Add support for dense CUDA solvers #3
1. Add CUDA initialization and cleanup management to the
ContextImpl object. The ContextImpl is now solely responsible
for managing CUDA-related resources.
2. All CUDA dense solvers now use lazy CUDA initialization
via the ContextImpl object.
Change-Id: Ief456860c72e462367ee997d389c19e2bff50baf
diff --git a/internal/ceres/context_impl.cc b/internal/ceres/context_impl.cc
index 1acf724..ed239a5 100644
--- a/internal/ceres/context_impl.cc
+++ b/internal/ceres/context_impl.cc
@@ -30,11 +30,73 @@
#include "ceres/context_impl.h"
+#include <string>
+
+#ifndef CERES_NO_CUDA
+#include "cuda_runtime.h"
+#include "cublas_v2.h"
+#include "cusolverDn.h"
+#endif // CERES_NO_CUDA
+
namespace ceres {
namespace internal {
ContextImpl::ContextImpl() = default;
+#ifndef CERES_NO_CUDA
+bool ContextImpl::InitCUDA(std::string* message) {
+ if (cuda_initialized_) {
+ return true;
+ }
+ if (cublasCreate(&cublas_handle_) != CUBLAS_STATUS_SUCCESS) {
+ *message = "cuBLAS::cublasCreate failed.";
+ cublas_handle_ = nullptr;
+ return false;
+ }
+ if (cusolverDnCreate(&cusolver_handle_) != CUSOLVER_STATUS_SUCCESS) {
+ *message = "cuSolverDN::cusolverDnCreate failed.";
+ cusolver_handle_ = nullptr;
+ cublasDestroy(cublas_handle_);
+ cublas_handle_ = nullptr;
+ return false;
+ }
+ if (cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) !=
+ cudaSuccess) {
+ *message = "CUDA::cudaStreamCreateWithFlags failed.";
+ cusolverDnDestroy(cusolver_handle_);
+ cublasDestroy(cublas_handle_);
+ cusolver_handle_ = nullptr;
+ cublas_handle_ = nullptr;
+ stream_ = nullptr;
+ return false;
+ }
+ if (cusolverDnSetStream(cusolver_handle_, stream_) !=
+ CUSOLVER_STATUS_SUCCESS ||
+ cublasSetStream(cublas_handle_, stream_) != CUBLAS_STATUS_SUCCESS) {
+ *message =
+ "cuSolverDN::cusolverDnSetStream or cuBLAS::cublasSetStream failed.";
+ cusolverDnDestroy(cusolver_handle_);
+ cublasDestroy(cublas_handle_);
+ cudaStreamDestroy(stream_);
+ cusolver_handle_ = nullptr;
+ cublas_handle_ = nullptr;
+ stream_ = nullptr;
+ return false;
+ }
+ cuda_initialized_ = true;
+ return true;
+}
+#endif // CERES_NO_CUDA
+
+ContextImpl::~ContextImpl() {
+#ifndef CERES_NO_CUDA
+ if (cuda_initialized_) {
+ cusolverDnDestroy(cusolver_handle_);
+ cublasDestroy(cublas_handle_);
+ cudaStreamDestroy(stream_);
+ }
+#endif // CERES_NO_CUDA
+}
void ContextImpl::EnsureMinimumThreads(int num_threads) {
#ifdef CERES_USE_CXX_THREADS
thread_pool.Resize(num_threads);
diff --git a/internal/ceres/context_impl.h b/internal/ceres/context_impl.h
index 7d1e6d3..1944549 100644
--- a/internal/ceres/context_impl.h
+++ b/internal/ceres/context_impl.h
@@ -40,6 +40,12 @@
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
+#ifndef CERES_NO_CUDA
+#include "cuda_runtime.h"
+#include "cublas_v2.h"
+#include "cusolverDn.h"
+#endif // CERES_NO_CUDA
+
#ifdef CERES_USE_CXX_THREADS
#include "ceres/thread_pool.h"
#endif // CERES_USE_CXX_THREADS
@@ -50,6 +56,7 @@
class CERES_NO_EXPORT ContextImpl : public Context {
public:
ContextImpl();
+ ~ContextImpl() override;
ContextImpl(const ContextImpl&) = delete;
void operator=(const ContextImpl&) = delete;
@@ -62,6 +69,23 @@
#ifdef CERES_USE_CXX_THREADS
ThreadPool thread_pool;
#endif // CERES_USE_CXX_THREADS
+
+#ifndef CERES_NO_CUDA
+ // Initializes the cuSolverDN context, creates an asynchronous stream, and
+ // associates the stream with cuSolverDN. Returns true iff initialization was
+ // successful, else it returns false and a human-readable error message is
+ // returned.
