From 096505efb910d5704b283484a715cc0893ebfda6 Mon Sep 17 00:00:00 2001
From: Willem Jan Palenstijn <Willem.Jan.Palenstijn@cwi.nl>
Date: Thu, 29 Jan 2015 16:31:53 +0100
Subject: Greatly speed up CUDA cone_bp
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This improves speed by a factor of 10. Tested on Kepler.
Joint with Jeroen Bédorf.
---
cuda/3d/cone_bp.cu | 195 ++++++++++++++++++++++++++---------------------------
1 file changed, 96 insertions(+), 99 deletions(-)
(limited to 'cuda')
diff --git a/cuda/3d/cone_bp.cu b/cuda/3d/cone_bp.cu
index 1222739..5648d6f 100644
--- a/cuda/3d/cone_bp.cu
+++ b/cuda/3d/cone_bp.cu
@@ -47,27 +47,16 @@ static texture3D gT_coneProjTexture;
namespace astraCUDA3d {
-static const unsigned int g_volBlockZ = 16;
+#define ZSIZE 6
+static const unsigned int g_volBlockZ = ZSIZE;
-static const unsigned int g_anglesPerBlock = 64;
-static const unsigned int g_volBlockX = 32;
-static const unsigned int g_volBlockY = 16;
+static const unsigned int g_anglesPerBlock = 32;
+static const unsigned int g_volBlockX = 16;
+static const unsigned int g_volBlockY = 32;
static const unsigned g_MaxAngles = 1024;
-__constant__ float gC_Cux[g_MaxAngles];
-__constant__ float gC_Cuy[g_MaxAngles];
-__constant__ float gC_Cuz[g_MaxAngles];
-__constant__ float gC_Cuc[g_MaxAngles];
-__constant__ float gC_Cvx[g_MaxAngles];
-__constant__ float gC_Cvy[g_MaxAngles];
-__constant__ float gC_Cvz[g_MaxAngles];
-__constant__ float gC_Cvc[g_MaxAngles];
-__constant__ float gC_Cdx[g_MaxAngles];
-__constant__ float gC_Cdy[g_MaxAngles];
-__constant__ float gC_Cdz[g_MaxAngles];
-__constant__ float gC_Cdc[g_MaxAngles];
-
+__constant__ float gC_C[12*g_MaxAngles];
bool bindProjDataTexture(const cudaArray* array)
{
@@ -87,7 +76,9 @@ bool bindProjDataTexture(const cudaArray* array)
}
-__global__ void dev_cone_BP(void* D_volData, unsigned int volPitch, int startAngle, int angleOffset, const SDimensions3D dims)
+//__launch_bounds__(32*16, 4)
+__global__ void dev_cone_BP(void* D_volData, unsigned int volPitch, int startAngle,
+ int angleOffset, const astraCUDA3d::SDimensions3D dims)
{
float* volData = (float*)D_volData;
@@ -99,11 +90,9 @@ __global__ void dev_cone_BP(void* D_volData, unsigned int volPitch, int startAng
// y = rel y
// blockIdx: x = x + y
- // y = z
+ // y = z
- // TO TRY: precompute part of detector intersection formulas in shared mem?
