Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Cuda support and acceleration for octomaps. #257

Open
wants to merge 32 commits into
base: devel
Choose a base branch
from
Open

Cuda support and acceleration for octomaps. #257

wants to merge 32 commits into from

Commits on Oct 15, 2019

  1. Updated Cmake for cuda support.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    00e8cfa View commit details
    Browse the repository at this point in the history

  2. Macro definition for cuda error checking.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    8b7ee76 View commit details
    Browse the repository at this point in the history

  3. Made math classes CUDA host/device callable.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    53558f6 View commit details
    Browse the repository at this point in the history

  4. Made coordToKey and keyToCoord functions CUDA host/device callable.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    64bdc9f View commit details
    Browse the repository at this point in the history

  5. Made functions used in computeKeyRay device/host callable.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    f776fc6 View commit details
    Browse the repository at this point in the history

  6. Made OcTreeKey device/host callable.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    16b66ed View commit details
    Browse the repository at this point in the history

  7. Added a key container class for storing ray-traced keys in c-array st… 

    …yle for use in CUDA kernel.
    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    08e54a8 View commit details
    Browse the repository at this point in the history

  8. declaration of CUDA based computeUpdate and and its kernel.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    87810c3 View commit details
    Browse the repository at this point in the history

  9. Rename.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    d0f277a View commit details
    Browse the repository at this point in the history

  10. Definition of atomic update of array from parallel threads.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    2ca9335 View commit details
    Browse the repository at this point in the history

  11. Definition of CUDA based computeUpdate and its kernel.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    b8e410a View commit details
    Browse the repository at this point in the history

  12. Added computeUpdateCUDA usage.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    506179e View commit details
    Browse the repository at this point in the history

  13. Added compilation of cuda files.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    a371590 View commit details
    Browse the repository at this point in the history

  14. Removed -fPIC flag as it does not work with nvcc. Instead POSITION_IN… 

    …DEPENDENT_CODE flags are used.
    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    5ca2a11 View commit details
    Browse the repository at this point in the history

  15. Cuda file renames and fixes.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    9f4d69c View commit details
    Browse the repository at this point in the history

  16. Fixed _cuda_support_ block.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    ebd019f View commit details
    Browse the repository at this point in the history

  17. Refactoring.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    7b40c05 View commit details
    Browse the repository at this point in the history

  18. Refactoring.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    eb1d49e View commit details
    Browse the repository at this point in the history

  19. Added all tests.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    c9348f2 View commit details
    Browse the repository at this point in the history

  20. Removed debugging info.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    301f01b View commit details
    Browse the repository at this point in the history

  21. Added debugging info.

    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    c4b8998 View commit details
    Browse the repository at this point in the history

  22. Fixed a few issues with the cuda side. The high time on tree initiali… 

    …zation is not due to tree but due to CUDA backend initialization that only happens once, getting almost 25 hz with current config.
    @saifullah3396
    saifullah3396 committed Oct 15, 2019
    Configuration menu
    Copy the full SHA
    76c78c2 View commit details
    Browse the repository at this point in the history

Commits on Oct 22, 2019

  1. Better Cuda but still not better than CPU.

    @saifullah3396
    saifullah3396 committed Oct 22, 2019
    Configuration menu
    Copy the full SHA
    3cb8e60 View commit details
    Browse the repository at this point in the history

Commits on Oct 24, 2019

  1. Better and faster than before.

    @saifullah3396
    saifullah3396 committed Oct 24, 2019
    Configuration menu
    Copy the full SHA
    b76c7ea View commit details
    Browse the repository at this point in the history

Commits on Oct 25, 2019

  1. Merged computeCuda and clean() kernels. Removed host copying since fi… 

    …nal iteration on device is still faster. Faster than ever before! :)
    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    52f4348 View commit details
    Browse the repository at this point in the history

  2. Added lazy_eval as argument.

    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    15d62a2 View commit details
    Browse the repository at this point in the history

  3. Added support for discretized scan.

    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    5f220d2 View commit details
    Browse the repository at this point in the history

  4. Removed KeyValue struct as it is unused now.

    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    43d4ad6 View commit details
    Browse the repository at this point in the history

  5. Hash set is unused so removed.

    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    7faa43f View commit details
    Browse the repository at this point in the history

  6. CMake refactor.

    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    0941020 View commit details
    Browse the repository at this point in the history

  7. Refactoring and memory error fixes.

    @saifullah3396
    saifullah3396 committed Oct 25, 2019
    Configuration menu
    Copy the full SHA
    14d242d View commit details
    Browse the repository at this point in the history

Commits on Jan 28, 2020

  1. Fixed a mistake of free/occupied hash updates.

    @saifullah3396
    saifullah3396 committed Jan 28, 2020
    Configuration menu
    Copy the full SHA
    a0a8c68 View commit details
    Browse the repository at this point in the history