megenginelite-sys 1.8.2

/*
 * Copyright 2018-2019 NVIDIA Corporation.  All rights reserved.
 *
 * Please refer to the NVIDIA end user license agreement (EULA) associated
 * with this source code for terms and conditions that govern your use of
 * this software. Any use, reproduction, disclosure, or distribution of
 * this software and related documentation outside the terms of the EULA
 * is strictly prohibited.
 *
 */

/**
 * \file src/opr/impl/nvof/NvOF.h
 * MegEngine is Licensed under the Apache License, Version 2.0 (the "License")
 *
 * Copyright (c) 2014-2021 Megvii Inc. All rights reserved.
 *
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * "AS IS" BASIS, WITHOUT ARRANTIES OR CONDITIONS OF ANY KIND, either express or
 * implied.
 */

#include <cuda.h>
#include "megbrain_build_config.h"

#if MGB_CUDA
#pragma once
#include <stdint.h>
#include <string.h>
#include <iostream>
#include <memory>
#include <mutex>
#include <sstream>
#include <string>
#include <vector>
#include "NvOFDefines.h"
#include "megbrain/common.h"
#include "megbrain/exception.h"
#include "nvOpticalFlowCommon.h"

using namespace mgb;
/**
 * @brief Exception class for error reporting from NvOFAPI calls
 */
class NvOFException : public std::exception {
public:
    NvOFException(const std::string& errorStr, const NV_OF_STATUS errorCode)
            : m_errorString(errorStr), m_errorCode(errorCode) {}
    virtual ~NvOFException() throw() {}
    virtual const char* what() const throw() { return m_errorString.c_str(); }
    NV_OF_STATUS getErrorCode() const { return m_errorCode; }
    const std::string& getErrorString() const { return m_errorString; }

private:
    std::string m_errorString;
    NV_OF_STATUS m_errorCode;
};

#define NVOF_API_CALL(nvOFAPI)                                               \
    do {                                                                     \
        NV_OF_STATUS errorCode = nvOFAPI;                                    \
        if (errorCode != NV_OF_SUCCESS) {                                    \
            std::ostringstream errorLog;                                     \
            errorLog << #nvOFAPI << "returned error " << errorCode;          \
            std::cout << "Exception: " << __FILE__ << ":" << __LINE__ << ":" \
                      << errorLog.str() << std::endl;                        \
            mgb_throw(MegBrainError, "NVOF_API_CALL ERROR");                 \
        }                                                                    \
    } while (0)

/*
 * NvOFBuffer is a wrapper over the NvOFGPUBufferHandle object defined in
 * NVOF API and provides methods for various operations associated with the
 * GPU buffer.
 */
class NvOFBuffer {
public:
    virtual ~NvOFBuffer() {}
    uint32_t getWidth() { return m_width; }
    uint32_t getHeight() { return m_height; }
    uint32_t getElementSize() { return m_elementSize; }
    NV_OF_BUFFER_FORMAT getBufferFormat() { return m_eBufFmt; }
    NV_OF_BUFFER_USAGE getBufferUsage() { return m_eBufUsage; }

    /*
     * Uploads data from the host buffer specified in 'pData' to the GPU buffer.
     */
    virtual void UploadData(const void* pData, CUmemorytype mem_type) = 0;

    /*
     * Download data to the host buffer specified in 'pData' from the GPU
     * buffer.
     */
    virtual void DownloadData(void* pData, CUmemorytype mem_type) = 0;

    /*
     * SyncBuffer method makes sure that data upload is complete on input/hint
     * GPU buffer. It also makes sure that data is ready for download from
     * output/cost GPU buffer.
     */
    virtual void SyncBuffer() {}

protected:
    NvOFBuffer(const NV_OF_BUFFER_DESCRIPTOR& desc, uint32_t elementSize)
            : m_hGPUBuffer(nullptr),
              m_width(desc.width),
              m_elementSize(elementSize),
              m_height(desc.height),
              m_eBufUsage(desc.bufferUsage),
              m_eBufFmt(desc.bufferFormat) {}
    NvOFGPUBufferHandle getOFBufferHandle() { return m_hGPUBuffer; }