- // TO TRY: inner loop over z, gather ray values in shared mem
const int X = blockIdx.x % ((dims.iVolX+g_volBlockX-1)/g_volBlockX) * g_volBlockX + threadIdx.x;
const int Y = blockIdx.x / ((dims.iVolX+g_volBlockX-1)/g_volBlockX) * g_volBlockY + threadIdx.y;
@@ -114,51 +103,54 @@ __global__ void dev_cone_BP(void* D_volData, unsigned int volPitch, int startAng
return;
const int startZ = blockIdx.y * g_volBlockZ;
- int endZ = startZ + g_volBlockZ;
- if (endZ > dims.iVolZ)
- endZ = dims.iVolZ;
+ const float fX = X - 0.5f*dims.iVolX + 0.5f;
+ const float fY = Y - 0.5f*dims.iVolY + 0.5f;
+ const float fZ = startZ - 0.5f*dims.iVolZ + 0.5f;
- float fX = X - 0.5f*dims.iVolX + 0.5f;
- float fY = Y - 0.5f*dims.iVolY + 0.5f;
- float fZ = startZ - 0.5f*dims.iVolZ + 0.5f;
+ float Z[ZSIZE];
+ for(int i=0; i < ZSIZE; i++)
+ Z[i] = 0.0f;
- for (int Z = startZ; Z < endZ; ++Z, fZ += 1.0f)
- {
- float fVal = 0.0f;
+ {
float fAngle = startAngle + angleOffset + 0.5f;
for (int angle = startAngle; angle < endAngle; ++angle, fAngle += 1.0f)
{
+ float4 fCu = make_float4(gC_C[12*angle+0], gC_C[12*angle+1], gC_C[12*angle+2], gC_C[12*angle+3]);
+ float4 fCv = make_float4(gC_C[12*angle+4], gC_C[12*angle+5], gC_C[12*angle+6], gC_C[12*angle+7]);
+ float4 fCd = make_float4(gC_C[12*angle+8], gC_C[12*angle+9], gC_C[12*angle+10], gC_C[12*angle+11]);
+
+ float fUNum = fCu.w + fX * fCu.x + fY * fCu.y + fZ * fCu.z;
+ float fVNum = fCv.w + fX * fCv.x + fY * fCv.y + fZ * fCv.z;
+ float fDen = fCd.w + fX * fCd.x + fY * fCd.y + fZ * fCd.z;
+
+ float fU,fV, fr;
+
+ for (int idx = 0; idx < ZSIZE; idx++)
+ {
+ fr = __fdividef(1.0f, fDen);
+ fU = fUNum * fr;
+ fV = fVNum * fr;
+ float fVal = tex3D(gT_coneProjTexture, fU, fAngle, fV);
+ Z[idx] += fVal; // fr*fr*fVal;
+
+ fUNum += fCu.z;
+ fVNum += fCv.z;
+ fDen += fCd.z;
+ }
+ }
+ }
- const float fCux = gC_Cux[angle];
- const float fCuy = gC_Cuy[angle];
- const float fCuz = gC_Cuz[angle];
- const float fCuc = gC_Cuc[angle];
- const float fCvx = gC_Cvx[angle];
- const float fCvy = gC_Cvy[angle];
- const float fCvz = gC_Cvz[angle];
- const float fCvc = gC_Cvc[angle];
- const float fCdx = gC_Cdx[angle];
- const float fCdy = gC_Cdy[angle];
- const float fCdz = gC_Cdz[angle];
- const float fCdc = gC_Cdc[angle];
-
- const float fUNum = fCuc + fX * fCux + fY * fCuy + fZ * fCuz;
- const float fVNum = fCvc + fX * fCvx + fY * fCvy + fZ * fCvz;
- const float fDen = fCdc + fX * fCdx + fY * fCdy + fZ * fCdz;
-
- const float fU = fUNum / fDen;
- const float fV = fVNum / fDen;
-
- fVal += tex3D(gT_coneProjTexture, fU, fAngle, fV);
+ int endZ = ZSIZE;
+ if (endZ > dims.iVolZ - startZ)
+ endZ = dims.iVolZ - startZ;
- }
+ for(int i=0; i < endZ; i++)
+ volData[((startZ+i)*dims.iVolY+Y)*volPitch+X] += Z[i];
+} //End kernel
- volData[(Z*dims.iVolY+Y)*volPitch+X] += fVal;
- }
-}
// supersampling version
__global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int startAngle, int angleOffset, const SDimensions3D dims)
@@ -206,18 +198,18 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start
