mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Joydeep Biswas
fc826c5780
* All Cuda* objects now take in a ContextImpl* during construction, and save the context instead of individual handles. * Since we no longer use the legacy default stream, we need to explicitly synchronize the stream before performing GPU->CPU transfers, and CudaBuffer is responsible for such synchronization when asked to perform GPU to CPU transfers. * Remove all manual syncs and relegate syncing to CudaBuffer before performing GPU to CPU transfers. Change-Id: Ic73cb24174a1e09842827323280e90241716cc20
123 lines
5.0 KiB
C++
123 lines
5.0 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2018 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: vitus@google.com (Michael Vitus)
|
|
|
|
#ifndef CERES_INTERNAL_CONTEXT_IMPL_H_
|
|
#define CERES_INTERNAL_CONTEXT_IMPL_H_
|
|
|
|
// This include must come before any #ifndef check on Ceres compile options.
|
|
// clang-format off
|
|
#include "ceres/internal/config.h"
|
|
// clang-format on
|
|
|
|
#include <string>
|
|
|
|
#include "ceres/context.h"
|
|
#include "ceres/internal/disable_warnings.h"
|
|
#include "ceres/internal/export.h"
|
|
|
|
#ifndef CERES_NO_CUDA
|
|
#include "cublas_v2.h"
|
|
#include "cuda_runtime.h"
|
|
#include "cusolverDn.h"
|
|
#include "cusparse.h"
|
|
#endif // CERES_NO_CUDA
|
|
|
|
#ifdef CERES_USE_CXX_THREADS
|
|
#include "ceres/thread_pool.h"
|
|
#endif // CERES_USE_CXX_THREADS
|
|
|
|
namespace ceres::internal {
|
|
|
|
class CERES_NO_EXPORT ContextImpl final : public Context {
|
|
public:
|
|
ContextImpl();
|
|
~ContextImpl() override;
|
|
ContextImpl(const ContextImpl&) = delete;
|
|
void operator=(const ContextImpl&) = delete;
|
|
|
|
// When compiled with C++ threading support, resize the thread pool to have
|
|
// at min(num_thread, num_hardware_threads) where num_hardware_threads is
|
|
// defined by the hardware. Otherwise this call is a no-op.
|
|
void EnsureMinimumThreads(int num_threads);
|
|
|
|
#ifdef CERES_USE_CXX_THREADS
|
|
ThreadPool thread_pool;
|
|
#endif // CERES_USE_CXX_THREADS
|
|
|
|
#ifndef CERES_NO_CUDA
|
|
// Note on Ceres' use of CUDA Devices on multi-GPU systems:
|
|
// 1. On a multi-GPU system, if nothing special is done, the "default" CUDA
|
|
// device will be used, which is device 0.
|
|
// 2. If the user masks out GPUs using the CUDA_VISIBLE_DEVICES environment
|
|
// variable, Ceres will still use device 0 visible to the program, but
|
|
// device 0 will be the first GPU indicated in the environment variable.
|
|
// 3. If the user explicitly selects a GPU in the host process before calling
|
|
// Ceres, Ceres will use that GPU.
|
|
|
|
// Note on Ceres' use of CUDA Streams:
|
|
// All operations on the GPU are performed using a single stream. This ensures
|
|
// that the order of operations are stream-ordered, but we do not need to
|
|
// explicitly synchronize the stream at the end of every operation. Stream
|
|
// synchronization occurs only before GPU to CPU transfers, and is handled by
|
|
// CudaBuffer.
|
|
|
|
// Initializes cuBLAS, cuSOLVER, and cuSPARSE contexts, creates an
|
|
// asynchronous CUDA stream, and associates the stream with the contexts.
|
|
// Returns true iff initialization was successful, else it returns false and a
|
|
// human-readable error message is returned.
|
|
bool InitCuda(std::string* message);
|
|
void TearDown();
|
|
inline bool IsCudaInitialized() const { return is_cuda_initialized_; }
|
|
// Returns a human-readable string describing the capabilities of the current
|
|
// CUDA device. CudaConfigAsString can only be called after InitCuda has been
|
|
// called.
|
|
std::string CudaConfigAsString() const;
|
|
// Returns the number of bytes of available global memory on the current CUDA
|
|
// device. If it is called before InitCuda, it returns 0.
|
|
size_t GpuMemoryAvailable() const;
|
|
|
|
cusolverDnHandle_t cusolver_handle_ = nullptr;
|
|
cublasHandle_t cublas_handle_ = nullptr;
|
|
cudaStream_t stream_ = nullptr;
|
|
cusparseHandle_t cusparse_handle_ = nullptr;
|
|
bool is_cuda_initialized_ = false;
|
|
int gpu_device_id_in_use_ = -1;
|
|
cudaDeviceProp gpu_device_properties_;
|
|
int cuda_version_major_ = 0;
|
|
int cuda_version_minor_ = 0;
|
|
#endif // CERES_NO_CUDA
|
|
};
|
|
|
|
} // namespace ceres::internal
|
|
|
|
#include "ceres/internal/reenable_warnings.h"
|
|
|
|
#endif // CERES_INTERNAL_CONTEXT_IMPL_H_
|