Fix the sorting kernels used in the CenterNet pre and post-processing.

This commit moves the kernels in the correct sub-directory.
It creates new header file for Thrust kernels. It splits the
kernels into two files: 'normalize.cu' contains CenterNet
pre-processing operations, 'postprocessing.cu' contains the
CenterNet post-processing operations.

Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>

include/tkDNN/CenternetDetection.h

@@ -11,7 +11,7 @@
 
 #include "DetectionNN.h"
 
-#include "sorting.h"
+#include "kernelsThrust.h"
 
 
 namespace tk { namespace dnn { 

include/tkDNN/kernelsThrust.h

@@ -1,5 +1,6 @@
-#ifndef SORTING_H
+#ifndef KERNELSTHRUST_H
-#define SORTING_H
+#define KERNELSTHRUST_H
+
 
 #include <thrust/sort.h>
 #include <thrust/execution_policy.h>
@@ -9,7 +10,6 @@
 #include <thrust/gather.h>
 #include <thrust/copy.h>
 
-
 #include "tkdnn.h"
 
 struct threshold : public thrust::binary_function<float,float,float>
@@ -27,7 +27,7 @@ struct threshold : public thrust::binary_function<float,float,float>
 void sort(dnnType *src_begin, dnnType *src_end, int *idsrc);
 void topk(dnnType *src_begin, int *idsrc, int K, float *topk_scores,
             int *topk_inds, float *topk_ys, float *topk_xs);
-void sortAndTopKonDevice(dnnType *src_begin, int *idsrc, float *topk_scores, int *topk_inds, float *topk_ys, float *topk_xs, const int size, const int K, const int n_classes);            
+// void sortAndTopKonDevice(dnnType *src_begin, int *idsrc, float *topk_scores, int *topk_inds, float *topk_ys, float *topk_xs, const int size, const int K, const int n_classes);            
 void normalize(float *bgr, const int ch, const int h, const int w, const float *mean, const float *stddev);
 void subtractWithThreshold(dnnType *src_begin, dnnType *src_end, dnnType *src2_begin, dnnType *src_out, struct threshold op);
 void topKxyclasses(int *ids_begin, int *ids_end, const int K, const int size, const int wh, int *clses, int *xs, int *ys);
@@ -36,4 +36,4 @@ void topKxyAddOffset(int * ids_begin, const int K, const int size, int *intxs_be
 void bboxes(int * ids_begin, const int K, const int size, float *xs_begin, float *ys_begin, 
             dnnType *src_begin, float *bbx0, float *bbx1, float *bby0, float *bby1, float *src_out, int *ids_out);
 
-#endif /*SORTING_H*/
+#endif //KERNELSTHRUST_H

src/CenternetDetection.cpp

@@ -1,10 +1,8 @@
 #include "CenternetDetection.h"
 
-#include "CenternetDetection.h"
 
 namespace tk { namespace dnn {
 
-
 bool CenternetDetection::init(const std::string& tensor_path, const int n_classes)
 {
     std::cout<<(tensor_path).c_str()<<"\n";

src/kernels/normalize.cu

@@ -0,0 +1,16 @@
+#include "kernelsThrust.h"
+
+__global__
+void normalize_kernel(float *bgr, const int dim, const float *mean, const float *stddev){
+    int i = blockDim.x*blockIdx.x + threadIdx.x;
+    int j = blockIdx.y;
+    bgr[j*(dim)+i] = bgr[j*(dim)+i] - mean[j];
+    bgr[j*(dim)+i] = bgr[j*(dim)+i] / stddev[j];
+    
+}
+
+void normalize(float *bgr, const int ch, const int h, const int w, const float *mean, const float *stddev){
+    int num_thread = 256;
+    dim3 dimBlock(h*w/num_thread, ch);
+    normalize_kernel<<<dimBlock, num_thread, 0>>>(bgr, h*w, mean, stddev);
+}

src/kernels/postprocessing.cu

@@ -1,20 +1,21 @@
+#include "kernelsThrust.h"
 
-#include "sorting.h"
 
