| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
| // Redistribution and use in source and binary forms, with or without |
| // modification, are permitted provided that the following conditions are met: |
| // |
| // * Redistributions of source code must retain the above copyright notice, |
| // this list of conditions and the following disclaimer. |
| // * Redistributions in binary form must reproduce the above copyright notice, |
| // this list of conditions and the following disclaimer in the documentation |
| // and/or other materials provided with the distribution. |
| // * Neither the name of Google Inc. nor the names of its contributors may be |
| // used to endorse or promote products derived from this software without |
| // specific prior written permission. |
| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: joydeepb@cs.utexas.edu (Joydeep Biswas) |
| |
| #include "ceres/cuda_kernels_vector_ops.h" |
| |
| #include <math.h> |
| |
| #include <limits> |
| #include <string> |
| #include <vector> |
| |
| #include "ceres/context_impl.h" |
| #include "ceres/cuda_buffer.h" |
| #include "ceres/internal/config.h" |
| #include "ceres/internal/eigen.h" |
| #include "glog/logging.h" |
| #include "gtest/gtest.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| #ifndef CERES_NO_CUDA |
| |
| TEST(CudaFP64ToFP32, SimpleConversions) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<double> fp64_cpu = {1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0}; |
| CudaBuffer<double> fp64_gpu(&context); |
| fp64_gpu.CopyFromCpuVector(fp64_cpu); |
| CudaBuffer<float> fp32_gpu(&context); |
| fp32_gpu.Reserve(fp64_cpu.size()); |
| CudaFP64ToFP32(fp64_gpu.data(), |
| fp32_gpu.data(), |
| fp64_cpu.size(), |
| context.DefaultStream()); |
| std::vector<float> fp32_cpu(fp64_cpu.size()); |
| fp32_gpu.CopyToCpu(fp32_cpu.data(), fp32_cpu.size()); |
| for (int i = 0; i < fp32_cpu.size(); ++i) { |
| EXPECT_EQ(fp32_cpu[i], static_cast<float>(fp64_cpu[i])); |
| } |
| } |
| |
| TEST(CudaFP64ToFP32, NumericallyExtremeValues) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<double> fp64_cpu = { |
| DBL_MIN, 10.0 * DBL_MIN, DBL_MAX, 0.1 * DBL_MAX}; |
| // First just make sure that the compiler has represented these values |
| // accurately as fp64. |
| EXPECT_GT(fp64_cpu[0], 0.0); |
| EXPECT_GT(fp64_cpu[1], 0.0); |
| EXPECT_TRUE(std::isfinite(fp64_cpu[2])); |
| EXPECT_TRUE(std::isfinite(fp64_cpu[3])); |
| CudaBuffer<double> fp64_gpu(&context); |
| fp64_gpu.CopyFromCpuVector(fp64_cpu); |
| CudaBuffer<float> fp32_gpu(&context); |
| fp32_gpu.Reserve(fp64_cpu.size()); |
| CudaFP64ToFP32(fp64_gpu.data(), |
| fp32_gpu.data(), |
| fp64_cpu.size(), |
| context.DefaultStream()); |
| std::vector<float> fp32_cpu(fp64_cpu.size()); |
| fp32_gpu.CopyToCpu(fp32_cpu.data(), fp32_cpu.size()); |
| EXPECT_EQ(fp32_cpu[0], 0.0f); |
| EXPECT_EQ(fp32_cpu[1], 0.0f); |
| EXPECT_EQ(fp32_cpu[2], std::numeric_limits<float>::infinity()); |
| EXPECT_EQ(fp32_cpu[3], std::numeric_limits<float>::infinity()); |
| } |
| |
| TEST(CudaFP32ToFP64, SimpleConversions) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<float> fp32_cpu = {1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0}; |
| CudaBuffer<float> fp32_gpu(&context); |
| fp32_gpu.CopyFromCpuVector(fp32_cpu); |
