mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Sameer Agarwal
84e1696f4e
This should help the compiler devirtualize a bunch of function calls. https://github.com/ceres-solver/ceres-solver/issues/747 Change-Id: I9913e68d85e0e9c9f955a249cc710a657875c869
97 lines
3.5 KiB
C++
97 lines
3.5 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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// clanf-format on
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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 "cuda_runtime.h"
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#include "cublas_v2.h"
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#include "cusolverDn.h"
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#endif // CERES_NO_CUDA
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#ifdef CERES_USE_CXX_THREADS
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#include "ceres/thread_pool.h"
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#endif // CERES_USE_CXX_THREADS
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namespace ceres {
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namespace 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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#ifdef CERES_USE_CXX_THREADS
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ThreadPool thread_pool;
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#endif // CERES_USE_CXX_THREADS
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#ifndef CERES_NO_CUDA
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// Initializes the cuSolverDN context, creates an asynchronous stream, and
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// associates the stream with cuSolverDN. Returns true iff initialization was
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// successful, else it returns false and a human-readable error message is
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// returned.
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bool InitCUDA(std::string* message);
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// Handle to the cuSOLVER context.
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cusolverDnHandle_t cusolver_handle_ = nullptr;
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// Handle to cuBLAS context.
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cublasHandle_t cublas_handle_ = nullptr;
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// CUDA device stream.
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cudaStream_t stream_ = nullptr;
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// Indicates whether all the CUDA resources have been initialized.
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bool cuda_initialized_ = false;
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#endif // CERES_NO_CUDA
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};
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} // namespace internal
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} // namespace ceres
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_INTERNAL_CONTEXT_IMPL_H_
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