From 00e8cfa9ef7c33fa09e286f0cc2768063ce62fc8 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:02:32 +0500 Subject: [PATCH 01/32] Updated Cmake for cuda support. --- octomap/CMakeLists.txt | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt index 50e6323f..351e14de 100644 --- a/octomap/CMakeLists.txt +++ b/octomap/CMakeLists.txt @@ -1,5 +1,5 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.8.8) -PROJECT( octomap ) +PROJECT( octomap LANGUAGES CUDA CXX) include(CTest) @@ -21,6 +21,7 @@ SET (CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules") # COMPILER SETTINGS (default: Release) and flags INCLUDE(CompilerSettings) +SET (OCTOMAP_POSITION_INDEPENDENT_CODE ON) # OCTOMAP_OMP = enable OpenMP parallelization (experimental, defaults to OFF) SET(OCTOMAP_OMP FALSE CACHE BOOL "Enable/disable OpenMP parallelization") @@ -34,6 +35,18 @@ IF(OCTOMAP_OMP) SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}") ENDIF(OCTOMAP_OMP) +# __CUDA_SUPPORT__ = enable CUDA parallelization (experimental, defaults to OFF) +SET(__CUDA_SUPPORT__ FALSE CACHE BOOL "Enable/disable CUDA parallelization") +IF(DEFINED ENV{__CUDA_SUPPORT__}) + SET(__CUDA_SUPPORT__ $ENV{__CUDA_SUPPORT__}) +ENDIF(DEFINED ENV{__CUDA_SUPPORT__}) +IF(__CUDA_SUPPORT__) + FIND_PACKAGE( CUDA 9.0 REQUIRED) + message(STATUS "Found CUDA ${CUDA_VERSION_STRING} at ${CUDA_TOOLKIT_ROOT_DIR}") + set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -gencode arch=compute_61,code=sm_61) + add_definitions(-D__CUDA_SUPPORT__) +ENDIF(__CUDA_SUPPORT__) + # Set output directories for libraries and executables SET( BASE_DIR ${CMAKE_SOURCE_DIR} ) SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY ${BASE_DIR}/lib ) From 8b7ee769b67af3038991548adbbf21534f99df9c Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:07:41 +0500 Subject: [PATCH 02/32] Macro definition for cuda error checking. --- octomap/include/octomap/AssertionCUDA.cuh | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 octomap/include/octomap/AssertionCUDA.cuh diff --git a/octomap/include/octomap/AssertionCUDA.cuh b/octomap/include/octomap/AssertionCUDA.cuh new file mode 100644 index 00000000..1808b6b0 --- /dev/null +++ b/octomap/include/octomap/AssertionCUDA.cuh @@ -0,0 +1,17 @@ +#include +#include +#include + +#ifndef ASSERTION_CUDA_CUH +#define ASSERTION_CUDA_CUH + +#define cudaCheckErrors(ans) { gpuAssert((ans), __FILE__, __LINE__); } +inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort=true) +{ + if (code != cudaSuccess) + { + fprintf(stderr,"GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line); + if (abort) exit(code); + } +} +#endif \ No newline at end of file From 53558f658ab785d3dffb9689c36dd38e2faee1c5 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:08:46 +0500 Subject: [PATCH 03/32] Made math classes CUDA host/device callable. --- octomap/include/octomap/math/Pose6D.h | 63 ++++++++++-------- octomap/include/octomap/math/Quaternion.h | 69 ++++++++++--------- octomap/include/octomap/math/Vector3.h | 81 +++++++++++++---------- 3 files changed, 120 insertions(+), 93 deletions(-) diff --git a/octomap/include/octomap/math/Pose6D.h b/octomap/include/octomap/math/Pose6D.h index 31c7e9b9..684171c4 100644 --- a/octomap/include/octomap/math/Pose6D.h +++ b/octomap/include/octomap/math/Pose6D.h @@ -37,6 +37,15 @@ #include "Vector3.h" #include "Quaternion.h" +#ifdef __CUDACC__ +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE __host__ __device__ +#endif +#else +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE +#endif +#endif namespace octomath { /*! @@ -49,15 +58,15 @@ namespace octomath { class Pose6D { public: - Pose6D(); - ~Pose6D(); + CUDA_CALLABLE Pose6D(); + CUDA_CALLABLE ~Pose6D(); /*! * \brief Constructor * * Constructs a pose from given translation and rotation. */ - Pose6D(const Vector3& trans, const Quaternion& rot); + CUDA_CALLABLE Pose6D(const Vector3& trans, const Quaternion& rot); /*! * \brief Constructor @@ -66,47 +75,47 @@ namespace octomath { * its x, y, z-values and a rotation represented by its * Tait-Bryan angles roll, pitch, and yaw */ - Pose6D(float x, float y, float z, double roll, double pitch, double yaw); + CUDA_CALLABLE Pose6D(float x, float y, float z, double roll, double pitch, double yaw); - Pose6D& operator= (const Pose6D& other); - bool operator==(const Pose6D& other) const; - bool operator!=(const Pose6D& other) const; + CUDA_CALLABLE Pose6D& operator= (const Pose6D& other); + CUDA_CALLABLE bool operator==(const Pose6D& other) const; + CUDA_CALLABLE bool operator!=(const Pose6D& other) const; /*! * \brief Translational component * * @return the translational component of this pose */ - inline Vector3& trans() { return translation; } + CUDA_CALLABLE inline Vector3& trans() { return translation; } /*! * \brief Rotational component * * @return the rotational component of this pose */ - inline Quaternion& rot() { return rotation; } + CUDA_CALLABLE inline Quaternion& rot() { return rotation; } /*! * \brief Translational component * * @return the translational component of this pose */ - const Vector3& trans() const { return translation; } + CUDA_CALLABLE const Vector3& trans() const { return translation; } /*! * \brief Rotational component * @return the rotational component of this pose */ - const Quaternion& rot() const { return rotation; } + CUDA_CALLABLE const Quaternion& rot() const { return rotation; } - inline float& x() { return translation(0); } - inline float& y() { return translation(1); } - inline float& z() { return translation(2); } - inline const float& x() const { return translation(0); } - inline const float& y() const { return translation(1); } - inline const float& z() const { return translation(2); } + CUDA_CALLABLE inline float& x() { return translation(0); } + CUDA_CALLABLE inline float& y() { return translation(1); } + CUDA_CALLABLE inline float& z() { return translation(2); } + CUDA_CALLABLE inline const float& x() const { return translation(0); } + CUDA_CALLABLE inline const float& y() const { return translation(1); } + CUDA_CALLABLE inline const float& z() const { return translation(2); } - inline double roll() const {return (rotation.toEuler())(0); } - inline double pitch() const {return (rotation.toEuler())(1); } - inline double yaw() const {return (rotation.toEuler())(2); } + CUDA_CALLABLE inline double roll() const {return (rotation.toEuler())(0); } + CUDA_CALLABLE inline double pitch() const {return (rotation.toEuler())(1); } + CUDA_CALLABLE inline double yaw() const {return (rotation.toEuler())(2); } /*! * \brief Transformation of a vector @@ -116,7 +125,7 @@ namespace octomath { * @return the vector which is translated by the translation of * this and afterwards rotated by the rotation of this. */ - Vector3 transform (const Vector3 &v) const; + CUDA_CALLABLE Vector3 transform (const Vector3 &v) const; /*! * \brief Inversion @@ -124,7 +133,7 @@ namespace octomath { * Inverts the coordinate transformation represented by this pose * @return a copy of this pose inverted */ - Pose6D inv() const; + CUDA_CALLABLE Pose6D inv() const; /*! * \brief Inversion @@ -132,7 +141,7 @@ namespace octomath { * Inverts the coordinate transformation represented by this pose * @return a reference to this pose */ - Pose6D& inv_IP(); + CUDA_CALLABLE Pose6D& inv_IP(); /*! * \brief Concatenation @@ -141,7 +150,7 @@ namespace octomath { * by this and p. * @return this * p (applies first this, then p) */ - Pose6D operator* (const Pose6D &p) const; + CUDA_CALLABLE Pose6D operator* (const Pose6D &p) const; /*! * \brief In place concatenation * @@ -149,14 +158,14 @@ namespace octomath { * @return this which results from first moving by this and * afterwards by p */ - const Pose6D& operator*= (const Pose6D &p); + CUDA_CALLABLE const Pose6D& operator*= (const Pose6D &p); /*! * \brief Translational distance * * @return the translational (euclidian) distance to p */ - double distance(const Pose6D &other) const; + CUDA_CALLABLE double distance(const Pose6D &other) const; /*! * \brief Translational length @@ -164,7 +173,7 @@ namespace octomath { * @return the translational (euclidian) length of the translation * vector of this Pose6D */ - double transLength() const; + CUDA_CALLABLE double transLength() const; /*! * \brief Output operator diff --git a/octomap/include/octomap/math/Quaternion.h b/octomap/include/octomap/math/Quaternion.h index 7ed1985b..14464b8c 100644 --- a/octomap/include/octomap/math/Quaternion.h +++ b/octomap/include/octomap/math/Quaternion.h @@ -39,6 +39,15 @@ #include #include +#ifdef __CUDACC__ +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE __host__ __device__ +#endif +#else +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE +#endif +#endif namespace octomath { @@ -63,12 +72,12 @@ namespace octomath { * Constructs the (1,0,0,0) Unit Quaternion * representing the identity rotation. */ - inline Quaternion() { u() = 1; x() = 0; y() = 0; z() = 0; } + CUDA_CALLABLE inline Quaternion() { u() = 1; x() = 0; y() = 0; z() = 0; } /*! * \brief Copy constructor */ - Quaternion(const Quaternion& other); + CUDA_CALLABLE Quaternion(const Quaternion& other); /*! * \brief Constructor @@ -76,14 +85,14 @@ namespace octomath { * Constructs a Quaternion from four single * values */ - Quaternion(float u, float x, float y, float z); + CUDA_CALLABLE Quaternion(float u, float x, float y, float z); /*! * \brief Constructor * * @param other a vector containing euler angles */ - Quaternion(const Vector3& other); + CUDA_CALLABLE Quaternion(const Vector3& other); /*! * \brief Constructor from Euler angles @@ -94,12 +103,12 @@ namespace octomath { * @param pitch theta/pitch angle (rotation about y-axis) * @param yaw psi/yaw angle (rotation about z-axis) */ - Quaternion(double roll, double pitch, double yaw); + CUDA_CALLABLE Quaternion(double roll, double pitch, double yaw); //! Constructs a Unit Quaternion from a rotation angle and axis. - Quaternion(const Vector3& axis, double angle); + CUDA_CALLABLE Quaternion(const Vector3& axis, double angle); /*! @@ -108,22 +117,22 @@ namespace octomath { * Converts the attitude represented by this to * Euler angles (roll, pitch, yaw). */ - Vector3 toEuler() const; + CUDA_CALLABLE Vector3 toEuler() const; - void toRotMatrix(std::vector & rot_matrix_3_3) const; + CUDA_CALLABLE void toRotMatrix(std::vector & rot_matrix_3_3) const; - inline const float& operator() (unsigned int i) const { return data[i]; } - inline float& operator() (unsigned int i) { return data[i]; } + CUDA_CALLABLE inline const float& operator() (unsigned int i) const { return data[i]; } + CUDA_CALLABLE inline float& operator() (unsigned int i) { return data[i]; } - float norm () const; - Quaternion normalized () const; - Quaternion& normalize (); + CUDA_CALLABLE float norm () const; + CUDA_CALLABLE Quaternion normalized () const; + CUDA_CALLABLE Quaternion& normalize (); - void operator/= (float x); - Quaternion& operator= (const Quaternion& other); - bool operator== (const Quaternion& other) const; + CUDA_CALLABLE void operator/= (float x); + CUDA_CALLABLE Quaternion& operator= (const Quaternion& other); + CUDA_CALLABLE bool operator== (const Quaternion& other) const; /*! * \brief Quaternion multiplication @@ -132,28 +141,28 @@ namespace octomath { * commutative. * @return this * other */ - Quaternion operator* (const Quaternion& other) const; + CUDA_CALLABLE Quaternion operator* (const Quaternion& other) const; /*! * \brief Quaternion multiplication with extended vector * * @return q * (0, v) */ - Quaternion operator* (const Vector3 &v) const; + CUDA_CALLABLE Quaternion operator* (const Vector3 &v) const; /*! * \brief Quaternion multiplication with extended vector * * @return (0, v) * q */ - friend Quaternion operator* (const Vector3 &v, const Quaternion &q); + CUDA_CALLABLE friend Quaternion operator* (const Vector3 &v, const Quaternion &q); /*! * \brief Inversion * * @return A copy of this Quaterion inverted */ - inline Quaternion inv() const { return Quaternion(u(), -x(), -y(), -z()); } + CUDA_CALLABLE inline Quaternion inv() const { return Quaternion(u(), -x(), -y(), -z()); } /*! @@ -162,7 +171,7 @@ namespace octomath { * Inverts this Quaternion * @return a reference to this Quaternion */ - Quaternion& inv_IP(); + CUDA_CALLABLE Quaternion& inv_IP(); /*! * \brief Rotate a vector @@ -173,17 +182,17 @@ namespace octomath { * @param v a vector represented in world coordinates * @return v represented in body-fixed coordinates */ - Vector3 rotate(const Vector3 &v) const; + CUDA_CALLABLE Vector3 rotate(const Vector3 &v) const; - inline float& u() { return data[0]; } - inline float& x() { return data[1]; } - inline float& y() { return data[2]; } - inline float& z() { return data[3]; } + CUDA_CALLABLE inline float& u() { return data[0]; } + CUDA_CALLABLE inline float& x() { return data[1]; } + CUDA_CALLABLE inline float& y() { return data[2]; } + CUDA_CALLABLE inline float& z() { return data[3]; } - inline const float& u() const { return data[0]; } - inline const float& x() const { return data[1]; } - inline const float& y() const { return data[2]; } - inline const float& z() const { return data[3]; } + CUDA_CALLABLE inline const float& u() const { return data[0]; } + CUDA_CALLABLE inline const float& x() const { return data[1]; } + CUDA_CALLABLE inline const float& y() const { return data[2]; } + CUDA_CALLABLE inline const float& z() const { return data[3]; } std::istream& read(std::istream &s); std::ostream& write(std::ostream &s) const; diff --git a/octomap/include/octomap/math/Vector3.h b/octomap/include/octomap/math/Vector3.h index 49a4a73b..7ac82ea4 100644 --- a/octomap/include/octomap/math/Vector3.h +++ b/octomap/include/octomap/math/Vector3.h @@ -37,6 +37,15 @@ #include #include +#ifdef __CUDACC__ +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE __host__ __device__ +#endif +#else +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE +#endif +#endif namespace octomath { @@ -53,14 +62,14 @@ namespace octomath { /*! * \brief Default constructor */ - Vector3 () { data[0] = data[1] = data[2] = 0.0; } + CUDA_CALLABLE Vector3 () { data[0] = data[1] = data[2] = 0.0; } /*! * \brief Copy constructor * * @param other a vector of dimension 3 */ - Vector3 (const Vector3& other) { + CUDA_CALLABLE Vector3 (const Vector3& other) { data[0] = other(0); data[1] = other(1); data[2] = other(2); @@ -72,7 +81,7 @@ namespace octomath { * Constructs a three-dimensional vector from * three single values x, y, z or roll, pitch, yaw */ - Vector3 (float x, float y, float z) { + CUDA_CALLABLE Vector3 (float x, float y, float z) { data[0] = x; data[1] = y; data[2] = z; @@ -88,7 +97,7 @@ namespace octomath { * * @param other a vector of dimension 3 */ - inline Vector3& operator= (const Vector3& other) { + CUDA_CALLABLE inline Vector3& operator= (const Vector3& other) { data[0] = other(0); data[1] = other(1); data[2] = other(2); @@ -104,7 +113,7 @@ namespace octomath { * by this and other. * @return this x other */ - inline Vector3 cross (const Vector3& other) const + CUDA_CALLABLE inline Vector3 cross (const Vector3& other) const { //return (data.start<3> ().cross (other.data.start<3> ())); // \note should this be renamed? @@ -114,81 +123,81 @@ namespace octomath { } /// dot product - inline double dot (const Vector3& other) const + CUDA_CALLABLE inline double dot (const Vector3& other) const { return x()*other.x() + y()*other.y() + z()*other.z(); } - inline const float& operator() (unsigned int i) const + CUDA_CALLABLE inline const float& operator() (unsigned int i) const { return data[i]; } - inline float& operator() (unsigned int i) + CUDA_CALLABLE inline float& operator() (unsigned int i) { return data[i]; } - inline float& x() + CUDA_CALLABLE inline float& x() { return operator()(0); } - inline float& y() + CUDA_CALLABLE inline float& y() { return operator()(1); } - inline float& z() + CUDA_CALLABLE inline float& z() { return operator()(2); } - inline const float& x() const + CUDA_CALLABLE inline const float& x() const { return operator()(0); } - inline const float& y() const + CUDA_CALLABLE inline const float& y() const { return operator()(1); } - inline const float& z() const + CUDA_CALLABLE inline const float& z() const { return operator()(2); } - inline float& roll() + CUDA_CALLABLE inline float& roll() { return operator()(0); } - inline float& pitch() + CUDA_CALLABLE inline float& pitch() { return operator()(1); } - inline float& yaw() + CUDA_CALLABLE inline float& yaw() { return operator()(2); } - inline const float& roll() const + CUDA_CALLABLE inline const float& roll() const { return operator()(0); } - inline const float& pitch() const + CUDA_CALLABLE inline const float& pitch() const { return operator()(1); } - inline const float& yaw() const + CUDA_CALLABLE inline const float& yaw() const { return operator()(2); } - inline Vector3 operator- () const + CUDA_CALLABLE inline Vector3 operator- () const { Vector3 result; result(0) = -data[0]; @@ -197,7 +206,7 @@ namespace octomath { return result; } - inline Vector3 operator+ (const Vector3 &other) const + CUDA_CALLABLE inline Vector3 operator+ (const Vector3 &other) const { Vector3 result(*this); result(0) += other(0); @@ -206,7 +215,7 @@ namespace octomath { return result; } - inline Vector3 operator* (float x) const { + CUDA_CALLABLE inline Vector3 operator* (float x) const { Vector3 result(*this); result(0) *= x; result(1) *= x; @@ -214,7 +223,7 @@ namespace octomath { return result; } - inline Vector3 operator- (const Vector3 &other) const + CUDA_CALLABLE inline Vector3 operator- (const Vector3 &other) const { Vector3 result(*this); result(0) -= other(0); @@ -223,32 +232,32 @@ namespace octomath { return result; } - inline void operator+= (const Vector3 &other) + CUDA_CALLABLE inline void operator+= (const Vector3 &other) { data[0] += other(0); data[1] += other(1); data[2] += other(2); } - inline void operator-= (const Vector3& other) { + CUDA_CALLABLE inline void operator-= (const Vector3& other) { data[0] -= other(0); data[1] -= other(1); data[2] -= other(2); } - inline void operator/= (float x) { + CUDA_CALLABLE inline void operator/= (float x) { data[0] /= x; data[1] /= x; data[2] /= x; } - inline void operator*= (float x) { + CUDA_CALLABLE inline void operator*= (float x) { data[0] *= x; data[1] *= x; data[2] *= x; } - inline bool operator== (const Vector3 &other) const { + CUDA_CALLABLE inline bool operator== (const Vector3 &other) const { for (unsigned int i=0; i<3; i++) { if (operator()(i) != other(i)) return false; @@ -257,17 +266,17 @@ namespace octomath { } /// @return length of the vector ("L2 norm") - inline double norm () const { + CUDA_CALLABLE inline double norm () const { return sqrt(norm_sq()); } /// @return squared length ("L2 norm") of the vector - inline double norm_sq() const { + CUDA_CALLABLE inline double norm_sq() const { return (x()*x() + y()*y() + z()*z()); } /// normalizes this vector, so that it has norm=1.0 - inline Vector3& normalize () { + CUDA_CALLABLE inline Vector3& normalize () { double len = norm(); if (len > 0) *this /= (float) len; @@ -275,13 +284,13 @@ namespace octomath { } /// @return normalized vector, this one remains unchanged - inline Vector3 normalized () const { + CUDA_CALLABLE inline Vector3 normalized () const { Vector3 result(*this); result.normalize (); return result; } - inline double angleTo(const Vector3& other) const { + CUDA_CALLABLE inline double angleTo(const Vector3& other) const { double dot_prod = this->dot(other); double len1 = this->norm(); double len2 = other.norm(); @@ -289,14 +298,14 @@ namespace octomath { } - inline double distance (const Vector3& other) const { + CUDA_CALLABLE inline double distance (const Vector3& other) const { double dist_x = x() - other.x(); double dist_y = y() - other.y(); double dist_z = z() - other.z(); return sqrt(dist_x*dist_x + dist_y*dist_y + dist_z*dist_z); } - inline double distanceXY (const Vector3& other) const { + CUDA_CALLABLE inline double distanceXY (const Vector3& other) const { double dist_x = x() - other.x(); double dist_y = y() - other.y(); return sqrt(dist_x*dist_x + dist_y*dist_y); From 64bdc9ff9f3418fb49b470c43fab92cacaa6b24d Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:09:50 +0500 Subject: [PATCH 04/32] Made coordToKey and keyToCoord functions CUDA host/device callable. --- octomap/include/octomap/OcTreeBaseImpl.h | 41 +++++++++++++++--------- 1 file changed, 25 insertions(+), 16 deletions(-) diff --git a/octomap/include/octomap/OcTreeBaseImpl.h b/octomap/include/octomap/OcTreeBaseImpl.h index fe71aeee..bea849d6 100644 --- a/octomap/include/octomap/OcTreeBaseImpl.h +++ b/octomap/include/octomap/OcTreeBaseImpl.h @@ -45,6 +45,15 @@ #include "OcTreeKey.h" #include "ScanGraph.h" +#ifdef __CUDACC__ +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE __host__ __device__ +#endif +#else +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE +#endif +#endif namespace octomap { @@ -354,26 +363,26 @@ namespace octomap { // /// Converts from a single coordinate into a discrete key - inline key_type coordToKey(double coordinate) const{ + CUDA_CALLABLE inline key_type coordToKey(double coordinate) const{ return ((int) floor(resolution_factor * coordinate)) + tree_max_val; } /// Converts from a single coordinate into a discrete key at a given depth - key_type coordToKey(double coordinate, unsigned depth) const; + CUDA_CALLABLE key_type coordToKey(double coordinate, unsigned depth) const; /// Converts from a 3D coordinate into a 3D addressing key - inline OcTreeKey coordToKey(const point3d& coord) const{ + CUDA_CALLABLE inline OcTreeKey coordToKey(const point3d& coord) const{ return OcTreeKey(coordToKey(coord(0)), coordToKey(coord(1)), coordToKey(coord(2))); } /// Converts from a 3D coordinate into a 3D addressing key - inline OcTreeKey coordToKey(double x, double y, double z) const{ + CUDA_CALLABLE inline OcTreeKey coordToKey(double x, double y, double z) const{ return OcTreeKey(coordToKey(x), coordToKey(y), coordToKey(z)); } /// Converts from a 3D coordinate into a 3D addressing key at a given depth - inline OcTreeKey coordToKey(const point3d& coord, unsigned depth) const{ + CUDA_CALLABLE inline OcTreeKey coordToKey(const point3d& coord, unsigned depth) const{ if (depth == tree_depth) return coordToKey(coord); else @@ -381,7 +390,7 @@ namespace octomap { } /// Converts from a 3D coordinate into a 3D addressing key at a given depth - inline OcTreeKey coordToKey(double x, double y, double z, unsigned depth) const{ + CUDA_CALLABLE inline OcTreeKey coordToKey(double x, double y, double z, unsigned depth) const{ if (depth == tree_depth) return coordToKey(x,y,z); else @@ -421,7 +430,7 @@ namespace octomap { * @param key values that will be computed, an array of fixed size 3. * @return true if point is within the octree (valid), false otherwise */ - bool coordToKeyChecked(const point3d& coord, OcTreeKey& key) const; + CUDA_CALLABLE bool coordToKeyChecked(const point3d& coord, OcTreeKey& key) const; /** * Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. @@ -431,7 +440,7 @@ namespace octomap { * @param key values that will be computed, an array of fixed size 3. * @return true if point is within the octree (valid), false otherwise */ - bool coordToKeyChecked(const point3d& coord, unsigned depth, OcTreeKey& key) const; + CUDA_CALLABLE bool coordToKeyChecked(const point3d& coord, unsigned depth, OcTreeKey& key) const; /** * Converts a 3D coordinate into a 3D OcTreeKey, with boundary checking. @@ -442,7 +451,7 @@ namespace octomap { * @param key values that will be computed, an array of fixed size 3. * @return true if point is within the octree (valid), false otherwise */ - bool coordToKeyChecked(double x, double y, double z, OcTreeKey& key) const; + CUDA_CALLABLE bool coordToKeyChecked(double x, double y, double z, OcTreeKey& key) const; /** * Converts a 3D coordinate into a 3D OcTreeKey at a certain depth, with boundary checking. @@ -454,7 +463,7 @@ namespace octomap { * @param key values that will be computed, an array of fixed size 3. * @return true if point is within the octree (valid), false otherwise */ - bool coordToKeyChecked(double x, double y, double z, unsigned depth, OcTreeKey& key) const; + CUDA_CALLABLE bool coordToKeyChecked(double x, double y, double z, unsigned depth, OcTreeKey& key) const; /** * Converts a single coordinate into a discrete addressing key, with boundary checking. @@ -463,7 +472,7 @@ namespace octomap { * @param key discrete 16 bit adressing key, result * @return true if coordinate is within the octree bounds (valid), false otherwise */ - bool