for (int angle = startAngle; angle < endAngle; ++angle, fAngle += 1.0f)
{
- const float fCux = gC_Cux[angle];
- const float fCuy = gC_Cuy[angle];
- const float fCuz = gC_Cuz[angle];
- const float fCuc = gC_Cuc[angle];
- const float fCvx = gC_Cvx[angle];
- const float fCvy = gC_Cvy[angle];
- const float fCvz = gC_Cvz[angle];
- const float fCvc = gC_Cvc[angle];
- const float fCdx = gC_Cdx[angle];
- const float fCdy = gC_Cdy[angle];
- const float fCdz = gC_Cdz[angle];
- const float fCdc = gC_Cdc[angle];
+ const float fCux = gC_C[12*angle+0];
+ const float fCuy = gC_C[12*angle+1];
+ const float fCuz = gC_C[12*angle+2];
+ const float fCuc = gC_C[12*angle+3];
+ const float fCvx = gC_C[12*angle+4];
+ const float fCvy = gC_C[12*angle+5];
+ const float fCvz = gC_C[12*angle+6];
+ const float fCvc = gC_C[12*angle+7];
+ const float fCdx = gC_C[12*angle+8];
+ const float fCdy = gC_C[12*angle+9];
+ const float fCdz = gC_C[12*angle+10];
+ const float fCdc = gC_C[12*angle+11];
float fXs = fX;
for (int iSubX = 0; iSubX < dims.iRaysPerVoxelDim; ++iSubX) {
@@ -233,7 +225,7 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start
const float fU = fUNum / fDen;
const float fV = fVNum / fDen;
- fVal += tex3D(gT_coneProjTexture, fU, fAngle, fV);
+ fVal += tex3D(gT_coneProjTexture, fU, fV, fAngle);
fZs += fSubStep;
}
@@ -246,7 +238,6 @@ __global__ void dev_cone_BP_SS(void* D_volData, unsigned int volPitch, int start
volData[(Z*dims.iVolY+Y)*volPitch+X] += fVal / (dims.iRaysPerVoxelDim*dims.iRaysPerVoxelDim*dims.iRaysPerVoxelDim);
}
-
}
@@ -262,38 +253,37 @@ bool ConeBP_Array(cudaPitchedPtr D_volumeData,
angleCount = dims.iProjAngles - th;
// transfer angles to constant memory
- float* tmp = new float[angleCount];
+ float* tmp = new float[12*angleCount];
// NB: We increment angles at the end of the loop body.
- // TODO: Use functions from dims3d.cu for this:
+#define TRANSFER_TO_CONSTANT(expr,name) do { for (unsigned int i = 0; i < angleCount; ++i) tmp[12*i+name] = (expr) ; } while (0)
-#define TRANSFER_TO_CONSTANT(expr,name) do { for (unsigned int i = 0; i < angleCount; ++i) tmp[i] = (expr) ; cudaMemcpyToSymbol(gC_##name, tmp, angleCount*sizeof(float), 0, cudaMemcpyHostToDevice); } while (0)
+ TRANSFER_TO_CONSTANT( (angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetVY - (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetVZ , 0 );
+ TRANSFER_TO_CONSTANT( (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetVZ -(angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetVX , 1 );
+ TRANSFER_TO_CONSTANT( (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetVX - (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetVY , 2 );
