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cpu version 23.08.2021

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This commit is contained in:
gfuse
2021-08-23 12:07:55 +02:00
parent 32428bfe9f
commit ac775d75ca
4 changed files with 3 additions and 25 deletions
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GPU_version/vio/include/vio/cl_class.h
-7
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@@ -56,11 +56,8 @@ public:
int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){ int32_t reload(size_t id,T* buf,cl::CommandQueue* queue){
for(auto&& i:_buffers)if(i.second==id){ 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); T* Map_buf=(T*)queue->enqueueMapBuffer(i.first.first,CL_TRUE,CL_MAP_WRITE,0,sizeof(T) * i.first.second);
std::cout<<"\n reload class L:59,\t";
memcpy(Map_buf,buf,sizeof(T) * i.first.second); memcpy(Map_buf,buf,sizeof(T) * i.first.second);
std::cout<<"L:61\t";
if(queue->enqueueUnmapMemObject(i.first.first,Map_buf)!=CL_SUCCESS)std::cerr<<"Reload buffer on GPU failed"<<'\n'; if(queue->enqueueUnmapMemObject(i.first.first,Map_buf)!=CL_SUCCESS)std::cerr<<"Reload buffer on GPU failed"<<'\n';
std::cout<<"L:63\n";
} }
return CL_SUCCESS; return CL_SUCCESS;
}; };
@@ -188,13 +185,9 @@ public:
} }
template<typename T> template<typename T>
void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){ void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){
std::cout<<"read GPU line 191\t";
T* Map_buf=(T*)queue->enqueueMapBuffer(_kernels.at(id1).read(id2).first,CL_TRUE,CL_MAP_READ,0,sizeof(T) * size); T* Map_buf=(T*)queue->enqueueMapBuffer(_kernels.at(id1).read(id2).first,CL_TRUE,CL_MAP_READ,0,sizeof(T) * size);
std::cout<<"read GPU line 193\t";
memcpy(out,Map_buf,sizeof(T) * size); memcpy(out,Map_buf,sizeof(T) * size);
std::cout<<"read GPU line 195\t";
if(queue->enqueueUnmapMemObject(_kernels.at(id1).read(id2).first,Map_buf)!=CL_SUCCESS)std::cerr<<"Read buffer on GPU failed"<<'\n'; if(queue->enqueueUnmapMemObject(_kernels.at(id1).read(id2).first,Map_buf)!=CL_SUCCESS)std::cerr<<"Read buffer on GPU failed"<<'\n';
std::cout<<"read GPU line 197\t";
} }
void clear_buf(); void clear_buf();
private: private:
GPU_version/vio/src/cl_class.cpp
+1 -1
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@@ -13,7 +13,7 @@ opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
std::vector<cl::Device> all_devices; std::vector<cl::Device> all_devices;
for(auto i:all_platforms){ for(auto i:all_platforms){
std::cout << "Find platform number:"<< i.getInfo<CL_PLATFORM_NAME>() << "\n"; std::cout << "Find platform number:"<< i.getInfo<CL_PLATFORM_NAME>() << "\n";
i.getDevices(CL_DEVICE_TYPE_GPU, &all_devices); i.getDevices(CL_DEVICE_TYPE_CPU, &all_devices);
} }
if (all_devices.size() == 0){ if (all_devices.size() == 0){
GPU_version/vio/src/frame_handler_mono.cpp
+2 -2
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@@ -167,8 +167,8 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->T_f_w_=init_f.second; new_frame_->T_f_w_=init_f.second;
new_frame_->Cov_ = init_f.first; new_frame_->Cov_ = init_f.first;
// sparse image align // sparse image align
//SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlign::LevenbergMarquardt, false, false); 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_); //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; if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//assert (false); //assert (false);
reprojector_.reprojectMap(new_frame_, overlap_kfs_); reprojector_.reprojectMap(new_frame_, overlap_kfs_);