coordToKeyChecked(double coordinate, key_type& key) const; + CUDA_CALLABLE bool coordToKeyChecked(double coordinate, key_type& key) const; /** * Converts a single coordinate into a discrete addressing key, with boundary checking. @@ -473,27 +482,27 @@ namespace octomap { * @param key discrete 16 bit adressing key, result * @return true if coordinate is within the octree bounds (valid), false otherwise */ - bool coordToKeyChecked(double coordinate, unsigned depth, key_type& key) const; + CUDA_CALLABLE bool coordToKeyChecked(double coordinate, unsigned depth, key_type& key) const; /// converts from a discrete key at a given depth into a coordinate /// corresponding to the key's center - double keyToCoord(key_type key, unsigned depth) const; + CUDA_CALLABLE double keyToCoord(key_type key, unsigned depth) const; /// converts from a discrete key at the lowest tree level into a coordinate /// corresponding to the key's center - inline double keyToCoord(key_type key) const{ + CUDA_CALLABLE inline double keyToCoord(key_type key) const{ return (double( (int) key - (int) this->tree_max_val ) +0.5) * this->resolution; } /// converts from an addressing key at the lowest tree level into a coordinate /// corresponding to the key's center - inline point3d keyToCoord(const OcTreeKey& key) const{ + CUDA_CALLABLE inline point3d keyToCoord(const OcTreeKey& key) const{ return point3d(float(keyToCoord(key[0])), float(keyToCoord(key[1])), float(keyToCoord(key[2]))); } /// converts from an addressing key at a given depth into a coordinate /// corresponding to the key's center - inline point3d keyToCoord(const OcTreeKey& key, unsigned depth) const{ + CUDA_CALLABLE inline point3d keyToCoord(const OcTreeKey& key, unsigned depth) const{ return point3d(float(keyToCoord(key[0], depth)), float(keyToCoord(key[1], depth)), float(keyToCoord(key[2], depth))); } From f776fc674a89f5695c7fce1847edc4ac670acd5e Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:11:57 +0500 Subject: [PATCH 05/32] Made functions used in computeKeyRay device/host callable. --- octomap/include/octomap/OccupancyOcTreeBase.h | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/octomap/include/octomap/OccupancyOcTreeBase.h b/octomap/include/octomap/OccupancyOcTreeBase.h index a8532143..8e00a648 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.h +++ b/octomap/include/octomap/OccupancyOcTreeBase.h @@ -44,6 +44,15 @@ #include "OcTreeBaseImpl.h" #include "AbstractOccupancyOcTree.h" +#ifdef __CUDACC__ +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE __host__ __device__ +#endif +#else +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE +#endif +#endif namespace octomap { @@ -344,9 +353,9 @@ namespace octomap { point3d getBBXBounds () const; point3d getBBXCenter () const; /// @return true if point is in the currently set bounding box - bool inBBX(const point3d& p) const; + CUDA_CALLABLE bool inBBX(const point3d& p) const; /// @return true if key is in the currently set bounding box - bool inBBX(const OcTreeKey& key) const; + CUDA_CALLABLE bool inBBX(const OcTreeKey& key) const; //-- change detection on occupancy: /// track or ignore changes while inserting scans (default: ignore) @@ -368,7 +377,6 @@ namespace octomap { /// Number of changes since last reset. size_t numChangesDetected() const { return changed_keys.size(); } - /** * Helper for insertPointCloud(). Computes all octree nodes affected by the point cloud * integration at once. Here, occupied nodes have a preference over free @@ -385,7 +393,6 @@ namespace octomap { KeySet& occupied_cells, double maxrange); - /** * Helper for insertPointCloud(). Computes all octree nodes affected by the point cloud * integration at once. Here, occupied nodes have a preference over free From 16b66edabcd9f8ccb63f529dd9ca31352c7e6365 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:12:31 +0500 Subject: [PATCH 06/32] Made OcTreeKey device/host callable. --- octomap/include/octomap/OcTreeKey.h | 37 +++++++++++++++++++++-------- 1 file changed, 27 insertions(+), 10 deletions(-) diff --git a/octomap/include/octomap/OcTreeKey.h b/octomap/include/octomap/OcTreeKey.h index fabb965c..505fd15a 100644 --- a/octomap/include/octomap/OcTreeKey.h +++ b/octomap/include/octomap/OcTreeKey.h @@ -40,6 +40,7 @@ #include #include +#include /* Libc++ does not implement the TR1 namespace, all c++11 related functionality * is instead implemented in the std namespace. @@ -58,6 +59,22 @@ } #endif +#ifdef __CUDA_SUPPORT__ +#include +#include +#include +#endif + +#ifdef __CUDACC__ +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE __host__ __device__ +#endif +#else +#ifndef CUDA_CALLABLE +#define CUDA_CALLABLE +#endif +#endif + namespace octomap { typedef uint16_t key_type; @@ -70,37 +87,37 @@ namespace octomap { class OcTreeKey { public: - OcTreeKey () {} - OcTreeKey (key_type a, key_type b, key_type c){ + CUDA_CALLABLE OcTreeKey () {} + CUDA_CALLABLE OcTreeKey (key_type a, key_type b, key_type c){ k[0] = a; k[1] = b; k[2] = c; } - OcTreeKey(const OcTreeKey& other){ + CUDA_CALLABLE OcTreeKey(const OcTreeKey& other){ k[0] = other.k[0]; k[1] = other.k[1]; k[2] = other.k[2]; } - bool operator== (const OcTreeKey &other) const { + CUDA_CALLABLE bool operator== (const OcTreeKey &other) const { return ((k[0] == other[0]) && (k[1] == other[1]) && (k[2] == other[2])); } - bool operator!= (const OcTreeKey& other) const { + CUDA_CALLABLE bool operator!= (const OcTreeKey& other) const { return( (k[0] != other[0]) || (k[1] != other[1]) || (k[2] != other[2]) ); } - OcTreeKey& operator=(const OcTreeKey& other){ + CUDA_CALLABLE OcTreeKey& operator=(const OcTreeKey& other){ k[0] = other.k[0]; k[1] = other.k[1]; k[2] = other.k[2]; return *this; } - const key_type& operator[] (unsigned int i) const { + CUDA_CALLABLE const key_type& operator[] (unsigned int i) const { return k[i]; } - key_type& operator[] (unsigned int i) { + CUDA_CALLABLE key_type& operator[] (unsigned int i) { return k[i]; } @@ -108,7 +125,7 @@ namespace octomap { /// Provides a hash function on Keys struct KeyHash{ - size_t operator()(const OcTreeKey& key) const{ + CUDA_CALLABLE size_t operator()(const OcTreeKey& key) const{ // a simple hashing function // explicit casts to size_t to operate on the complete range // constanst will be promoted according to C++ standard @@ -180,7 +197,7 @@ namespace octomap { std::vector::iterator end_of_ray; const static size_t maxSize = 100000; }; - + /** * Computes the key of a child node while traversing the octree, given * child index and current key From 08e54a81e932747debc1e45123fb4d826dd75cac Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 13:13:40 +0500 Subject: [PATCH 07/32] Added a key container class for storing ray-traced keys in c-array style for use in CUDA kernel. --- octomap/include/octomap/KeyContainerCuda.cuh | 88 ++++++++++++++++++++ 1 file changed, 88 insertions(+) create mode 100644 octomap/include/octomap/KeyContainerCuda.cuh diff --git a/octomap/include/octomap/KeyContainerCuda.cuh b/octomap/include/octomap/KeyContainerCuda.cuh new file mode 100644 index 00000000..8ca67e2f --- /dev/null +++ b/octomap/include/octomap/KeyContainerCuda.cuh @@ -0,0 +1,88 @@ +#ifndef KEY_CONTAINDER_CUDA_CUH +#define KEY_CONTAINDER_CUDA_CUH +#ifdef __CUDA_SUPPORT__ +#include +#include +#include +#include + +namespace octomap { + + class KeyContainerCUDA { + public: + + CUDA_CALLABLE KeyContainerCUDA ( + const int& maxSize = 100000) : + maxSize(maxSize) + { + ray = new OcTreeKey[maxSize]; + reset(); + } + + CUDA_CALLABLE ~KeyContainerCUDA () { + delete ray; + } + + CUDA_CALLABLE KeyContainerCUDA(const KeyContainerCUDA& other) + { + ray = other.ray; + last = other.last; + maxSize = other.maxSize; + } + + __host__ void allocateDevice() { + cudaCheckErrors(cudaMallocManaged(&ray, maxSize * sizeof(OcTreeKey))) + } + + __host__ void freeDevice() { + cudaCheckErrors(cudaFree(ray)); + } + + __host__ void copyToDevice(const KeyContainerCUDA& other) { + assert (maxSize == other.sizeMax()); + cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyHostToDevice)); + last = other.last; + maxSize = other.maxSize; + } + + __host__ void copyToHost(const KeyContainerCUDA& other) { + assert (maxSize == other.sizeMax()); + cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyDeviceToHost)); + last = other.last; + } + + CUDA_CALLABLE KeyContainerCUDA& operator=(const KeyContainerCUDA& other){ + ray = other.ray; + last = other.last; + maxSize = other.maxSize; + return *this; + } + + CUDA_CALLABLE void reset() { + last = 0; + } + + CUDA_CALLABLE void addKey(const OcTreeKey& k) { + assert(last != maxSize); + ray[last] = k; + ++last; + } + + __device__ void addKeyAtomic(const OcTreeKey& k); + + CUDA_CALLABLE const OcTreeKey* begin() { return ray; } + CUDA_CALLABLE const OcTreeKey* end() { return &ray[last]; } + + CUDA_CALLABLE int size() const { return last; } + CUDA_CALLABLE int sizeMax() const { return maxSize; } + + private: + OcTreeKey* ray; + int last; + int maxSize; + }; + + using KeyRayCUDA = KeyContainerCUDA; +} +#endif +#endif \ No newline at end of file From 87810c3d08232b51d049f8bc89519dd3df94dceb Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:03:36 +0500 Subject: [PATCH 08/32] declaration of CUDA based computeUpdate and and its kernel. --- .../octomap/OccupancyOcTreeBaseCUDA.cuh | 32 +++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100644 octomap/include/octomap/OccupancyOcTreeBaseCUDA.cuh diff --git a/octomap/include/octomap/OccupancyOcTreeBaseCUDA.cuh b/octomap/include/octomap/OccupancyOcTreeBaseCUDA.cuh new file mode 100644 index 00000000..85b33547 --- /dev/null +++ b/octomap/include/octomap/OccupancyOcTreeBaseCUDA.cuh @@ -0,0 +1,32 @@ +#ifndef OCCUPANCY_OCTREE_BASE_CUH +#define OCCUPANCY_OCTREE_BASE_CUH +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace octomap; + +#ifdef __CUDA_SUPPORT__ +template +__global__ void computeUpdateKernel( + octomap::point3d origin, + octomap::point3d* points, + KeyRayCUDA* rays, + size_t size, + double maxrange, + OccupancyOcTreeBase* tree_base); + +template +void computeUpdateCUDA( + const octomap::Pointcloud& scan, const octomap::point3d& origin, octomap::KeySet& free_cells, + octomap::KeySet& occupied_cells, double maxrange, octomap::OccupancyOcTreeBase* tree_base); +#endif + +#endif \ No newline at end of file From d0f277a823867a491b6fada2b0a559297c94ab25 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:03:45 +0500 Subject: [PATCH 09/32] Rename. --- octomap/include/octomap/{AssertionCUDA.cuh => AssertionCuda.cuh} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename octomap/include/octomap/{AssertionCUDA.cuh => AssertionCuda.cuh} (100%) diff --git a/octomap/include/octomap/AssertionCUDA.cuh b/octomap/include/octomap/AssertionCuda.cuh similarity index 100% rename from octomap/include/octomap/AssertionCUDA.cuh rename to octomap/include/octomap/AssertionCuda.cuh From 2ca9335607e06acc80c43477effae2681513471d Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:04:33 +0500 Subject: [PATCH 10/32] Definition of atomic update of array from parallel threads. --- octomap/src/KeyContainerCUDA.cu | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 octomap/src/KeyContainerCUDA.cu diff --git a/octomap/src/KeyContainerCUDA.cu b/octomap/src/KeyContainerCUDA.cu new file mode 100644 index 00000000..bb2c5eac --- /dev/null +++ b/octomap/src/KeyContainerCUDA.cu @@ -0,0 +1,10 @@ +#ifdef __CUDA_SUPPORT__ +#include + +namespace octomap { + __device__ void KeyContainerCUDA::addKeyAtomic(const OcTreeKey& k) { + int idx = atomicAdd(&last, 1); + ray[idx] = k; + } +} +#endif \ No newline at end of file From b8e410ae0e8f1ba555db7ab7c6aee08489d5a952 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:05:20 +0500 Subject: [PATCH 11/32] Definition of CUDA based computeUpdate and its kernel. --- octomap/src/OccupancyOcTreeBaseCUDA.cu | 275 +++++++++++++++++++++++++ 1 file changed, 275 insertions(+) create mode 100644 octomap/src/OccupancyOcTreeBaseCUDA.cu diff --git a/octomap/src/OccupancyOcTreeBaseCUDA.cu b/octomap/src/OccupancyOcTreeBaseCUDA.cu new file mode 100644 index 00000000..cf2b7120 --- /dev/null +++ b/octomap/src/OccupancyOcTreeBaseCUDA.cu @@ -0,0 +1,275 @@ +#include +#include +#ifdef __CUDA_SUPPORT__ + +#ifdef __CUDACC__ +#define CUDA_CALLABLE __host__ __device__ +#else +#define CUDA_CALLABLE +#endif + +template +CUDA_CALLABLE bool computeRayKeysCUDA( + const point3d& origin, + const point3d& end, + KeyRayCUDA& ray, + const double& resolution, + const double& resolution_half, + OcTreeBaseImpl* tree_base) +{ + ray.reset(); + + OcTreeKey key_origin, key_end; + if ( !tree_base->coordToKeyChecked(origin, key_origin) || + !tree_base->coordToKeyChecked(end, key_end) ) { + return false; + } + + if (key_origin == key_end) + return true; // same tree cell, we're done. + + ray.addKey(key_origin); + + // Initialization phase ------------------------------------------------------- + + point3d direction = (end - origin); + float length = (float) direction.norm(); + direction /= length; // normalize vector + + int step[3]; + double tMax[3]; + double tDelta[3]; + + OcTreeKey current_key = key_origin; + + for(unsigned int i=0; i < 3; ++i) { + // compute step direction + if (direction(i) > 0.0) step[i] = 1; + else if (direction(i) < 0.0) step[i] = -1; + else step[i] = 0; + + // compute tMax, tDelta + if (step[i] != 0) { + // corner point of voxel (in direction of ray) + double voxelBorder = tree_base->keyToCoord(current_key[i]); + voxelBorder += (float) (step[i] * resolution_half); + + tMax[i] = ( voxelBorder - origin(i) ) / direction(i); + tDelta[i] = resolution / fabs( direction(i) ); + } + else { + tMax[i] = NPP_MAXABS_64F; + tDelta[i] = NPP_MAXABS_64F; + } + } + //printf ("direction: %f, %f, %f\n", direction.x(), direction.y(), direction.z()); + //printf ("tMax: %f, %f, %f\n", tMax[0], tMax[1], tMax[2]); + //printf ("tDelta: %f, %f, %f\n", tDelta[0], tDelta[1], tDelta[2]); + + int i = 0; + // Incremental phase --------------------------------------------------------- + bool done = false; + while (!done) { + //printf ("i: %i\n", i); + + unsigned int dim; + + // find minimum tMax: + if (tMax[0] < tMax[1]){ + if (tMax[0] < tMax[2]) dim = 0; + else dim = 2; + } + else { + if (tMax[1] < tMax[2]) dim = 1; + else dim = 2; + } + + // advance in direction "dim" + current_key[dim] += step[dim]; + tMax[dim] += tDelta[dim]; + + assert (current_key[dim] < 2*tree_base->tree_max_val); + + // reached endpoint, key equv? + if (current_key == key_end) { + done = true; + break; + } + else { + + // reached endpoint world coords? + // dist_from_origin now contains the length of the ray when traveled until the border of the current voxel + double dist_from_origin = fmin(fmin(tMax[0], tMax[1]), tMax[2]); + // if this is longer than the expected ray length, we should have already hit the voxel containing the end point with the code above (key_end). + // However, we did not hit it due to accumulating discretization errors, so this is the point here to stop the ray as we would never reach the voxel key_end + if (dist_from_origin > length) { + //printf("length: %f\n", length); + done = true; + break; + } + + else { // continue to add freespace cells + //printf ("adding key."); + ray.addKey(current_key); + } + } + ++i; + assert ( ray.size() < ray.sizeMax() - 1); + + } // end while + + return true; +} + +#define MAX_RAY_SIZE 100 +template +__global__ void kernel( + octomap::point3d origin, + octomap::point3d* points, + KeyContainerCUDA* occupied_cells, + KeyContainerCUDA* free_cells, + size_t size, + double maxrange, + bool use_bbx_limit, + double resolution, + double resolution_half, + OccupancyOcTreeBase* tree_base) +{ + int idx = blockIdx.x * blockDim.x + threadIdx.x; + int stride = blockDim.x * gridDim.x; + for (int i = idx; i < size; i += stride) + { + auto& p = points[i]; + KeyRayCUDA ray(MAX_RAY_SIZE); + if (!use_bbx_limit) { // no BBX specified + if ((maxrange < 0.0) || ((p - origin).norm() <= maxrange) ) { // is not maxrange meas. + // free cells + if (computeRayKeysCUDA(origin, p, ray, resolution, resolution_half, tree_base)) { + for (auto rp = ray.begin(); rp != ray.end(); ++rp) { + free_cells->addKeyAtomic(*rp); + } + } + // occupied endpoint + OcTreeKey key; + if (tree_base->coordToKeyChecked(p, key)) { + occupied_cells->addKeyAtomic(key); + } + } else { // user set a maxrange and length is above + point3d direction = (p - origin).normalized (); + point3d new_end = origin + direction * (float) maxrange; + if (computeRayKeysCUDA(origin, new_end, ray, resolution, resolution_half, tree_base)) { // *ray + for (auto rp = ray.begin(); rp != ray.end(); ++rp) { + free_cells->addKeyAtomic(*rp); + } + } + } // end if maxrange + } else { // BBX was set + // endpoint in bbx and not maxrange? + if ( tree_base->inBBX(p) && ((maxrange < 0.0) || ((p - origin).norm () <= maxrange) ) ) { + // occupied endpoint + OcTreeKey key; + if (tree_base->coordToKeyChecked(p, key)){ + occupied_cells->addKeyAtomic(key); + } + + // update freespace, break as soon as bbx limit is reached + if (computeRayKeysCUDA(origin, p, ray, resolution, resolution_half, tree_base)) { + for(auto rp=ray.end(); rp != ray.begin(); rp--) { + if (!tree_base->inBBX(*rp)) { + free_cells->addKeyAtomic(*rp); + } + else break; + } + } // end if compute ray + } // end if in BBX and not maxrange + } // end bbx case + } +} + +template +void computeUpdateCUDA( + const octomap::Pointcloud& scan, const octomap::point3d& origin, octomap::KeySet& free_cells, + octomap::KeySet& occupied_cells, double maxrange, octomap::OccupancyOcTreeBase* tree_base) +{ + // total number of rays or points + auto scan_size = scan.size(); + // make a copy of tree for device usage - need a better way ? or idk + octomap::OccupancyOcTreeBase* tree_base_device; + cudaCheckErrors(cudaMallocManaged(&tree_base_device, sizeof(octomap::OccupancyOcTreeBase))); + cudaCheckErrors(cudaMemcpy(tree_base_device, tree_base, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); + + // make an array of points from the point cloud for device usage + octomap::point3d* scan_device; + cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size * sizeof(octomap::point3d))); + cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); + + + // Make a container for occupied cells + static const auto free_cells_arr_size = 1000000; + auto occupied_cells_host = KeyContainerCUDA(); + auto free_cells_host = KeyContainerCUDA(free_cells_arr_size); + KeyContainerCUDA* occupied_cells_device; + KeyContainerCUDA* free_cells_device; + cudaCheckErrors(cudaMallocManaged(&occupied_cells_device, sizeof(KeyContainerCUDA))); + cudaCheckErrors(cudaMallocManaged(&free_cells_device, sizeof(KeyContainerCUDA))); + cudaCheckErrors(cudaMemcpy(occupied_cells_device, &occupied_cells_host, sizeof(KeyContainerCUDA), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMemcpy(free_cells_device, &free_cells_host, sizeof(KeyContainerCUDA), cudaMemcpyHostToDevice)); + occupied_cells_device->allocateDevice(); + free_cells_device->allocateDevice(); + + occupied_cells_device->copyToDevice(occupied_cells_host); + free_cells_device->copyToDevice(free_cells_host); + bool use_bbx_limit = tree_base->bbxSet(); + auto resolution = tree_base->getResolution(); + auto resolution_half = resolution * 0.5; + cudaEvent_t start, stop; + cudaEventCreate(&start); + cudaEventCreate(&stop); + cudaEventRecord(start); + kernel<<<8, 256>>>( + origin, + scan_device, + occupied_cells_device, + free_cells_device, + scan_size, + maxrange, + use_bbx_limit, + resolution, + resolution_half, + tree_base_device); + cudaEventRecord(stop); + cudaDeviceSynchronize(); + cudaEventSynchronize(stop); + + printf("free_cells_device size: %i\n", free_cells_device->size()); + printf("occupied_cells_device size: %i\n", occupied_cells_device->size()); + + // copy from device to host + occupied_cells_host.copyToHost(*occupied_cells_device); + free_cells_host.copyToHost(*free_cells_device); + + printf("free_cells_host size: %i\n", free_cells_host.size()); + printf("occupied_cells_host size: %i\n", occupied_cells_host.size()); + + float ms = 0; + cudaEventElapsedTime(&ms, start, stop); + std::cout << "Elapsed time:" << ms << std::endl; + + // free memory + cudaFree(scan_device); + //occupied_cells_device->freeDevice(); + //free_cells_device->freeDevice(); + cudaFree(occupied_cells_device); + cudaFree(free_cells_device); + cudaFree(tree_base_device); +} +template void computeUpdateCUDA( + const Pointcloud& scan, const point3d& origin, KeySet& free_cells, + KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); +template void computeUpdateCUDA( + const Pointcloud& scan, const point3d& origin, KeySet& free_cells, + KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); +template void computeUpdateCUDA( + const Pointcloud& scan, const point3d& origin, KeySet& free_cells, + KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); +#endif \ No newline at end of file From 506179e39e2071c407df31f2faf074a3c02d49a8 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:06:06 +0500 Subject: [PATCH 12/32] Added computeUpdateCUDA usage. --- octomap/include/octomap/OccupancyOcTreeBase.hxx | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index ef51fd05..6527fb86 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -35,6 +35,9 @@ #include #include +#ifdef __CUDA_SUPPORT__ +#include +#endif namespace octomap { @@ -170,9 +173,9 @@ namespace octomap { KeySet& free_cells, KeySet& occupied_cells, double maxrange) { - - - +#ifdef __CUDA_SUPPORT__ + computeUpdateCUDA(scan, origin, free_cells, occupied_cells, maxrange, this); +#else #ifdef _OPENMP omp_set_num_threads(this->keyrays.size()); #pragma omp parallel for schedule(guided) @@ -197,6 +200,7 @@ namespace octomap { free_cells.insert(keyray->begin(), keyray->end()); } } + //printf("%i: free_cells(%i)\n", i, keyray->size()); // occupied endpoint OcTreeKey key; if (this->coordToKeyChecked(p, key)){ @@ -261,6 +265,7 @@ namespace octomap { ++it; } } +#endif // __CUDA_SUPPORT__ } template From a3715903cdaa7d25a8f1fd5d6a2c9ca3fe451c1e Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:06:21 +0500 Subject: [PATCH 13/32] Added compilation of cuda files. --- octomap/src/CMakeLists.txt | 124 ++++++++++++++++++++++++------------- 1 file changed, 80 insertions(+), 44 deletions(-) diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt index 217f2f45..0884fee6 100644 --- a/octomap/src/CMakeLists.txt +++ b/octomap/src/CMakeLists.txt @@ -10,17 +10,29 @@ SET (octomap_SRCS ColorOcTree.cpp ) +IF(__CUDA_SUPPORT__) + SET (octomap_SRCS ${octomap_SRCS} OccupancyOcTreeBaseCUDA.cu KeyContainerCUDA.cu) +ENDIF(__CUDA_SUPPORT__) + # dynamic and static libs, see CMake FAQ: ADD_LIBRARY( octomap SHARED ${octomap_SRCS}) set_target_properties( octomap PROPERTIES VERSION ${OCTOMAP_VERSION} SOVERSION ${OCTOMAP_SOVERSION} -) + POSITION_INDEPENDENT_CODE ${OCTOMAP_POSITION_INDEPENDENT_CODE} + CUDA_SEPARABLE_COMPILATION ON) +target_compile_features(octomap PUBLIC cxx_std_11) ADD_LIBRARY( octomap-static STATIC ${octomap_SRCS}) -SET_TARGET_PROPERTIES(octomap-static PROPERTIES OUTPUT_NAME "octomap") +SET_TARGET_PROPERTIES( + octomap-static PROPERTIES + OUTPUT_NAME "octomap" + POSITION_INDEPENDENT_CODE ${OCTOMAP_POSITION_INDEPENDENT_CODE} + CUDA_SEPARABLE_COMPILATION ON) +target_compile_features(octomap-static PUBLIC cxx_std_11) add_dependencies(octomap-static octomath-static) -TARGET_LINK_LIBRARIES(octomap octomath) +TARGET_LINK_LIBRARIES(octomap octomath ${CUDA_LIBRARIES}) +TARGET_LINK_LIBRARIES(octomap-static octomath ${CUDA_LIBRARIES}) if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") @@ -32,40 +44,64 @@ export(TARGETS octomap octomap-static ADD_SUBDIRECTORY( testing ) ADD_EXECUTABLE(graph2tree graph2tree.cpp) -TARGET_LINK_LIBRARIES(graph2tree octomap) - -ADD_EXECUTABLE(log2graph log2graph.cpp) -TARGET_LINK_LIBRARIES(log2graph octomap) - -ADD_EXECUTABLE(binvox2bt binvox2bt.cpp) -TARGET_LINK_LIBRARIES(binvox2bt octomap) - -ADD_EXECUTABLE(bt2vrml bt2vrml.cpp) -TARGET_LINK_LIBRARIES(bt2vrml octomap) - -ADD_EXECUTABLE(edit_octree edit_octree.cpp) -TARGET_LINK_LIBRARIES(edit_octree octomap) - -ADD_EXECUTABLE(convert_octree convert_octree.cpp) -TARGET_LINK_LIBRARIES(convert_octree octomap) - -ADD_EXECUTABLE(eval_octree_accuracy eval_octree_accuracy.cpp) -TARGET_LINK_LIBRARIES(eval_octree_accuracy octomap) - -ADD_EXECUTABLE(compare_octrees compare_octrees.cpp) -TARGET_LINK_LIBRARIES(compare_octrees octomap) - -ADD_EXECUTABLE(simple_example simple_example.cpp) -TARGET_LINK_LIBRARIES(simple_example octomap) - -ADD_EXECUTABLE(normals_example