+ TRANSFER_TO_CONSTANT( (angles[i].fDetSY*angles[i].fDetVZ - angles[i].fDetSZ*angles[i].fDetVY)*angles[i].fSrcX - (angles[i].fDetSX*angles[i].fDetVZ - angles[i].fDetSZ*angles[i].fDetVX)*angles[i].fSrcY + (angles[i].fDetSX*angles[i].fDetVY - angles[i].fDetSY*angles[i].fDetVX)*angles[i].fSrcZ , 3 );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetVY - (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetVZ , Cux );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetVZ -(angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetVX , Cuy );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetVX - (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetVY , Cuz );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSY*angles[i].fDetVZ - angles[i].fDetSZ*angles[i].fDetVY)*angles[i].fSrcX - (angles[i].fDetSX*angles[i].fDetVZ - angles[i].fDetSZ*angles[i].fDetVX)*angles[i].fSrcY + (angles[i].fDetSX*angles[i].fDetVY - angles[i].fDetSY*angles[i].fDetVX)*angles[i].fSrcZ , Cuc );
+ TRANSFER_TO_CONSTANT( (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetUZ-(angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetUY, 4 );
+ TRANSFER_TO_CONSTANT( (angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetUX - (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetUZ , 5 );
+ TRANSFER_TO_CONSTANT((angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetUY-(angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetUX , 6 );
+ TRANSFER_TO_CONSTANT( -(angles[i].fDetSY*angles[i].fDetUZ - angles[i].fDetSZ*angles[i].fDetUY)*angles[i].fSrcX + (angles[i].fDetSX*angles[i].fDetUZ - angles[i].fDetSZ*angles[i].fDetUX)*angles[i].fSrcY - (angles[i].fDetSX*angles[i].fDetUY - angles[i].fDetSY*angles[i].fDetUX)*angles[i].fSrcZ , 7 );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetUZ-(angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetUY, Cvx );
- TRANSFER_TO_CONSTANT( (angles[i].fDetSZ - angles[i].fSrcZ)*angles[i].fDetUX - (angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetUZ , Cvy );
- TRANSFER_TO_CONSTANT((angles[i].fDetSX - angles[i].fSrcX)*angles[i].fDetUY-(angles[i].fDetSY - angles[i].fSrcY)*angles[i].fDetUX , Cvz );
- TRANSFER_TO_CONSTANT( -(angles[i].fDetSY*angles[i].fDetUZ - angles[i].fDetSZ*angles[i].fDetUY)*angles[i].fSrcX + (angles[i].fDetSX*angles[i].fDetUZ - angles[i].fDetSZ*angles[i].fDetUX)*angles[i].fSrcY - (angles[i].fDetSX*angles[i].fDetUY - angles[i].fDetSY*angles[i].fDetUX)*angles[i].fSrcZ , Cvc );
-
- TRANSFER_TO_CONSTANT( angles[i].fDetUY*angles[i].fDetVZ - angles[i].fDetUZ*angles[i].fDetVY , Cdx );
- TRANSFER_TO_CONSTANT( angles[i].fDetUZ*angles[i].fDetVX - angles[i].fDetUX*angles[i].fDetVZ , Cdy );
- TRANSFER_TO_CONSTANT( angles[i].fDetUX*angles[i].fDetVY - angles[i].fDetUY*angles[i].fDetVX , Cdz );
- TRANSFER_TO_CONSTANT( -angles[i].fSrcX * (angles[i].fDetUY*angles[i].fDetVZ - angles[i].fDetUZ*angles[i].fDetVY) - angles[i].fSrcY * (angles[i].fDetUZ*angles[i].fDetVX - angles[i].fDetUX*angles[i].fDetVZ) - angles[i].fSrcZ * (angles[i].fDetUX*angles[i].fDetVY - angles[i].fDetUY*angles[i].fDetVX) , Cdc );
+ TRANSFER_TO_CONSTANT( angles[i].fDetUY*angles[i].fDetVZ - angles[i].fDetUZ*angles[i].fDetVY , 8 );
+ TRANSFER_TO_CONSTANT( angles[i].fDetUZ*angles[i].fDetVX - angles[i].fDetUX*angles[i].fDetVZ , 9 );