-void sort(dnnType *src_begin, dnnType *src_end, int *idsrc)
+void subtractWithThreshold(dnnType *src_begin, dnnType *src_end, dnnType *src2_begin, dnnType *src_out, struct threshold op){
-{
+    thrust::transform(thrust::device, src_begin, src_end, src2_begin, src_out, op);
+}
+
+void sort(dnnType *src_begin, dnnType *src_end, int *idsrc){
     thrust::sort_by_key(thrust::device,
         src_begin, src_end, idsrc,
         thrust::greater<float>());
-
     // thrust::stable_sort_by_key(thrust::device,
     //     src_begin, src_end, idsrc,
     //     thrust::greater<float>());
 }
 
 void topk(dnnType *src_begin, int *idsrc, int K, float *topk_scores,
-            int *topk_inds, float *topk_ys, float *topk_xs)
+            int *topk_inds, float *topk_ys, float *topk_xs){
-{
     checkCuda( cudaMemcpy(topk_scores, (float *)src_begin, K*sizeof(float), cudaMemcpyDeviceToDevice) );
     checkCuda( cudaMemcpy(topk_inds, idsrc, K*sizeof(int), cudaMemcpyDeviceToDevice) );    
 }
@@ -22,39 +23,15 @@ void topk(dnnType *src_begin, int *idsrc, int K, float *topk_scores,
 __global__ 
 void sortAndTopK_kernel(dnnType *src_begin, int *idsrc, float *topk_scores, int *topk_inds, float *topk_ys, float *topk_xs,const int size, const int K){
     int i = blockDim.x*blockIdx.x + threadIdx.x;
-
     thrust::sort_by_key(thrust::device, src_begin + i * size, src_begin + i * size + size, idsrc + i * size, thrust::greater<float>());
     thrust::copy_n(thrust::device, src_begin + i * size, K, topk_scores + i * K);
     thrust::copy_n(thrust::device, idsrc + i * size, K, topk_inds + i * K );
 }
 
-void sortAndTopKonDevice(dnnType *src_begin, int *idsrc, float *topk_scores, int *topk_inds, float *topk_ys, float *topk_xs, const int size, const int K, const int n_classes)
+void sortAndTopKonDevice(dnnType *src_begin, int *idsrc, float *topk_scores, int *topk_inds, float *topk_ys, float *topk_xs, const int size, const int K, const int n_classes){
-{
     int blocks = n_classes;
     int threads = 1;
-    
     sortAndTopK_kernel<<<blocks, threads, 0>>>(src_begin, idsrc, topk_scores, topk_inds, topk_ys, topk_xs, size, K);   
-   
-}
-
-__global__
-void normalize_kernel(float *bgr, const int dim, const float *mean, const float *stddev){
-    int i = blockDim.x*blockIdx.x + threadIdx.x;
-    int j = blockIdx.y;
-    bgr[j*(dim)+i] = bgr[j*(dim)+i] - mean[j];
-    bgr[j*(dim)+i] = bgr[j*(dim)+i] / stddev[j];
-    
-}
-
-void normalize(float *bgr, const int ch, const int h, const int w, const float *mean, const float *stddev)
-{
-    int num_thread = 256;
-    dim3 dimBlock(h*w/num_thread, ch);
-    normalize_kernel<<<dimBlock, num_thread, 0>>>(bgr, h*w, mean, stddev);
-}
-
-void subtractWithThreshold(dnnType *src_begin, dnnType *src_end, dnnType *src2_begin, dnnType *src_out, struct threshold op){
-    thrust::transform(thrust::device, src_begin, src_end, src2_begin, src_out, op);
 }
 
 void topKxyclasses(int *ids_begin, int *ids_end, const int K, const int size, const int wh, int *clses, int *xs, int *ys){    
@@ -62,7 +39,6 @@ void topKxyclasses(int *ids_begin, int *ids_end, const int K, const int size, co
     thrust::transform(thrust::device, ids_begin, ids_end, thrust::make_constant_iterator(wh), ids_begin, thrust::modulus<int>());
     thrust::transform(thrust::device, ids_begin, ids_end, thrust::make_constant_iterator(size), ys, thrust::divides<int>());
     thrust::transform(thrust::device, ids_begin, ids_end, thrust::make_constant_iterator(size), xs, thrust::modulus<int>());
-    
 }
 
 void topKxyAddOffset(int * ids_begin, const int K, const int size,