mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
06bfe6ffac
Since c++11, we can depend on C++ threads always being available. With the recent work on the performance of CXX threading, the additional complexity of maintaining multiple backends for some minor performance delta is not worth it https://github.com/ceres-solver/ceres-solver/issues/886 Change-Id: Idee480b22a498daec9c4366da8589aa58eaf36a1
119 lines
4.9 KiB
C++
119 lines
4.9 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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#ifndef CERES_INTERNAL_CONTEXT_IMPL_H_
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#define CERES_INTERNAL_CONTEXT_IMPL_H_
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// This include must come before any #ifndef check on Ceres compile options.
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// clang-format off
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#include "ceres/internal/config.h"
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// clang-format on
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#include <string>
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#include "ceres/context.h"
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#include "ceres/internal/disable_warnings.h"
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#include "ceres/internal/export.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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#include "cusparse.h"
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#endif // CERES_NO_CUDA
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#include "ceres/thread_pool.h"
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namespace ceres::internal {
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class CERES_NO_EXPORT ContextImpl final : public Context {
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public:
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ContextImpl();
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~ContextImpl() override;
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ContextImpl(const ContextImpl&) = delete;
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void operator=(const ContextImpl&) = delete;
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// When compiled with C++ threading support, resize the thread pool to have
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// at min(num_thread, num_hardware_threads) where num_hardware_threads is
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// defined by the hardware. Otherwise this call is a no-op.
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void EnsureMinimumThreads(int num_threads);
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ThreadPool thread_pool;
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#ifndef CERES_NO_CUDA
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// Note on Ceres' use of CUDA Devices on multi-GPU systems:
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// 1. On a multi-GPU system, if nothing special is done, the "default" CUDA
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// device will be used, which is device 0.
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// 2. If the user masks out GPUs using the CUDA_VISIBLE_DEVICES environment
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// variable, Ceres will still use device 0 visible to the program, but
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// device 0 will be the first GPU indicated in the environment variable.
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// 3. If the user explicitly selects a GPU in the host process before calling
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// Ceres, Ceres will use that GPU.
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// Note on Ceres' use of CUDA Streams:
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// All operations on the GPU are performed using a single stream. This ensures
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// that the order of operations are stream-ordered, but we do not need to
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// explicitly synchronize the stream at the end of every operation. Stream
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// synchronization occurs only before GPU to CPU transfers, and is handled by
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// CudaBuffer.
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// Initializes cuBLAS, cuSOLVER, and cuSPARSE contexts, creates an
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// asynchronous CUDA stream, and associates the stream with the contexts.
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// Returns true iff initialization was successful, else it returns false and a
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// human-readable error message is returned.
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bool InitCuda(std::string* message);
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void TearDown();
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inline bool IsCudaInitialized() const { return is_cuda_initialized_; }
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// Returns a human-readable string describing the capabilities of the current
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// CUDA device. CudaConfigAsString can only be called after InitCuda has been
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// called.
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std::string CudaConfigAsString() const;
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// Returns the number of bytes of available global memory on the current CUDA
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// device. If it is called before InitCuda, it returns 0.
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size_t GpuMemoryAvailable() const;
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cusolverDnHandle_t cusolver_handle_ = nullptr;
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cublasHandle_t cublas_handle_ = nullptr;
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cudaStream_t stream_ = nullptr;
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cusparseHandle_t cusparse_handle_ = nullptr;
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bool is_cuda_initialized_ = false;
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int gpu_device_id_in_use_ = -1;
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cudaDeviceProp gpu_device_properties_;
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int cuda_version_major_ = 0;
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int cuda_version_minor_ = 0;
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#endif // CERES_NO_CUDA
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};
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} // namespace ceres::internal
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_CONTEXT_IMPL_H_
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