| CudaBuffer<double> fp64_gpu(&context); |
| fp64_gpu.Reserve(fp32_cpu.size()); |
| CudaFP32ToFP64(fp32_gpu.data(), |
| fp64_gpu.data(), |
| fp32_cpu.size(), |
| context.DefaultStream()); |
| std::vector<double> fp64_cpu(fp32_cpu.size()); |
| fp64_gpu.CopyToCpu(fp64_cpu.data(), fp64_cpu.size()); |
| for (int i = 0; i < fp64_cpu.size(); ++i) { |
| EXPECT_EQ(fp64_cpu[i], static_cast<double>(fp32_cpu[i])); |
| } |
| } |
| |
| TEST(CudaSetZeroFP32, NonZeroInput) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<float> fp32_cpu = {1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0}; |
| CudaBuffer<float> fp32_gpu(&context); |
| fp32_gpu.CopyFromCpuVector(fp32_cpu); |
| CudaSetZeroFP32(fp32_gpu.data(), fp32_cpu.size(), context.DefaultStream()); |
| std::vector<float> fp32_cpu_zero(fp32_cpu.size()); |
| fp32_gpu.CopyToCpu(fp32_cpu_zero.data(), fp32_cpu_zero.size()); |
| for (int i = 0; i < fp32_cpu_zero.size(); ++i) { |
| EXPECT_EQ(fp32_cpu_zero[i], 0.0f); |
| } |
| } |
| |
| TEST(CudaSetZeroFP64, NonZeroInput) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<double> fp64_cpu = {1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0}; |
| CudaBuffer<double> fp64_gpu(&context); |
| fp64_gpu.CopyFromCpuVector(fp64_cpu); |
| CudaSetZeroFP64(fp64_gpu.data(), fp64_cpu.size(), context.DefaultStream()); |
| std::vector<double> fp64_cpu_zero(fp64_cpu.size()); |
| fp64_gpu.CopyToCpu(fp64_cpu_zero.data(), fp64_cpu_zero.size()); |
| for (int i = 0; i < fp64_cpu_zero.size(); ++i) { |
| EXPECT_EQ(fp64_cpu_zero[i], 0.0); |
| } |
| } |
| |
| TEST(CudaDsxpy, DoubleValues) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<float> fp32_cpu_a = {1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0}; |
| std::vector<double> fp64_cpu_b = { |
| 1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0}; |
| CudaBuffer<float> fp32_gpu_a(&context); |
| fp32_gpu_a.CopyFromCpuVector(fp32_cpu_a); |
| CudaBuffer<double> fp64_gpu_b(&context); |
| fp64_gpu_b.CopyFromCpuVector(fp64_cpu_b); |
| CudaDsxpy(fp64_gpu_b.data(), |
| fp32_gpu_a.data(), |
| fp32_gpu_a.size(), |
| context.DefaultStream()); |
| fp64_gpu_b.CopyToCpu(fp64_cpu_b.data(), fp64_cpu_b.size()); |
| for (int i = 0; i < fp64_cpu_b.size(); ++i) { |
| EXPECT_DOUBLE_EQ(fp64_cpu_b[i], 2.0 * fp32_cpu_a[i]); |
| } |
| } |
| |
| TEST(CudaDtDxpy, ComputeFourItems) { |
| ContextImpl context; |
| std::string cuda_error; |
| EXPECT_TRUE(context.InitCuda(&cuda_error)) << cuda_error; |
| std::vector<double> x_cpu = {1, 2, 3, 4}; |
| std::vector<double> y_cpu = {4, 3, 2, 1}; |
| std::vector<double> d_cpu = {10, 20, 30, 40}; |
| CudaBuffer<double> x_gpu(&context); |
| x_gpu.CopyFromCpuVector(x_cpu); |
| CudaBuffer<double> y_gpu(&context); |
| y_gpu.CopyFromCpuVector(y_cpu); |
| CudaBuffer<double> d_gpu(&context); |
| d_gpu.CopyFromCpuVector(d_cpu); |
| CudaDtDxpy(y_gpu.data(), |
| d_gpu.data(), |
| x_gpu.data(), |
| y_gpu.size(), |
| context.DefaultStream()); |
| y_gpu.CopyToCpu(y_cpu.data(), y_cpu.size()); |
| EXPECT_DOUBLE_EQ(y_cpu[0], 4.0 + 10.0 * 10.0 * 1.0); |
| EXPECT_DOUBLE_EQ(y_cpu[1], 3.0 + 20.0 * 20.0 * 2.0); |
| EXPECT_DOUBLE_EQ(y_cpu[2], 2.0 + 30.0 * 30.0 * 3.0); |
| EXPECT_DOUBLE_EQ(y_cpu[3], 1.0 + 40.0 * 40.0 * 4.0); |
| } |
| |
| #endif // CERES_NO_CUDA |
| |
| } // namespace internal |
| } // namespace ceres |