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Re-use device buffer in yuy2 cuda helper #11737

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Re-use device buffer in yuy2 cuda helper #11737

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30 changes: 16 additions & 14 deletions src/cuda/cuda-conversion.cu
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Original file line number Diff line number Diff line change
Expand Up @@ -233,10 +233,12 @@ void rscuda::unpack_yuy2_cuda_helper(const uint8_t* h_src, uint8_t* h_dst, int n

// How many super pixels do we have?
int superPix = n / 2;
std::shared_ptr<uint8_t> d_dst;
std::shared_ptr<uint8_t> d_src = alloc_dev<uint8_t>(superPix * 4);

auto result = cudaMemcpy(d_src.get(), h_src, superPix * sizeof(uint8_t) * 4, cudaMemcpyHostToDevice);
static DeviceBuffer<uint8_t> d_dst;
static DeviceBuffer<uint8_t> d_src;
d_src.reserve(superPix, 4);

auto result = cudaMemcpy(d_src.data(), h_src, superPix * sizeof(uint8_t) * 4, cudaMemcpyHostToDevice);
assert(result == cudaSuccess);

int numBlocks = superPix / RS2_CUDA_THREADS_PER_BLOCK;
Expand All @@ -253,28 +255,28 @@ void rscuda::unpack_yuy2_cuda_helper(const uint8_t* h_src, uint8_t* h_dst, int n
*/
case RS2_FORMAT_Y16:
size = 2;
d_dst = alloc_dev<uint8_t>(n * size);
kernel_unpack_yuy2_y16_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.get(), d_dst.get(), superPix);
d_dst.reserve(n * size);
kernel_unpack_yuy2_y16_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.data(), d_dst.data(), superPix);
break;
case RS2_FORMAT_RGB8:
size = 3;
d_dst = alloc_dev<uint8_t>(n * size);
kernel_unpack_yuy2_rgb8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.get(), d_dst.get(), superPix);
d_dst.reserve(n * size);
kernel_unpack_yuy2_rgb8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.data(), d_dst.data(), superPix);
break;
case RS2_FORMAT_BGR8:
size = 3;
d_dst = alloc_dev<uint8_t>(n * size);
kernel_unpack_yuy2_bgr8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.get(), d_dst.get(), superPix);
d_dst.reserve(n * size);
kernel_unpack_yuy2_bgr8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.data(), d_dst.data(), superPix);
break;
case RS2_FORMAT_RGBA8:
size = 4;
d_dst = alloc_dev<uint8_t>(n * size);
kernel_unpack_yuy2_rgba8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.get(), d_dst.get(), superPix);
d_dst.reserve(n * size);
kernel_unpack_yuy2_rgba8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.data(), d_dst.data(), superPix);
break;
case RS2_FORMAT_BGRA8:
size = 4;
d_dst = alloc_dev<uint8_t>(n * size);
kernel_unpack_yuy2_bgra8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.get(), d_dst.get(), superPix);
d_dst.reserve(n * size);
kernel_unpack_yuy2_bgra8_cuda << <numBlocks, RS2_CUDA_THREADS_PER_BLOCK >> > (d_src.data(), d_dst.data(), superPix);
break;
default:
assert(false);
Expand All @@ -284,7 +286,7 @@ void rscuda::unpack_yuy2_cuda_helper(const uint8_t* h_src, uint8_t* h_dst, int n

cudaDeviceSynchronize();
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In my opinion, this is unnecessary, but better to use async copy and use the same stream across the whole function and do a stream syncronization before we return from this function. By that we can avoid extra syncing, however the gain would be probably not very significant.

https://docs.nvidia.com/cuda/cuda-runtime-api/group__CUDART__MEMORY.html#group__CUDART__MEMORY_1g85073372f776b4c4d5f89f7124b7bf79


result = cudaMemcpy(h_dst, d_dst.get(), n * sizeof(uint8_t) * size, cudaMemcpyDeviceToHost);
result = cudaMemcpy(h_dst, d_dst.data(), n * sizeof(uint8_t) * size, cudaMemcpyDeviceToHost);
assert(result == cudaSuccess);

/* cudaEventRecord(stop);
Expand Down
48 changes: 48 additions & 0 deletions src/cuda/rscuda_utils.cuh
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Expand Up @@ -15,6 +15,54 @@

namespace rscuda
{

template <typename T>
class DeviceBuffer final
{
public:
DeviceBuffer() = default;

explicit DeviceBuffer(std::size_t const num_elements) :
data_{DeviceBuffer<T>::allocateBuffer(num_elements)},
size_{num_elements}
{}

DeviceBuffer(std::size_t const num_elements, std::size_t const number_of_channels = 1U) :
DeviceBuffer{num_elements * number_of_channels}
{}

void reserve(std::size_t const reserve_size)
{
if (size_ < reserve_size)
{
cudaFree(data_);
data_ = DeviceBuffer<T>::allocateBuffer(reserve_size);
size_ = reserve_size;
}
}

void reserve(std::size_t const reserve_size, std::size_t const reserve_channels)
{
reserve(reserve_size * reserve_channels);
}

std::size_t size() const { return size_; }

T* data() { return data_; }

private:
static T* allocateBuffer(std::size_t const reserve_size)
{
T* datatemp{nullptr};
cudaMalloc(&datatemp, reserve_size * sizeof(T));
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maybe i can add an assert to the return value of cudaMalloc and cudaFree above. What do you think?

return datatemp;
}

T* data_{};
// Size is in number of elements, not bytes.
std::size_t size_{};
};

template<typename T>
std::shared_ptr<T> alloc_dev(int elements)
{
Expand Down