+ bool InitCUDA(std::string* message);
+
+ // Handle to the cuSOLVER context.
+ cusolverDnHandle_t cusolver_handle_ = nullptr;
+ // Handle to cuBLAS context.
+ cublasHandle_t cublas_handle_ = nullptr;
+ // CUDA device stream.
+ cudaStream_t stream_ = nullptr;
+ // Indicates whether all the CUDA resources have been initialized.
+ bool cuda_initialized_ = false;
+#endif // CERES_NO_CUDA
};
} // namespace internal
diff --git a/internal/ceres/cuda_dense_cholesky_test.cc b/internal/ceres/cuda_dense_cholesky_test.cc
index 6c4dcc3..cca97d8 100644
--- a/internal/ceres/cuda_dense_cholesky_test.cc
+++ b/internal/ceres/cuda_dense_cholesky_test.cc
@@ -43,6 +43,8 @@
TEST(CUDADenseCholesky, InvalidOptionOnCreate) {
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
auto dense_cuda_solver = CUDADenseCholesky::Create(options);
EXPECT_EQ(dense_cuda_solver, nullptr);
}
@@ -56,6 +58,8 @@
0, 0, 0, 1;
const Eigen::Vector4d b = Eigen::Vector4d::Ones();
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseCholesky::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
@@ -80,6 +84,8 @@
0, 0, 0;
const Eigen::Vector3d b = Eigen::Vector3d::Ones();
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseCholesky::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
@@ -97,6 +103,8 @@
0, 0, -1;
const Eigen::Vector3d b = Eigen::Vector3d::Ones();
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseCholesky::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
@@ -110,6 +118,8 @@
TEST(CUDADenseCholesky, MustFactorizeBeforeSolve) {
const Eigen::Vector3d b = Eigen::Vector3d::Ones();
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseCholesky::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
diff --git a/internal/ceres/cuda_dense_qr_test.cc b/internal/ceres/cuda_dense_qr_test.cc
index 15ba00a..6a64298 100644
--- a/internal/ceres/cuda_dense_qr_test.cc
+++ b/internal/ceres/cuda_dense_qr_test.cc
@@ -56,6 +56,8 @@
0, 0, 0, 1;
const Eigen::Vector4d b = Eigen::Vector4d::Ones();
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseQR::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
@@ -85,6 +87,8 @@
0, 0;
const std::vector<double> b(4, 1.0);
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseQR::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
@@ -107,6 +111,8 @@
TEST(CUDADenseQR, MustFactorizeBeforeSolve) {
const Eigen::Vector3d b = Eigen::Vector3d::Ones();
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = CUDA;
auto dense_cuda_solver = CUDADenseQR::Create(options);
ASSERT_NE(dense_cuda_solver, nullptr);
@@ -123,6 +129,8 @@
using SolutionType = Eigen::Matrix<double, Eigen::Dynamic, 1>;
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = ceres::CUDA;
std::unique_ptr<DenseQR> dense_qr = CUDADenseQR::Create(options);
diff --git a/internal/ceres/dense_cholesky.cc b/internal/ceres/dense_cholesky.cc
index 2d8c2da..f426df5 100644
--- a/internal/ceres/dense_cholesky.cc
+++ b/internal/ceres/dense_cholesky.cc
@@ -36,6 +36,7 @@
#include <vector>
#ifndef CERES_NO_CUDA
+#include "ceres/context_impl.h"
#include "cuda_runtime.h"
#include "cusolverDn.h"
#endif // CERES_NO_CUDA
@@ -193,36 +194,17 @@
#ifndef CERES_NO_CUDA
-bool CUDADenseCholesky::Init(std::string* message) {
- if (cusolverDnCreate(&cusolver_handle_) != CUSOLVER_STATUS_SUCCESS) {
- *message = "cuSolverDN::cusolverDnCreate failed.";
+bool CUDADenseCholesky::Init(ContextImpl* context, std::string* message) {
+ if (!context->InitCUDA(message)) {
return false;
}
- if (cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) !=
- cudaSuccess) {
- *message = "CUDA::cudaStreamCreateWithFlags failed.";
- cusolverDnDestroy(cusolver_handle_);
- return false;
- }