    NvOFGPUBufferHandle m_hGPUBuffer;

private:
    uint32_t m_width;
    uint32_t m_elementSize;
    uint32_t m_height;
    NV_OF_BUFFER_USAGE m_eBufUsage;
    NV_OF_BUFFER_FORMAT m_eBufFmt;
    friend class NvOF;
};

/*
 * NvOFAPI is a helper class for loading the library which implements the
 * NVOF API. Classes derived from this provide access to the common and
 * interface-specific API calls from NVOF API.
 */
class NvOFAPI {
public:
    NvOFAPI() { LoadNvOFAPI(); }
    virtual ~NvOFAPI() {}

protected:
    HMODULE m_hModule;
    std::mutex m_lock;

private:
    void LoadNvOFAPI();
};

/**
 * @brief Base class for different optical flow interfaces
 */
class NvOF {
public:
    /**
     * @brief NvOF class virtual destructor
     */
    virtual ~NvOF(){};

    /**
     * @brief Create one or more GPU buffers for the specified usage mode
     */
    std::vector<NvOFBufferObj> CreateBuffers(
            NV_OF_BUFFER_USAGE usage, uint32_t numBuffers);

    /**
     * @brief Create one or more GPU buffers for the specified width, height and
     * usage mode,
     */
    std::vector<NvOFBufferObj> CreateBuffers(
            uint32_t nWidth, uint32_t nHeight, NV_OF_BUFFER_USAGE usage,
            uint32_t numBuffers);

    /**
     * @brief This function is used to estimate the optical flow from image1 to
     * image2.
     */
    void Execute(
            NvOFBuffer* image1, NvOFBuffer* image2, NvOFBuffer* outputBuffer,
            NvOFBuffer* hintBuffer = nullptr, NvOFBuffer* costBuffer = nullptr);

protected:
    /**
     * @brief NvOF class constructor.
     * NvOF class constructor cannot be called directly by the application.
     */
    NvOF(uint32_t nWidth, uint32_t nHeight, NV_OF_BUFFER_FORMAT eInBufFmt,
         NV_OF_MODE eMode = NV_OF_MODE_OPTICALFLOW,
         NV_OF_PERF_LEVEL preset = NV_OF_PERF_LEVEL_SLOW);

public:
    void Init(uint32_t nOutGridSize);

    /*
     * Check for the grid size support by hw
     */
    bool CheckGridSize(uint32_t nOutGridSize);

    /*
     * Retrieves the next minimum grid size supported for the specified grid
     * size
     */
    bool GetNextMinGridSize(uint32_t nOutGridSize, uint32_t& nextMinOutGridSize);

private:
    /*
     * Retrieves the output grid sizes supported
     */
    virtual void DoGetOutputGridSizes(uint32_t* vals, uint32_t* size) = 0;

    /*
     * Initializes the NVOF API.
     */
    virtual void DoInit(const NV_OF_INIT_PARAMS& initParams) = 0;

    /*
     * Executes the estimation of optical flow/stereo disparity between 2
     * images.
     */
    virtual void DoExecute(
            const NV_OF_EXECUTE_INPUT_PARAMS& executeInParams,
            NV_OF_EXECUTE_OUTPUT_PARAMS& executeOutParams) = 0;

    /*
     * Allocates one or more GPU buffers.
     */
    virtual std::vector<NvOFBufferObj> DoAllocBuffers(
            NV_OF_BUFFER_DESCRIPTOR ofBufferDesc, uint32_t elementSize,
            uint32_t numBuffers) = 0;

protected:
    uint32_t m_nOutGridSize;
    NV_OF_PERF_LEVEL m_ePreset;
    NV_OF_MODE m_ofMode;
    NV_OF_BUFFER_DESCRIPTOR m_inputBufferDesc;
    NV_OF_BUFFER_DESCRIPTOR m_outputBufferDesc;
    NV_OF_BUFFER_DESCRIPTOR m_costBufferDesc;
    NV_OF_BUFFER_DESCRIPTOR m_hintBufferDesc;

    uint32_t m_outputElementSize;
    uint32_t m_inputElementSize;
    uint32_t m_costBufElementSize;
    uint32_t m_hintBufElementSize;

    NV_OF_INIT_PARAMS m_initParams;
};

#endif