normals_example.cpp) -TARGET_LINK_LIBRARIES(normals_example octomap) - -ADD_EXECUTABLE(intersection_example intersection_example.cpp) -TARGET_LINK_LIBRARIES(intersection_example octomap) - -ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) -TARGET_LINK_LIBRARIES(octree2pointcloud octomap) +TARGET_LINK_LIBRARIES(graph2tree octomap-static ${CUDA_LIBRARIES}) +target_compile_features(graph2tree PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(graph2tree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(log2graph log2graph.cpp) +#TARGET_LINK_LIBRARIES(log2graph octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(log2graph PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(log2graph PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(binvox2bt binvox2bt.cpp) +#TARGET_LINK_LIBRARIES(binvox2bt octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(binvox2bt PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(binvox2bt PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(bt2vrml bt2vrml.cpp) +#TARGET_LINK_LIBRARIES(bt2vrml octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(bt2vrml PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(bt2vrml PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(edit_octree edit_octree.cpp) +#TARGET_LINK_LIBRARIES(edit_octree octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(edit_octree PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(edit_octree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(convert_octree convert_octree.cpp) +#TARGET_LINK_LIBRARIES(convert_octree octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(convert_octree PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(convert_octree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(eval_octree_accuracy eval_octree_accuracy.cpp) +#TARGET_LINK_LIBRARIES(eval_octree_accuracy octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(eval_octree_accuracy PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(eval_octree_accuracy PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(compare_octrees compare_octrees.cpp) +#TARGET_LINK_LIBRARIES(compare_octrees octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(compare_octrees PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(compare_octrees PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(simple_example simple_example.cpp) +#TARGET_LINK_LIBRARIES(simple_example octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(simple_example PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(simple_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(normals_example normals_example.cpp) +#TARGET_LINK_LIBRARIES(normals_example octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(normals_example PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(normals_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(intersection_example intersection_example.cpp) +#TARGET_LINK_LIBRARIES(intersection_example octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(intersection_example PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(intersection_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +#ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) +#TARGET_LINK_LIBRARIES(octree2pointcloud octomap-static ${CUDA_LIBRARIES}) +#target_compile_features(octree2pointcloud PUBLIC cxx_std_11) +#SET_TARGET_PROPERTIES(octree2pointcloud PROPERTIES CUDA_SEPARABLE_COMPILATION ON) install(TARGETS octomap octomap-static EXPORT octomap-targets @@ -76,13 +112,13 @@ install(EXPORT octomap-targets DESTINATION share/octomap/) install(TARGETS graph2tree - log2graph - binvox2bt - bt2vrml - edit_octree - convert_octree - eval_octree_accuracy - compare_octrees +# log2graph + #binvox2bt + #bt2vrml + #edit_octree + #convert_octree + #eval_octree_accuracy + #compare_octrees ${INSTALL_TARGETS_DEFAULT_ARGS} ) From 5ca2a11a364713a05aca0ffb8aa16b074b5732b6 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:07:33 +0500 Subject: [PATCH 14/32] Removed -fPIC flag as it does not work with nvcc. Instead POSITION_INDEPENDENT_CODE flags are used. --- octomap/CMakeModules/CompilerSettings.cmake | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/octomap/CMakeModules/CompilerSettings.cmake b/octomap/CMakeModules/CompilerSettings.cmake index 7c986e57..a1b881e9 100644 --- a/octomap/CMakeModules/CompilerSettings.cmake +++ b/octomap/CMakeModules/CompilerSettings.cmake @@ -13,8 +13,8 @@ IF (CMAKE_COMPILER_IS_GNUCC) SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-error ") SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG") SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g") - # Shared object compilation under 64bit (vtable) - ADD_DEFINITIONS(-fPIC) + ## # Shared object compilation under 64bit (vtable) + ## ADD_DEFINITIONS(-fPIC) ENDIF() From 9f4d69c7b785b22f0f5364de0e618091288d0892 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:10:25 +0500 Subject: [PATCH 15/32] Cuda file renames and fixes. --- octomap/include/octomap/KeyContainerCuda.cuh | 2 +- octomap/include/octomap/OcTreeKey.h | 2 +- octomap/include/octomap/OccupancyOcTreeBase.hxx | 2 +- ...ccupancyOcTreeBaseCUDA.cuh => OccupancyOcTreeBaseCuda.cuh} | 0 octomap/src/CMakeLists.txt | 2 +- octomap/src/{KeyContainerCUDA.cu => KeyContainerCuda.cu} | 2 +- ...{OccupancyOcTreeBaseCUDA.cu => OccupancyOcTreeBaseCuda.cu} | 4 ++-- 7 files changed, 7 insertions(+), 7 deletions(-) rename octomap/include/octomap/{OccupancyOcTreeBaseCUDA.cuh => OccupancyOcTreeBaseCuda.cuh} (100%) rename octomap/src/{KeyContainerCUDA.cu => KeyContainerCuda.cu} (82%) rename octomap/src/{OccupancyOcTreeBaseCUDA.cu => OccupancyOcTreeBaseCuda.cu} (99%) diff --git a/octomap/include/octomap/KeyContainerCuda.cuh b/octomap/include/octomap/KeyContainerCuda.cuh index 8ca67e2f..59a3019c 100644 --- a/octomap/include/octomap/KeyContainerCuda.cuh +++ b/octomap/include/octomap/KeyContainerCuda.cuh @@ -3,7 +3,7 @@ #ifdef __CUDA_SUPPORT__ #include #include -#include +#include #include namespace octomap { diff --git a/octomap/include/octomap/OcTreeKey.h b/octomap/include/octomap/OcTreeKey.h index 505fd15a..eeec207e 100644 --- a/octomap/include/octomap/OcTreeKey.h +++ b/octomap/include/octomap/OcTreeKey.h @@ -62,7 +62,7 @@ #ifdef __CUDA_SUPPORT__ #include #include -#include +#include #endif #ifdef __CUDACC__ diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index 6527fb86..45491395 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -36,7 +36,7 @@ #include #ifdef __CUDA_SUPPORT__ -#include +#include #endif namespace octomap { diff --git a/octomap/include/octomap/OccupancyOcTreeBaseCUDA.cuh b/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh similarity index 100% rename from octomap/include/octomap/OccupancyOcTreeBaseCUDA.cuh rename to octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt index 0884fee6..3366fc68 100644 --- a/octomap/src/CMakeLists.txt +++ b/octomap/src/CMakeLists.txt @@ -11,7 +11,7 @@ SET (octomap_SRCS ) IF(__CUDA_SUPPORT__) - SET (octomap_SRCS ${octomap_SRCS} OccupancyOcTreeBaseCUDA.cu KeyContainerCUDA.cu) + SET (octomap_SRCS ${octomap_SRCS} OccupancyOcTreeBaseCuda.cu KeyContainerCuda.cu) ENDIF(__CUDA_SUPPORT__) # dynamic and static libs, see CMake FAQ: diff --git a/octomap/src/KeyContainerCUDA.cu b/octomap/src/KeyContainerCuda.cu similarity index 82% rename from octomap/src/KeyContainerCUDA.cu rename to octomap/src/KeyContainerCuda.cu index bb2c5eac..96839bfd 100644 --- a/octomap/src/KeyContainerCUDA.cu +++ b/octomap/src/KeyContainerCuda.cu @@ -1,5 +1,5 @@ #ifdef __CUDA_SUPPORT__ -#include +#include namespace octomap { __device__ void KeyContainerCUDA::addKeyAtomic(const OcTreeKey& k) { diff --git a/octomap/src/OccupancyOcTreeBaseCUDA.cu b/octomap/src/OccupancyOcTreeBaseCuda.cu similarity index 99% rename from octomap/src/OccupancyOcTreeBaseCUDA.cu rename to octomap/src/OccupancyOcTreeBaseCuda.cu index cf2b7120..c465f0dd 100644 --- a/octomap/src/OccupancyOcTreeBaseCUDA.cu +++ b/octomap/src/OccupancyOcTreeBaseCuda.cu @@ -1,5 +1,5 @@ -#include -#include +#include +#include #ifdef __CUDA_SUPPORT__ #ifdef __CUDACC__ From ebd019f4cd382dd9227328fcc3deaa71e1796926 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:12:31 +0500 Subject: [PATCH 16/32] Fixed _cuda_support_ block. --- octomap/include/octomap/OccupancyOcTreeBase.hxx | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index 45491395..23b204b3 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -200,7 +200,6 @@ namespace octomap { free_cells.insert(keyray->begin(), keyray->end()); } } - //printf("%i: free_cells(%i)\n", i, keyray->size()); // occupied endpoint OcTreeKey key; if (this->coordToKeyChecked(p, key)){ @@ -256,7 +255,7 @@ namespace octomap { } // end bbx case } // end for all points, end of parallel OMP loop - +#endif // __CUDA_SUPPORT__ // prefer occupied cells over free ones (and make sets disjunct) for(KeySet::iterator it = free_cells.begin(), end=free_cells.end(); it!= end; ){ if (occupied_cells.find(*it) != occupied_cells.end()){ @@ -265,7 +264,6 @@ namespace octomap { ++it; } } -#endif // __CUDA_SUPPORT__ } template From 7b40c05c9dc00166fb221609d8d6a9860bf7e27e Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 14:49:48 +0500 Subject: [PATCH 17/32] Refactoring. --- octomap/include/octomap/KeyContainerCuda.cuh | 16 ++-- .../include/octomap/OccupancyOcTreeBase.hxx | 4 +- .../octomap/OccupancyOcTreeBaseCuda.cuh | 11 +-- octomap/src/CMakeLists.txt | 10 ++- octomap/src/KeyContainerCuda.cu | 2 +- octomap/src/OccupancyOcTreeBaseCuda.cu | 76 +++++++++---------- 6 files changed, 54 insertions(+), 65 deletions(-) diff --git a/octomap/include/octomap/KeyContainerCuda.cuh b/octomap/include/octomap/KeyContainerCuda.cuh index 59a3019c..64a9a208 100644 --- a/octomap/include/octomap/KeyContainerCuda.cuh +++ b/octomap/include/octomap/KeyContainerCuda.cuh @@ -8,10 +8,10 @@ namespace octomap { - class KeyContainerCUDA { + class KeyContainerCuda { public: - CUDA_CALLABLE KeyContainerCUDA ( + CUDA_CALLABLE KeyContainerCuda ( const int& maxSize = 100000) : maxSize(maxSize) { @@ -19,11 +19,11 @@ namespace octomap { reset(); } - CUDA_CALLABLE ~KeyContainerCUDA () { + CUDA_CALLABLE ~KeyContainerCuda () { delete ray; } - CUDA_CALLABLE KeyContainerCUDA(const KeyContainerCUDA& other) + CUDA_CALLABLE KeyContainerCuda(const KeyContainerCuda& other) { ray = other.ray; last = other.last; @@ -38,20 +38,20 @@ namespace octomap { cudaCheckErrors(cudaFree(ray)); } - __host__ void copyToDevice(const KeyContainerCUDA& other) { + __host__ void copyToDevice(const KeyContainerCuda& other) { assert (maxSize == other.sizeMax()); cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyHostToDevice)); last = other.last; maxSize = other.maxSize; } - __host__ void copyToHost(const KeyContainerCUDA& other) { + __host__ void copyToHost(const KeyContainerCuda& other) { assert (maxSize == other.sizeMax()); cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyDeviceToHost)); last = other.last; } - CUDA_CALLABLE KeyContainerCUDA& operator=(const KeyContainerCUDA& other){ + CUDA_CALLABLE KeyContainerCuda& operator=(const KeyContainerCuda& other){ ray = other.ray; last = other.last; maxSize = other.maxSize; @@ -82,7 +82,7 @@ namespace octomap { int maxSize; }; - using KeyRayCUDA = KeyContainerCUDA; + using KeyRayCuda = KeyContainerCuda; } #endif #endif \ No newline at end of file diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index 23b204b3..f587158c 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -94,6 +94,8 @@ namespace octomap { computeDiscreteUpdate(scan, sensor_origin, free_cells, occupied_cells, maxrange); else computeUpdate(scan, sensor_origin, free_cells, occupied_cells, maxrange); + std::cout << "free_cells:" << free_cells.size() << std::endl; + std::cout << "occupied_cells:" << occupied_cells.size() << std::endl; // insert data into tree ----------------------- for (KeySet::iterator it = free_cells.begin(); it != free_cells.end(); ++it) { @@ -174,7 +176,7 @@ namespace octomap { double maxrange) { #ifdef __CUDA_SUPPORT__ - computeUpdateCUDA(scan, origin, free_cells, occupied_cells, maxrange, this); + computeUpdateCuda(scan, origin, free_cells, occupied_cells, maxrange, this); #else #ifdef _OPENMP omp_set_num_threads(this->keyrays.size()); diff --git a/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh b/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh index 85b33547..1d516f33 100644 --- a/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh +++ b/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh @@ -15,16 +15,7 @@ using namespace octomap; #ifdef __CUDA_SUPPORT__ template -__global__ void computeUpdateKernel( - octomap::point3d origin, - octomap::point3d* points, - KeyRayCUDA* rays, - size_t size, - double maxrange, - OccupancyOcTreeBase* tree_base); - -template -void computeUpdateCUDA( +void computeUpdateCuda( const octomap::Pointcloud& scan, const octomap::point3d& origin, octomap::KeySet& free_cells, octomap::KeySet& occupied_cells, double maxrange, octomap::OccupancyOcTreeBase* tree_base); #endif diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt index 3366fc68..b84ad251 100644 --- a/octomap/src/CMakeLists.txt +++ b/octomap/src/CMakeLists.txt @@ -1,3 +1,5 @@ +find_package(Boost REQUIRED COMPONENTS chrono) + SET (octomap_SRCS AbstractOcTree.cpp AbstractOccupancyOcTree.cpp @@ -31,8 +33,8 @@ SET_TARGET_PROPERTIES( target_compile_features(octomap-static PUBLIC cxx_std_11) add_dependencies(octomap-static octomath-static) -TARGET_LINK_LIBRARIES(octomap octomath ${CUDA_LIBRARIES}) -TARGET_LINK_LIBRARIES(octomap-static octomath ${CUDA_LIBRARIES}) +TARGET_LINK_LIBRARIES(octomap octomath ${CUDA_LIBRARIES} ${Boost_LIBRARIES}) +TARGET_LINK_LIBRARIES(octomap-static octomath ${CUDA_LIBRARIES} ${Boost_LIBRARIES}) if(NOT EXISTS "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") file(MAKE_DIRECTORY "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap") @@ -42,9 +44,9 @@ export(TARGETS octomap octomap-static APPEND FILE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/cmake/octomap/octomap-targets.cmake") ADD_SUBDIRECTORY( testing ) - +MESSAGE(STATUS ${Boost_LIBRARIES}) ADD_EXECUTABLE(graph2tree graph2tree.cpp) -TARGET_LINK_LIBRARIES(graph2tree octomap-static ${CUDA_LIBRARIES}) +TARGET_LINK_LIBRARIES(graph2tree octomap-static ${CUDA_LIBRARIES} ${Boost_LIBRARIES}) target_compile_features(graph2tree PUBLIC cxx_std_11) SET_TARGET_PROPERTIES(graph2tree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) diff --git a/octomap/src/KeyContainerCuda.cu b/octomap/src/KeyContainerCuda.cu index 96839bfd..4f07d9f7 100644 --- a/octomap/src/KeyContainerCuda.cu +++ b/octomap/src/KeyContainerCuda.cu @@ -2,7 +2,7 @@ #include namespace octomap { - __device__ void KeyContainerCUDA::addKeyAtomic(const OcTreeKey& k) { + __device__ void KeyContainerCuda::addKeyAtomic(const OcTreeKey& k) { int idx = atomicAdd(&last, 1); ray[idx] = k; } diff --git a/octomap/src/OccupancyOcTreeBaseCuda.cu b/octomap/src/OccupancyOcTreeBaseCuda.cu index c465f0dd..23039d6d 100644 --- a/octomap/src/OccupancyOcTreeBaseCuda.cu +++ b/octomap/src/OccupancyOcTreeBaseCuda.cu @@ -1,5 +1,6 @@ #include #include +#include #ifdef __CUDA_SUPPORT__ #ifdef __CUDACC__ @@ -9,10 +10,10 @@ #endif template -CUDA_CALLABLE bool computeRayKeysCUDA( +CUDA_CALLABLE bool computeRayKeysCuda( const point3d& origin, const point3d& end, - KeyRayCUDA& ray, + KeyRayCuda& ray, const double& resolution, const double& resolution_half, OcTreeBaseImpl* tree_base) @@ -123,11 +124,11 @@ CUDA_CALLABLE bool computeRayKeysCUDA( #define MAX_RAY_SIZE 100 template -__global__ void kernel( +__global__ void computeUpdateKernel( octomap::point3d origin, octomap::point3d* points, - KeyContainerCUDA* occupied_cells, - KeyContainerCUDA* free_cells, + KeyContainerCuda* occupied_cells, + KeyContainerCuda* free_cells, size_t size, double maxrange, bool use_bbx_limit, @@ -140,11 +141,11 @@ __global__ void kernel( for (int i = idx; i < size; i += stride) { auto& p = points[i]; - KeyRayCUDA ray(MAX_RAY_SIZE); + KeyRayCuda ray(MAX_RAY_SIZE); if (!use_bbx_limit) { // no BBX specified if ((maxrange < 0.0) || ((p - origin).norm() <= maxrange) ) { // is not maxrange meas. // free cells - if (computeRayKeysCUDA(origin, p, ray, resolution, resolution_half, tree_base)) { + if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { for (auto rp = ray.begin(); rp != ray.end(); ++rp) { free_cells->addKeyAtomic(*rp); } @@ -157,7 +158,7 @@ __global__ void kernel( } else { // user set a maxrange and length is above point3d direction = (p - origin).normalized (); point3d new_end = origin + direction * (float) maxrange; - if (computeRayKeysCUDA(origin, new_end, ray, resolution, resolution_half, tree_base)) { // *ray + if (computeRayKeysCuda(origin, new_end, ray, resolution, resolution_half, tree_base)) { // *ray for (auto rp = ray.begin(); rp != ray.end(); ++rp) { free_cells->addKeyAtomic(*rp); } @@ -173,7 +174,7 @@ __global__ void kernel( } // update freespace, break as soon as bbx limit is reached - if (computeRayKeysCUDA(origin, p, ray, resolution, resolution_half, tree_base)) { + if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { for(auto rp=ray.end(); rp != ray.begin(); rp--) { if (!tree_base->inBBX(*rp)) { free_cells->addKeyAtomic(*rp); @@ -187,10 +188,11 @@ __global__ void kernel( } template -void computeUpdateCUDA( +void computeUpdateCuda( const octomap::Pointcloud& scan, const octomap::point3d& origin, octomap::KeySet& free_cells, octomap::KeySet& occupied_cells, double maxrange, octomap::OccupancyOcTreeBase* tree_base) { + auto time_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points auto scan_size = scan.size(); // make a copy of tree for device usage - need a better way ? or idk @@ -203,17 +205,16 @@ void computeUpdateCUDA( cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size * sizeof(octomap::point3d))); cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); - // Make a container for occupied cells static const auto free_cells_arr_size = 1000000; - auto occupied_cells_host = KeyContainerCUDA(); - auto free_cells_host = KeyContainerCUDA(free_cells_arr_size); - KeyContainerCUDA* occupied_cells_device; - KeyContainerCUDA* free_cells_device; - cudaCheckErrors(cudaMallocManaged(&occupied_cells_device, sizeof(KeyContainerCUDA))); - cudaCheckErrors(cudaMallocManaged(&free_cells_device, sizeof(KeyContainerCUDA))); - cudaCheckErrors(cudaMemcpy(occupied_cells_device, &occupied_cells_host, sizeof(KeyContainerCUDA), cudaMemcpyHostToDevice)); - cudaCheckErrors(cudaMemcpy(free_cells_device, &free_cells_host, sizeof(KeyContainerCUDA), cudaMemcpyHostToDevice)); + auto occupied_cells_host = KeyContainerCuda(); + auto free_cells_host = KeyContainerCuda(free_cells_arr_size); + KeyContainerCuda* occupied_cells_device; + KeyContainerCuda* free_cells_device; + cudaCheckErrors(cudaMallocManaged(&occupied_cells_device, sizeof(KeyContainerCuda))); + cudaCheckErrors(cudaMallocManaged(&free_cells_device, sizeof(KeyContainerCuda))); + cudaCheckErrors(cudaMemcpy(occupied_cells_device, &occupied_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMemcpy(free_cells_device, &free_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); occupied_cells_device->allocateDevice(); free_cells_device->allocateDevice(); @@ -222,11 +223,7 @@ void computeUpdateCUDA( bool use_bbx_limit = tree_base->bbxSet(); auto resolution = tree_base->getResolution(); auto resolution_half = resolution * 0.5; - cudaEvent_t start, stop; - cudaEventCreate(&start); - cudaEventCreate(&stop); - cudaEventRecord(start); - kernel<<<8, 256>>>( + computeUpdateKernel<<<8, 256>>>( origin, scan_device, occupied_cells_device, @@ -237,39 +234,36 @@ void computeUpdateCUDA( resolution, resolution_half, tree_base_device); - cudaEventRecord(stop); - cudaDeviceSynchronize(); - cudaEventSynchronize(stop); - - printf("free_cells_device size: %i\n", free_cells_device->size()); - printf("occupied_cells_device size: %i\n", occupied_cells_device->size()); // copy from device to host occupied_cells_host.copyToHost(*occupied_cells_device); free_cells_host.copyToHost(*free_cells_device); + + for(auto p=free_cells_host.begin(); p != free_cells_host.end(); p++) { + free_cells.insert(*p); + } - printf("free_cells_host size: %i\n", free_cells_host.size()); - printf("occupied_cells_host size: %i\n", occupied_cells_host.size()); - - float ms = 0; - cudaEventElapsedTime(&ms, start, stop); - std::cout << "Elapsed time:" << ms << std::endl; + for(auto p=occupied_cells_host.begin(); p != occupied_cells_host.end(); p++) { + occupied_cells.insert(*p); + } // free memory cudaFree(scan_device); - //occupied_cells_device->freeDevice(); - //free_cells_device->freeDevice(); + occupied_cells_device->freeDevice(); + free_cells_device->freeDevice(); cudaFree(occupied_cells_device); cudaFree(free_cells_device); cudaFree(tree_base_device); + auto time_end = boost::chrono::high_resolution_clock::now(); + std::cout << "Total time taken: " << boost::chrono::duration(time_end - time_start).count() << std::endl; } -template void computeUpdateCUDA( +template void computeUpdateCuda( const Pointcloud& scan, const point3d& origin, KeySet& free_cells, KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); -template void computeUpdateCUDA( +template void computeUpdateCuda( const Pointcloud& scan, const point3d& origin, KeySet& free_cells, KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); -template void computeUpdateCUDA( +template void computeUpdateCuda( const Pointcloud& scan, const point3d& origin, KeySet& free_cells, KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); #endif \ No newline at end of file From eb1d49e75a98820031379ebb2604ef2f7390fd00 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 15:03:56 +0500 Subject: [PATCH 18/32] Refactoring. --- octomap/src/OccupancyOcTreeBaseCuda.cu | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/octomap/src/OccupancyOcTreeBaseCuda.cu b/octomap/src/OccupancyOcTreeBaseCuda.cu index 23039d6d..36d35b1b 100644 --- a/octomap/src/OccupancyOcTreeBaseCuda.cu +++ b/octomap/src/OccupancyOcTreeBaseCuda.cu @@ -9,6 +9,8 @@ #define CUDA_CALLABLE #endif +#define MAX_RAY_SIZE 256 + template CUDA_CALLABLE bool computeRayKeysCuda( const point3d& origin, @@ -63,15 +65,11 @@ CUDA_CALLABLE bool computeRayKeysCuda( tDelta[i] = NPP_MAXABS_64F; } } - //printf ("direction: %f, %f, %f\n", direction.x(), direction.y(), direction.z()); - //printf ("tMax: %f, %f, %f\n", tMax[0], tMax[1], tMax[2]); - //printf ("tDelta: %f, %f, %f\n", tDelta[0], tDelta[1], tDelta[2]); int i = 0; // Incremental phase --------------------------------------------------------- bool done = false; while (!done) { - //printf ("i: %i\n", i); unsigned int dim; @@ -104,13 +102,11 @@ CUDA_CALLABLE bool computeRayKeysCuda( // if this is longer than the expected ray length, we should have already hit the voxel containing the end point with the code above (key_end). // However, we did not hit it due to accumulating discretization errors, so this is the point here to stop the ray as we would never reach the voxel key_end if (dist_from_origin > length) { - //printf("length: %f\n", length); done = true; break; } else { // continue to add freespace cells - //printf ("adding key."); ray.addKey(current_key); } } @@ -122,7 +118,6 @@ CUDA_CALLABLE bool computeRayKeysCuda( return true; } -#define MAX_RAY_SIZE 100 template __global__ void computeUpdateKernel( octomap::point3d origin, From c9348f2b719b50a5edc3b443823757d34c0d4114 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 15:30:04 +0500 Subject: [PATCH 19/32] Added all tests. --- octomap/src/CMakeLists.txt | 108 ++++++++++++++++++------------------- 1 file changed, 54 insertions(+), 54 deletions(-) diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt index b84ad251..11d36526 100644 --- a/octomap/src/CMakeLists.txt +++ b/octomap/src/CMakeLists.txt @@ -50,60 +50,60 @@ TARGET_LINK_LIBRARIES(graph2tree octomap-static ${CUDA_LIBRARIES} ${Boost_LIBRAR target_compile_features(graph2tree PUBLIC cxx_std_11) SET_TARGET_PROPERTIES(graph2tree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) -#ADD_EXECUTABLE(log2graph log2graph.cpp) -#TARGET_LINK_LIBRARIES(log2graph octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(log2graph PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(log2graph PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(binvox2bt binvox2bt.cpp) -#TARGET_LINK_LIBRARIES(binvox2bt octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(binvox2bt PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(binvox2bt PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(bt2vrml bt2vrml.cpp) -#TARGET_LINK_LIBRARIES(bt2vrml octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(bt2vrml PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(bt2vrml PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(edit_octree edit_octree.cpp) -#TARGET_LINK_LIBRARIES(edit_octree octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(edit_octree PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(edit_octree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(convert_octree convert_octree.cpp) -#TARGET_LINK_LIBRARIES(convert_octree octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(convert_octree PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(convert_octree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(eval_octree_accuracy eval_octree_accuracy.cpp) -#TARGET_LINK_LIBRARIES(eval_octree_accuracy octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(eval_octree_accuracy PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(eval_octree_accuracy PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(compare_octrees compare_octrees.cpp) -#TARGET_LINK_LIBRARIES(compare_octrees octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(compare_octrees PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(compare_octrees PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(simple_example simple_example.cpp) -#TARGET_LINK_LIBRARIES(simple_example octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(simple_example PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(simple_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(normals_example normals_example.cpp) -#TARGET_LINK_LIBRARIES(normals_example octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(normals_example PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(normals_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(intersection_example intersection_example.cpp) -#TARGET_LINK_LIBRARIES(intersection_example octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(intersection_example PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(intersection_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - -#ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) -#TARGET_LINK_LIBRARIES(octree2pointcloud octomap-static ${CUDA_LIBRARIES}) -#target_compile_features(octree2pointcloud PUBLIC cxx_std_11) -#SET_TARGET_PROPERTIES(octree2pointcloud PROPERTIES CUDA_SEPARABLE_COMPILATION ON) +ADD_EXECUTABLE(log2graph log2graph.cpp) +TARGET_LINK_LIBRARIES(log2graph octomap-static ${CUDA_LIBRARIES}) +target_compile_features(log2graph PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(log2graph PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(binvox2bt binvox2bt.cpp) +TARGET_LINK_LIBRARIES(binvox2bt octomap-static ${CUDA_LIBRARIES}) +target_compile_features(binvox2bt PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(binvox2bt PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(bt2vrml bt2vrml.cpp) +TARGET_LINK_LIBRARIES(bt2vrml octomap-static ${CUDA_LIBRARIES}) +target_compile_features(bt2vrml PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(bt2vrml PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(edit_octree edit_octree.cpp) +TARGET_LINK_LIBRARIES(edit_octree octomap-static ${CUDA_LIBRARIES}) +target_compile_features(edit_octree PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(edit_octree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(convert_octree convert_octree.cpp) +TARGET_LINK_LIBRARIES(convert_octree octomap-static ${CUDA_LIBRARIES}) +target_compile_features(convert_octree PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(convert_octree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(eval_octree_accuracy eval_octree_accuracy.cpp) +TARGET_LINK_LIBRARIES(eval_octree_accuracy octomap-static ${CUDA_LIBRARIES}) +target_compile_features(eval_octree_accuracy PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(eval_octree_accuracy PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(compare_octrees compare_octrees.cpp) +TARGET_LINK_LIBRARIES(compare_octrees octomap-static ${CUDA_LIBRARIES}) +target_compile_features(compare_octrees PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(compare_octrees PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(simple_example simple_example.cpp) +TARGET_LINK_LIBRARIES(simple_example octomap-static ${CUDA_LIBRARIES}) +target_compile_features(simple_example PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(simple_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(normals_example normals_example.cpp) +TARGET_LINK_LIBRARIES(normals_example octomap-static ${CUDA_LIBRARIES}) +target_compile_features(normals_example PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(normals_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(intersection_example intersection_example.cpp) +TARGET_LINK_LIBRARIES(intersection_example octomap-static ${CUDA_LIBRARIES}) +target_compile_features(intersection_example PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(intersection_example PROPERTIES CUDA_SEPARABLE_COMPILATION ON) + +ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) +TARGET_LINK_LIBRARIES(octree2pointcloud octomap-static ${CUDA_LIBRARIES}) +target_compile_features(octree2pointcloud PUBLIC cxx_std_11) +SET_TARGET_PROPERTIES(octree2pointcloud PROPERTIES CUDA_SEPARABLE_COMPILATION ON) install(TARGETS octomap octomap-static EXPORT octomap-targets From 301f01b41550484c8dd29924ededc2c0088dea67 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 15:41:07 +0500 Subject: [PATCH 20/32] Removed debugging info. --- octomap/include/octomap/OccupancyOcTreeBase.hxx | 2 -- 1 file changed, 2 deletions(-) diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index f587158c..79839ad8 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -94,8 +94,6 @@ namespace octomap { computeDiscreteUpdate(scan, sensor_origin, free_cells, occupied_cells, maxrange); else computeUpdate(scan, sensor_origin, free_cells, occupied_cells, maxrange); - std::cout << "free_cells:" << free_cells.size() << std::endl; - std::cout << "occupied_cells:" << occupied_cells.size() << std::endl; // insert data into tree ----------------------- for (KeySet::iterator it = free_cells.begin(); it != free_cells.end(); ++it) { From c4b8998363adeba003b49e203e6cd0c6efe19986 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 16:01:58 +0500 Subject: [PATCH 21/32] Added debugging info. --- octomap/src/OccupancyOcTreeBaseCuda.cu | 46 ++++++++++++++++++++++---- 1 file changed, 39 insertions(+), 7 deletions(-) diff --git a/octomap/src/OccupancyOcTreeBaseCuda.cu b/octomap/src/OccupancyOcTreeBaseCuda.cu index 36d35b1b..b7a3af36 100644 --- a/octomap/src/OccupancyOcTreeBaseCuda.cu +++ b/octomap/src/OccupancyOcTreeBaseCuda.cu @@ -190,16 +190,31 @@ void computeUpdateCuda( auto time_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points auto scan_size = scan.size(); - // make a copy of tree for device usage - need a better way ? or idk + static bool device_tree_init = false; octomap::OccupancyOcTreeBase* tree_base_device; - cudaCheckErrors(cudaMallocManaged(&tree_base_device, sizeof(octomap::OccupancyOcTreeBase))); - cudaCheckErrors(cudaMemcpy(tree_base_device, tree_base, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); + if (!device_tree_init) { + // make a copy of tree for device usage - need a better way ? or idk + auto time_tree_start = boost::chrono::high_resolution_clock::now(); + cudaCheckErrors(cudaMallocManaged(&tree_base_device, sizeof(octomap::OccupancyOcTreeBase))); + cudaCheckErrors(cudaMemcpy(tree_base_device, tree_base, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); + device_tree_init = true; + std::cout << "Time taken to copy tree: " << + boost::chrono::duration( + boost::chrono::high_resolution_clock::now() - + time_tree_start).count() << std::endl; + } + auto time_cloud_start = boost::chrono::high_resolution_clock::now(); // make an array of points from the point cloud for device usage octomap::point3d* scan_device; cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size * sizeof(octomap::point3d))); - cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); + std::cout << "Time taken to copy cloud: " << + boost::chrono::duration( + boost::chrono::high_resolution_clock::now() - + time_cloud_start).count() << std::endl; + auto time_cells_start = boost::chrono::high_resolution_clock::now(); // Make a container for occupied cells static const auto free_cells_arr_size = 1000000; auto occupied_cells_host = KeyContainerCuda(); @@ -212,12 +227,18 @@ void computeUpdateCuda( cudaCheckErrors(cudaMemcpy(free_cells_device, &free_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); occupied_cells_device->allocateDevice(); free_cells_device->allocateDevice(); - occupied_cells_device->copyToDevice(occupied_cells_host); free_cells_device->copyToDevice(free_cells_host); + std::cout << "Time taken to allocate and copy cells: " << + boost::chrono::duration( + boost::chrono::high_resolution_clock::now() - + time_cells_start).count() << std::endl; + bool use_bbx_limit = tree_base->bbxSet(); auto resolution = tree_base->getResolution(); auto resolution_half = resolution * 0.5; + + auto time_kernel = boost::chrono::high_resolution_clock::now(); computeUpdateKernel<<<8, 256>>>( origin, scan_device, @@ -229,18 +250,29 @@ void computeUpdateCuda( resolution, resolution_half, tree_base_device); + std::cout << "Time taken by the kernel: " << + boost::chrono::duration( + boost::chrono::high_resolution_clock::now() - + time_kernel).count() << std::endl; + auto time_copy_host = boost::chrono::high_resolution_clock::now(); // copy from device to host occupied_cells_host.copyToHost(*occupied_cells_device); free_cells_host.copyToHost(*free_cells_device); - for(auto p=free_cells_host.begin(); p != free_cells_host.end(); p++) { + for(auto p=free_cells_device->begin(); p != free_cells_device->end(); p++) { free_cells.insert(*p); } - for(auto p=occupied_cells_host.begin(); p != occupied_cells_host.end(); p++) { + for(auto p=occupied_cells_device->begin(); p != occupied_cells_device->end(); p++) { occupied_cells.insert(*p); } + std::cout << "Time taken to copy results to host: " << + boost::chrono::duration( + boost::chrono::high_resolution_clock::now() - + time_copy_host).count() << std::endl; + std::cout << "Number of free_cells: " << free_cells.size() << std::endl; + std::cout << "Number of occupied_cells: " << occupied_cells.size() << std::endl; // free memory cudaFree(scan_device); From 76c78c21cb0819dd65b49da4a22176ef007f3c85 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 15 Oct 2019 16:31:24 +0500 Subject: [PATCH 22/32] Fixed a few issues with the cuda side. The high time on tree initialization is not due to tree but due to CUDA backend initialization that only happens once, getting almost 25 hz with current config. --- octomap/src/OccupancyOcTreeBaseCuda.cu | 59 +++++++------------------- 1 file changed, 15 insertions(+), 44 deletions(-) diff --git a/octomap/src/OccupancyOcTreeBaseCuda.cu b/octomap/src/OccupancyOcTreeBaseCuda.cu index b7a3af36..eeea71a5 100644 --- a/octomap/src/OccupancyOcTreeBaseCuda.cu +++ b/octomap/src/OccupancyOcTreeBaseCuda.cu @@ -9,7 +9,7 @@ #define CUDA_CALLABLE #endif -#define MAX_RAY_SIZE 256 +#define MAX_RAY_SIZE 128 template CUDA_CALLABLE bool computeRayKeysCuda( @@ -190,56 +190,36 @@ void computeUpdateCuda( auto time_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points auto scan_size = scan.size(); - static bool device_tree_init = false; octomap::OccupancyOcTreeBase* tree_base_device; - if (!device_tree_init) { - // make a copy of tree for device usage - need a better way ? or idk - auto time_tree_start = boost::chrono::high_resolution_clock::now(); - cudaCheckErrors(cudaMallocManaged(&tree_base_device, sizeof(octomap::OccupancyOcTreeBase))); - cudaCheckErrors(cudaMemcpy(tree_base_device, tree_base, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); - device_tree_init = true; - std::cout << "Time taken to copy tree: " << - boost::chrono::duration( - boost::chrono::high_resolution_clock::now() - - time_tree_start).count() << std::endl; - } + // make a copy of tree for device usage - need a better way ? or idk + cudaCheckErrors(cudaMallocManaged(&tree_base_device, sizeof(octomap::OccupancyOcTreeBase))); + cudaCheckErrors(cudaMemcpy(tree_base_device, tree_base, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); - auto time_cloud_start = boost::chrono::high_resolution_clock::now(); // make an array of points from the point cloud for device usage octomap::point3d* scan_device; cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size * sizeof(octomap::point3d))); cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); - std::cout << "Time taken to copy cloud: " << - boost::chrono::duration( - boost::chrono::high_resolution_clock::now() - - time_cloud_start).count() << std::endl; - auto time_cells_start = boost::chrono::high_resolution_clock::now(); // Make a container for occupied cells static const auto free_cells_arr_size = 1000000; - auto occupied_cells_host = KeyContainerCuda(); - auto free_cells_host = KeyContainerCuda(free_cells_arr_size); + auto occupied_cells_host = new KeyContainerCuda(); + auto free_cells_host = new KeyContainerCuda(free_cells_arr_size); KeyContainerCuda* occupied_cells_device; KeyContainerCuda* free_cells_device; cudaCheckErrors(cudaMallocManaged(&occupied_cells_device, sizeof(KeyContainerCuda))); cudaCheckErrors(cudaMallocManaged(&free_cells_device, sizeof(KeyContainerCuda))); - cudaCheckErrors(cudaMemcpy(occupied_cells_device, &occupied_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); - cudaCheckErrors(cudaMemcpy(free_cells_device, &free_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMemcpy(occupied_cells_device, occupied_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMemcpy(free_cells_device, free_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); occupied_cells_device->allocateDevice(); free_cells_device->allocateDevice(); - occupied_cells_device->copyToDevice(occupied_cells_host); - free_cells_device->copyToDevice(free_cells_host); - std::cout << "Time taken to allocate and copy cells: " << - boost::chrono::duration( - boost::chrono::high_resolution_clock::now() - - time_cells_start).count() << std::endl; + occupied_cells_device->copyToDevice(*occupied_cells_host); + free_cells_device->copyToDevice(*free_cells_host); bool use_bbx_limit = tree_base->bbxSet(); auto resolution = tree_base->getResolution(); auto resolution_half = resolution * 0.5; - auto time_kernel = boost::chrono::high_resolution_clock::now(); - computeUpdateKernel<<<8, 256>>>( + computeUpdateKernel<<<32, 256>>>( origin, scan_device, occupied_cells_device, @@ -250,15 +230,12 @@ void computeUpdateCuda( resolution, resolution_half, tree_base_device); - std::cout << "Time taken by the kernel: " << - boost::chrono::duration( - boost::chrono::high_resolution_clock::now() - - time_kernel).count() << std::endl; - + cudaDeviceSynchronize(); + auto time_copy_host = boost::chrono::high_resolution_clock::now(); // copy from device to host - occupied_cells_host.copyToHost(*occupied_cells_device); - free_cells_host.copyToHost(*free_cells_device); + occupied_cells_host->copyToHost(*occupied_cells_device); + free_cells_host->copyToHost(*free_cells_device); for(auto p=free_cells_device->begin(); p != free_cells_device->end(); p++) { free_cells.insert(*p); @@ -267,12 +244,6 @@ void computeUpdateCuda( for(auto p=occupied_cells_device->begin(); p != occupied_cells_device->end(); p++) { occupied_cells.insert(*p); } - std::cout << "Time taken to copy results to host: " << - boost::chrono::duration( - boost::chrono::high_resolution_clock::now() - - time_copy_host).count() << std::endl; - std::cout << "Number of free_cells: " << free_cells.size() << std::endl; - std::cout << "Number of occupied_cells: " << occupied_cells.size() << std::endl; // free memory cudaFree(scan_device); From 3cb8e607e2665c0076893ab79a33fc8ceca678f4 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 22 Oct 2019 17:41:39 +0500 Subject: [PATCH 23/32] Better Cuda but still not better than CPU. --- octomap/include/octomap/HashSetCuda.cuh | 194 + ...{KeyContainerCuda.cuh => KeyArrayCuda.cuh} | 28 +- octomap/include/octomap/OccupancyOcTreeBase.h | 18 +- .../include/octomap/OccupancyOcTreeBase.hxx | 14 +- .../octomap/OccupancyOcTreeBaseCuda.cuh | 23 - .../include/octomap/OctomapUpdaterCuda.cuh | 70 + octomap/share/data/scan.dat | 88206 ++++++++++++++++ octomap/src/CMakeLists.txt | 9 +- octomap/src/HashSetCuda.cu | 53 + .../{KeyContainerCuda.cu => KeyArrayCuda.cu} | 4 +- ...cTreeBaseCuda.cu => OctomapUpdaterCuda.cu} | 163 +- octomap/src/graph2tree.cpp | 12 +- 12 files changed, 88663 insertions(+), 131 deletions(-) create mode 100644 octomap/include/octomap/HashSetCuda.cuh rename octomap/include/octomap/{KeyContainerCuda.cuh => KeyArrayCuda.cuh} (72%) delete mode 100644 octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh create mode 100644 octomap/include/octomap/OctomapUpdaterCuda.cuh create mode 100644 octomap/share/data/scan.dat create mode 100644 octomap/src/HashSetCuda.cu rename octomap/src/{KeyContainerCuda.cu => KeyArrayCuda.cu} (51%) rename octomap/src/{OccupancyOcTreeBaseCuda.cu => OctomapUpdaterCuda.cu} (61%) diff --git a/octomap/include/octomap/HashSetCuda.cuh b/octomap/include/octomap/HashSetCuda.cuh new file mode 100644 index 00000000..6c0dc036 --- /dev/null +++ b/octomap/include/octomap/HashSetCuda.cuh @@ -0,0 +1,194 @@ +#ifndef HASH_MAP_CUDA_CUH +#define HASH_MAP_CUDA_CUH +#ifdef __CUDA_SUPPORT__ +#include +#include +#include +#include + +/** + * Based on CUDA by Example: + * An Introduction to General-Purpose GPU Programming + * Book by Edward Kandrot and Jason Sanders + */ + +namespace octomap { + struct LockCuda { + int *mutex; + __host__ LockCuda(void) { + initializeDevice(); + } + __host__ ~LockCuda(void) { + //cudaCheckErrors(cudaFree(mutex)); + } + __device__ void lock(void); + __device__ void unlock(void); + __host__ void initializeDevice() { + int state = 0; + cudaCheckErrors(cudaMallocManaged(&mutex, sizeof(int))); + cudaCheckErrors(cudaMemcpy(mutex, &state, sizeof(int), cudaMemcpyHostToDevice)); + } + }; + + #define UNKNOWN -1 + #define FREE 0 + #define OCCUPIED 1 + + struct SetElement { + OcTreeKey key_; + SetElement *next_; + int value_ = {UNKNOWN}; + }; + + class HashSetCuda { + private: + enum Type { + HOST, + DEVICE, + NONE + }; + int type_ = {NONE}; + size_t count_; + size_t n_elements_; + SetElement** elements_; + SetElement* pool_; + int first_free_; + public: + LockCuda* pair_locks_; + + __host__ HashSetCuda () : type_(NONE) { + } + __host__ ~HashSetCuda () + { + } + + __host__ void initializeHost(const int& n_hash_elements, const int& n_elements) + { + if (type_ == NONE || type_ == HOST) { + count_ = n_hash_elements; + n_elements_ = n_elements; + elements_ = (SetElement**)calloc(n_hash_elements, sizeof(SetElement*)); + pool_ = (SetElement*)malloc(n_elements * sizeof(SetElement)); + first_free_ = 0; + type_ = HOST; + } else { + printf("Map already initialized to device."); + } + } + + __host__ void initializeDevice(const int& n_hash_elements, const int& n_elements) + { + if (type_ == NONE || type_ == DEVICE) { + count_ = n_hash_elements; + n_elements_ = n_elements; + cudaCheckErrors(cudaMallocManaged(&elements_, n_hash_elements * sizeof(SetElement*))); + cudaCheckErrors(cudaMemset(elements_, 0, n_hash_elements * sizeof(SetElement*))); + cudaCheckErrors(cudaMallocManaged(&pool_, n_elements * sizeof(SetElement))); + first_free_ = 0; + //auto locks = new LockCuda[n_hash_elements]; + //cudaCheckErrors(cudaMallocManaged(&pair_locks_, n_hash_elements * sizeof(LockCuda))); + //cudaCheckErrors(cudaMemcpy(pair_locks_, &locks[0], n_hash_elements * sizeof(LockCuda), cudaMemcpyHostToDevice)); + //delete[] locks; + type_ = DEVICE; + } else { + printf("Map already initialized to host."); + } + } + + __host__ void freeMemory() { + if (type_ == HOST) { + free(elements_); + free(pool_); + } else if (type_ == DEVICE) { + cudaCheckErrors(cudaFree(elements_)); + cudaCheckErrors(cudaFree(pool_)); + } + } + + __host__ void insertHost(const OcTreeKey& key, const int& value) + { + if (type_ == HOST) { + size_t hash = OcTreeKey::KeyHash{}(key) % count_; + // two different keys might have same hash + if (!elements_[hash] || elements_[hash]->key_ != key) { + auto location = &pool_[first_free_++]; + location->key_ = key; + location->value_ = value; + location->next_ = elements_[hash]; + elements_[hash] = location; + } + } else { + printf( + "Map not initialized to host. Cannot insert key: %i %i %i.\n", + key[0], key[1], key[2]); + } + } + + __device__ void insertDevice(const OcTreeKey& key, const int& value); + __host__ void reset() { + // reset all map values + while (first_free_ > 0) { + pool_[--first_free_].value_ = UNKNOWN; + } + + //cudaCheckErrors(cudaMallocManaged(&elements_, count_ * sizeof(SetElement*))); + cudaCheckErrors(cudaMemset(elements_, 0, count_ * sizeof(SetElement*))); + //cudaCheckErrors(cudaMallocManaged(&pool_, n_elements_ * sizeof(SetElement))); + } + + CUDA_CALLABLE size_t count() const { return count_; } + CUDA_CALLABLE const SetElement* element(const int& idx) const { return elements_[idx]; } + CUDA_CALLABLE void resetElement(const int& idx) { elements_[idx] = nullptr; } + + __host__ void copyFromDevice(const HashSetCuda& other) { + if (type_ == HOST) { + assert (n_elements_ == other.n_elements_); + assert (count_ == other.count_); + cudaCheckErrors(cudaMemcpy(elements_, other.elements_, count_ * sizeof(SetElement*), cudaMemcpyDeviceToHost)); + cudaCheckErrors(cudaMemcpy(pool_, other.pool_, n_elements_ * sizeof(SetElement), cudaMemcpyDeviceToHost)); + } else { + printf("Uninitialized map cannot copy data from device."); + } + + // Fix pointer offsets + for (size_t i = 0; i < count_; i++) { + if (elements_[i] != NULL) { + elements_[i] = + (SetElement*) + ((size_t)elements_[i] - (size_t)other.pool_ + (size_t)pool_); + } + } + + // Fix pointer offsets + for (size_t i = 0; i < n_elements_; i++) { + if (pool_[i].next_ != NULL) { + pool_[i].next_ = + (SetElement*)( + (size_t)pool_[i].next_ - (size_t)other.pool_ + (size_t)pool_); + } + } + } + + __host__ void copyElementsFromDevice(const HashSetCuda& other) { + if (type_ == HOST) { + assert (count_ == other.count_); + cudaCheckErrors(cudaMemcpy(elements_, other.elements_, count_ * sizeof(SetElement*), cudaMemcpyDeviceToHost)); + } else { + printf("Uninitialized map cannot copy data from device."); + } + + // Fix pointer offsets + for (size_t i = 0; i < count_; i++) { + if (elements_[i] != NULL) { + elements_[i] = + (SetElement*) + ((size_t)elements_[i] - (size_t)other.pool_ + (size_t)pool_); + } + } + } + }; +} + + +#endif +#endif \ No newline at end of file diff --git a/octomap/include/octomap/KeyContainerCuda.cuh b/octomap/include/octomap/KeyArrayCuda.cuh similarity index 72% rename from octomap/include/octomap/KeyContainerCuda.cuh rename to octomap/include/octomap/KeyArrayCuda.cuh index 64a9a208..74b1ee62 100644 --- a/octomap/include/octomap/KeyContainerCuda.cuh +++ b/octomap/include/octomap/KeyArrayCuda.cuh @@ -1,29 +1,27 @@ -#ifndef KEY_CONTAINDER_CUDA_CUH -#define KEY_CONTAINDER_CUDA_CUH +#ifndef KEY_ARRAY_CUDA_CUH +#define KEY_ARRAY_CUDA_CUH #ifdef __CUDA_SUPPORT__ #include #include #include #include +#include namespace octomap { - class KeyContainerCuda { + class KeyArrayCuda { public: - CUDA_CALLABLE KeyContainerCuda ( - const int& maxSize = 100000) : + CUDA_CALLABLE KeyArrayCuda ( + const int& maxSize = 100) : maxSize(maxSize) { - ray = new OcTreeKey[maxSize]; - reset(); } - CUDA_CALLABLE ~KeyContainerCuda () { - delete ray; + CUDA_CALLABLE ~KeyArrayCuda () { } - CUDA_CALLABLE KeyContainerCuda(const KeyContainerCuda& other) + CUDA_CALLABLE KeyArrayCuda(const KeyArrayCuda& other) { ray = other.ray; last = other.last; @@ -38,20 +36,20 @@ namespace octomap { cudaCheckErrors(cudaFree(ray)); } - __host__ void copyToDevice(const KeyContainerCuda& other) { + __host__ void copyFromHost(const KeyArrayCuda& other) { assert (maxSize == other.sizeMax()); cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyHostToDevice)); last = other.last; maxSize = other.maxSize; } - __host__ void copyToHost(const KeyContainerCuda& other) { + __host__ void copyFromDevice(const KeyArrayCuda& other) { assert (maxSize == other.sizeMax()); cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyDeviceToHost)); last = other.last; } - CUDA_CALLABLE KeyContainerCuda& operator=(const KeyContainerCuda& other){ + CUDA_CALLABLE KeyArrayCuda& operator=(const KeyArrayCuda& other){ ray = other.ray; last = other.last; maxSize = other.maxSize; @@ -82,7 +80,9 @@ namespace octomap { int maxSize; }; - using KeyRayCuda = KeyContainerCuda; + using KeyRayCuda = KeyArrayCuda; } + + #endif #endif \ No newline at end of file diff --git a/octomap/include/octomap/OccupancyOcTreeBase.h b/octomap/include/octomap/OccupancyOcTreeBase.h index 8e00a648..f6e52381 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.h +++ b/octomap/include/octomap/OccupancyOcTreeBase.h @@ -44,6 +44,11 @@ #include "OcTreeBaseImpl.h" #include "AbstractOccupancyOcTree.h" +#ifdef __CUDA_SUPPORT__ +template +class OctomapUpdaterCuda; +#endif + #ifdef __CUDACC__ #ifndef CUDA_CALLABLE #define CUDA_CALLABLE __host__ __device__ @@ -85,6 +90,14 @@ namespace octomap { /// Copy constructor OccupancyOcTreeBase(const OccupancyOcTreeBase& rhs); + /// Initializer for cuda updater + #ifdef __CUDA_SUPPORT__ + void initializeCuda() { + octomapUpdaterCuda = new OctomapUpdaterCuda(this); + octomapUpdaterCuda->initialize(); + } + #endif + /** * Integrate a Pointcloud (in global reference frame), parallelized with OpenMP. * Special care is taken that each voxel @@ -504,7 +517,10 @@ namespace octomap { bool use_change_detection; /// Set of leaf keys (lowest level) which changed since last resetChangeDetection KeyBoolMap changed_keys; - + + #ifdef __CUDA_SUPPORT__ + OctomapUpdaterCuda* octomapUpdaterCuda; + #endif }; diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index 79839ad8..fb26c2c3 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -36,7 +36,7 @@ #include #ifdef __CUDA_SUPPORT__ -#include +#include #endif namespace octomap { @@ -45,14 +45,12 @@ namespace octomap { OccupancyOcTreeBase::OccupancyOcTreeBase(double in_resolution) : OcTreeBaseImpl(in_resolution), use_bbx_limit(false), use_change_detection(false) { - } template OccupancyOcTreeBase::OccupancyOcTreeBase(double in_resolution, unsigned int in_tree_depth, unsigned int in_tree_max_val) : OcTreeBaseImpl(in_resolution, in_tree_depth, in_tree_max_val), use_bbx_limit(false), use_change_detection(false) { - } template @@ -88,7 +86,7 @@ namespace octomap { template void OccupancyOcTreeBase::insertPointCloud(const Pointcloud& scan, const octomap::point3d& sensor_origin, double maxrange, bool lazy_eval, bool discretize) { - + #ifndef __CUDA_SUPPORT__ KeySet free_cells, occupied_cells; if (discretize) computeDiscreteUpdate(scan, sensor_origin, free_cells, occupied_cells, maxrange); @@ -102,6 +100,9 @@ namespace octomap { for (KeySet::iterator it = occupied_cells.begin(); it != occupied_cells.end(); ++it) { updateNode(*it, true, lazy_eval); } + #else + octomapUpdaterCuda->computeUpdate(scan, sensor_origin, maxrange, lazy_eval); + #endif } template @@ -173,13 +174,11 @@ namespace octomap { KeySet& free_cells, KeySet& occupied_cells, double maxrange) { -#ifdef __CUDA_SUPPORT__ - computeUpdateCuda(scan, origin, free_cells, occupied_cells, maxrange, this); -#else #ifdef _OPENMP omp_set_num_threads(this->keyrays.size()); #pragma omp parallel for schedule(guided) #endif +printf("scan=%i", scan.size()); for (int i = 0; i < (int)scan.size(); ++i) { const point3d& p = scan[i]; unsigned threadIdx = 0; @@ -255,7 +254,6 @@ namespace octomap { } // end bbx case } // end for all points, end of parallel OMP loop -#endif // __CUDA_SUPPORT__ // prefer occupied cells over free ones (and make sets disjunct) for(KeySet::iterator it = free_cells.begin(), end=free_cells.end(); it!