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// Copyright (C) 2011 Dmitri Nikulin
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// Copyright (C) 2011 Monash University
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//
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// Permission is hereby granted, free of charge, to any person
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// obtaining a copy of this software and associated documentation
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// files (the "Software"), to deal in the Software without
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// restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the
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// Software is furnished to do so, subject to the following
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// conditions:
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//
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// The above copyright notice and this permission notice shall be
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// included in all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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// OTHER DEALINGS IN THE SOFTWARE.
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#ifndef __CVD_CL_FAST_GRAY_STEP_HH__
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#define __CVD_CL_FAST_GRAY_STEP_HH__
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#include <cvd-cl/states/ImageState.hh>
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#include <cvd-cl/states/ListState.hh>
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#include <cvd-cl/worker/WorkerStep.hh>
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namespace CVD {
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namespace CL {
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/// \brief WorkerStep to filter a point list by FAST corner criteria.
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class FastGrayStep : public WorkerStep {
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public:
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/// \brief Construct the step.
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///
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/// \param i_image Input image.
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/// \param i_points Input point list.
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/// \param o_points Output point list.
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/// \param threshold FAST threshold.
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/// \param ring Consecutive bits required in FAST ring.
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explicit FastGrayStep(GrayImageState & i_image, PointListState & i_points, PointListState & o_points, cl_int threshold=40, cl_int ring=9);
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/// \brief De-construct the step.
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virtual ~FastGrayStep();
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virtual void execute();
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protected:
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/// \brief Input image.
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GrayImageState & i_image;
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/// \brief Input point list.
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PointListState & i_points;
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/// \brief Output point list.
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PointListState & o_points;
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/// \brief FAST threshold.
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cl_int const threshold;
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/// \brief Consecutive bits required in FAST ring.
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cl_int const ring;
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/// \brief OpenCL program.
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cl::Program program;
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/// \brief OpenCL kernel.
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cl::Kernel kernel;
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};
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} // namespace CL
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} // namespace CVD
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#endif /* __CVD_CL_FAST_GRAY_STEP_HH__ */
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@@ -0,0 +1,72 @@
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// Copyright (C) 2011 Dmitri Nikulin
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// Copyright (C) 2011 Monash University
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//
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// Permission is hereby granted, free of charge, to any person
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// obtaining a copy of this software and associated documentation
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// files (the "Software"), to deal in the Software without
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// restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the
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// Software is furnished to do so, subject to the following
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// conditions:
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//
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// The above copyright notice and this permission notice shall be
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// included in all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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// OTHER DEALINGS IN THE SOFTWARE.
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#ifndef __CVD_CL_PRE_FAST_GRAY_STEP_HH__
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#define __CVD_CL_PRE_FAST_GRAY_STEP_HH__
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#include <cvd-cl/worker/WorkerStep.hh>
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#include <cvd-cl/states/ImageState.hh>
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#include <cvd-cl/states/ListState.hh>
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namespace CVD {
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namespace CL {
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/// \brief WorkerStep to select points that are reasonably likely to later satisfy a FAST corner test.
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class PreFastGrayStep : public WorkerStep {
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public:
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/// \brief Construct the step.
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///
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/// \param i_image Input image.
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/// \param o_points Output point list.
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/// \param threshold FAST threshold.
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explicit PreFastGrayStep(GrayImageState & i_image, PointListState & o_points, cl_int threshold=40);
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/// \brief De-construct the step.
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virtual ~PreFastGrayStep();
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virtual void execute();
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protected:
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/// \brief Input image.
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GrayImageState & i_image;
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/// \brief Output point list.
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PointListState & o_points;
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/// \brief FAST threshold.
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cl_int const threshold;
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/// \brief OpenCL program.
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cl::Program program;
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/// \brief OpenCL kernel.