+ TRANSFER_TO_CONSTANT( angles[i].fDetUX*angles[i].fDetVY - angles[i].fDetUY*angles[i].fDetVX , 10 );
+ TRANSFER_TO_CONSTANT( -angles[i].fSrcX * (angles[i].fDetUY*angles[i].fDetVZ - angles[i].fDetUZ*angles[i].fDetVY) - angles[i].fSrcY * (angles[i].fDetUZ*angles[i].fDetVX - angles[i].fDetUX*angles[i].fDetVZ) - angles[i].fSrcZ * (angles[i].fDetUX*angles[i].fDetVY - angles[i].fDetUY*angles[i].fDetVX) , 11 );
#undef TRANSFER_TO_CONSTANT
+ cudaMemcpyToSymbol(gC_C, tmp, angleCount*12*sizeof(float), 0, cudaMemcpyHostToDevice);
delete[] tmp;
dim3 dimBlock(g_volBlockX, g_volBlockY);
- dim3 dimGrid(((dims.iVolX+g_volBlockX-1)/g_volBlockX)*((dims.iVolY+g_volBlockY-1)/g_volBlockY), (dims.iVolZ+g_volBlockZ-1)/g_volBlockZ);
+ dim3 dimGrid(((dims.iVolX/1+g_volBlockX-1)/(g_volBlockX))*((dims.iVolY/1+1*g_volBlockY-1)/(1*g_volBlockY)), (dims.iVolZ+g_volBlockZ-1)/g_volBlockZ);
// timeval t;
// tic(t);
@@ -339,14 +329,15 @@ bool ConeBP(cudaPitchedPtr D_volumeData,
#ifdef STANDALONE
int main()
{
- SDimensions3D dims;
- dims.iVolX = 256;
- dims.iVolY = 256;
- dims.iVolZ = 256;
- dims.iProjAngles = 180;
+ astraCUDA3d::SDimensions3D dims;
+ dims.iVolX = 512;
+ dims.iVolY = 512;
+ dims.iVolZ = 512;
+ dims.iProjAngles = 496;
dims.iProjU = 512;
dims.iProjV = 512;
- dims.iRaysPerDet = 1;
+ dims.iRaysPerDetDim = 1;
+ dims.iRaysPerVoxelDim = 1;
cudaExtent extentV;
extentV.width = dims.iVolX*sizeof(float);
@@ -367,6 +358,7 @@ int main()
cudaMalloc3D(&projData, extentP);
cudaMemset3D(projData, 0, extentP);
+#if 0
float* slice = new float[256*256];
cudaPitchedPtr ptr;
ptr.ptr = slice;
@@ -400,10 +392,11 @@ int main()
}
#endif
}
+#endif
- SConeProjection angle[180];
- angle[0].fSrcX = -1536;
+ astraCUDA3d::SConeProjection angle[512];
+ angle[0].fSrcX = -5120;
angle[0].fSrcY = 0;
angle[0].fSrcZ = 0;
@@ -420,16 +413,18 @@ int main()
angle[0].fDetVZ = 1;
#define ROTATE0(name,i,alpha) do { angle[i].f##name##X = angle[0].f##name##X * cos(alpha) - angle[0].f##name##Y * sin(alpha); angle[i].f##name##Y = angle[0].f##name##X * sin(alpha) + angle[0].f##name##Y * cos(alpha); } while(0)
- for (int i = 1; i < 180; ++i) {
+ for (int i = 1; i < 512; ++i) {
angle[i] = angle[0];
- ROTATE0(Src, i, i*2*M_PI/180);
- ROTATE0(DetS, i, i*2*M_PI/180);
- ROTATE0(DetU, i, i*2*M_PI/180);
- ROTATE0(DetV, i, i*2*M_PI/180);
+ ROTATE0(Src, i, i*2*M_PI/512);
+ ROTATE0(DetS, i, i*2*M_PI/512);
+ ROTATE0(DetU, i, i*2*M_PI/512);
+ ROTATE0(DetV, i, i*2*M_PI/512);
}
#undef ROTATE0
+#if 0
astraCUDA3d::ConeFP(volData, projData, dims, angle, 1.0f);
+#endif
#if 0
float* bufs = new float[180*512];
@@ -455,6 +450,7 @@ int main()
saveImage(fname, 512, 512, bufp);
}
#endif
+#if 0
for (unsigned int i = 0; i < 256*256; ++i)
slice[i] = 0.0f;
for (unsigned int i = 0; i < 256; ++i) {
@@ -475,6 +471,7 @@ int main()
p.kind = cudaMemcpyHostToDevice;
cudaMemcpy3D(&p);
}
+#endif
astraCUDA3d::ConeBP(volData, projData, dims, angle);
#if 0
--
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