= end; ){ if (occupied_cells.find(*it) != occupied_cells.end()){ diff --git a/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh b/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh deleted file mode 100644 index 1d516f33..00000000 --- a/octomap/include/octomap/OccupancyOcTreeBaseCuda.cuh +++ /dev/null @@ -1,23 +0,0 @@ -#ifndef OCCUPANCY_OCTREE_BASE_CUH -#define OCCUPANCY_OCTREE_BASE_CUH -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace octomap; - -#ifdef __CUDA_SUPPORT__ -template -void computeUpdateCuda( - const octomap::Pointcloud& scan, const octomap::point3d& origin, octomap::KeySet& free_cells, - octomap::KeySet& occupied_cells, double maxrange, octomap::OccupancyOcTreeBase* tree_base); -#endif - -#endif \ No newline at end of file diff --git a/octomap/include/octomap/OctomapUpdaterCuda.cuh b/octomap/include/octomap/OctomapUpdaterCuda.cuh new file mode 100644 index 00000000..36c43e64 --- /dev/null +++ b/octomap/include/octomap/OctomapUpdaterCuda.cuh @@ -0,0 +1,70 @@ +#ifndef OCCUPANCY_OCTREE_BASE_CUH +#define OCCUPANCY_OCTREE_BASE_CUH +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace octomap; + +#ifdef __CUDA_SUPPORT__ +#define N_BLOCKS 32 +#define N_THREADS 256 +#define MAX_HASHED_ELEMENTS 1e5 +#define MAX_ELEMENTS 2e5 + +template +class OctomapUpdaterCuda +{ +public: + OctomapUpdaterCuda(octomap::OccupancyOcTreeBase* tree_base) : + tree_base_(tree_base) + { + use_bbx_limit_ = tree_base_->bbxSet(); + res_ = tree_base_->getResolution(); + res_half_ = res_ * 0.5; + } + ~OctomapUpdaterCuda() { + key_map_device_->freeMemory(); + for (int i = 0; i < n_rays_; ++i) { + rays_device_[i].freeDevice(); + } + cudaCheckErrors(cudaFree(rays_device_)); + cudaCheckErrors(cudaFree(key_map_device_)); + cudaCheckErrors(cudaFree(tree_base_device_)); + } + + void initialize(); + + void computeUpdate( + const octomap::Pointcloud& scan, + const octomap::point3d& origin, + const double& maxrange, + const bool& lazy_eval); + +private: + // tree base on host + octomap::OccupancyOcTreeBase* tree_base_; + // copy of tree base on device + octomap::OccupancyOcTreeBase* tree_base_device_; + // preallocation of ray containers for ray-casting + KeyRayCuda* rays_device_; + int n_rays_; + // Hashset for occupied/free cells on device + HashSetCuda* key_map_device_; + // Hashset for occupied/free cells on host + HashSetCuda key_map_host_; + // Hashset for free cells on host + HashSetCuda free_map_host_; + bool use_bbx_limit_; + double res_; + double res_half_; +}; +#endif +#endif \ No newline at end of file diff --git a/octomap/share/data/scan.dat b/octomap/share/data/scan.dat new file mode 100644 index 00000000..6de9c712 --- /dev/null +++ b/octomap/share/data/scan.dat @@ -0,0 +1,88206 @@ +-0.0434742 -4.82982 0.499645 +0.0295245 -4.82834 0.541775 +0.103245 -4.84538 0.584323 +0.176457 -4.84095 0.626577 +0.249591 -4.83505 0.668785 +0.323454 -4.83763 0.711415 +0.398476 -4.84863 0.754713 +0.471692 -4.83825 0.796969 +0.546019 -4.83629 0.839867 +0.623315 -4.85253 0.884477 +0.753375 -5.19159 0.95954 +0.760925 -4.77224 0.963898 +0.832931 -4.75457 1.00546 +1.47684 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(octomap_SRCS ${octomap_SRCS} OccupancyOcTreeBaseCuda.cu KeyContainerCuda.cu) + SET (octomap_SRCS ${octomap_SRCS}) ENDIF(__CUDA_SUPPORT__) # dynamic and static libs, see CMake FAQ: @@ -49,7 +52,7 @@ ADD_EXECUTABLE(graph2tree graph2tree.cpp) TARGET_LINK_LIBRARIES(graph2tree octomap-static ${CUDA_LIBRARIES} ${Boost_LIBRARIES}) target_compile_features(graph2tree PUBLIC cxx_std_11) SET_TARGET_PROPERTIES(graph2tree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - +#[[ ADD_EXECUTABLE(log2graph log2graph.cpp) TARGET_LINK_LIBRARIES(log2graph octomap-static ${CUDA_LIBRARIES}) target_compile_features(log2graph PUBLIC cxx_std_11) @@ -104,7 +107,7 @@ ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) TARGET_LINK_LIBRARIES(octree2pointcloud octomap-static ${CUDA_LIBRARIES}) target_compile_features(octree2pointcloud PUBLIC cxx_std_11) SET_TARGET_PROPERTIES(octree2pointcloud PROPERTIES CUDA_SEPARABLE_COMPILATION ON) - +]] install(TARGETS octomap octomap-static EXPORT octomap-targets INCLUDES DESTINATION include diff --git a/octomap/src/HashSetCuda.cu b/octomap/src/HashSetCuda.cu new file mode 100644 index 00000000..8f8c7848 --- /dev/null +++ b/octomap/src/HashSetCuda.cu @@ -0,0 +1,53 @@ +#ifdef __CUDA_SUPPORT__ +#include + +namespace octomap { + __device__ volatile int sem = 0; + + __device__ void acquire_semaphore(volatile int *lock){ + while (atomicCAS((int *)lock, 0, 1) != 0); + } + + __device__ void release_semaphore(volatile int *lock){ + *lock = 0; + __threadfence(); + } + + __device__ void LockCuda::lock(void) { + while(atomicCAS(mutex, 0, 1) != 0); + } + __device__ void LockCuda::unlock(void) { + atomicExch(mutex, 0); + __threadfence(); + } + + __device__ void HashSetCuda::insertDevice(const OcTreeKey& key, const int& value) + { + if (type_ == DEVICE) { + size_t hash = OcTreeKey::KeyHash{}(key) % count_; + // two different keys might have same hash + __syncthreads(); + if (threadIdx.x == 0) + acquire_semaphore(&sem);//pair_locks_[hash].lock(); + __syncthreads(); + if (!elements_[hash] || elements_[hash]->key_ != key) { + auto location = &pool_[atomicAdd(&first_free_, 1)]; + location->key_ = key; + location->value_ = max(location->value_, value); // gives preference to occupied over free + location->next_ = elements_[hash]; + elements_[hash] = location; + } else { + elements_[hash]->value_ = max(elements_[hash]->value_, value); + } + __syncthreads(); + if (threadIdx.x == 0) + release_semaphore(&sem);//pair_locks_[hash].unlock(); + __syncthreads(); + } else { + printf( + "Map not initialized to device. Cannot insert key: %i %i %i %i.\n", + key[0], key[1], key[2], type_); + } + } +} +#endif \ No newline at end of file diff --git a/octomap/src/KeyContainerCuda.cu b/octomap/src/KeyArrayCuda.cu similarity index 51% rename from octomap/src/KeyContainerCuda.cu rename to octomap/src/KeyArrayCuda.cu index 4f07d9f7..effd009e 100644 --- a/octomap/src/KeyContainerCuda.cu +++ b/octomap/src/KeyArrayCuda.cu @@ -1,8 +1,8 @@ #ifdef __CUDA_SUPPORT__ -#include +#include namespace octomap { - __device__ void KeyContainerCuda::addKeyAtomic(const OcTreeKey& k) { + __device__ void KeyArrayCuda::addKeyAtomic(const OcTreeKey& k) { int idx = atomicAdd(&last, 1); ray[idx] = k; } diff --git a/octomap/src/OccupancyOcTreeBaseCuda.cu b/octomap/src/OctomapUpdaterCuda.cu similarity index 61% rename from octomap/src/OccupancyOcTreeBaseCuda.cu rename to octomap/src/OctomapUpdaterCuda.cu index eeea71a5..8e84ef1d 100644 --- a/octomap/src/OccupancyOcTreeBaseCuda.cu +++ b/octomap/src/OctomapUpdaterCuda.cu @@ -1,4 +1,4 @@ -#include +#include #include #include #ifdef __CUDA_SUPPORT__ @@ -66,7 +66,6 @@ CUDA_CALLABLE bool computeRayKeysCuda( } } - int i = 0; // Incremental phase --------------------------------------------------------- bool done = false; while (!done) { @@ -110,7 +109,6 @@ CUDA_CALLABLE bool computeRayKeysCuda( ray.addKey(current_key); } } - ++i; assert ( ray.size() < ray.sizeMax() - 1); } // end while @@ -122,8 +120,8 @@ template __global__ void computeUpdateKernel( octomap::point3d origin, octomap::point3d* points, - KeyContainerCuda* occupied_cells, - KeyContainerCuda* free_cells, + KeyRayCuda* rays, + HashSetCuda* key_map, size_t size, double maxrange, bool use_bbx_limit, @@ -134,28 +132,29 @@ __global__ void computeUpdateKernel( int idx = blockIdx.x * blockDim.x + threadIdx.x; int stride = blockDim.x * gridDim.x; for (int i = idx; i < size; i += stride) + //for (int i =0; i < 1; i ++) { auto& p = points[i]; - KeyRayCuda ray(MAX_RAY_SIZE); + auto& ray = rays[idx]; if (!use_bbx_limit) { // no BBX specified if ((maxrange < 0.0) || ((p - origin).norm() <= maxrange) ) { // is not maxrange meas. // free cells if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { for (auto rp = ray.begin(); rp != ray.end(); ++rp) { - free_cells->addKeyAtomic(*rp); + key_map->insertDevice(*rp, FREE); } } // occupied endpoint OcTreeKey key; if (tree_base->coordToKeyChecked(p, key)) { - occupied_cells->addKeyAtomic(key); + key_map->insertDevice(key, OCCUPIED); } } else { // user set a maxrange and length is above point3d direction = (p - origin).normalized (); point3d new_end = origin + direction * (float) maxrange; if (computeRayKeysCuda(origin, new_end, ray, resolution, resolution_half, tree_base)) { // *ray for (auto rp = ray.begin(); rp != ray.end(); ++rp) { - free_cells->addKeyAtomic(*rp); + key_map->insertDevice(*rp, FREE); } } } // end if maxrange @@ -165,14 +164,14 @@ __global__ void computeUpdateKernel( // occupied endpoint OcTreeKey key; if (tree_base->coordToKeyChecked(p, key)){ - occupied_cells->addKeyAtomic(key); + key_map->insertDevice(key, OCCUPIED); } // update freespace, break as soon as bbx limit is reached if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { for(auto rp=ray.end(); rp != ray.begin(); rp--) { if (!tree_base->inBBX(*rp)) { - free_cells->addKeyAtomic(*rp); + key_map->insertDevice(*rp, FREE); } else break; } @@ -182,86 +181,98 @@ __global__ void computeUpdateKernel( } } +void verifyTable(const HashSetCuda &table ) { + int free_cells = 0, occ = 0, count = 0; + for (size_t i = 0; i < table.count(); i++) { + auto current = table.element(i); + while (current != NULL) { + if (current->value_ == 0) + ++free_cells; + else if (current->value_ == 1) + ++occ; + ++count; + current = current->next_; + } + } + printf( "%d elements found in hash table with %d free and %d occupied.\n", count, free_cells, occ); +} + +template +void OctomapUpdaterCuda::initialize() { + // make a copy of tree for device usage - need a better way ? or idk + cudaCheckErrors(cudaMallocManaged(&tree_base_device_, sizeof(octomap::OccupancyOcTreeBase))); + cudaCheckErrors(cudaMemcpy(tree_base_device_, tree_base_, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); + + // rays + n_rays_ = N_BLOCKS * N_THREADS; + auto rays_host = new KeyRayCuda[n_rays_]; + for (int i = 0; i < N_BLOCKS * N_THREADS; ++i) { + rays_host[i].allocateDevice(); + } + cudaCheckErrors(cudaMallocManaged(&rays_device_, n_rays_ * sizeof(KeyRayCuda))); + cudaCheckErrors(cudaMemcpy(rays_device_, &rays_host[0], n_rays_ * sizeof(KeyRayCuda), cudaMemcpyHostToDevice)); + delete[] rays_host; + + // Make a temporary container for occupied cells + HashSetCuda key_map_temp_host; + //HashSetCuda free_map_host; + + key_map_temp_host.initializeDevice(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); + //free_map_host.initializeDevice(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); + + cudaCheckErrors(cudaMallocManaged(&key_map_device_, sizeof(HashSetCuda))); + //cudaCheckErrors(cudaMallocManaged(&free_map_device_, sizeof(HashSetCuda))); + cudaCheckErrors(cudaMemcpy(key_map_device_, &key_map_temp_host, sizeof(HashSetCuda), cudaMemcpyHostToDevice)); + //cudaCheckErrors(cudaMemcpy(free_map_device_, &free_map_host, sizeof(HashSetCuda), cudaMemcpyHostToDevice)); + + // copy from device to host + key_map_host_.initializeHost(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); + //free_map_host_.initializeHost(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); +} + template -void computeUpdateCuda( - const octomap::Pointcloud& scan, const octomap::point3d& origin, octomap::KeySet& free_cells, - octomap::KeySet& occupied_cells, double maxrange, octomap::OccupancyOcTreeBase* tree_base) +void OctomapUpdaterCuda::computeUpdate( + const octomap::Pointcloud& scan, + const octomap::point3d& origin, + const double& maxrange, + const bool& lazy_eval) { - auto time_start = boost::chrono::high_resolution_clock::now(); + //auto t_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points auto scan_size = scan.size(); - octomap::OccupancyOcTreeBase* tree_base_device; - // make a copy of tree for device usage - need a better way ? or idk - cudaCheckErrors(cudaMallocManaged(&tree_base_device, sizeof(octomap::OccupancyOcTreeBase))); - cudaCheckErrors(cudaMemcpy(tree_base_device, tree_base, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); // make an array of points from the point cloud for device usage octomap::point3d* scan_device; cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size * sizeof(octomap::point3d))); cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); - // Make a container for occupied cells - static const auto free_cells_arr_size = 1000000; - auto occupied_cells_host = new KeyContainerCuda(); - auto free_cells_host = new KeyContainerCuda(free_cells_arr_size); - KeyContainerCuda* occupied_cells_device; - KeyContainerCuda* free_cells_device; - cudaCheckErrors(cudaMallocManaged(&occupied_cells_device, sizeof(KeyContainerCuda))); - cudaCheckErrors(cudaMallocManaged(&free_cells_device, sizeof(KeyContainerCuda))); - cudaCheckErrors(cudaMemcpy(occupied_cells_device, occupied_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); - cudaCheckErrors(cudaMemcpy(free_cells_device, free_cells_host, sizeof(KeyContainerCuda), cudaMemcpyHostToDevice)); - occupied_cells_device->allocateDevice(); - free_cells_device->allocateDevice(); - occupied_cells_device->copyToDevice(*occupied_cells_host); - free_cells_device->copyToDevice(*free_cells_host); - - bool use_bbx_limit = tree_base->bbxSet(); - auto resolution = tree_base->getResolution(); - auto resolution_half = resolution * 0.5; - - computeUpdateKernel<<<32, 256>>>( + // Reset the map + key_map_device_->reset(); + computeUpdateKernel<<<6, 32>>>( origin, - scan_device, - occupied_cells_device, - free_cells_device, + scan_device, + rays_device_, + key_map_device_, scan_size, maxrange, - use_bbx_limit, - resolution, - resolution_half, - tree_base_device); - cudaDeviceSynchronize(); - - auto time_copy_host = boost::chrono::high_resolution_clock::now(); - // copy from device to host - occupied_cells_host->copyToHost(*occupied_cells_device); - free_cells_host->copyToHost(*free_cells_device); + use_bbx_limit_, + res_, + res_half_, + tree_base_device_); + cudaCheckErrors(cudaDeviceSynchronize()); - for(auto p=free_cells_device->begin(); p != free_cells_device->end(); p++) { - free_cells.insert(*p); - } - - for(auto p=occupied_cells_device->begin(); p != occupied_cells_device->end(); p++) { - occupied_cells.insert(*p); + for (size_t i = 0; i < key_map_device_->count(); i++) { + auto current = key_map_device_->element(i); + while (current != NULL) { + tree_base_->updateNode(current->key_, static_cast(current->value_), lazy_eval); + current = current->next_; + } } - // free memory - cudaFree(scan_device); - occupied_cells_device->freeDevice(); - free_cells_device->freeDevice(); - cudaFree(occupied_cells_device); - cudaFree(free_cells_device); - cudaFree(tree_base_device); - auto time_end = boost::chrono::high_resolution_clock::now(); - std::cout << "Total time taken: " << boost::chrono::duration(time_end - time_start).count() << std::endl; + cudaCheckErrors(cudaFree(scan_device)); + //std::cout << "time:" << boost::chrono::duration(boost::chrono::high_resolution_clock::now() - t_start).count() << std::endl; } -template void computeUpdateCuda( - const Pointcloud& scan, const point3d& origin, KeySet& free_cells, - KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); -template void computeUpdateCuda( - const Pointcloud& scan, const point3d& origin, KeySet& free_cells, - KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); -template void computeUpdateCuda( - const Pointcloud& scan, const point3d& origin, KeySet& free_cells, - KeySet& occupied_cells, double maxrange, OccupancyOcTreeBase*); +template class OctomapUpdaterCuda; +template class OctomapUpdaterCuda; +template class OctomapUpdaterCuda; #endif \ No newline at end of file diff --git a/octomap/src/graph2tree.cpp b/octomap/src/graph2tree.cpp index 90df1905..31df5825 100644 --- a/octomap/src/graph2tree.cpp +++ b/octomap/src/graph2tree.cpp @@ -35,6 +35,7 @@ #include #include #include +#include #include #include @@ -240,20 +241,23 @@ int main(int argc, char** argv) { tree->setClampingThresMax(clampingMax); tree->setProbHit(probHit); tree->setProbMiss(probMiss); - + #ifdef __CUDA_SUPPORT__ + tree->initializeCuda(); + #endif gettimeofday(&start, NULL); // start timer size_t numScans = graph->size(); size_t currentScan = 1; for (ScanGraph::iterator scan_it = graph->begin(); scan_it != graph->end(); scan_it++) { - if (max_scan_no > 0) cout << "("< 0) cout << "("<insertPointCloudRays((*scan_it)->scan, (*scan_it)->pose.trans(), maxrange); else tree->insertPointCloud((*scan_it)->scan, (*scan_it)->pose.trans(), maxrange, false, discretize); - + std::cout << "time:" << boost::chrono::duration(boost::chrono::high_resolution_clock::now() - t_start).count() << std::endl; if (compression == 2){ tree->toMaxLikelihood(); tree->prune(); From b76c7eae6281be35e9d4af13a8e1990e107fe170 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Thu, 24 Oct 2019 18:06:02 +0500 Subject: [PATCH 24/32] Better and faster than before. --- octomap/include/octomap/HashSetCuda.cuh | 49 +-- octomap/include/octomap/KeyArrayCuda.cuh | 136 ++++--- octomap/include/octomap/OccupancyOcTreeBase.h | 4 +- .../include/octomap/OccupancyOcTreeBase.hxx | 6 +- .../include/octomap/OctomapUpdaterCuda.cuh | 57 +-- octomap/src/HashSetCuda.cu | 60 ++-- octomap/src/KeyArrayCuda.cu | 16 +- octomap/src/OctomapUpdaterCuda.cu | 337 +++++++++++++----- octomap/src/graph2tree.cpp | 4 +- 9 files changed, 418 insertions(+), 251 deletions(-) diff --git a/octomap/include/octomap/HashSetCuda.cuh b/octomap/include/octomap/HashSetCuda.cuh index 6c0dc036..43852dec 100644 --- a/octomap/include/octomap/HashSetCuda.cuh +++ b/octomap/include/octomap/HashSetCuda.cuh @@ -5,6 +5,7 @@ #include #include #include +#include /** * Based on CUDA by Example: @@ -13,30 +14,11 @@ */ namespace octomap { - struct LockCuda { - int *mutex; - __host__ LockCuda(void) { - initializeDevice(); - } - __host__ ~LockCuda(void) { - //cudaCheckErrors(cudaFree(mutex)); - } - __device__ void lock(void); - __device__ void unlock(void); - __host__ void initializeDevice() { - int state = 0; - cudaCheckErrors(cudaMallocManaged(&mutex, sizeof(int))); - cudaCheckErrors(cudaMemcpy(mutex, &state, sizeof(int), cudaMemcpyHostToDevice)); - } - }; - - #define UNKNOWN -1 - #define FREE 0 - #define OCCUPIED 1 struct SetElement { OcTreeKey key_; SetElement *next_; + size_t hash_; int value_ = {UNKNOWN}; }; @@ -54,7 +36,7 @@ namespace octomap { SetElement* pool_; int first_free_; public: - LockCuda* pair_locks_; + unsigned int* hash_locks_; __host__ HashSetCuda () : type_(NONE) { } @@ -85,10 +67,8 @@ namespace octomap { cudaCheckErrors(cudaMemset(elements_, 0, n_hash_elements * sizeof(SetElement*))); cudaCheckErrors(cudaMallocManaged(&pool_, n_elements * sizeof(SetElement))); first_free_ = 0; - //auto locks = new LockCuda[n_hash_elements]; - //cudaCheckErrors(cudaMallocManaged(&pair_locks_, n_hash_elements * sizeof(LockCuda))); - //cudaCheckErrors(cudaMemcpy(pair_locks_, &locks[0], n_hash_elements * sizeof(LockCuda), cudaMemcpyHostToDevice)); - //delete[] locks; + cudaCheckErrors(cudaMallocManaged(&hash_locks_, n_hash_elements * sizeof(unsigned int))); + cudaCheckErrors(cudaMemset(hash_locks_, 0, n_hash_elements * sizeof(unsigned int))); type_ = DEVICE; } else { printf("Map already initialized to host."); @@ -114,6 +94,7 @@ namespace octomap { auto location = &pool_[first_free_++]; location->key_ = key; location->value_ = value; + location->hash_ = hash; location->next_ = elements_[hash]; elements_[hash] = location; } @@ -124,22 +105,16 @@ namespace octomap { } } - __device__ void insertDevice(const OcTreeKey& key, const int& value); - __host__ void reset() { - // reset all map values - while (first_free_ > 0) { - pool_[--first_free_].value_ = UNKNOWN; - } - - //cudaCheckErrors(cudaMallocManaged(&elements_, count_ * sizeof(SetElement*))); - cudaCheckErrors(cudaMemset(elements_, 0, count_ * sizeof(SetElement*))); - //cudaCheckErrors(cudaMallocManaged(&pool_, n_elements_ * sizeof(SetElement))); - } + __device__ void insertDevice(const KeyRayCuda& ray, const int& start, const int& tid, const int& value); CUDA_CALLABLE size_t count() const { return count_; } CUDA_CALLABLE const SetElement* element(const int& idx) const { return elements_[idx]; } CUDA_CALLABLE void resetElement(const int& idx) { elements_[idx] = nullptr; } + CUDA_CALLABLE SetElement** elements() { return elements_; } + CUDA_CALLABLE SetElement* pool() { return pool_; } + CUDA_CALLABLE int& firstFree() { return first_free_; } + __host__ void copyFromDevice(const HashSetCuda& other) { if (type_ == HOST) { assert (n_elements_ == other.n_elements_); @@ -166,7 +141,7 @@ namespace octomap { (SetElement*)( (size_t)pool_[i].next_ - (size_t)other.pool_ + (size_t)pool_); } - } + } } __host__ void copyElementsFromDevice(const HashSetCuda& other) { diff --git a/octomap/include/octomap/KeyArrayCuda.cuh b/octomap/include/octomap/KeyArrayCuda.cuh index 74b1ee62..d700ea6c 100644 --- a/octomap/include/octomap/KeyArrayCuda.cuh +++ b/octomap/include/octomap/KeyArrayCuda.cuh @@ -5,79 +5,135 @@ #include #include #include -#include namespace octomap { - class KeyArrayCuda { + #define UNKNOWN -1 + #define FREE 0 + #define OCCUPIED 1 + + struct KeyRayConfig { + static int max_ray_size_; + static void setMaxSize(const int& max_size) { max_ray_size_ = max_size;} + }; + + struct KeyValue { + __host__ __device__ KeyValue() {} + __host__ __device__ KeyValue(const OcTreeKey& key, const int& value) : + key_(key), value_(value) {} + __host__ __device__ ~KeyValue() {} + OcTreeKey key_; + int value_ = UNKNOWN; + }; + + struct KeyHash { + __host__ __device__ KeyHash() {} + __host__ __device__ KeyHash(const OcTreeKey& key, const size_t& hash) : + key_(key), hash_(hash) {} + __host__ __device__ ~KeyHash() {} + OcTreeKey key_; + size_t hash_; + }; + + template + class ArrayCuda { public: - CUDA_CALLABLE KeyArrayCuda ( - const int& maxSize = 100) : - maxSize(maxSize) - { + __host__ ArrayCuda (const int& max_size = KeyRayConfig::max_ray_size_) : + max_size_(max_size) + { + reset(); } - CUDA_CALLABLE ~KeyArrayCuda () { + __host__ ~ArrayCuda () { } - CUDA_CALLABLE KeyArrayCuda(const KeyArrayCuda& other) + CUDA_CALLABLE ArrayCuda(const ArrayCuda& other) { - ray = other.ray; - last = other.last; - maxSize = other.maxSize; + ray_ = other.ray_; + last_ = other.last_; } + __host__ void allocateHost() { + ray_ = (T*)malloc(max_size_ * sizeof(T)); + } + __host__ void allocateDevice() { - cudaCheckErrors(cudaMallocManaged(&ray, maxSize * sizeof(OcTreeKey))) + cudaCheckErrors(cudaMallocManaged(&ray_, max_size_ * sizeof(T))) } __host__ void freeDevice() { - cudaCheckErrors(cudaFree(ray)); + cudaCheckErrors(cudaFree(ray_)); } - __host__ void copyFromHost(const KeyArrayCuda& other) { - assert (maxSize == other.sizeMax()); - cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyHostToDevice)); - last = other.last; - maxSize = other.maxSize; + __host__ void copyFromHost(const ArrayCuda& other) { + cudaCheckErrors(cudaMemcpy(ray_, other.ray_, max_size_ * sizeof(T), cudaMemcpyHostToDevice)); + last_ = other.last_; } - __host__ void copyFromDevice(const KeyArrayCuda& other) { - assert (maxSize == other.sizeMax()); - cudaCheckErrors(cudaMemcpy(ray, other.ray, maxSize * sizeof(OcTreeKey), cudaMemcpyDeviceToHost)); - last = other.last; + __host__ void copyFromDevice(const ArrayCuda& other) { + cudaCheckErrors(cudaMemcpy(ray_, other.ray_, max_size_ * sizeof(T), cudaMemcpyDeviceToHost)); + last_ = other.last_; } - CUDA_CALLABLE KeyArrayCuda& operator=(const KeyArrayCuda& other){ - ray = other.ray; - last = other.last; - maxSize = other.maxSize; + CUDA_CALLABLE ArrayCuda& operator=(const ArrayCuda& other){ + ray_ = other.ray_; + last_ = other.last_; return *this; } CUDA_CALLABLE void reset() { - last = 0; + last_ = 0; } - CUDA_CALLABLE void addKey(const OcTreeKey& k) { - assert(last != maxSize); - ray[last] = k; - ++last; + CUDA_CALLABLE void addKey(const T& k) { + ray_[last_] = k; + ++last_; } - __device__ void addKeyAtomic(const OcTreeKey& k); + CUDA_CALLABLE void addKey(const T& k, const int& l) { + ray_[l] = k; + } - CUDA_CALLABLE const OcTreeKey* begin() { return ray; } - CUDA_CALLABLE const OcTreeKey* end() { return &ray[last]; } + CUDA_CALLABLE T& operator[](int i) { + return ray_[i]; + } - CUDA_CALLABLE int size() const { return last; } - CUDA_CALLABLE int sizeMax() const { return maxSize; } + CUDA_CALLABLE T operator[](int i) const { + return ray_[i]; + } - private: - OcTreeKey* ray; - int last; - int maxSize; + CUDA_CALLABLE T& get(const int& i) { + return ray_[i]; + } + + CUDA_CALLABLE T get(const int& i) const { + return ray_[i]; + } + + __device__ void addKeyAtomic(const T& k); + + CUDA_CALLABLE T* begin() { return ray_; } + CUDA_CALLABLE T* end() { return &ray_[last_]; } + + CUDA_CALLABLE int size() const { return last_; } + CUDA_CALLABLE int* last() { return &last_; } + int sizeMax() { return max_size_; } + + protected: + T* ray_; + int last_; + int max_size_; + }; + + class KeyPtrArrayCuda : public ArrayCuda { + public: + __device__ unsigned long long int addKeyAtomicAt(const OcTreeKey* k, const int& l); + using ArrayCuda::ArrayCuda; + }; + + class KeyArrayCuda : public ArrayCuda { + using ArrayCuda::ArrayCuda; }; using KeyRayCuda = KeyArrayCuda; diff --git a/octomap/include/octomap/OccupancyOcTreeBase.h b/octomap/include/octomap/OccupancyOcTreeBase.h index f6e52381..203066bd 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.h +++ b/octomap/include/octomap/OccupancyOcTreeBase.h @@ -92,8 +92,8 @@ namespace octomap { /// Initializer for cuda updater #ifdef __CUDA_SUPPORT__ - void initializeCuda() { - octomapUpdaterCuda = new OctomapUpdaterCuda(this); + void initializeCuda(const double& max_range, const size_t& scan_size) { + octomapUpdaterCuda = new OctomapUpdaterCuda(this, max_range, scan_size); octomapUpdaterCuda->initialize(); } #endif diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index fb26c2c3..d0ea9a99 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -86,7 +86,9 @@ namespace octomap { template void OccupancyOcTreeBase::insertPointCloud(const Pointcloud& scan, const octomap::point3d& sensor_origin, double maxrange, bool lazy_eval, bool discretize) { - #ifndef __CUDA_SUPPORT__ + #ifdef __CUDA_SUPPORT__ + octomapUpdaterCuda->computeUpdate(scan, sensor_origin, maxrange); + #else KeySet free_cells, occupied_cells; if (discretize) computeDiscreteUpdate(scan, sensor_origin, free_cells, occupied_cells, maxrange); @@ -100,8 +102,6 @@ namespace octomap { for (KeySet::iterator it = occupied_cells.begin(); it != occupied_cells.end(); ++it) { updateNode(*it, true, lazy_eval); } - #else - octomapUpdaterCuda->computeUpdate(scan, sensor_origin, maxrange, lazy_eval); #endif } diff --git a/octomap/include/octomap/OctomapUpdaterCuda.cuh b/octomap/include/octomap/OctomapUpdaterCuda.cuh index 36c43e64..04b24dab 100644 --- a/octomap/include/octomap/OctomapUpdaterCuda.cuh +++ b/octomap/include/octomap/OctomapUpdaterCuda.cuh @@ -7,6 +7,7 @@ #include #include #include +#include #include #include #include @@ -14,39 +15,24 @@ using namespace octomap; #ifdef __CUDA_SUPPORT__ -#define N_BLOCKS 32 -#define N_THREADS 256 -#define MAX_HASHED_ELEMENTS 1e5 -#define MAX_ELEMENTS 2e5 template class OctomapUpdaterCuda { public: - OctomapUpdaterCuda(octomap::OccupancyOcTreeBase* tree_base) : - tree_base_(tree_base) - { - use_bbx_limit_ = tree_base_->bbxSet(); - res_ = tree_base_->getResolution(); - res_half_ = res_ * 0.5; - } - ~OctomapUpdaterCuda() { - key_map_device_->freeMemory(); - for (int i = 0; i < n_rays_; ++i) { - rays_device_[i].freeDevice(); - } - cudaCheckErrors(cudaFree(rays_device_)); - cudaCheckErrors(cudaFree(key_map_device_)); - cudaCheckErrors(cudaFree(tree_base_device_)); - } + OctomapUpdaterCuda( + octomap::OccupancyOcTreeBase* tree_base, + const double& max_range, + const size_t& scan_size); + + ~OctomapUpdaterCuda(); void initialize(); void computeUpdate( const octomap::Pointcloud& scan, const octomap::point3d& origin, - const double& maxrange, - const bool& lazy_eval); + const double& max_range); private: // tree base on host @@ -57,14 +43,31 @@ private: KeyRayCuda* rays_device_; int n_rays_; // Hashset for occupied/free cells on device - HashSetCuda* key_map_device_; - // Hashset for occupied/free cells on host - HashSetCuda key_map_host_; - // Hashset for free cells on host - HashSetCuda free_map_host_; + ArrayCuda* key_value_arr_device_; + KeyPtrArrayCuda* free_hash_arr_device_; + KeyPtrArrayCuda* occupied_hash_arr_device_; + ArrayCuda* free_hashes_device_; + ArrayCuda* occupied_hashes_device_; + ArrayCuda* free_hashes_host_; + ArrayCuda* occupied_hashes_host_; bool use_bbx_limit_; double res_; double res_half_; + + // make an array of points from the point cloud for device usage + octomap::point3d* scan_device; + size_t scan_size_; + + // Kernel settings + int n_total_threads_; + int n_blocks_; + int n_threads_per_block_; + + // map size settings + int ray_size_; + int max_arr_elements_ = 5e6; + int max_hash_elements_ = 2e5; + int max_range_ = -1; }; #endif #endif \ No newline at end of file diff --git a/octomap/src/HashSetCuda.cu b/octomap/src/HashSetCuda.cu index 8f8c7848..d4a2b5f6 100644 --- a/octomap/src/HashSetCuda.cu +++ b/octomap/src/HashSetCuda.cu @@ -2,51 +2,35 @@ #include namespace octomap { - __device__ volatile int sem = 0; - - __device__ void acquire_semaphore(volatile int *lock){ - while (atomicCAS((int *)lock, 0, 1) != 0); - } - - __device__ void release_semaphore(volatile int *lock){ - *lock = 0; - __threadfence(); + __device__ void lock(unsigned int *lock){ + while (atomicCAS(lock, 0, 1) != 0); } - __device__ void LockCuda::lock(void) { - while(atomicCAS(mutex, 0, 1) != 0); - } - __device__ void LockCuda::unlock(void) { - atomicExch(mutex, 0); - __threadfence(); + __device__ void unlock(unsigned int *lock){ + atomicExch(lock, 0); } - __device__ void HashSetCuda::insertDevice(const OcTreeKey& key, const int& value) + #define WARP_SIZE 32 + __device__ void HashSetCuda::insertDevice(const KeyRayCuda& ray, const int& start, const int& tid, const int& value) { - if (type_ == DEVICE) { + for (int r = 0; r < ray.size(); ++r) { + const auto& key = ray[r]; size_t hash = OcTreeKey::KeyHash{}(key) % count_; - // two different keys might have same hash - __syncthreads(); - if (threadIdx.x == 0) - acquire_semaphore(&sem);//pair_locks_[hash].lock(); - __syncthreads(); - if (!elements_[hash] || elements_[hash]->key_ != key) { - auto location = &pool_[atomicAdd(&first_free_, 1)]; - location->key_ = key; - location->value_ = max(location->value_, value); // gives preference to occupied over free - location->next_ = elements_[hash]; - elements_[hash] = location; - } else { + auto location = &pool_[start + r]; + location->key_ = key; + location->value_ = value; + location->hash_ = hash; + lock(&hash_locks_[hash]); + /*if (elements_[hash] && key == elements_[hash]->key_) { + // gives preference to occupied over free elements_[hash]->value_ = max(elements_[hash]->value_, value); - } - __syncthreads(); - if (threadIdx.x == 0) - release_semaphore(&sem);//pair_locks_[hash].unlock(); - __syncthreads(); - } else { - printf( - "Map not initialized to device. Cannot insert key: %i %i %i %i.\n", - key[0], key[1], key[2], type_); + unlock(&hash_locks_[hash]); + continue; + }*/ + // two different keys might have same hash + location->next_ = elements_[hash]; + elements_[hash] = location; + unlock(&hash_locks_[hash]); } } } diff --git a/octomap/src/KeyArrayCuda.cu b/octomap/src/KeyArrayCuda.cu index effd009e..e389693e 100644 --- a/octomap/src/KeyArrayCuda.cu +++ b/octomap/src/KeyArrayCuda.cu @@ -2,9 +2,19 @@ #include namespace octomap { - __device__ void KeyArrayCuda::addKeyAtomic(const OcTreeKey& k) { - int idx = atomicAdd(&last, 1); - ray[idx] = k; + int KeyRayConfig::max_ray_size_ = 100; + + template + __device__ void ArrayCuda::addKeyAtomic(const T& k) { + ray_[atomicAdd(&last_, 1)] = k; } + + __device__ unsigned long long int KeyPtrArrayCuda::addKeyAtomicAt(const OcTreeKey* k, const int& l) { + return atomicCAS((unsigned long long int*)&ray_[l], 0, (unsigned long long int)k); + } + + template class ArrayCuda; + template class ArrayCuda; + template class ArrayCuda; } #endif \ No newline at end of file diff --git a/octomap/src/OctomapUpdaterCuda.cu b/octomap/src/OctomapUpdaterCuda.cu index 8e84ef1d..11a37835 100644 --- a/octomap/src/OctomapUpdaterCuda.cu +++ b/octomap/src/OctomapUpdaterCuda.cu @@ -1,3 +1,4 @@ +#include #include #include #include @@ -9,8 +10,6 @@ #define CUDA_CALLABLE #endif -#define MAX_RAY_SIZE 128 - template CUDA_CALLABLE bool computeRayKeysCuda( const point3d& origin, @@ -117,67 +116,131 @@ CUDA_CALLABLE bool computeRayKeysCuda( } template -__global__ void computeUpdateKernel( +__global__ void computeUpdateNoBBxRanged( octomap::point3d origin, octomap::point3d* points, KeyRayCuda* rays, - HashSetCuda* key_map, + ArrayCuda* key_value_arr, size_t size, - double maxrange, - bool use_bbx_limit, + double max_range, double resolution, double resolution_half, OccupancyOcTreeBase* tree_base) { - int idx = blockIdx.x * blockDim.x + threadIdx.x; + int tid = blockIdx.x * blockDim.x + threadIdx.x; int stride = blockDim.x * gridDim.x; - for (int i = idx; i < size; i += stride) - //for (int i =0; i < 1; i ++) + for (int i = tid; i < size; i += stride) { auto& p = points[i]; - auto& ray = rays[idx]; - if (!use_bbx_limit) { // no BBX specified - if ((maxrange < 0.0) || ((p - origin).norm() <= maxrange) ) { // is not maxrange meas. - // free cells - if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { - for (auto rp = ray.begin(); rp != ray.end(); ++rp) { - key_map->insertDevice(*rp, FREE); - } - } - // occupied endpoint - OcTreeKey key; - if (tree_base->coordToKeyChecked(p, key)) { - key_map->insertDevice(key, OCCUPIED); + auto& ray = rays[tid]; + int start = 0; + int last_ray_size = 0; + if ((p - origin).norm() <= max_range) { // is not max_range meas. + // free cells + if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { + start = atomicAdd(key_value_arr->last(), ray.size()+1); //for occupied + last_ray_size = ray.size(); + for (int r = 0; r < last_ray_size; ++r) { + key_value_arr->addKey(KeyValue(ray[r], 0), r + start); } - } else { // user set a maxrange and length is above - point3d direction = (p - origin).normalized (); - point3d new_end = origin + direction * (float) maxrange; - if (computeRayKeysCuda(origin, new_end, ray, resolution, resolution_half, tree_base)) { // *ray - for (auto rp = ray.begin(); rp != ray.end(); ++rp) { - key_map->insertDevice(*rp, FREE); - } - } - } // end if maxrange - } else { // BBX was set - // endpoint in bbx and not maxrange? - if ( tree_base->inBBX(p) && ((maxrange < 0.0) || ((p - origin).norm () <= maxrange) ) ) { - // occupied endpoint - OcTreeKey key; - if (tree_base->coordToKeyChecked(p, key)){ - key_map->insertDevice(key, OCCUPIED); + } else { + start = atomicAdd(key_value_arr->last(), 1); + } + + // occupied endpoint + OcTreeKey key; + if (tree_base->coordToKeyChecked(p, key)) { + key_value_arr->addKey(KeyValue(key, 1), last_ray_size + start); + } + } else { // user set a max_range and length is above + point3d direction = (p - origin).normalized (); + point3d new_end = origin + direction * (float) max_range; + if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { + start = atomicAdd(key_value_arr->last(), ray.size()); //for occupied + last_ray_size = ray.size(); + for (int r = 0; r < last_ray_size; ++r) { + key_value_arr->addKey(KeyValue(ray[r], 0), r + start); } + } + } // end if max_range + } +} - // update freespace, break as soon as bbx limit is reached - if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { - for(auto rp=ray.end(); rp != ray.begin(); rp--) { - if (!tree_base->inBBX(*rp)) { - key_map->insertDevice(*rp, FREE); - } - else break; - } - } // end if compute ray - } // end if in BBX and not maxrange - } // end bbx case +template +__global__ void computeUpdateNoBBxNoRange( + octomap::point3d origin, + octomap::point3d* points, + KeyRayCuda* rays, + ArrayCuda* key_value_arr, + size_t size, + double resolution, + double resolution_half, + OccupancyOcTreeBase* tree_base) +{ + int tid = blockIdx.x * blockDim.x + threadIdx.x; + int stride = blockDim.x * gridDim.x; + for (int i = tid; i < size; i += stride) + { + auto& p = points[i]; + auto& ray = rays[tid]; + int start = 0; + int last_ray_size = 0; + // free cells + if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { + start = atomicAdd(key_value_arr->last(), ray.size()+1); //for occupied + last_ray_size = ray.size(); + for (int r = 0; r < last_ray_size; ++r) { + key_value_arr->addKey(KeyValue(ray[r], 0), r + start); + } + } else { + start = atomicAdd(key_value_arr->last(), 1); + } + + // occupied endpoint + OcTreeKey key; + if (tree_base->coordToKeyChecked(p, key)) { + key_value_arr->addKey(KeyValue(key, 1), last_ray_size + start); + } + } +} + +__global__ void clean( + ArrayCuda* key_value_arr_device, + KeyPtrArrayCuda* free_hash_arr_device, + KeyPtrArrayCuda* occupied_hash_arr_device, + ArrayCuda* free_hashes_device, + ArrayCuda* occupied_hashes_device, + size_t size, + int max_hash_elements +) +{ + int tid = blockIdx.x * blockDim.x + threadIdx.x; + int stride = blockDim.x * gridDim.x; + for (int i = tid; i < size; i += stride) + { + auto& key_value = key_value_arr_device->get(i); + size_t hash = OcTreeKey::KeyHash{}(key_value.key_) % max_hash_elements; + if (key_value.value_ == 0) { + if (((OcTreeKey*)free_hash_arr_device->addKeyAtomicAt(&key_value.key_, hash)) == nullptr) + free_hashes_device->addKeyAtomic(KeyHash(key_value.key_, hash)); + } else if (key_value.value_ == 1) { + if (((OcTreeKey*)occupied_hash_arr_device->addKeyAtomicAt(&key_value.key_, hash)) == nullptr) + occupied_hashes_device->addKeyAtomic(KeyHash(key_value.key_, hash)); + } + } +} + +__global__ void reset( + KeyPtrArrayCuda* arr_device, + ArrayCuda* hashes_device, + size_t size +) +{ + int tid = blockIdx.x * blockDim.x + threadIdx.x; + int stride = blockDim.x * gridDim.x; + for (int i = tid; i < size; i += stride) + { + arr_device->addKey(nullptr, hashes_device->get(i).hash_); } } @@ -197,6 +260,52 @@ void verifyTable(const HashSetCuda &table ) { printf( "%d elements found in hash table with %d free and %d occupied.\n", count, free_cells, occ); } +template +OctomapUpdaterCuda::OctomapUpdaterCuda( + octomap::OccupancyOcTreeBase* tree_base, + const double& max_range, + const size_t& scan_size) : + tree_base_(tree_base), + max_range_(max_range) +{ + // must be known priorly for preallocation of memory + scan_size_ = scan_size; + use_bbx_limit_ = tree_base_->bbxSet(); + res_ = tree_base_->getResolution(); + res_half_ = res_ * 0.5; + ray_size_ = max_range < 0 ? 20.0 / res_ : max_range / res_; // defaults to 10m + KeyRayConfig::setMaxSize(ray_size_); + + std::cout << "Setting up cuda updater for the scan size:" << scan_size_ << std::endl; + std::cout << "scan_size_:" << scan_size_ << std::endl; + int warp_size = 32; + n_total_threads_ = std::ceil(scan_size_ / (float) warp_size) * warp_size; + n_threads_per_block_ = min(n_total_threads_, 256); + n_blocks_ = n_total_threads_ / n_threads_per_block_; + std::cout << "Total number of threads: " << n_total_threads_ << std::endl; + std::cout << "Total number of blocks: " << n_blocks_ << std::endl; + std::cout << "Threads per block: " << n_threads_per_block_ << std::endl; + n_rays_ = n_total_threads_; + std::cout << + "Memory used by rays:" << + n_rays_ * + (ray_size_ * sizeof(OcTreeKey) + sizeof(KeyArrayCuda)) + << " bytes. " << std::endl; + +} + +template +OctomapUpdaterCuda::~OctomapUpdaterCuda() { + key_value_arr_device_->freeDevice(); + for (int i = 0; i < n_rays_; ++i) { + rays_device_[i].freeDevice(); + } + cudaCheckErrors(cudaFree(rays_device_)); + cudaCheckErrors(cudaFree(key_value_arr_device_)); + cudaCheckErrors(cudaFree(tree_base_device_)); + cudaCheckErrors(cudaFree(scan_device)); +} + template void OctomapUpdaterCuda::initialize() { // make a copy of tree for device usage - need a better way ? or idk @@ -204,73 +313,105 @@ void OctomapUpdaterCuda::initialize() { cudaCheckErrors(cudaMemcpy(tree_base_device_, tree_base_, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); // rays - n_rays_ = N_BLOCKS * N_THREADS; auto rays_host = new KeyRayCuda[n_rays_]; - for (int i = 0; i < N_BLOCKS * N_THREADS; ++i) { + for (int i = 0; i < n_rays_; ++i) { rays_host[i].allocateDevice(); } cudaCheckErrors(cudaMallocManaged(&rays_device_, n_rays_ * sizeof(KeyRayCuda))); cudaCheckErrors(cudaMemcpy(rays_device_, &rays_host[0], n_rays_ * sizeof(KeyRayCuda), cudaMemcpyHostToDevice)); delete[] rays_host; - // Make a temporary container for occupied cells - HashSetCuda key_map_temp_host; - //HashSetCuda free_map_host; - - key_map_temp_host.initializeDevice(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); - //free_map_host.initializeDevice(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); - - cudaCheckErrors(cudaMallocManaged(&key_map_device_, sizeof(HashSetCuda))); - //cudaCheckErrors(cudaMallocManaged(&free_map_device_, sizeof(HashSetCuda))); - cudaCheckErrors(cudaMemcpy(key_map_device_, &key_map_temp_host, sizeof(HashSetCuda), cudaMemcpyHostToDevice)); - //cudaCheckErrors(cudaMemcpy(free_map_device_, &free_map_host, sizeof(HashSetCuda), cudaMemcpyHostToDevice)); + ArrayCuda key_value_arr_host(max_arr_elements_); + key_value_arr_host.allocateDevice(); + cudaCheckErrors(cudaMallocManaged(&key_value_arr_device_, sizeof(ArrayCuda))); + cudaCheckErrors(cudaMemcpy(key_value_arr_device_, &key_value_arr_host, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); - // copy from device to host - key_map_host_.initializeHost(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); - //free_map_host_.initializeHost(MAX_HASHED_ELEMENTS, MAX_ELEMENTS); + KeyPtrArrayCuda free_hash_arr_host(max_hash_elements_); + KeyPtrArrayCuda occupied_hash_arr_host(max_hash_elements_); + free_hash_arr_host.allocateDevice(); + occupied_hash_arr_host.allocateDevice(); + + cudaCheckErrors(cudaMallocManaged(&free_hash_arr_device_, sizeof(KeyPtrArrayCuda))); + cudaCheckErrors(cudaMemcpy(free_hash_arr_device_, &free_hash_arr_host, sizeof(KeyPtrArrayCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMallocManaged(&occupied_hash_arr_device_, sizeof(KeyPtrArrayCuda))); + cudaCheckErrors(cudaMemcpy(occupied_hash_arr_device_, &occupied_hash_arr_host, sizeof(KeyPtrArrayCuda), cudaMemcpyHostToDevice)); + + ArrayCuda free_hashes(max_hash_elements_); + ArrayCuda occupied_hashes(max_hash_elements_); + free_hashes.allocateDevice(); + occupied_hashes.allocateDevice(); + cudaCheckErrors(cudaMallocManaged(&free_hashes_device_, sizeof(ArrayCuda))); + cudaCheckErrors(cudaMemcpy(free_hashes_device_, &free_hashes, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMallocManaged(&occupied_hashes_device_, sizeof(ArrayCuda))); + cudaCheckErrors(cudaMemcpy(occupied_hashes_device_, &occupied_hashes, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); + + free_hashes_host_ = new ArrayCuda(max_hash_elements_); + occupied_hashes_host_ = new ArrayCuda(max_hash_elements_); + + free_hashes_host_->allocateHost(); + occupied_hashes_host_->allocateHost(); + + // initialized scan points + cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size_ * sizeof(octomap::point3d))); } template void OctomapUpdaterCuda::computeUpdate( const octomap::Pointcloud& scan, const octomap::point3d& origin, - const double& maxrange, - const bool& lazy_eval) + const double& max_range) { - //auto t_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points - auto scan_size = scan.size(); - - // make an array of points from the point cloud for device usage - octomap::point3d* scan_device; - cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size * sizeof(octomap::point3d))); - cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); - - // Reset the map - key_map_device_->reset(); - computeUpdateKernel<<<6, 32>>>( - origin, - scan_device, - rays_device_, - key_map_device_, - scan_size, - maxrange, - use_bbx_limit_, - res_, - res_half_, - tree_base_device_); - cudaCheckErrors(cudaDeviceSynchronize()); - - for (size_t i = 0; i < key_map_device_->count(); i++) { - auto current = key_map_device_->element(i); - while (current != NULL) { - tree_base_->updateNode(current->key_, static_cast(current->value_), lazy_eval); - current = current->next_; + assert(scan_size_ == scan.size()); + cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size_ * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); + + if (!use_bbx_limit_) { // no BBX specified + if ((max_range < 0.0)) { // is not max_range meas.) + computeUpdateNoBBxNoRange<<>>( + origin, + scan_device, + rays_device_, + key_value_arr_device_, + scan_size_, + res_, + res_half_, + tree_base_device_); + } else { + computeUpdateNoBBxRanged<<>>( + origin, + scan_device, + rays_device_, + key_value_arr_device_, + scan_size_, + max_range, + res_, + res_half_, + tree_base_device_); } } - // free memory - cudaCheckErrors(cudaFree(scan_device)); - //std::cout << "time:" << boost::chrono::duration(boost::chrono::high_resolution_clock::now() - t_start).count() << std::endl; + cudaCheckErrors(cudaDeviceSynchronize()); + clean<<>>( + key_value_arr_device_, + free_hash_arr_device_, + occupied_hash_arr_device_, + free_hashes_device_, + occupied_hashes_device_, + key_value_arr_device_->size(), + max_hash_elements_); + cudaCheckErrors(cudaDeviceSynchronize()); + free_hashes_host_->copyFromDevice(*free_hashes_device_); + occupied_hashes_host_->copyFromDevice(*occupied_hashes_device_); + for (int i = 0; i < free_hashes_host_->size(); ++i) { + tree_base_->updateNode(free_hashes_host_->get(i).key_, false, false); + } + for (int i = 0; i < occupied_hashes_host_->size(); ++i) { + tree_base_->updateNode(occupied_hashes_host_->get(i).key_, true, false); + } + reset<<>>(free_hash_arr_device_, free_hashes_device_, free_hashes_device_->size()); + reset<<>>(occupied_hash_arr_device_, occupied_hashes_device_, occupied_hashes_device_->size()); + free_hashes_device_->reset(); + occupied_hashes_device_->reset(); + key_value_arr_device_->reset(); } template class OctomapUpdaterCuda; template class OctomapUpdaterCuda; diff --git a/octomap/src/graph2tree.cpp b/octomap/src/graph2tree.cpp index 31df5825..1192ffce 100644 --- a/octomap/src/graph2tree.cpp +++ b/octomap/src/graph2tree.cpp @@ -242,7 +242,7 @@ int main(int argc, char** argv) { tree->setProbHit(probHit); tree->setProbMiss(probMiss); #ifdef __CUDA_SUPPORT__ - tree->initializeCuda(); + tree->initializeCuda(maxrange, (*graph->begin())->scan->size()); #endif gettimeofday(&start, NULL); // start timer @@ -252,12 +252,10 @@ int main(int argc, char** argv) { if (max_scan_no > 0) cout << "("<insertPointCloudRays((*scan_it)->scan, (*scan_it)->pose.trans(), maxrange); else tree->insertPointCloud((*scan_it)->scan, (*scan_it)->pose.trans(), maxrange, false, discretize); - std::cout << "time:" << boost::chrono::duration(boost::chrono::high_resolution_clock::now() - t_start).count() << std::endl; if (compression == 2){ tree->toMaxLikelihood(); tree->prune(); From 52f434840cc762901a6aa6758492276976913a5c Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 10:21:25 +0500 Subject: [PATCH 25/32] Merged computeCuda and clean() kernels. Removed host copying since final iteration on device is still faster. Faster than ever before! :) --- octomap/include/octomap/KeyArrayCuda.cuh | 4 +- .../include/octomap/OctomapUpdaterCuda.cuh | 10 +- octomap/src/KeyArrayCuda.cu | 4 +- octomap/src/OctomapUpdaterCuda.cu | 149 +++++++----------- 4 files changed, 66 insertions(+), 101 deletions(-) diff --git a/octomap/include/octomap/KeyArrayCuda.cuh b/octomap/include/octomap/KeyArrayCuda.cuh index d700ea6c..98405c24 100644 --- a/octomap/include/octomap/KeyArrayCuda.cuh +++ b/octomap/include/octomap/KeyArrayCuda.cuh @@ -126,9 +126,9 @@ namespace octomap { int max_size_; }; - class KeyPtrArrayCuda : public ArrayCuda { + class UnsignedArrayCuda : public ArrayCuda { public: - __device__ unsigned long long int addKeyAtomicAt(const OcTreeKey* k, const int& l); + __device__ unsigned addKeyAtomicAt(const unsigned& k, const unsigned& l); using ArrayCuda::ArrayCuda; }; diff --git a/octomap/include/octomap/OctomapUpdaterCuda.cuh b/octomap/include/octomap/OctomapUpdaterCuda.cuh index 04b24dab..320da316 100644 --- a/octomap/include/octomap/OctomapUpdaterCuda.cuh +++ b/octomap/include/octomap/OctomapUpdaterCuda.cuh @@ -43,13 +43,10 @@ private: KeyRayCuda* rays_device_; int n_rays_; // Hashset for occupied/free cells on device - ArrayCuda* key_value_arr_device_; - KeyPtrArrayCuda* free_hash_arr_device_; - KeyPtrArrayCuda* occupied_hash_arr_device_; + UnsignedArrayCuda* free_hash_arr_device_; + UnsignedArrayCuda* occupied_hash_arr_device_; ArrayCuda* free_hashes_device_; ArrayCuda* occupied_hashes_device_; - ArrayCuda* free_hashes_host_; - ArrayCuda* occupied_hashes_host_; bool use_bbx_limit_; double res_; double res_half_; @@ -65,8 +62,7 @@ private: // map size settings int ray_size_; - int max_arr_elements_ = 5e6; - int max_hash_elements_ = 2e5; + int max_hash_elements_ = 2e6; int max_range_ = -1; }; #endif diff --git a/octomap/src/KeyArrayCuda.cu b/octomap/src/KeyArrayCuda.cu index e389693e..4ecf0372 100644 --- a/octomap/src/KeyArrayCuda.cu +++ b/octomap/src/KeyArrayCuda.cu @@ -9,8 +9,8 @@ namespace octomap { ray_[atomicAdd(&last_, 1)] = k; } - __device__ unsigned long long int KeyPtrArrayCuda::addKeyAtomicAt(const OcTreeKey* k, const int& l) { - return atomicCAS((unsigned long long int*)&ray_[l], 0, (unsigned long long int)k); + __device__ unsigned UnsignedArrayCuda::addKeyAtomicAt(const unsigned& k, const unsigned& l) { + return atomicCAS((unsigned*)&ray_[l], 0, k); } template class ArrayCuda; diff --git a/octomap/src/OctomapUpdaterCuda.cu b/octomap/src/OctomapUpdaterCuda.cu index 11a37835..a0203f1c 100644 --- a/octomap/src/OctomapUpdaterCuda.cu +++ b/octomap/src/OctomapUpdaterCuda.cu @@ -120,8 +120,12 @@ __global__ void computeUpdateNoBBxRanged( octomap::point3d origin, octomap::point3d* points, KeyRayCuda* rays, - ArrayCuda* key_value_arr, + UnsignedArrayCuda* free_hash_arr_device, + UnsignedArrayCuda* occupied_hash_arr_device, + ArrayCuda* free_hashes_device, + ArrayCuda* occupied_hashes_device, size_t size, + size_t max_hash_elements, double max_range, double resolution, double resolution_half, @@ -133,46 +137,50 @@ __global__ void computeUpdateNoBBxRanged( { auto& p = points[i]; auto& ray = rays[tid]; - int start = 0; - int last_ray_size = 0; if ((p - origin).norm() <= max_range) { // is not max_range meas. // free cells if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { - start = atomicAdd(key_value_arr->last(), ray.size()+1); //for occupied - last_ray_size = ray.size(); - for (int r = 0; r < last_ray_size; ++r) { - key_value_arr->addKey(KeyValue(ray[r], 0), r + start); + for (auto it = ray.begin(); it != ray.end(); ++it) { + size_t hash = OcTreeKey::KeyHash{}(*it) % max_hash_elements; + if (free_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) + free_hashes_device->addKeyAtomic(KeyHash(*it, hash)); } - } else { - start = atomicAdd(key_value_arr->last(), 1); } // occupied endpoint OcTreeKey key; if (tree_base->coordToKeyChecked(p, key)) { - key_value_arr->addKey(KeyValue(key, 1), last_ray_size + start); + size_t hash = OcTreeKey::KeyHash{}(key) % max_hash_elements; + if (occupied_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) {} + occupied_hashes_device->addKeyAtomic(KeyHash(key, hash)); } } else { // user set a max_range and length is above point3d direction = (p - origin).normalized (); point3d new_end = origin + direction * (float) max_range; + // free cells if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { - start = atomicAdd(key_value_arr->last(), ray.size()); //for occupied - last_ray_size = ray.size(); - for (int r = 0; r < last_ray_size; ++r) { - key_value_arr->addKey(KeyValue(ray[r], 0), r + start); + for (auto it = ray.begin(); it != ray.end(); ++it) { + size_t hash = OcTreeKey::KeyHash{}(*it) % max_hash_elements; + if (free_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) + free_hashes_device->addKeyAtomic(KeyHash(*it, hash)); } } } // end if max_range } } + template __global__ void computeUpdateNoBBxNoRange( octomap::point3d origin, octomap::point3d* points, KeyRayCuda* rays, - ArrayCuda* key_value_arr, + UnsignedArrayCuda* free_hash_arr_device, + UnsignedArrayCuda* occupied_hash_arr_device, + ArrayCuda* free_hashes_device, + ArrayCuda* occupied_hashes_device, size_t size, + size_t max_hash_elements, double resolution, double resolution_half, OccupancyOcTreeBase* tree_base) @@ -183,55 +191,27 @@ __global__ void computeUpdateNoBBxNoRange( { auto& p = points[i]; auto& ray = rays[tid]; - int start = 0; - int last_ray_size = 0; // free cells if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { - start = atomicAdd(key_value_arr->last(), ray.size()+1); //for occupied - last_ray_size = ray.size(); - for (int r = 0; r < last_ray_size; ++r) { - key_value_arr->addKey(KeyValue(ray[r], 0), r + start); + for (auto it = ray.begin(); it != ray.end(); ++it) { + size_t hash = OcTreeKey::KeyHash{}(*it) % max_hash_elements; + if (free_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) + free_hashes_device->addKeyAtomic(KeyHash(*it, hash)); } - } else { - start = atomicAdd(key_value_arr->last(), 1); } // occupied endpoint OcTreeKey key; if (tree_base->coordToKeyChecked(p, key)) { - key_value_arr->addKey(KeyValue(key, 1), last_ray_size + start); - } - } -} - -__global__ void clean( - ArrayCuda* key_value_arr_device, - KeyPtrArrayCuda* free_hash_arr_device, - KeyPtrArrayCuda* occupied_hash_arr_device, - ArrayCuda* free_hashes_device, - ArrayCuda* occupied_hashes_device, - size_t size, - int max_hash_elements -) -{ - int tid = blockIdx.x * blockDim.x + threadIdx.x; - int stride = blockDim.x * gridDim.x; - for (int i = tid; i < size; i += stride) - { - auto& key_value = key_value_arr_device->get(i); - size_t hash = OcTreeKey::KeyHash{}(key_value.key_) % max_hash_elements; - if (key_value.value_ == 0) { - if (((OcTreeKey*)free_hash_arr_device->addKeyAtomicAt(&key_value.key_, hash)) == nullptr) - free_hashes_device->addKeyAtomic(KeyHash(key_value.key_, hash)); - } else if (key_value.value_ == 1) { - if (((OcTreeKey*)occupied_hash_arr_device->addKeyAtomicAt(&key_value.key_, hash)) == nullptr) - occupied_hashes_device->addKeyAtomic(KeyHash(key_value.key_, hash)); + size_t hash = OcTreeKey::KeyHash{}(key) % max_hash_elements; + if (occupied_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) {} + occupied_hashes_device->addKeyAtomic(KeyHash(key, hash)); } } } __global__ void reset( - KeyPtrArrayCuda* arr_device, + UnsignedArrayCuda* arr_device, ArrayCuda* hashes_device, size_t size ) @@ -240,7 +220,7 @@ __global__ void reset( int stride = blockDim.x * gridDim.x; for (int i = tid; i < size; i += stride) { - arr_device->addKey(nullptr, hashes_device->get(i).hash_); + arr_device->addKey(0, hashes_device->get(i).hash_); } } @@ -273,7 +253,12 @@ OctomapUpdaterCuda::OctomapUpdaterCuda( use_bbx_limit_ = tree_base_->bbxSet(); res_ = tree_base_->getResolution(); res_half_ = res_ * 0.5; - ray_size_ = max_range < 0 ? 20.0 / res_ : max_range / res_; // defaults to 10m + if (max_range < 10.0) { + ray_size_ = 10.0 / res_; + } else if (max_range < 20.0) { + ray_size_ = 20.0 / res_; + } + std::cout << "ray_size_:" << ray_size_ << std::endl; KeyRayConfig::setMaxSize(ray_size_); std::cout << "Setting up cuda updater for the scan size:" << scan_size_ << std::endl; @@ -296,12 +281,10 @@ OctomapUpdaterCuda::OctomapUpdaterCuda( template OctomapUpdaterCuda::~OctomapUpdaterCuda() { - key_value_arr_device_->freeDevice(); for (int i = 0; i < n_rays_; ++i) { rays_device_[i].freeDevice(); } cudaCheckErrors(cudaFree(rays_device_)); - cudaCheckErrors(cudaFree(key_value_arr_device_)); cudaCheckErrors(cudaFree(tree_base_device_)); cudaCheckErrors(cudaFree(scan_device)); } @@ -321,20 +304,15 @@ void OctomapUpdaterCuda::initialize() { cudaCheckErrors(cudaMemcpy(rays_device_, &rays_host[0], n_rays_ * sizeof(KeyRayCuda), cudaMemcpyHostToDevice)); delete[] rays_host; - ArrayCuda key_value_arr_host(max_arr_elements_); - key_value_arr_host.allocateDevice(); - cudaCheckErrors(cudaMallocManaged(&key_value_arr_device_, sizeof(ArrayCuda))); - cudaCheckErrors(cudaMemcpy(key_value_arr_device_, &key_value_arr_host, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); - - KeyPtrArrayCuda free_hash_arr_host(max_hash_elements_); - KeyPtrArrayCuda occupied_hash_arr_host(max_hash_elements_); + UnsignedArrayCuda free_hash_arr_host(max_hash_elements_); + UnsignedArrayCuda occupied_hash_arr_host(max_hash_elements_); free_hash_arr_host.allocateDevice(); occupied_hash_arr_host.allocateDevice(); - cudaCheckErrors(cudaMallocManaged(&free_hash_arr_device_, sizeof(KeyPtrArrayCuda))); - cudaCheckErrors(cudaMemcpy(free_hash_arr_device_, &free_hash_arr_host, sizeof(KeyPtrArrayCuda), cudaMemcpyHostToDevice)); - cudaCheckErrors(cudaMallocManaged(&occupied_hash_arr_device_, sizeof(KeyPtrArrayCuda))); - cudaCheckErrors(cudaMemcpy(occupied_hash_arr_device_, &occupied_hash_arr_host, sizeof(KeyPtrArrayCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMallocManaged(&free_hash_arr_device_, sizeof(UnsignedArrayCuda))); + cudaCheckErrors(cudaMemcpy(free_hash_arr_device_, &free_hash_arr_host, sizeof(UnsignedArrayCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMallocManaged(&occupied_hash_arr_device_, sizeof(UnsignedArrayCuda))); + cudaCheckErrors(cudaMemcpy(occupied_hash_arr_device_, &occupied_hash_arr_host, sizeof(UnsignedArrayCuda), cudaMemcpyHostToDevice)); ArrayCuda free_hashes(max_hash_elements_); ArrayCuda occupied_hashes(max_hash_elements_); @@ -345,12 +323,6 @@ void OctomapUpdaterCuda::initialize() { cudaCheckErrors(cudaMallocManaged(&occupied_hashes_device_, sizeof(ArrayCuda))); cudaCheckErrors(cudaMemcpy(occupied_hashes_device_, &occupied_hashes, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); - free_hashes_host_ = new ArrayCuda(max_hash_elements_); - occupied_hashes_host_ = new ArrayCuda(max_hash_elements_); - - free_hashes_host_->allocateHost(); - occupied_hashes_host_->allocateHost(); - // initialized scan points cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size_ * sizeof(octomap::point3d))); } @@ -361,6 +333,7 @@ void OctomapUpdaterCuda::computeUpdate( const octomap::point3d& origin, const double& max_range) { + auto t_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points assert(scan_size_ == scan.size()); cudaCheckErrors(cudaMemcpy(scan_device, &scan[0], scan_size_ * sizeof(octomap::point3d), cudaMemcpyHostToDevice)); @@ -371,8 +344,12 @@ void OctomapUpdaterCuda::computeUpdate( origin, scan_device, rays_device_, - key_value_arr_device_, + free_hash_arr_device_, + occupied_hash_arr_device_, + free_hashes_device_, + occupied_hashes_device_, scan_size_, + max_hash_elements_, res_, res_half_, tree_base_device_); @@ -381,8 +358,12 @@ void OctomapUpdaterCuda::computeUpdate( origin, scan_device, rays_device_, - key_value_arr_device_, + free_hash_arr_device_, + occupied_hash_arr_device_, + free_hashes_device_, + occupied_hashes_device_, scan_size_, + max_hash_elements_, max_range, res_, res_half_, @@ -390,28 +371,16 @@ void OctomapUpdaterCuda::computeUpdate( } } cudaCheckErrors(cudaDeviceSynchronize()); - clean<<>>( - key_value_arr_device_, - free_hash_arr_device_, - occupied_hash_arr_device_, - free_hashes_device_, - occupied_hashes_device_, - key_value_arr_device_->size(), - max_hash_elements_); - cudaCheckErrors(cudaDeviceSynchronize()); - free_hashes_host_->copyFromDevice(*free_hashes_device_); - occupied_hashes_host_->copyFromDevice(*occupied_hashes_device_); - for (int i = 0; i < free_hashes_host_->size(); ++i) { - tree_base_->updateNode(free_hashes_host_->get(i).key_, false, false); + for (int i = 0; i < occupied_hashes_device_->size(); ++i) { + tree_base_->updateNode(occupied_hashes_device_->get(i).key_, false, false); } - for (int i = 0; i < occupied_hashes_host_->size(); ++i) { - tree_base_->updateNode(occupied_hashes_host_->get(i).key_, true, false); + for (int i = 0; i < occupied_hashes_device_->size(); ++i) { + tree_base_->updateNode(occupied_hashes_device_->get(i).key_, true, false); } reset<<>>(free_hash_arr_device_, free_hashes_device_, free_hashes_device_->size()); reset<<>>(occupied_hash_arr_device_, occupied_hashes_device_, occupied_hashes_device_->size()); free_hashes_device_->reset(); occupied_hashes_device_->reset(); - key_value_arr_device_->reset(); } template class OctomapUpdaterCuda; template class OctomapUpdaterCuda; From 15d62a2552841fb766af2be933a695b5b8ca938e Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 10:30:34 +0500 Subject: [PATCH 26/32] Added lazy_eval as argument. --- octomap/include/octomap/OctomapUpdaterCuda.cuh | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/octomap/include/octomap/OctomapUpdaterCuda.cuh b/octomap/include/octomap/OctomapUpdaterCuda.cuh index 320da316..297e047e 100644 --- a/octomap/include/octomap/OctomapUpdaterCuda.cuh +++ b/octomap/include/octomap/OctomapUpdaterCuda.cuh @@ -32,7 +32,8 @@ public: void computeUpdate( const octomap::Pointcloud& scan, const octomap::point3d& origin, - const double& max_range); + const double& max_range, + const bool& lazy_eval); private: // tree base on host From 5f220d28b053296e02144fcfcc2539dcc9957470 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 10:30:45 +0500 Subject: [PATCH 27/32] Added support for discretized scan. --- .../include/octomap/OccupancyOcTreeBase.hxx | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index d0ea9a99..323a3d02 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -87,7 +87,24 @@ namespace octomap { void OccupancyOcTreeBase::insertPointCloud(const Pointcloud& scan, const octomap::point3d& sensor_origin, double maxrange, bool lazy_eval, bool discretize) { #ifdef __CUDA_SUPPORT__ - octomapUpdaterCuda->computeUpdate(scan, sensor_origin, maxrange); + if (discretize) { + Pointcloud discretePC; + discretePC.reserve(scan.size()); + KeySet endpoints; + + for (int i = 0; i < (int)scan.size(); ++i) { + OcTreeKey k = this->coordToKey(scan[i]); + std::pair ret = endpoints.insert(k); + if (ret.second){ // insertion took place => k was not in set + discretePC.push_back(this->keyToCoord(k)); + } + } + // directly updates nodes + octomapUpdaterCuda->computeUpdate(discretePC, sensor_origin, maxrange, lazy_eval); + } else { + // directly updates nodes + octomapUpdaterCuda->computeUpdate(scan, sensor_origin, maxrange, lazy_eval); + } #else KeySet free_cells, occupied_cells; if (discretize) From 43d4ad616f065b24b61420c3fecceca9b304e68b Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 10:31:01 +0500 Subject: [PATCH 28/32] Removed KeyValue struct as it is unused now. --- octomap/include/octomap/KeyArrayCuda.cuh | 9 --------- 1 file changed, 9 deletions(-) diff --git a/octomap/include/octomap/KeyArrayCuda.cuh b/octomap/include/octomap/KeyArrayCuda.cuh index 98405c24..e3824eb3 100644 --- a/octomap/include/octomap/KeyArrayCuda.cuh +++ b/octomap/include/octomap/KeyArrayCuda.cuh @@ -17,15 +17,6 @@ namespace octomap { static void setMaxSize(const int& max_size) { max_ray_size_ = max_size;} }; - struct KeyValue { - __host__ __device__ KeyValue() {} - __host__ __device__ KeyValue(const OcTreeKey& key, const int& value) : - key_(key), value_(value) {} - __host__ __device__ ~KeyValue() {} - OcTreeKey key_; - int value_ = UNKNOWN; - }; - struct KeyHash { __host__ __device__ KeyHash() {} __host__ __device__ KeyHash(const OcTreeKey& key, const size_t& hash) : From 7faa43fa50a51836474d50246680d4f4bd5a9d50 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 10:36:13 +0500 Subject: [PATCH 29/32] Hash set is unused so removed. --- octomap/include/octomap/HashSetCuda.cuh | 169 ------------------------ octomap/src/HashSetCuda.cu | 37 ------ 2 files changed, 206 deletions(-) delete mode 100644 octomap/include/octomap/HashSetCuda.cuh delete mode 100644 octomap/src/HashSetCuda.cu diff --git a/octomap/include/octomap/HashSetCuda.cuh b/octomap/include/octomap/HashSetCuda.cuh deleted file mode 100644 index 43852dec..00000000 --- a/octomap/include/octomap/HashSetCuda.cuh +++ /dev/null @@ -1,169 +0,0 @@ -#ifndef HASH_MAP_CUDA_CUH -#define HASH_MAP_CUDA_CUH -#ifdef __CUDA_SUPPORT__ -#include -#include -#include -#include -#include - -/** - * Based on CUDA by Example: - * An Introduction to General-Purpose GPU Programming - * Book by Edward Kandrot and Jason Sanders - */ - -namespace octomap { - - struct SetElement { - OcTreeKey key_; - SetElement *next_; - size_t hash_; - int value_ = {UNKNOWN}; - }; - - class HashSetCuda { - private: - enum Type { - HOST, - DEVICE, - NONE - }; - int type_ = {NONE}; - size_t count_; - size_t n_elements_; - SetElement** elements_; - SetElement* pool_; - int first_free_; - public: - unsigned int* hash_locks_; - - __host__ HashSetCuda () : type_(NONE) { - } - __host__ ~HashSetCuda () - { - } - - __host__ void initializeHost(const int& n_hash_elements, const int& n_elements) - { - if (type_ == NONE || type_ == HOST) { - count_ = n_hash_elements; - n_elements_ = n_elements; - elements_ = (SetElement**)calloc(n_hash_elements, sizeof(SetElement*)); - pool_ = (SetElement*)malloc(n_elements * sizeof(SetElement)); - first_free_ = 0; - type_ = HOST; - } else { - printf("Map already initialized to device."); - } - } - - __host__ void initializeDevice(const int& n_hash_elements, const int& n_elements) - { - if (type_ == NONE || type_ == DEVICE) { - count_ = n_hash_elements; - n_elements_ = n_elements; - cudaCheckErrors(cudaMallocManaged(&elements_, n_hash_elements * sizeof(SetElement*))); - cudaCheckErrors(cudaMemset(elements_, 0, n_hash_elements * sizeof(SetElement*))); - cudaCheckErrors(cudaMallocManaged(&pool_, n_elements * sizeof(SetElement))); - first_free_ = 0; - cudaCheckErrors(cudaMallocManaged(&hash_locks_, n_hash_elements * sizeof(unsigned int))); - cudaCheckErrors(cudaMemset(hash_locks_, 0, n_hash_elements * sizeof(unsigned int))); - type_ = DEVICE; - } else { - printf("Map already initialized to host."); - } - } - - __host__ void freeMemory() { - if (type_ == HOST) { - free(elements_); - free(pool_); - } else if (type_ == DEVICE) { - cudaCheckErrors(cudaFree(elements_)); - cudaCheckErrors(cudaFree(pool_)); - } - } - - __host__ void insertHost(const OcTreeKey& key, const int& value) - { - if (type_ == HOST) { - size_t hash = OcTreeKey::KeyHash{}(key) % count_; - // two different keys might have same hash - if (!elements_[hash] || elements_[hash]->key_ != key) { - auto location = &pool_[first_free_++]; - location->key_ = key; - location->value_ = value; - location->hash_ = hash; - location->next_ = elements_[hash]; - elements_[hash] = location; - } - } else { - printf( - "Map not initialized to host. Cannot insert key: %i %i %i.