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bask to GPU with more debug points

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This commit is contained in:
gfuse
2021-08-23 16:26:24 +02:00
parent ac775d75ca
commit 5d054433be
3 changed files with 21 additions and 23 deletions
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GPU_version/vio/include/vio/cl_class.h
+18 -20
View File
@@ -25,57 +25,55 @@ public:
};
template<typename T>
int32_t write(size_t id/*buffer ID*/,T* buf,cl::CommandQueue* queue,cl::Context* context,size_t buf_size){
cl_int error;
_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 | CL_MEM_USE_HOST_PTR
, sizeof(T) * buf_size,buf),
, sizeof(T) * buf_size,buf,&error),
buf_size),id));
assert(error == CL_SUCCESS);
cl_int err=_kernel->setArg(id,_buffers.back().first.first);
if(err!=0){
std::cerr<<"Error C:Kernel, F:write, L3:setArg\t"<<id<<"\t"<<err<<'\n';
return err;
}
assert(err == CL_SUCCESS);
return CL_SUCCESS;
};
int32_t write(size_t id/*buffer ID*/,cv::Mat& buf,cl::Context* context){
cl_int error;
_images.push_back(std::pair<cl::Image2D,size_t>(cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR,
cl::ImageFormat(CL_R, CL_UNSIGNED_INT8),
buf.size().width,
buf.size().height,
0,
reinterpret_cast<uchar*>(buf.data)),id));
reinterpret_cast<uchar*>(buf.data),&error),id));
assert(error == CL_SUCCESS);
cl_int err=_kernel->setArg(id,_images.back().first);
if(err!=0){
std::cout<<"Error C:Kernel, F:write image, L:setArg ID:\t"<<id<<"\t"<<err<<'\n';
return err;
}
assert(err == CL_SUCCESS);
return CL_SUCCESS;
};
template<typename T>
int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){
for(auto&& i:_buffers)if(i.second==id){
T* Map_buf=(T*)queue->enqueueMapBuffer(i.first.first,CL_TRUE,CL_MAP_WRITE,0,sizeof(T) * i.first.second);
memcpy(Map_buf,buf,sizeof(T) * i.first.second);
if(queue->enqueueUnmapMemObject(i.first.first,Map_buf)!=CL_SUCCESS)std::cerr<<"Reload buffer on GPU failed"<<'\n';
cl_int error;
T* Map_buf=(T*)queue->enqueueMapBuffer(i.first.first,CL_TRUE,CL_MAP_WRITE,0,sizeof(T) * i.first.second,NULL,NULL,&error);
assert(error == CL_SUCCESS);
memcpy(Map_buf,buf,sizeof(T) * i.first.second);
if(queue->enqueueUnmapMemObject(i.first.first,Map_buf)!=CL_SUCCESS)std::cerr<<"Reload buffer on GPU failed"<<'\n';
}
return CL_SUCCESS;
};
int32_t reload(size_t id,cv::Mat& buf,cl::Context* context){
try{
for(auto&& i:_images)if(i.second==id){
i.first.setDestructorCallback((void (*)(_cl_mem *, void *))notify, NULL);
cl_int error;
i.first.setDestructorCallback((void (*)(_cl_mem *, void *))notify, NULL);
i.first=cl::Image2D(*context, CL_MEM_READ_ONLY | CL_MEM_USE_HOST_PTR,
cl::ImageFormat(CL_R, CL_UNSIGNED_INT8),
buf.size().width,
buf.size().height,
0,
reinterpret_cast<uchar*>(buf.data));
reinterpret_cast<uchar*>(buf.data),&error);
assert(error == CL_SUCCESS);
cl_int err=_kernel->setArg(id,i.first);
if(err!=0){
std::cerr<<"Error C:Kernel, F:write image, L:setArg ID:\t"<<id<<"\t"<<err<<'\n';
return err;
}
assert(err == CL_SUCCESS);
}
return CL_SUCCESS;
}catch (std::exception& err){
GPU_version/vio/src/cl_class.cpp
+1 -1
View File
@@ -13,7 +13,7 @@ opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
std::vector<cl::Device> all_devices;
for(auto i:all_platforms){
std::cout << "Find platform number:"<< i.getInfo<CL_PLATFORM_NAME>() << "\n";
i.getDevices(CL_DEVICE_TYPE_CPU, &all_devices);
i.getDevices(CL_DEVICE_TYPE_GPU, &all_devices);
}
if (all_devices.size() == 0){
GPU_version/vio/src/frame_handler_mono.cpp
+2 -2
View File
@@ -167,8 +167,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->T_f_w_=init_f.second;
new_frame_->Cov_ = init_f.first;
// sparse image align
SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlign::LevenbergMarquardt, false, false);
//SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
//SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlign::LevenbergMarquardt, false, false);
SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_);
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//assert (false);
reprojector_.reprojectMap(new_frame_, overlap_kfs_);