GPU_version/vio/src/sparse_img_align_gpu.cpp
-15
View File
@@ -30,7 +30,6 @@ SparseImgAlignGpu::SparseImgAlignGpu(
method_ = method; method_ = method;
verbose_ = verbose; verbose_ = verbose;
eps_ = 1e-10; eps_ = 1e-10;
// data = fopen((std::string(getenv("HOME"))+"/Project/data.txt").c_str(), "w+");
} }
size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame) size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
@@ -46,9 +45,6 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
residual_->reload_buf(1,3,ref_pos); residual_->reload_buf(1,3,ref_pos);
cl_float3 features[ref_frame->fts_.size()]; cl_float3 features[ref_frame->fts_.size()];
cl_float2 featue_px[ref_frame->fts_.size()]; cl_float2 featue_px[ref_frame->fts_.size()];
// fprintf(data, "ref_frame:\n %f,%f,%f\n",ref_pos[0],ref_pos[1],ref_pos[2]);
// fprintf(data, "cur_frame:\n %f,%f,%f\n",cur_pos[0],cur_pos[1],cur_pos[2]);
// fprintf(data, "camera:\n %f,%f,%f,%f,%f\n features:\n",camera[0],camera[1],camera[2],camera[3],camera[4]);
feature_counter_ = 0; // is used to compute the index of the cached jacobian feature_counter_ = 0; // is used to compute the index of the cached jacobian
for(auto it=ref_frame->fts_.begin(); it!=ref_frame->fts_.end();++it){ for(auto it=ref_frame->fts_.begin(); it!=ref_frame->fts_.end();++it){
if(*it == nullptr)continue; if(*it == nullptr)continue;
@@ -59,7 +55,6 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
features[feature_counter_].z=xyz_ref(2); features[feature_counter_].z=xyz_ref(2);
featue_px[feature_counter_].x=(*it)->px(0); featue_px[feature_counter_].x=(*it)->px(0);
featue_px[feature_counter_].y=(*it)->px(1); featue_px[feature_counter_].y=(*it)->px(1);
// fprintf(data, "%f,%f,%f,%f,%f\n",xyz_ref(0),xyz_ref(1),xyz_ref(2),(*it)->px(0),(*it)->px(1));
++feature_counter_; ++feature_counter_;
} }
residual_->reload_buf(1,4,features); residual_->reload_buf(1,4,features);
@@ -91,31 +86,21 @@ double SparseImgAlignGpu::computeResiduals(
cl_float3 J[300]={0.0}; cl_float3 J[300]={0.0};
float chi2_[300]={0.0}; float chi2_[300]={0.0};
float scale=(float)scale_; float scale=(float)scale_;
std::cerr<<"computeResiduals line: 94,\t";
residual_->write_buf(1,11,scale); residual_->write_buf(1,11,scale);
std::cerr<<"96,\t";
residual_->reload_buf(1,10,chi2_); residual_->reload_buf(1,10,chi2_);
std::cerr<<"computeResiduals line: 98,\t";
residual_->reload_buf(1,8,H); residual_->reload_buf(1,8,H);
std::cerr<<"computeResiduals line: 100,\t";
residual_->reload_buf(1,9,J); residual_->reload_buf(1,9,J);
std::cerr<<"computeResiduals line: 102,\t";
/// TODO GPU compute based on the feature /// TODO GPU compute based on the feature
residual_->run(1,feature_counter_); residual_->run(1,feature_counter_);
std::cerr<<"105,\t";
float error[300]={0.0}; float error[300]={0.0};
float chi[300]={0.0}; float chi[300]={0.0};
residual_->read(1,10,feature_counter_,chi); residual_->read(1,10,feature_counter_,chi);
std::cerr<<"109,\t";
residual_->read(1,7,feature_counter_,error); residual_->read(1,7,feature_counter_,error);
std::cerr<<"111,\t";
for(int i = 1; i < feature_counter_; ++i){ for(int i = 1; i < feature_counter_; ++i){
error[0] += error[i]; error[0] += error[i];
chi[0] += chi[i]; chi[0] += chi[i];
} }
std::cerr<<"116,\t";
scale_ = error[0]*(1.48f / feature_counter_); scale_ = error[0]*(1.48f / feature_counter_);
std::cerr<<"118\n";
return chi[0]/(feature_counter_*8); return chi[0]/(feature_counter_*8);
} }