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cl::Kernel kernel;
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};
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} // namespace CL
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} // namespace CVD
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#endif /* __CVD_CL_PRE_FAST_GRAY_STEP_HH__ */
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//
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// Created by root on 4/27/21.
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//
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#ifndef VIO_OPENCL_CL_CLASS_H
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#define VIO_OPENCL_CL_CLASS_H
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#include <CL/cl.hpp>
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#include <iostream>
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#include <vector>
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#include <algorithm>
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#include <fstream>
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#include <exception>
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#include <CL/opencl.h>
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#include <opencv2/opencv.hpp>
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class kernel{
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public:
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kernel(cl::Program* program,std::string name){_kernel = new cl::Kernel(*program,name.c_str());};
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~kernel(){
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_buffers.clear();
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_images.clear();
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};
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template<typename T>
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int32_t write(size_t id/*buffer ID*/,T* buf,cl::CommandQueue* queue,cl::Context* context,size_t buf_size){
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_buffers.push_back(std::pair<std::pair<cl::Buffer,size_t>,size_t>(std::pair<cl::Buffer,size_t>(cl::Buffer(*context, CL_MEM_READ_WRITE, sizeof(T) * buf_size),
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buf_size),id));
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cl_int err=queue->enqueueWriteBuffer(_buffers.back().first.first,CL_TRUE, 0, sizeof(T) * buf_size, buf);
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if(err!=0){
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std::cerr<<"Error C:Kernel, F:write, L:enqueueWriteBuffer\n"<<err<<'\n';
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return err;
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}
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err=_kernel->setArg(id,_buffers.back().first.first);
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if(err!=0){
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std::cerr<<"Error C:Kernel, F:write, L3:setArg\n"<<err<<'\n';
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return err;
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}
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return CL_SUCCESS;
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};
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int32_t write(size_t id/*buffer ID*/,cv::Mat& buf,cl::Context* context){
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_images.push_back(std::pair<cl::Image2D,size_t>(cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
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cl::ImageFormat(CL_R, CL_UNSIGNED_INT8),
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buf.size().width,
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buf.size().height,
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0,
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reinterpret_cast<uchar*>(buf.data)),id));
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cl_int err=_kernel->setArg(id,_images.back().first);
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if(err!=0){
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std::cerr<<"Error C:Kernel, F:write image, L:setArg\n"<<err<<'\n';
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return err;
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}
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return CL_SUCCESS;
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};
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template<typename T>
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int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){
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try{
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if(id>_buffers.size())return CL_MAP_FAILURE;
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for(auto i:_buffers)if(i.second==id)
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queue->enqueueWriteBuffer(i.first.first,CL_TRUE, 0, sizeof(T) * i.first.second, buf);
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return CL_SUCCESS;
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}catch (std::exception& err){
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std::cerr<<"Reload buffer on GPU failed\n"<<err.what()<<'\n';
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return CL_MAP_FAILURE;
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}
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};
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int32_t reload(size_t id,cv::Mat& buf,cl::Context* context){
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try{
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for(auto i:_images)if(i.second==id)
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i.first=cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_COPY_HOST_PTR,
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cl::ImageFormat(CL_R, CL_UNSIGNED_INT8),
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buf.size().width,
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buf.size().height,
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0,
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reinterpret_cast<uchar*>(buf.data));
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return CL_SUCCESS;
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}catch (std::exception& err){
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std::cerr<<"Reload buffer on GPU failed\n"<<err.what()<<'\n';
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return CL_MAP_FAILURE;
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}
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};
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cl::Kernel* _kernel = NULL;
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std::pair<cl::Buffer,size_t> read(size_t id){
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for(auto i:_buffers)if(i.second==id)return i.first;
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}
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cl::Image2D read_img(size_t id){
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for(auto i:_images)if(i.second==id)return i.first;
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}
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private:
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std::vector<std::pair<std::pair<cl::Buffer,size_t>,size_t>> _buffers;
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std::vector<std::pair<cl::Image2D,size_t>> _images;
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};
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class read_cl{
