Interface class for calculating the S matrix and the s scale factor constituents, while considering weighted residual errors. More...

#include <algorithms.hpp>

Public Types
enum	Memory : uint8_t { Memory::H_IN_DEV_M, Memory::H_IN_DEV_F, Memory::H_IN_W, Memory::H_OUT, Memory::D_IN_DEV_M, Memory::D_IN_DEV_F, Memory::D_IN_W, Memory::D_SIJ, Memory::D_OUT }
	Enumerates the memory objects handled by the class. More...

Public Member Functions
	ICPS (clutils::CLEnv &_env, clutils::CLEnvInfo< 1 > _info)
	Configures an OpenCL environment as specified by `_info`. More...

cl::Memory &	get (ICPS::Memory mem)
	Returns a reference to an internal memory object. More...

void	init (unsigned int _m, float _c, Staging _staging=Staging::IO)
	Configures kernel execution parameters. More...

void	write (ICPS::Memory mem=ICPS::Memory::D_IN_DEV_M, void ptr=nullptr, bool block=CL_FALSE, const std::vector< cl::Event > events=nullptr, cl::Event *event=nullptr)
	Performs a data transfer to a device buffer. More...

void *	read (ICPS::Memory mem=ICPS::Memory::H_OUT, bool block=CL_TRUE, const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Performs a data transfer to a staging buffer. More...

void	run (const std::vector< cl::Event > events=nullptr, cl::Event event=nullptr)
	Executes the necessary kernels. More...

float	getScaling ()
	Gets the scaling factor c. More...

void	setScaling (float _c)
	Sets the scaling factor c. More...

template<typename period >
double	run (clutils::GPUTimer< period > &timer, const std::vector< cl::Event > *events=nullptr)
	Executes the necessary kernels. More...

Public Attributes
cl_float *	hPtrInDevM

cl_float *	hPtrInDevF

cl_float *	hPtrInW

cl_float *	hPtrOut

Detailed Description

template<>
class cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >

Interface class for calculating the S matrix and the s scale factor constituents, while considering weighted residual errors.

The class uses the icpSiProducts kernel to produce the products of deviations and then reduces them with the reduce_sum kernel. For more details, look at the kernels' documentation.

Note: The icpSiProducts kernel is available in kernels/icp_kernels.cl, and the reduce_sum kernel is available in kernels/reduce_kernels.cl.; The class creates its own buffers. If you would like to provide your own buffers, call get to get references to the placeholders within the class and assign them to your buffers. You will have to do this strictly before the call to init. You can also call get (after the call to init) to get a reference to a buffer within the class and assign it to another kernel class instance further down in your task pipeline.

The following input/output OpenCL memory objects are created by a ICPS instance:

Name	Type	Placement	I/O	Use	Properties	Size
H_IN_DEV_M	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(m*sizeof\ (cl\_float4)\)
H_IN_DEV_F	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(m*sizeof\ (cl\_float4)\)
H_IN_W	Buffer	Host	I	Staging	CL_MEM_READ_WRITE	\(m*sizeof\ (cl\_float) \)
H_OUT	Buffer	Host	O	Staging	CL_MEM_READ_WRITE	\(11*sizeof\ (cl\_float)\)
D_IN_DEV_M	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(m*sizeof\ (cl\_float4)\)
D_IN_DEV_F	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(m*sizeof\ (cl\_float4)\)
D_IN_W	Buffer	Device	I	Processing	CL_MEM_READ_ONLY	\(m*sizeof\ (cl\_float) \)
D_OUT	Buffer	Device	O	Processing	CL_MEM_WRITE_ONLY	\(11*sizeof\ (cl\_float)\)

Member Enumeration Documentation

enum cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::Memory : uint8_t

strong

Enumerates the memory objects handled by the class.

Note: H_* names refer to staging buffers on the host.; D_* names refer to buffers on the device.

