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Merged
merged 1 commit into from
Jul 9, 2015
Merged

Build OpenCL program as soon as the OpenCL device is initialized #293

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77 changes: 59 additions & 18 deletions examples/protonect/src/opencl_depth_packet_processor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -138,10 +138,14 @@ class OpenCLDepthPacketProcessorImpl
cl::Buffer buf_filtered;

bool deviceInitialized;
bool programBuilt;
bool programInitialized;
std::string sourceCode;

OpenCLDepthPacketProcessorImpl(const int deviceId = -1) : deviceInitialized(false), programInitialized(false)
OpenCLDepthPacketProcessorImpl(const int deviceId = -1)
: deviceInitialized(false)
, programBuilt(false)
, programInitialized(false)
{
newIrFrame();
newDepthFrame();
Expand Down Expand Up @@ -350,7 +354,8 @@ class OpenCLDepthPacketProcessorImpl
std::cerr << OUT_NAME("init") "ERROR: " << err.what() << "(" << err.err() << ")" << std::endl;
throw;
}
return true;

return buildProgram(sourceCode);
}

bool initProgram()
Expand All @@ -360,16 +365,13 @@ class OpenCLDepthPacketProcessorImpl
return false;
}

if (!programBuilt)
if (!buildProgram(sourceCode))
return false;

cl_int err = CL_SUCCESS;
try
{
std::string options;
generateOptions(options);

cl::Program::Sources source(1, std::make_pair(sourceCode.c_str(), sourceCode.length()));
program = cl::Program(context, source);
program.build(options.c_str());

queue = cl::CommandQueue(context, device, 0, &err);

//Read only
Expand Down Expand Up @@ -454,14 +456,6 @@ class OpenCLDepthPacketProcessorImpl
catch(const cl::Error &err)
{
std::cerr << OUT_NAME("init") "ERROR: " << err.what() << "(" << err.err() << ")" << std::endl;

if(err.err() == CL_BUILD_PROGRAM_FAILURE)
{
std::cout << OUT_NAME("init") "Build Status: " << program.getBuildInfo<CL_PROGRAM_BUILD_STATUS>(device) << std::endl;
std::cout << OUT_NAME("init") "Build Options:\t" << program.getBuildInfo<CL_PROGRAM_BUILD_OPTIONS>(device) << std::endl;
std::cout << OUT_NAME("init") "Build Log:\t " << program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(device) << std::endl;
}

throw;
}
programInitialized = true;
Expand Down Expand Up @@ -517,6 +511,38 @@ class OpenCLDepthPacketProcessorImpl
return !source.empty();
}

bool buildProgram(const std::string& sources)
{
try
{
std::cout<< OUT_NAME("buildProgram") "building OpenCL program..." <<std::endl;

std::string options;
generateOptions(options);

cl::Program::Sources source(1, std::make_pair(sources.c_str(), sources.length()));
program = cl::Program(context, source);
program.build(options.c_str());
std::cout<< OUT_NAME("buildProgram") "OpenCL program built successfully" <<std::endl;
}
catch(const cl::Error &err)
{
std::cerr << OUT_NAME("buildProgram") "ERROR: " << err.what() << "(" << err.err() << ")" << std::endl;

if(err.err() == CL_BUILD_PROGRAM_FAILURE)
{
std::cout << OUT_NAME("buildProgram") "Build Status: " << program.getBuildInfo<CL_PROGRAM_BUILD_STATUS>(device) << std::endl;
std::cout << OUT_NAME("buildProgram") "Build Options:\t" << program.getBuildInfo<CL_PROGRAM_BUILD_OPTIONS>(device) << std::endl;
std::cout << OUT_NAME("buildProgram") "Build Log:\t " << program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(device) << std::endl;
}

programBuilt = false;
return false;
}
programBuilt = true;
return true;
}

void startTiming()
{
timing_current_start = cv::getTickCount();
Expand Down Expand Up @@ -578,8 +604,23 @@ OpenCLDepthPacketProcessor::~OpenCLDepthPacketProcessor()
void OpenCLDepthPacketProcessor::setConfiguration(const libfreenect2::DepthPacketProcessor::Config &config)
{
DepthPacketProcessor::setConfiguration(config);

if ( impl_->config.MaxDepth != config.MaxDepth
|| impl_->config.MinDepth != config.MinDepth)
{
// OpenCL program needs to be rebuilt, then reinitialized
impl_->programBuilt = false;
impl_->programInitialized = false;
impl_->buildProgram(impl_->sourceCode);
}
else if (impl_->config.EnableBilateralFilter != config.EnableBilateralFilter
|| impl_->config.EnableEdgeAwareFilter != config.EnableEdgeAwareFilter)
{
// OpenCL program only needs to be reinitialized
impl_->programInitialized = false;
}

impl_->config = config;
impl_->programInitialized = false;
}

void OpenCLDepthPacketProcessor::loadP0TablesFromCommandResponse(unsigned char *buffer, size_t buffer_length)
Expand Down