- if (cusolverDnSetStream(cusolver_handle_, stream_) !=
- CUSOLVER_STATUS_SUCCESS) {
- *message = "cuSolverDN::cusolverDnSetStream failed.";
- cudaStreamDestroy(stream_);
- cusolverDnDestroy(cusolver_handle_);
- return false;
- }
+ cusolver_handle_ = context->cusolver_handle_;
+ stream_ = context->stream_;
error_.Reserve(1);
*message = "CUDADenseCholesky::Init Success.";
return true;
}
-CUDADenseCholesky::~CUDADenseCholesky() {
- if (cusolver_handle_ != nullptr) {
- CHECK_EQ(cusolverDnDestroy(cusolver_handle_), CUSOLVER_STATUS_SUCCESS);
- CHECK_EQ(cudaStreamDestroy(stream_), cudaSuccess);
- }
-}
-
LinearSolverTerminationType CUDADenseCholesky::Factorize(
int num_cols, double* lhs, std::string* message) {
factorize_result_ = LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
@@ -326,7 +308,7 @@
auto cuda_dense_cholesky =
std::unique_ptr<CUDADenseCholesky>(new CUDADenseCholesky());
std::string cuda_error;
- if (cuda_dense_cholesky->Init(&cuda_error)) {
+ if (cuda_dense_cholesky->Init(options.context, &cuda_error)) {
return cuda_dense_cholesky;
}
// Initialization failed, destroy the object (done automatically) and return a
diff --git a/internal/ceres/dense_cholesky.h b/internal/ceres/dense_cholesky.h
index 49d780c..b40e69a 100644
--- a/internal/ceres/dense_cholesky.h
+++ b/internal/ceres/dense_cholesky.h
@@ -44,6 +44,7 @@
#include "ceres/linear_solver.h"
#include "glog/logging.h"
#ifndef CERES_NO_CUDA
+#include "ceres/context_impl.h"
#include "cuda_runtime.h"
#include "cusolverDn.h"
#endif // CERES_NO_CUDA
@@ -140,7 +141,6 @@
public:
static std::unique_ptr<CUDADenseCholesky> Create(
const LinearSolver::Options& options);
- ~CUDADenseCholesky() override;
CUDADenseCholesky(const CUDADenseCholesky&) = delete;
CUDADenseCholesky& operator=(const CUDADenseCholesky&) = delete;
LinearSolverTerminationType Factorize(int num_cols,
@@ -152,11 +152,10 @@
private:
CUDADenseCholesky() = default;
- // Initializes the cuSolverDN context, creates an asynchronous stream, and
- // associates the stream with cuSolverDN. Returns true iff initialization was
- // successful, else it returns false and a human-readable error message is
- // returned.
- bool Init(std::string* message);
+ // Picks up the cuSolverDN and cuStream handles from the context. If
+ // the context is unable to initialize CUDA, returns false with a
+ // human-readable message indicating the reason.
+ bool Init(ContextImpl* context, std::string* message);
// Handle to the cuSOLVER context.
cusolverDnHandle_t cusolver_handle_ = nullptr;
diff --git a/internal/ceres/dense_cholesky_test.cc b/internal/ceres/dense_cholesky_test.cc
index eb1c336..034206a 100644
--- a/internal/ceres/dense_cholesky_test.cc
+++ b/internal/ceres/dense_cholesky_test.cc
@@ -65,6 +65,8 @@
using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = GetParam();
std::unique_ptr<DenseCholesky> dense_cholesky =
DenseCholesky::Create(options);
diff --git a/internal/ceres/dense_qr.cc b/internal/ceres/dense_qr.cc
index 77f04ad..ad9b64e 100644
--- a/internal/ceres/dense_qr.cc
+++ b/internal/ceres/dense_qr.cc
@@ -34,6 +34,7 @@
#include <memory>
#include <string>
#ifndef CERES_NO_CUDA
+#include "ceres/context_impl.h"
#include "cusolverDn.h"
#include "cublas_v2.h"
#endif // CERES_NO_CUDA
@@ -310,53 +311,18 @@
#ifndef CERES_NO_CUDA
-bool CUDADenseQR::Init(std::string* message) {
- if (cublasCreate(&cublas_handle_) != CUBLAS_STATUS_SUCCESS) {
- *message = "cuBLAS::cublasCreate failed.";
+bool CUDADenseQR::Init(ContextImpl* context, std::string* message) {
+ if (!context->InitCUDA(message)) {
return false;
}
- if (cusolverDnCreate(&cusolver_handle_) != CUSOLVER_STATUS_SUCCESS) {
- *message = "cuSolverDN::cusolverDnCreate failed.";
- return false;
- }