Enumerator
H_IN_DEV_M	Input staging buffer for the deviations of the moving set.
H_IN_DEV_F	Input staging buffer for the deviations of the fixed set.
H_IN_W	Input staging buffer for the weights.
H_OUT	Output staging buffer with the `S` matrix (first 9 floats) and the constituents of the scale factor `s` (last 2 floats).
D_IN_DEV_M	Input buffer for the deviations of the moving set.
D_IN_DEV_F	Input buffer for the deviations of the fixed set.
D_IN_W	Input buffer for the weights.
D_SIJ	Buffer for the products of deviations.
D_OUT	Output buffer with the `S` matrix (first 9 floats) and the constituents of the scale factor `s` (last 2 floats).

Constructor & Destructor Documentation

cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::ICPS	(	clutils::CLEnv &	_env,
		clutils::CLEnvInfo< 1 >	_info
	)

Configures an OpenCL environment as specified by _info.

Parameters

[in]	_env	opencl environment.
[in]	_info	opencl configuration. It specifies the context, queue, etc, to be used.

Member Function Documentation

cl::Memory & cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::get ( ICPS< ICPSConfig::WEIGHTED >::Memory mem )

Returns a reference to an internal memory object.

This interface exists to allow CL memory sharing between different kernels.

Parameters

[in] mem enumeration value specifying the requested memory object.

Returns: A reference to the requested memory object.

float cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::getScaling ( )

Gets the scaling factor c.

Note: The scaling factor c multiplies the points (deviations) before processing in order to deal with floating point arithmetic issues.

Returns: The scaling factor c.

void cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::init	(	unsigned int	_m,
		float	_c,
		Staging	_staging = `Staging::IO`
	)

Configures kernel execution parameters.

Sets up memory objects as necessary, and defines the kernel workspaces.

Note: If you have assigned a memory object to one member variable of the class before the call to init, then that memory will be maintained. Otherwise, a new memory object will be created.

Parameters

[in]	_m	number of points in the sets.
[in]	_c	scaling factor for dealing with floating point arithmetic issues.
[in]	_staging	flag to indicate whether or not to instantiate the staging buffers.

void * cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::read	(	ICPS< ICPSConfig::WEIGHTED >::Memory	mem = `ICPS< ICPSConfig::WEIGHTED >::Memory::H_OUT`,
		bool	block = `CL_TRUE`,
		const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Performs a data transfer to a staging buffer.

The transfer happens from a device buffer to the associated (specified) staging buffer on the host.

Parameters

[in]	mem	enumeration value specifying an output staging buffer.
[in]	block	a flag to indicate whether to perform a blocking or a non-blocking operation.
[in]	events	a wait-list of events.
[out]	event	event associated with the read operation to the staging buffer.

void cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::run	(	const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Executes the necessary kernels.

The function call is non-blocking.

Parameters

[in]	events	a wait-list of events.
[out]	event	event associated with the last kernel execution.

template<typename period >

double cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::run	(	clutils::GPUTimer< period > &	timer,
		const std::vector< cl::Event > *	events = `nullptr`
	)

inline

Executes the necessary kernels.

This run instance is used for profiling.

Parameters

[in]	timer	`GPUTimer` that does the profiling of the kernel executions.
[in]	events	a wait-list of events.

Returns: Τhe total execution time measured by the timer.

void cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::setScaling ( float _c )

Sets the scaling factor c.

Updates the kernel argument for the scaling factor c.

Note: The scaling factor c multiplies the points (deviations) before processing in order to deal with floating point arithmetic issues.

Parameters

[in] _c scaling factor.

void cl_algo::ICP::ICPS< ICPSConfig::WEIGHTED >::write	(	ICPS< ICPSConfig::WEIGHTED >::Memory	mem = `ICPS< ICPSConfig::WEIGHTED >::Memory::D_IN_DEV_M`,
		void *	ptr = `nullptr`,
		bool	block = `CL_FALSE`,
		const std::vector< cl::Event > *	events = `nullptr`,
		cl::Event *	event = `nullptr`
	)

Performs a data transfer to a device buffer.

The transfer happens from a staging buffer on the host to the associated (specified) device buffer.

Parameters

[in]	mem	enumeration value specifying an input device buffer.
[in]	ptr	a pointer to an array holding input data. If not NULL, the data from `ptr` will be copied to the associated staging buffer.
[in]	block	a flag to indicate whether to perform a blocking or a non-blocking operation.
[in]	events	a wait-list of events.
[out]	event	event associated with the write operation to the device buffer.