\n", - key[0], key[1], key[2]); - } - } - - __device__ void insertDevice(const KeyRayCuda& ray, const int& start, const int& tid, const int& value); - - CUDA_CALLABLE size_t count() const { return count_; } - CUDA_CALLABLE const SetElement* element(const int& idx) const { return elements_[idx]; } - CUDA_CALLABLE void resetElement(const int& idx) { elements_[idx] = nullptr; } - - CUDA_CALLABLE SetElement** elements() { return elements_; } - CUDA_CALLABLE SetElement* pool() { return pool_; } - CUDA_CALLABLE int& firstFree() { return first_free_; } - - __host__ void copyFromDevice(const HashSetCuda& other) { - if (type_ == HOST) { - assert (n_elements_ == other.n_elements_); - assert (count_ == other.count_); - cudaCheckErrors(cudaMemcpy(elements_, other.elements_, count_ * sizeof(SetElement*), cudaMemcpyDeviceToHost)); - cudaCheckErrors(cudaMemcpy(pool_, other.pool_, n_elements_ * sizeof(SetElement), cudaMemcpyDeviceToHost)); - } else { - printf("Uninitialized map cannot copy data from device."); - } - - // Fix pointer offsets - for (size_t i = 0; i < count_; i++) { - if (elements_[i] != NULL) { - elements_[i] = - (SetElement*) - ((size_t)elements_[i] - (size_t)other.pool_ + (size_t)pool_); - } - } - - // Fix pointer offsets - for (size_t i = 0; i < n_elements_; i++) { - if (pool_[i].next_ != NULL) { - pool_[i].next_ = - (SetElement*)( - (size_t)pool_[i].next_ - (size_t)other.pool_ + (size_t)pool_); - } - } - } - - __host__ void copyElementsFromDevice(const HashSetCuda& other) { - if (type_ == HOST) { - assert (count_ == other.count_); - cudaCheckErrors(cudaMemcpy(elements_, other.elements_, count_ * sizeof(SetElement*), cudaMemcpyDeviceToHost)); - } else { - printf("Uninitialized map cannot copy data from device."); - } - - // Fix pointer offsets - for (size_t i = 0; i < count_; i++) { - if (elements_[i] != NULL) { - elements_[i] = - (SetElement*) - ((size_t)elements_[i] - (size_t)other.pool_ + (size_t)pool_); - } - } - } - }; -} - - -#endif -#endif \ No newline at end of file diff --git a/octomap/src/HashSetCuda.cu b/octomap/src/HashSetCuda.cu deleted file mode 100644 index d4a2b5f6..00000000 --- a/octomap/src/HashSetCuda.cu +++ /dev/null @@ -1,37 +0,0 @@ -#ifdef __CUDA_SUPPORT__ -#include - -namespace octomap { - __device__ void lock(unsigned int *lock){ - while (atomicCAS(lock, 0, 1) != 0); - } - - __device__ void unlock(unsigned int *lock){ - atomicExch(lock, 0); - } - - #define WARP_SIZE 32 - __device__ void HashSetCuda::insertDevice(const KeyRayCuda& ray, const int& start, const int& tid, const int& value) - { - for (int r = 0; r < ray.size(); ++r) { - const auto& key = ray[r]; - size_t hash = OcTreeKey::KeyHash{}(key) % count_; - auto location = &pool_[start + r]; - location->key_ = key; - location->value_ = value; - location->hash_ = hash; - lock(&hash_locks_[hash]); - /*if (elements_[hash] && key == elements_[hash]->key_) { - // gives preference to occupied over free - elements_[hash]->value_ = max(elements_[hash]->value_, value); - unlock(&hash_locks_[hash]); - continue; - }*/ - // two different keys might have same hash - location->next_ = elements_[hash]; - elements_[hash] = location; - unlock(&hash_locks_[hash]); - } - } -} -#endif \ No newline at end of file From 09410206d77a3dc3304dd012e3a93f9702361470 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 10:36:22 +0500 Subject: [PATCH 30/32] CMake refactor. --- octomap/CMakeLists.txt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt index 351e14de..6b135582 100644 --- a/octomap/CMakeLists.txt +++ b/octomap/CMakeLists.txt @@ -40,10 +40,14 @@ SET(__CUDA_SUPPORT__ FALSE CACHE BOOL "Enable/disable CUDA parallelization") IF(DEFINED ENV{__CUDA_SUPPORT__}) SET(__CUDA_SUPPORT__ $ENV{__CUDA_SUPPORT__}) ENDIF(DEFINED ENV{__CUDA_SUPPORT__}) + IF(__CUDA_SUPPORT__) + SET(CUDA_COMPUTE_CAPABILITY 61) # Tested only on 61 atm FIND_PACKAGE( CUDA 9.0 REQUIRED) message(STATUS "Found CUDA ${CUDA_VERSION_STRING} at ${CUDA_TOOLKIT_ROOT_DIR}") - set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -gencode arch=compute_61,code=sm_61) + set(CUDA_NVCC_FLAGS + ${CUDA_NVCC_FLAGS}; + -O3 -gencode arch=compute_${CUDA_COMPUTE_CAPABILITY},code=sm_${CUDA_COMPUTE_CAPABILITY}) add_definitions(-D__CUDA_SUPPORT__) ENDIF(__CUDA_SUPPORT__) From 14d242d325848bba4fcb92c6efb65205c5351da9 Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Fri, 25 Oct 2019 11:59:04 +0500 Subject: [PATCH 31/32] Refactoring and memory error fixes. --- .../{AssertionCuda.cuh => CudaAssertion.cuh} | 4 +- ...UpdaterCuda.cuh => CudaOctomapUpdater.cuh} | 22 +-- octomap/include/octomap/OcTreeKey.h | 1 - octomap/include/octomap/OccupancyOcTreeBase.h | 8 +- .../include/octomap/OccupancyOcTreeBase.hxx | 7 +- .../octomap/{KeyArrayCuda.cuh => TArray.cuh} | 34 +++-- octomap/src/CMakeLists.txt | 9 +- ...apUpdaterCuda.cu => CudaOctomapUpdater.cu} | 127 +++++++++--------- octomap/src/{KeyArrayCuda.cu => TArray.cu} | 10 +- 9 files changed, 106 insertions(+), 116 deletions(-) rename octomap/include/octomap/{AssertionCuda.cuh => CudaAssertion.cuh} (87%) rename octomap/include/octomap/{OctomapUpdaterCuda.cuh => CudaOctomapUpdater.cuh} (78%) rename octomap/include/octomap/{KeyArrayCuda.cuh => TArray.cuh} (76%) rename octomap/src/{OctomapUpdaterCuda.cu => CudaOctomapUpdater.cu} (79%) rename octomap/src/{KeyArrayCuda.cu => TArray.cu} (60%) diff --git a/octomap/include/octomap/AssertionCuda.cuh b/octomap/include/octomap/CudaAssertion.cuh similarity index 87% rename from octomap/include/octomap/AssertionCuda.cuh rename to octomap/include/octomap/CudaAssertion.cuh index 1808b6b0..308728d3 100644 --- a/octomap/include/octomap/AssertionCuda.cuh +++ b/octomap/include/octomap/CudaAssertion.cuh @@ -2,8 +2,8 @@ #include #include -#ifndef ASSERTION_CUDA_CUH -#define ASSERTION_CUDA_CUH +#ifndef CUDA_ASSERTION_CUH +#define CUDA_ASSERTION_CUH #define cudaCheckErrors(ans) { gpuAssert((ans), __FILE__, __LINE__); } inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort=true) diff --git a/octomap/include/octomap/OctomapUpdaterCuda.cuh b/octomap/include/octomap/CudaOctomapUpdater.cuh similarity index 78% rename from octomap/include/octomap/OctomapUpdaterCuda.cuh rename to octomap/include/octomap/CudaOctomapUpdater.cuh index 297e047e..75310842 100644 --- a/octomap/include/octomap/OctomapUpdaterCuda.cuh +++ b/octomap/include/octomap/CudaOctomapUpdater.cuh @@ -1,13 +1,12 @@ -#ifndef OCCUPANCY_OCTREE_BASE_CUH -#define OCCUPANCY_OCTREE_BASE_CUH +#ifndef CUDA_OCTOMAP_UPDATER_CUH +#define CUDA_OCTOMAP_UPDATER_CUH #include #include #include #include #include #include -#include -#include +#include #include #include #include @@ -17,15 +16,16 @@ using namespace octomap; #ifdef __CUDA_SUPPORT__ template -class OctomapUpdaterCuda +class CudaOctomapUpdater { public: - OctomapUpdaterCuda( + CudaOctomapUpdater( octomap::OccupancyOcTreeBase* tree_base, const double& max_range, - const size_t& scan_size); + const size_t& scan_size, + const bool& print_info = true); - ~OctomapUpdaterCuda(); + ~CudaOctomapUpdater(); void initialize(); @@ -46,8 +46,8 @@ private: // Hashset for occupied/free cells on device UnsignedArrayCuda* free_hash_arr_device_; UnsignedArrayCuda* occupied_hash_arr_device_; - ArrayCuda* free_hashes_device_; - ArrayCuda* occupied_hashes_device_; + TArray* free_hashes_device_; + TArray* occupied_hashes_device_; bool use_bbx_limit_; double res_; double res_half_; @@ -63,7 +63,7 @@ private: // map size settings int ray_size_; - int max_hash_elements_ = 2e6; + int max_hash_elements_ = 5e6; int max_range_ = -1; }; #endif diff --git a/octomap/include/octomap/OcTreeKey.h b/octomap/include/octomap/OcTreeKey.h index eeec207e..c2cb02d1 100644 --- a/octomap/include/octomap/OcTreeKey.h +++ b/octomap/include/octomap/OcTreeKey.h @@ -62,7 +62,6 @@ #ifdef __CUDA_SUPPORT__ #include #include -#include #endif #ifdef __CUDACC__ diff --git a/octomap/include/octomap/OccupancyOcTreeBase.h b/octomap/include/octomap/OccupancyOcTreeBase.h index 203066bd..14cc8ba7 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.h +++ b/octomap/include/octomap/OccupancyOcTreeBase.h @@ -46,7 +46,7 @@ #ifdef __CUDA_SUPPORT__ template -class OctomapUpdaterCuda; +class CudaOctomapUpdater; #endif #ifdef __CUDACC__ @@ -93,8 +93,8 @@ namespace octomap { /// Initializer for cuda updater #ifdef __CUDA_SUPPORT__ void initializeCuda(const double& max_range, const size_t& scan_size) { - octomapUpdaterCuda = new OctomapUpdaterCuda(this, max_range, scan_size); - octomapUpdaterCuda->initialize(); + cudaOctomapUpdater = new CudaOctomapUpdater(this, max_range, scan_size); + cudaOctomapUpdater->initialize(); } #endif @@ -519,7 +519,7 @@ namespace octomap { KeyBoolMap changed_keys; #ifdef __CUDA_SUPPORT__ - OctomapUpdaterCuda* octomapUpdaterCuda; + CudaOctomapUpdater* cudaOctomapUpdater; #endif }; diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx index 323a3d02..f10c1c77 100644 --- a/octomap/include/octomap/OccupancyOcTreeBase.hxx +++ b/octomap/include/octomap/OccupancyOcTreeBase.hxx @@ -36,7 +36,7 @@ #include #ifdef __CUDA_SUPPORT__ -#include +#include #endif namespace octomap { @@ -100,10 +100,10 @@ namespace octomap { } } // directly updates nodes - octomapUpdaterCuda->computeUpdate(discretePC, sensor_origin, maxrange, lazy_eval); + cudaOctomapUpdater->computeUpdate(discretePC, sensor_origin, maxrange, lazy_eval); } else { // directly updates nodes - octomapUpdaterCuda->computeUpdate(scan, sensor_origin, maxrange, lazy_eval); + cudaOctomapUpdater->computeUpdate(scan, sensor_origin, maxrange, lazy_eval); } #else KeySet free_cells, occupied_cells; @@ -195,7 +195,6 @@ namespace octomap { omp_set_num_threads(this->keyrays.size()); #pragma omp parallel for schedule(guided) #endif -printf("scan=%i", scan.size()); for (int i = 0; i < (int)scan.size(); ++i) { const point3d& p = scan[i]; unsigned threadIdx = 0; diff --git a/octomap/include/octomap/KeyArrayCuda.cuh b/octomap/include/octomap/TArray.cuh similarity index 76% rename from octomap/include/octomap/KeyArrayCuda.cuh rename to octomap/include/octomap/TArray.cuh index e3824eb3..0ea8cc02 100644 --- a/octomap/include/octomap/KeyArrayCuda.cuh +++ b/octomap/include/octomap/TArray.cuh @@ -1,17 +1,13 @@ -#ifndef KEY_ARRAY_CUDA_CUH -#define KEY_ARRAY_CUDA_CUH +#ifndef T_ARRAY_CUH +#define T_ARRAY_CUH #ifdef __CUDA_SUPPORT__ #include #include -#include +#include #include namespace octomap { - #define UNKNOWN -1 - #define FREE 0 - #define OCCUPIED 1 - struct KeyRayConfig { static int max_ray_size_; static void setMaxSize(const int& max_size) { max_ray_size_ = max_size;} @@ -27,19 +23,19 @@ namespace octomap { }; template - class ArrayCuda { + class TArray { public: - __host__ ArrayCuda (const int& max_size = KeyRayConfig::max_ray_size_) : + __host__ TArray (const int& max_size = KeyRayConfig::max_ray_size_) : max_size_(max_size) { reset(); } - __host__ ~ArrayCuda () { + __host__ ~TArray () { } - CUDA_CALLABLE ArrayCuda(const ArrayCuda& other) + CUDA_CALLABLE TArray(const TArray& other) { ray_ = other.ray_; last_ = other.last_; @@ -57,17 +53,17 @@ namespace octomap { cudaCheckErrors(cudaFree(ray_)); } - __host__ void copyFromHost(const ArrayCuda& other) { + __host__ void copyFromHost(const TArray& other) { cudaCheckErrors(cudaMemcpy(ray_, other.ray_, max_size_ * sizeof(T), cudaMemcpyHostToDevice)); last_ = other.last_; } - __host__ void copyFromDevice(const ArrayCuda& other) { + __host__ void copyFromDevice(const TArray& other) { cudaCheckErrors(cudaMemcpy(ray_, other.ray_, max_size_ * sizeof(T), cudaMemcpyDeviceToHost)); last_ = other.last_; } - CUDA_CALLABLE ArrayCuda& operator=(const ArrayCuda& other){ + CUDA_CALLABLE TArray& operator=(const TArray& other){ ray_ = other.ray_; last_ = other.last_; return *this; @@ -109,7 +105,7 @@ namespace octomap { CUDA_CALLABLE int size() const { return last_; } CUDA_CALLABLE int* last() { return &last_; } - int sizeMax() { return max_size_; } + CUDA_CALLABLE int sizeMax() { return max_size_; } protected: T* ray_; @@ -117,14 +113,14 @@ namespace octomap { int max_size_; }; - class UnsignedArrayCuda : public ArrayCuda { + class UnsignedArrayCuda : public TArray { public: __device__ unsigned addKeyAtomicAt(const unsigned& k, const unsigned& l); - using ArrayCuda::ArrayCuda; + using TArray::TArray; }; - class KeyArrayCuda : public ArrayCuda { - using ArrayCuda::ArrayCuda; + class KeyArrayCuda : public TArray { + using TArray::TArray; }; using KeyRayCuda = KeyArrayCuda; diff --git a/octomap/src/CMakeLists.txt b/octomap/src/CMakeLists.txt index 4a26b26d..9783f8ba 100644 --- a/octomap/src/CMakeLists.txt +++ b/octomap/src/CMakeLists.txt @@ -10,9 +10,8 @@ SET (octomap_SRCS OcTreeNode.cpp OcTreeStamped.cpp ColorOcTree.cpp - OctomapUpdaterCuda.cu - KeyArrayCuda.cu - HashSetCuda.cu + CudaOctomapUpdater.cu + TArray.cu ) IF(__CUDA_SUPPORT__) @@ -52,7 +51,7 @@ ADD_EXECUTABLE(graph2tree graph2tree.cpp) TARGET_LINK_LIBRARIES(graph2tree octomap-static ${CUDA_LIBRARIES} ${Boost_LIBRARIES}) target_compile_features(graph2tree PUBLIC cxx_std_11) SET_TARGET_PROPERTIES(graph2tree PROPERTIES CUDA_SEPARABLE_COMPILATION ON) -#[[ + ADD_EXECUTABLE(log2graph log2graph.cpp) TARGET_LINK_LIBRARIES(log2graph octomap-static ${CUDA_LIBRARIES}) target_compile_features(log2graph PUBLIC cxx_std_11) @@ -107,7 +106,7 @@ ADD_EXECUTABLE(octree2pointcloud octree2pointcloud.cpp) TARGET_LINK_LIBRARIES(octree2pointcloud octomap-static ${CUDA_LIBRARIES}) target_compile_features(octree2pointcloud PUBLIC cxx_std_11) SET_TARGET_PROPERTIES(octree2pointcloud PROPERTIES CUDA_SEPARABLE_COMPILATION ON) -]] + install(TARGETS octomap octomap-static EXPORT octomap-targets INCLUDES DESTINATION include diff --git a/octomap/src/OctomapUpdaterCuda.cu b/octomap/src/CudaOctomapUpdater.cu similarity index 79% rename from octomap/src/OctomapUpdaterCuda.cu rename to octomap/src/CudaOctomapUpdater.cu index a0203f1c..f25faef1 100644 --- a/octomap/src/OctomapUpdaterCuda.cu +++ b/octomap/src/CudaOctomapUpdater.cu @@ -1,23 +1,27 @@ +#ifdef __CUDA_SUPPORT__ #include -#include -#include +#include +#include #include -#ifdef __CUDA_SUPPORT__ #ifdef __CUDACC__ +#ifndef CUDA_CALLABLE #define CUDA_CALLABLE __host__ __device__ +#endif #else +#ifndef CUDA_CALLABLE #define CUDA_CALLABLE #endif +#endif template -CUDA_CALLABLE bool computeRayKeysCuda( +CUDA_CALLABLE bool computeRayKeys( const point3d& origin, const point3d& end, KeyRayCuda& ray, const double& resolution, const double& resolution_half, - OcTreeBaseImpl* tree_base) + octomap::OcTreeBaseImpl* tree_base) { ray.reset(); @@ -67,8 +71,13 @@ CUDA_CALLABLE bool computeRayKeysCuda( // Incremental phase --------------------------------------------------------- bool done = false; + auto size_max = ray.sizeMax(); while (!done) { - + if (ray.size() >= size_max) { + done = true; + break; + } + unsigned int dim; // find minimum tMax: @@ -108,8 +117,6 @@ CUDA_CALLABLE bool computeRayKeysCuda( ray.addKey(current_key); } } - assert ( ray.size() < ray.sizeMax() - 1); - } // end while return true; @@ -122,14 +129,14 @@ __global__ void computeUpdateNoBBxRanged( KeyRayCuda* rays, UnsignedArrayCuda* free_hash_arr_device, UnsignedArrayCuda* occupied_hash_arr_device, - ArrayCuda* free_hashes_device, - ArrayCuda* occupied_hashes_device, + TArray* free_hashes_device, + TArray* occupied_hashes_device, size_t size, size_t max_hash_elements, double max_range, double resolution, double resolution_half, - OccupancyOcTreeBase* tree_base) + OccupancyOcTreeBase* tree_base_device) { int tid = blockIdx.x * blockDim.x + threadIdx.x; int stride = blockDim.x * gridDim.x; @@ -139,7 +146,7 @@ __global__ void computeUpdateNoBBxRanged( auto& ray = rays[tid]; if ((p - origin).norm() <= max_range) { // is not max_range meas. // free cells - if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { + if (computeRayKeys(origin, p, ray, resolution, resolution_half, tree_base_device)) { for (auto it = ray.begin(); it != ray.end(); ++it) { size_t hash = OcTreeKey::KeyHash{}(*it) % max_hash_elements; if (free_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) @@ -149,7 +156,7 @@ __global__ void computeUpdateNoBBxRanged( // occupied endpoint OcTreeKey key; - if (tree_base->coordToKeyChecked(p, key)) { + if (tree_base_device->coordToKeyChecked(p, key)) { size_t hash = OcTreeKey::KeyHash{}(key) % max_hash_elements; if (occupied_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) {} occupied_hashes_device->addKeyAtomic(KeyHash(key, hash)); @@ -158,7 +165,7 @@ __global__ void computeUpdateNoBBxRanged( point3d direction = (p - origin).normalized (); point3d new_end = origin + direction * (float) max_range; // free cells - if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { + if (computeRayKeys(origin, p, ray, resolution, resolution_half, tree_base_device)) { for (auto it = ray.begin(); it != ray.end(); ++it) { size_t hash = OcTreeKey::KeyHash{}(*it) % max_hash_elements; if (free_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) @@ -177,13 +184,13 @@ __global__ void computeUpdateNoBBxNoRange( KeyRayCuda* rays, UnsignedArrayCuda* free_hash_arr_device, UnsignedArrayCuda* occupied_hash_arr_device, - ArrayCuda* free_hashes_device, - ArrayCuda* occupied_hashes_device, + TArray* free_hashes_device, + TArray* occupied_hashes_device, size_t size, size_t max_hash_elements, double resolution, double resolution_half, - OccupancyOcTreeBase* tree_base) + OccupancyOcTreeBase* tree_base_device) { int tid = blockIdx.x * blockDim.x + threadIdx.x; int stride = blockDim.x * gridDim.x; @@ -192,7 +199,7 @@ __global__ void computeUpdateNoBBxNoRange( auto& p = points[i]; auto& ray = rays[tid]; // free cells - if (computeRayKeysCuda(origin, p, ray, resolution, resolution_half, tree_base)) { + if (computeRayKeys(origin, p, ray, resolution, resolution_half, tree_base_device)) { for (auto it = ray.begin(); it != ray.end(); ++it) { size_t hash = OcTreeKey::KeyHash{}(*it) % max_hash_elements; if (free_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) @@ -202,7 +209,7 @@ __global__ void computeUpdateNoBBxNoRange( // occupied endpoint OcTreeKey key; - if (tree_base->coordToKeyChecked(p, key)) { + if (tree_base_device->coordToKeyChecked(p, key)) { size_t hash = OcTreeKey::KeyHash{}(key) % max_hash_elements; if (occupied_hash_arr_device->addKeyAtomicAt((unsigned)1, hash) == 0) {} occupied_hashes_device->addKeyAtomic(KeyHash(key, hash)); @@ -210,9 +217,9 @@ __global__ void computeUpdateNoBBxNoRange( } } -__global__ void reset( +__global__ void computeUpdateReset( UnsignedArrayCuda* arr_device, - ArrayCuda* hashes_device, + TArray* hashes_device, size_t size ) { @@ -224,27 +231,12 @@ __global__ void reset( } } -void verifyTable(const HashSetCuda &table ) { - int free_cells = 0, occ = 0, count = 0; - for (size_t i = 0; i < table.count(); i++) { - auto current = table.element(i); - while (current != NULL) { - if (current->value_ == 0) - ++free_cells; - else if (current->value_ == 1) - ++occ; - ++count; - current = current->next_; - } - } - printf( "%d elements found in hash table with %d free and %d occupied.\n", count, free_cells, occ); -} - template -OctomapUpdaterCuda::OctomapUpdaterCuda( +CudaOctomapUpdater::CudaOctomapUpdater( octomap::OccupancyOcTreeBase* tree_base, const double& max_range, - const size_t& scan_size) : + const size_t& scan_size, + const bool& print_info) : tree_base_(tree_base), max_range_(max_range) { @@ -253,34 +245,38 @@ OctomapUpdaterCuda::OctomapUpdaterCuda( use_bbx_limit_ = tree_base_->bbxSet(); res_ = tree_base_->getResolution(); res_half_ = res_ * 0.5; - if (max_range < 10.0) { + if (max_range < 0.0) { + ray_size_ = 100.0 / res_; + } else if (max_range < 10.0) { ray_size_ = 10.0 / res_; } else if (max_range < 20.0) { ray_size_ = 20.0 / res_; } - std::cout << "ray_size_:" << ray_size_ << std::endl; KeyRayConfig::setMaxSize(ray_size_); - std::cout << "Setting up cuda updater for the scan size:" << scan_size_ << std::endl; - std::cout << "scan_size_:" << scan_size_ << std::endl; int warp_size = 32; n_total_threads_ = std::ceil(scan_size_ / (float) warp_size) * warp_size; n_threads_per_block_ = min(n_total_threads_, 256); n_blocks_ = n_total_threads_ / n_threads_per_block_; - std::cout << "Total number of threads: " << n_total_threads_ << std::endl; - std::cout << "Total number of blocks: " << n_blocks_ << std::endl; - std::cout << "Threads per block: " << n_threads_per_block_ << std::endl; n_rays_ = n_total_threads_; - std::cout << + + if (print_info) { + std::cout << "ray_size_:" << ray_size_ << std::endl; + std::cout << "Setting up cuda updater for the scan size:" << scan_size_ << std::endl; + std::cout << "scan_size_:" << scan_size_ << std::endl; + std::cout << "Total number of threads: " << n_total_threads_ << std::endl; + std::cout << "Total number of blocks: " << n_blocks_ << std::endl; + std::cout << "Threads per block: " << n_threads_per_block_ << std::endl; + std::cout << "Memory used by rays:" << n_rays_ * (ray_size_ * sizeof(OcTreeKey) + sizeof(KeyArrayCuda)) << " bytes. " << std::endl; - + } } template -OctomapUpdaterCuda::~OctomapUpdaterCuda() { +CudaOctomapUpdater::~CudaOctomapUpdater() { for (int i = 0; i < n_rays_; ++i) { rays_device_[i].freeDevice(); } @@ -290,7 +286,7 @@ OctomapUpdaterCuda::~OctomapUpdaterCuda() { } template -void OctomapUpdaterCuda::initialize() { +void CudaOctomapUpdater::initialize() { // make a copy of tree for device usage - need a better way ? or idk cudaCheckErrors(cudaMallocManaged(&tree_base_device_, sizeof(octomap::OccupancyOcTreeBase))); cudaCheckErrors(cudaMemcpy(tree_base_device_, tree_base_, sizeof(octomap::OccupancyOcTreeBase), cudaMemcpyHostToDevice)); @@ -314,24 +310,25 @@ void OctomapUpdaterCuda::initialize() { cudaCheckErrors(cudaMallocManaged(&occupied_hash_arr_device_, sizeof(UnsignedArrayCuda))); cudaCheckErrors(cudaMemcpy(occupied_hash_arr_device_, &occupied_hash_arr_host, sizeof(UnsignedArrayCuda), cudaMemcpyHostToDevice)); - ArrayCuda free_hashes(max_hash_elements_); - ArrayCuda occupied_hashes(max_hash_elements_); + TArray free_hashes(max_hash_elements_); + TArray occupied_hashes(max_hash_elements_); free_hashes.allocateDevice(); occupied_hashes.allocateDevice(); - cudaCheckErrors(cudaMallocManaged(&free_hashes_device_, sizeof(ArrayCuda))); - cudaCheckErrors(cudaMemcpy(free_hashes_device_, &free_hashes, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); - cudaCheckErrors(cudaMallocManaged(&occupied_hashes_device_, sizeof(ArrayCuda))); - cudaCheckErrors(cudaMemcpy(occupied_hashes_device_, &occupied_hashes, sizeof(ArrayCuda), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMallocManaged(&free_hashes_device_, sizeof(TArray))); + cudaCheckErrors(cudaMemcpy(free_hashes_device_, &free_hashes, sizeof(TArray), cudaMemcpyHostToDevice)); + cudaCheckErrors(cudaMallocManaged(&occupied_hashes_device_, sizeof(TArray))); + cudaCheckErrors(cudaMemcpy(occupied_hashes_device_, &occupied_hashes, sizeof(TArray), cudaMemcpyHostToDevice)); // initialized scan points cudaCheckErrors(cudaMallocManaged(&scan_device, scan_size_ * sizeof(octomap::point3d))); } template -void OctomapUpdaterCuda::computeUpdate( +void CudaOctomapUpdater::computeUpdate( const octomap::Pointcloud& scan, const octomap::point3d& origin, - const double& max_range) + const double& max_range, + const bool& lazy_eval) { auto t_start = boost::chrono::high_resolution_clock::now(); // total number of rays or points @@ -372,17 +369,17 @@ void OctomapUpdaterCuda::computeUpdate( } cudaCheckErrors(cudaDeviceSynchronize()); for (int i = 0; i < occupied_hashes_device_->size(); ++i) { - tree_base_->updateNode(occupied_hashes_device_->get(i).key_, false, false); + tree_base_->updateNode(occupied_hashes_device_->get(i).key_, false, lazy_eval); } for (int i = 0; i < occupied_hashes_device_->size(); ++i) { - tree_base_->updateNode(occupied_hashes_device_->get(i).key_, true, false); + tree_base_->updateNode(occupied_hashes_device_->get(i).key_, true, lazy_eval); } - reset<<>>(free_hash_arr_device_, free_hashes_device_, free_hashes_device_->size()); - reset<<>>(occupied_hash_arr_device_, occupied_hashes_device_, occupied_hashes_device_->size()); + computeUpdateReset<<>>(free_hash_arr_device_, free_hashes_device_, free_hashes_device_->size()); + computeUpdateReset<<>>(occupied_hash_arr_device_, occupied_hashes_device_, occupied_hashes_device_->size()); free_hashes_device_->reset(); occupied_hashes_device_->reset(); } -template class OctomapUpdaterCuda; -template class OctomapUpdaterCuda; -template class OctomapUpdaterCuda; +template class CudaOctomapUpdater; +template class CudaOctomapUpdater; +template class CudaOctomapUpdater; #endif \ No newline at end of file diff --git a/octomap/src/KeyArrayCuda.cu b/octomap/src/TArray.cu similarity index 60% rename from octomap/src/KeyArrayCuda.cu rename to octomap/src/TArray.cu index 4ecf0372..08c26db1 100644 --- a/octomap/src/KeyArrayCuda.cu +++ b/octomap/src/TArray.cu @@ -1,11 +1,11 @@ #ifdef __CUDA_SUPPORT__ -#include +#include namespace octomap { int KeyRayConfig::max_ray_size_ = 100; template - __device__ void ArrayCuda::addKeyAtomic(const T& k) { + __device__ void TArray::addKeyAtomic(const T& k) { ray_[atomicAdd(&last_, 1)] = k; } @@ -13,8 +13,8 @@ namespace octomap { return atomicCAS((unsigned*)&ray_[l], 0, k); } - template class ArrayCuda; - template class ArrayCuda; - template class ArrayCuda; + template class TArray; + template class TArray; + template class TArray; } #endif \ No newline at end of file From a0a8c68975457f7b4d3bc8b7cfd1901a8eb1451e Mon Sep 17 00:00:00 2001 From: saifullah3396 Date: Tue, 28 Jan 2020 11:09:53 +0500 Subject: [PATCH 32/32] Fixed a mistake of free/occupied hash updates. --- octomap/CMakeModules/CompilerSettings.cmake | 2 +- octomap/src/CudaOctomapUpdater.cu | 12 ++++++------ 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/octomap/CMakeModules/CompilerSettings.cmake b/octomap/CMakeModules/CompilerSettings.cmake index a1b881e9..d2ed068a 100644 --- a/octomap/CMakeModules/CompilerSettings.cmake +++ b/octomap/CMakeModules/CompilerSettings.cmake @@ -14,7 +14,7 @@ IF (CMAKE_COMPILER_IS_GNUCC) SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG") SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g") ## # Shared object compilation under 64bit (vtable) - ## ADD_DEFINITIONS(-fPIC) + set(CMAKE_POSITION_INDEPENDENT_CODE ON) # enables -fPIC in applicable compilers (required to avoid link errors in some cases) ENDIF() diff --git a/octomap/src/CudaOctomapUpdater.cu b/octomap/src/CudaOctomapUpdater.cu index f25faef1..e76b4c1e 100644 --- a/octomap/src/CudaOctomapUpdater.cu +++ b/octomap/src/CudaOctomapUpdater.cu @@ -245,11 +245,11 @@ CudaOctomapUpdater::CudaOctomapUpdater( use_bbx_limit_ = tree_base_->bbxSet(); res_ = tree_base_->getResolution(); res_half_ = res_ * 0.5; - if (max_range < 0.0) { + if (max_range <= 0.0) { ray_size_ = 100.0 / res_; - } else if (max_range < 10.0) { + } else if (max_range <= 10.0) { ray_size_ = 10.0 / res_; - } else if (max_range < 20.0) { + } else if (max_range <= 20.0) { ray_size_ = 20.0 / res_; } KeyRayConfig::setMaxSize(ray_size_); @@ -258,7 +258,7 @@ CudaOctomapUpdater::CudaOctomapUpdater( n_total_threads_ = std::ceil(scan_size_ / (float) warp_size) * warp_size; n_threads_per_block_ = min(n_total_threads_, 256); n_blocks_ = n_total_threads_ / n_threads_per_block_; - n_rays_ = n_total_threads_; + n_rays_ = n_total_threads_; // each thread works on a different ray if (print_info) { std::cout << "ray_size_:" << ray_size_ << std::endl; @@ -368,8 +368,8 @@ void CudaOctomapUpdater::computeUpdate( } } cudaCheckErrors(cudaDeviceSynchronize()); - for (int i = 0; i < occupied_hashes_device_->size(); ++i) { - tree_base_->updateNode(occupied_hashes_device_->get(i).key_, false, lazy_eval); + for (int i = 0; i < free_hashes_device_->size(); ++i) { + tree_base_->updateNode(free_hashes_device_->get(i).key_, false, lazy_eval); } for (int i = 0; i < occupied_hashes_device_->size(); ++i) { tree_base_->updateNode(occupied_hashes_device_->get(i).key_, true, lazy_eval);