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public:
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read_cl(std::string path){
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src_str=(char *)malloc(0x100000);
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FILE *fp;
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fp = fopen(path.c_str(), "r");
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size = fread(src_str, 1, 0x100000, fp);
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fclose(fp);
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}
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void print(){
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std::cerr<<src_str<<"\n";
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}
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char *src_str = nullptr;
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size_t size;
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};
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class opencl{
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public:
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opencl();
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~opencl();
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int32_t make_kernel(std::string name){_kernels.push_back(kernel(program,name));};
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template<typename T>
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int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, int size,T* buf) {
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try{
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_kernels.at(id1).write(id2,buf,queue,context,size);
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return CL_SUCCESS;
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}catch (std::exception& err){
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std::cerr<<"Write buffer on GPU failed\n"<<err.what()<<'\n';
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return CL_MAP_FAILURE;
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}
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}
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int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,cv::Mat& buf) {
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try{
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_kernels.at(id1).write(id2,buf,context);
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return CL_SUCCESS;
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}catch (std::exception& err){
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std::cerr<<"Write buffer on GPU failed\n"<<err.what()<<'\n';
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return CL_MAP_FAILURE;
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}
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}
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template<typename T>
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int32_t write_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T&& value){
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_kernels.at(id1)._kernel->setArg(id2,value);
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};
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template<typename T>
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int32_t reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,T* buf) {
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try{
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_kernels.at(id1).reload(id2,buf,queue);
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return CL_SUCCESS;
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}catch (std::exception& err){
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std::cerr<<"Reload buffer on GPU failed\n"<<err.what()<<'\n';
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return CL_MAP_FAILURE;
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}
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}
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int32_t reload_buf(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,cv::Mat& buf) {
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try{
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_kernels.at(id1).reload(id2,buf,context);
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return CL_SUCCESS;
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}catch (std::exception& err){
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std::cerr<<"Write buffer on GPU failed\n"<<err.what()<<'\n';
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return CL_MAP_FAILURE;
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}
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}
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int32_t run(size_t id1/*kernal ID*/,std::size_t x=1,std::size_t y=1,std::size_t z=1) {
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cl_int err=0;
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if(z>1 && y>1){
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err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y,z)/*Global*/, cl::NullRange/*local*/);
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}else if(z<2 && y>1){
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err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x,y)/*Global*/, cl::NullRange/*local*/);
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}else{
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err=queue->enqueueNDRangeKernel(*_kernels.at(id1)._kernel, cl::NullRange/*offset*/, cl::NDRange(x)/*Global*/, cl::NullRange/*local*/);
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};
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queue->finish();
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if(err!=0){
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std::cerr<<"kernel: "<<_kernels.at(id1)._kernel->getInfo<CL_KERNEL_FUNCTION_NAME>();
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std::cerr<<" ,Args: "<<_kernels.at(id1)._kernel->getInfo<CL_KERNEL_NUM_ARGS>()<<" ,Run out: "<<err<<'\n';
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for(int i=0;i<_kernels.at(id1)._kernel->getInfo<CL_KERNEL_NUM_ARGS>();++i)
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std::cerr<<"argument type "<<i<<":"<<_kernels.at(id1)._kernel->getArgInfo<CL_KERNEL_ARG_TYPE_NAME>(i)<<'\n';
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}
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return err;
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}
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template<typename T>
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void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, T* out){
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queue->enqueueReadBuffer(_kernels.at(id1).read(id2).first, CL_TRUE, 0, sizeof(T) * _kernels.at(id1).read(id2).second, out);
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}
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void clear_buf();
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private:
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std::vector<kernel> _kernels;
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cl::Context* context = NULL;
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cl::Device device;
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cl::Program* program = NULL;
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cl::CommandQueue* queue=NULL;
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};
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#endif //VIO_OPENCL_CL_CLASS_H
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