mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Joydeep Biswas
344929647a
* Added GPU device and CUDA compute capability identification. * Added GpuMemoryAvailable() to aid downstream optimizations based on GPU memory availability. Change-Id: I326dc1e4b7a6a7f5571b7e5479eb9aa300ad1075
407 lines
11 KiB
C++
407 lines
11 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2022 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: joydeepb@cs.utexas.edu (Joydeep Biswas)
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#include "ceres/cuda_vector.h"
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#include <string>
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#include "ceres/internal/config.h"
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#include "ceres/internal/eigen.h"
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#include "glog/logging.h"
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#include "gtest/gtest.h"
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namespace ceres {
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namespace internal {
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#ifndef CERES_NO_CUDA
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TEST(CudaVector, Creation) {
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x(&context, 1000);
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EXPECT_EQ(x.num_rows(), 1000);
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EXPECT_NE(x.data().data(), nullptr);
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}
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TEST(CudaVector, CopyVector) {
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Vector x(3);
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x << 1, 2, 3;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector y(&context, 10);
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y.CopyFromCpu(x);
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EXPECT_EQ(y.num_rows(), 3);
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Vector z(3);
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z << 0, 0, 0;
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y.CopyTo(&z);
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EXPECT_EQ(x, z);
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}
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TEST(CudaVector, DeepCopy) {
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Vector x(3);
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x << 1, 2, 3;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 3);
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x_gpu.CopyFromCpu(x);
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CudaVector y_gpu(&context, 3);
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y_gpu.SetZero();
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EXPECT_EQ(y_gpu.Norm(), 0.0);
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y_gpu = x_gpu;
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Vector y(3);
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y << 0, 0, 0;
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y_gpu.CopyTo(&y);
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EXPECT_EQ(x, y);
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}
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TEST(CudaVector, Dot) {
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Vector x(3);
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Vector y(3);
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x << 1, 2, 3;
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y << 100, 10, 1;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 10);
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CudaVector y_gpu(&context, 10);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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EXPECT_EQ(x_gpu.Dot(y_gpu), 123.0);
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EXPECT_EQ(Dot(x_gpu, y_gpu), 123.0);
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}
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TEST(CudaVector, Norm) {
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Vector x(3);
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x << 1, 2, 3;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 10);
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x_gpu.CopyFromCpu(x);
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EXPECT_NEAR(x_gpu.Norm(),
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sqrt(1.0 + 4.0 + 9.0),
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std::numeric_limits<double>::epsilon());
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EXPECT_NEAR(Norm(x_gpu),
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sqrt(1.0 + 4.0 + 9.0),
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std::numeric_limits<double>::epsilon());
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}
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TEST(CudaVector, SetZero) {
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Vector x(4);
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x << 1, 1, 1, 1;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 10);
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x_gpu.CopyFromCpu(x);
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EXPECT_NEAR(x_gpu.Norm(), 2.0, std::numeric_limits<double>::epsilon());
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x_gpu.SetZero();
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EXPECT_NEAR(x_gpu.Norm(), 0.0, std::numeric_limits<double>::epsilon());
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x_gpu.CopyFromCpu(x);
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EXPECT_NEAR(x_gpu.Norm(), 2.0, std::numeric_limits<double>::epsilon());
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SetZero(x_gpu);
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EXPECT_NEAR(x_gpu.Norm(), 0.0, std::numeric_limits<double>::epsilon());
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}
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TEST(CudaVector, Resize) {
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 10);
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EXPECT_EQ(x_gpu.num_rows(), 10);
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x_gpu.Resize(4);
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EXPECT_EQ(x_gpu.num_rows(), 4);
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}
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TEST(CudaVector, Axpy) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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x_gpu.Axpby(2.0, y_gpu, 1.0);
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Vector result;
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Vector expected(4);
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expected << 201, 21, 3, 1;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyBEquals1) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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x_gpu.Axpby(2.0, y_gpu, 1.0);
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Vector result;
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Vector expected(4);
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expected << 201, 21, 3, 1;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyMemberFunctionBNotEqual1) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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x_gpu.Axpby(2.0, y_gpu, 3.0);
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Vector result;
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Vector expected(4);
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expected << 203, 23, 5, 3;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyMemberFunctionBEqual1) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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x_gpu.Axpby(2.0, y_gpu, 1.0);
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Vector result;
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Vector expected(4);
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expected << 201, 21, 3, 1;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyMemberXAliasesY) {
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Vector x(4);
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x << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.SetZero();
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x_gpu.Axpby(2.0, x_gpu, 1.0);
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Vector result;
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Vector expected(4);
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expected << 300, 30, 3, 0;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyNonMemberMethodNoAliases) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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CudaVector z_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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z_gpu.Resize(4);
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z_gpu.SetZero();
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Axpby(2.0, x_gpu, 3.0, y_gpu, z_gpu);
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Vector result;
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Vector expected(4);
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expected << 302, 32, 5, 2;
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z_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyNonMemberMethodXAliasesY) {
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Vector x(4);
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x << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector z_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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z_gpu.SetZero();
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Axpby(2.0, x_gpu, 3.0, x_gpu, z_gpu);
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Vector result;
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Vector expected(4);
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expected << 500, 50, 5, 0;
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z_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyNonMemberMethodXAliasesZ) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 10);
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CudaVector y_gpu(&context, 10);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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Axpby(2.0, x_gpu, 3.0, y_gpu, x_gpu);
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Vector result;
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Vector expected(4);
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expected << 302, 32, 5, 2;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyNonMemberMethodYAliasesZ) {
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Vector x(4);
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Vector y(4);
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x << 1, 1, 1, 1;
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y << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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Axpby(2.0, x_gpu, 3.0, y_gpu, y_gpu);
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Vector result;
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Vector expected(4);
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expected << 302, 32, 5, 2;
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y_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, AxpbyNonMemberMethodXAliasesYAliasesZ) {
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Vector x(4);
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x << 100, 10, 1, 0;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 10);
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x_gpu.CopyFromCpu(x);
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Axpby(2.0, x_gpu, 3.0, x_gpu, x_gpu);
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Vector result;
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Vector expected(4);
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expected << 500, 50, 5, 0;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, DtDxpy) {
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Vector x(4);
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Vector y(4);
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Vector D(4);
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x << 1, 2, 3, 4;
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y << 100, 10, 1, 0;
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D << 4, 3, 2, 1;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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CudaVector y_gpu(&context, 4);
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CudaVector D_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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y_gpu.CopyFromCpu(y);
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D_gpu.CopyFromCpu(D);
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y_gpu.DtDxpy(D_gpu, x_gpu);
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Vector result;
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Vector expected(4);
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expected << 116, 28, 13, 4;
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y_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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TEST(CudaVector, Scale) {
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Vector x(4);
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x << 1, 2, 3, 4;
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ContextImpl context;
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std::string message;
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CHECK(context.InitCuda(&message)) << "InitCuda() failed because: " << message;
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CudaVector x_gpu(&context, 4);
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x_gpu.CopyFromCpu(x);
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x_gpu.Scale(-3.0);
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Vector result;
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Vector expected(4);
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expected << -3.0, -6.0, -9.0, -12.0;
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x_gpu.CopyTo(&result);
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EXPECT_EQ(result, expected);
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}
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#endif // CERES_NO_CUDA
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} // namespace internal
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} // namespace ceres
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