…olmap#3561)

### **Key Changes:**

1.  **Removed Global Serialization Lock for CUDA**

* Eliminated `sift_match_gpu_mutexes_` that blocked all CUDA matching
operations
* CUDA version now runs completely lock-free during compute operations

2. **Explicit CUDA Initialization in Worker Thread Level using
`cudaSetDevice()`**

* Each worker thread initializes its own CUDA context independently
    *   Eliminates need for complex per-instance initialization logic

3. **Improved Variable Naming for Clarity**

    *   Renamed `sift_match_gpu_mutexes_` to `sift_opengl_mutexes_`
    *   Updated comments to clarify OpenGL-specific mutex usage
    *   Removed misleading references to "all GPU implementations"

#### Why Can We Remove The Global Mutex?
* **CUDA Context Lifecycle**: CUDA context lifecycle is automatically
managed by the driver layer, allowing multiple threads to safely and
independently allocate memory, create streams, and execute kernels on
the same device.
[link](https://docs.nvidia.com/cuda/cuda-c-programming-guide/index.html#initialization)

* **Thread-Safe CUDA Operations**: Common operations including memory
allocation (`cudaMalloc`), data copying (`cudaMemcpy`), and stream
creation/switching (`cudaStreamCreate`) are inherently thread-safe at
the CUDA Runtime API level.
[link](https://forums.developer.nvidia.com/t/cudahostregister-on-multiple-threads/296497?utm_source=chatgpt.com)

* **Per-Thread Default Stream Isolation**: Under PTDS mode, each thread
gets its own isolated default CUDA stream, eliminating the need for
explicit synchronization between threads.

* **No Static Variable Dependencies**: Analysis of SiftGPU/SiftMatchCU
code confirmed that the matching operations do not rely on shared static
variables that would require serialization protection.

#### **Why Do We Add `SetBestCudaDevice(gpu_index);` in
`FeatureMatcherWorker::Run()`?**
Short answer: `cudaSetDevice(gpu_index)` will be called inside and we
need it to bind CUDA context explicitly.
**Thread-Local Device Context Requirements:**

* **Per-Thread Device Binding**: CUDA device selection is thread-local
state. Each worker thread must explicitly set its target GPU device
before performing any CUDA operations.

* **Multi-GPU Environment Support**: In systems with multiple GPUs,
different worker threads may be assigned to different devices. The
`cudaSetDevice()` call ensures each thread operates on its designated
GPU.

* **Early Initialization Timing**: By setting the device at the
beginning of `Run()`, we guarantee that all subsequent CUDA operations
(SiftGPU initialization, memory allocation, kernel execution) occur on
the correct device.

* **Context Warm-up**: The `cudaFree(0)` call immediately after
`cudaSetDevice()` serves as a context warm-up operation, ensuring the
CUDA context is fully initialized before the worker begins processing.

### 🔒 **Thread Safety Guarantees**

* **Initialization Phase**: Protected by per-GPU mutexes during lazy
setup
* **Compute Phase**: Lock-free parallel execution with dedicated CUDA
streams
* **Instance Isolation**: Each thread operates on independent matcher
instances
* **Stream Isolation**: PTDS ensures each thread's CUDA operations are
automatically isolated

### 🚀 **Benefits**

1. **Eliminates Serialization Bottleneck**: Multiple threads can submit
kernels concurrently
2. **Maximizes GPU Utilization**: True parallelism with PTDS integration
3. **Reduces CPU Overhead**: No lock contention in compute-heavy
operations
4. **Maintains Safety**: Thread-safe initialization with zero runtime
locking cost
5. **Cleaner Architecture**: Separation of initialization and compute
concerns

### Example Use Case
When running under PTDS (Per-Thread Default Stream), each worker
thread’s “default stream” is already isolated. Combined with this
lock-removal, we achieve fully asynchronous, multi-threaded descriptor
generation and matching—maximizing both CPU and GPU throughput.

---------

Co-authored-by: Yiming Chen <[email protected]>
Co-authored-by: Johannes Schönberger <[email protected]>
Co-authored-by: Johannes Schönberger <[email protected]>