVote, gpuGrad, gpuTable, phi, rmax, x , y);
							
			//copy the new gradient image back to the CPU
			cudaMemcpy(cpuGrad, gpuGrad, bytes*2, cudaMemcpyDeviceToHost) ;
			//free allocated memory
			cudaFree(gpuTable);
			cudaFree(gpuVote);
			cudaFree(gpuGrad);
		}
		
	}
}
#endif