- if (cudaStreamCreateWithFlags(&stream_, cudaStreamNonBlocking) !=
- cudaSuccess) {
- *message = "CUDA::cudaStreamCreateWithFlags failed.";
- cusolverDnDestroy(cusolver_handle_);
- cublasDestroy(cublas_handle_);
- return false;
- }
- if (cusolverDnSetStream(cusolver_handle_, stream_) != CUSOLVER_STATUS_SUCCESS) {
- *message = "cuSolverDN::cusolverDnSetStream failed.";
- cusolverDnDestroy(cusolver_handle_);
- cudaStreamDestroy(stream_);
- cublasDestroy(cublas_handle_);
- return false;
- }
- if (cublasSetStream(cublas_handle_, stream_) != CUBLAS_STATUS_SUCCESS) {
- *message = "cuBLAS::cublasSetStream failed.";
- cusolverDnDestroy(cusolver_handle_);
- cublasDestroy(cublas_handle_);
- cudaStreamDestroy(stream_);
- return false;
- }
+ cublas_handle_ = context->cublas_handle_;
+ cusolver_handle_ = context->cusolver_handle_;
+ stream_ = context->stream_;
error_.Reserve(1);
*message = "CUDADenseQR::Init Success.";
return true;
}
-CUDADenseQR::~CUDADenseQR() {
- if (cublas_handle_ != nullptr) {
- CHECK_EQ(cublasDestroy(cublas_handle_), CUBLAS_STATUS_SUCCESS);
- }
- if (cusolver_handle_ != nullptr) {
- CHECK_EQ(cusolverDnDestroy(cusolver_handle_), CUSOLVER_STATUS_SUCCESS);
- }
- if (stream_ != nullptr) {
- CHECK_EQ(cudaStreamDestroy(stream_), cudaSuccess);
- }
-}
-
LinearSolverTerminationType CUDADenseQR::Factorize(
int num_rows, int num_cols, double* lhs, std::string* message) {
factorize_result_ = LinearSolverTerminationType::LINEAR_SOLVER_FATAL_ERROR;
@@ -496,7 +462,7 @@
auto cuda_dense_qr =
std::unique_ptr<CUDADenseQR>(new CUDADenseQR());
std::string cuda_error;
- if (cuda_dense_qr->Init(&cuda_error)) {
+ if (cuda_dense_qr->Init(options.context, &cuda_error)) {
return cuda_dense_qr;
}
// Initialization failed, destroy the object (done automatically) and return a
diff --git a/internal/ceres/dense_qr.h b/internal/ceres/dense_qr.h
index 8bcccf0..d42cf8c 100644
--- a/internal/ceres/dense_qr.h
+++ b/internal/ceres/dense_qr.h
@@ -45,7 +45,9 @@
#include "ceres/internal/export.h"
#include "ceres/linear_solver.h"
#include "glog/logging.h"
+
#ifndef CERES_NO_CUDA
+#include "ceres/context_impl.h"
#include "ceres/cuda_buffer.h"
#include "cuda_runtime.h"
#include "cublas_v2.h"
@@ -153,7 +155,6 @@
public:
static std::unique_ptr<CUDADenseQR> Create(
const LinearSolver::Options& options);
- ~CUDADenseQR() override;
CUDADenseQR(const CUDADenseQR&) = delete;
CUDADenseQR& operator=(const CUDADenseQR&) = delete;
LinearSolverTerminationType Factorize(int num_rows,
@@ -166,11 +167,10 @@
private:
CUDADenseQR();
- // Initializes the cuSolverDN context, creates an asynchronous stream, and
- // associates the stream with cuSolverDN. Returns true iff initialization was
- // successful, else it returns false and a human-readable error message is
- // returned.
- bool Init(std::string* message);
+ // Picks up the cuSolverDN, cuBLAS, and cuStream handles from the context. If
+ // the context is unable to initialize CUDA, returns false with a
+ // human-readable message indicating the reason.
+ bool Init(ContextImpl* context,std::string* message);
// Handle to the cuSOLVER context.
cusolverDnHandle_t cusolver_handle_ = nullptr;
diff --git a/internal/ceres/dense_qr_test.cc b/internal/ceres/dense_qr_test.cc
index d9d307e..f796186 100644
--- a/internal/ceres/dense_qr_test.cc
+++ b/internal/ceres/dense_qr_test.cc
@@ -67,6 +67,8 @@
using VectorType = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>;
LinearSolver::Options options;
+ ContextImpl context;
+ options.context = &context;
options.dense_linear_algebra_library_type = GetParam();
const double kEpsilon = std::numeric_limits<double>::epsilon() * 1.5e4;
std::unique_ptr<DenseQR> dense_qr = DenseQR::Create(options);
