mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Joydeep Biswas
c914c7a2b3
* Added CudaVector to manage and operate on vectors with CUDA. * Added tests for CudaVector Change-Id: I528258c8e883011e8709bddf59edb1e933af8060
124 lines
4.1 KiB
C++
124 lines
4.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2018 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: vitus@google.com (Michael Vitus)
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#include "ceres/context_impl.h"
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#include <string>
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#include "ceres/internal/config.h"
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#include "ceres/wall_time.h"
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#ifndef CERES_NO_CUDA
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#include "cublas_v2.h"
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#include "cuda_runtime.h"
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#include "cusolverDn.h"
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#endif // CERES_NO_CUDA
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namespace ceres::internal {
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ContextImpl::ContextImpl() = default;
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#ifndef CERES_NO_CUDA
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void ContextImpl::TearDown() {
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if (cusolver_handle_ != nullptr) {
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cusolverDnDestroy(cusolver_handle_);
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cusolver_handle_ = nullptr;
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}
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if (cublas_handle_ != nullptr) {
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cublasDestroy(cublas_handle_);
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cublas_handle_ = nullptr;
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}
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if (cusolver_handle_ != nullptr) {
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cusparseDestroy(cusparse_handle_);
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cusparse_handle_ = nullptr;
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}
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if (stream_ != nullptr) {
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cudaStreamDestroy(stream_);
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stream_ = nullptr;
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}
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is_cuda_initialized_ = false;
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}
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bool ContextImpl::InitCUDA(std::string* message) {
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if (is_cuda_initialized_) {
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return true;
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}
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EventLogger event_logger("InitCuda");
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if (cublasCreate(&cublas_handle_) != CUBLAS_STATUS_SUCCESS) {
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*message = "cuBLAS::cublasCreate failed.";
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cublas_handle_ = nullptr;
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return false;
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}
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event_logger.AddEvent("cublasCreate");
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if (cusolverDnCreate(&cusolver_handle_) != CUSOLVER_STATUS_SUCCESS) {
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*message = "cuSolverDN::cusolverDnCreate failed.";
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TearDown();
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return false;
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}
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event_logger.AddEvent("cusolverDnCreate");
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if (cusparseCreate(&cusparse_handle_) != CUSPARSE_STATUS_SUCCESS) {
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*message = "cuSPARSE::cusparseCreate failed.";
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TearDown();
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return false;
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}
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event_logger.AddEvent("cusparseCreate");
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if (cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) !=
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cudaSuccess) {
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*message = "CUDA::cudaStreamCreateWithFlags failed.";
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TearDown();
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return false;
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}
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event_logger.AddEvent("cudaStreamCreateWithFlags");
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if (cusolverDnSetStream(cusolver_handle_, stream_) !=
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CUSOLVER_STATUS_SUCCESS ||
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cublasSetStream(cublas_handle_, stream_) != CUBLAS_STATUS_SUCCESS ||
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cusparseSetStream(cusparse_handle_, stream_) != CUSPARSE_STATUS_SUCCESS) {
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*message = "CUDA [Solver|BLAS|Sparse] SetStream failed.";
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TearDown();
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return false;
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}
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event_logger.AddEvent("SetStream");
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is_cuda_initialized_ = true;
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return true;
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}
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#endif // CERES_NO_CUDA
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ContextImpl::~ContextImpl() {
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#ifndef CERES_NO_CUDA
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TearDown();
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#endif // CERES_NO_CUDA
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}
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void ContextImpl::EnsureMinimumThreads(int num_threads) {
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#ifdef CERES_USE_CXX_THREADS
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thread_pool.Resize(num_threads);
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#endif // CERES_USE_CXX_THREADS
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}
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} // namespace ceres::internal
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