19#ifdef BUILD_CUDA_MODULE
22#include <cuda_runtime.h>
29#define OPEN3D_FORCE_INLINE __forceinline__
30#define OPEN3D_HOST_DEVICE __host__ __device__
31#define OPEN3D_DEVICE __device__
32#define OPEN3D_ASSERT_HOST_DEVICE_LAMBDA(type) \
33 static_assert(__nv_is_extended_host_device_lambda_closure_type(type), \
34 #type " must be a __host__ __device__ lambda")
35#define OPEN3D_CUDA_CHECK(err) \
36 open3d::core::__OPEN3D_CUDA_CHECK(err, __FILE__, __LINE__)
37#define OPEN3D_GET_LAST_CUDA_ERROR(message) \
38 __OPEN3D_GET_LAST_CUDA_ERROR(message, __FILE__, __LINE__)
39#define CUDA_CALL(cuda_function, ...) cuda_function(__VA_ARGS__);
43#define OPEN3D_FORCE_INLINE inline
44#define OPEN3D_HOST_DEVICE
46#define OPEN3D_ASSERT_HOST_DEVICE_LAMBDA(type)
47#define OPEN3D_CUDA_CHECK(err)
48#define OPEN3D_GET_LAST_CUDA_ERROR(message)
49#define CUDA_CALL(cuda_function, ...) \
50 open3d::utility::LogError( \
51 "Not built with CUDA, cannot call " #cuda_function);
58#ifdef BUILD_CUDA_MODULE
83class CUDAScopedDevice {
85 explicit CUDAScopedDevice(
int device_id);
87 explicit CUDAScopedDevice(
const Device& device);
91 CUDAScopedDevice(
const CUDAScopedDevice&) =
delete;
92 CUDAScopedDevice&
operator=(
const CUDAScopedDevice&) =
delete;
137class CUDAScopedStream {
139 struct CreateNewStreamTag {
140 CreateNewStreamTag(
const CreateNewStreamTag&) =
delete;
141 CreateNewStreamTag& operator=(
const CreateNewStreamTag&) =
delete;
142 CreateNewStreamTag(CreateNewStreamTag&&) =
delete;
143 CreateNewStreamTag& operator=(CreateNewStreamTag&&) =
delete;
147 constexpr static CreateNewStreamTag CreateNewStream = {};
149 explicit CUDAScopedStream(
const CreateNewStreamTag&);
151 explicit CUDAScopedStream(cudaStream_t stream);
155 CUDAScopedStream(
const CUDAScopedStream&) =
delete;
156 CUDAScopedStream& operator=(
const CUDAScopedStream&) =
delete;
159 cudaStream_t prev_stream_;
160 cudaStream_t new_stream_;
161 bool owns_new_stream_ =
false;
179 static CUDAState& GetInstance();
181 CUDAState(
const CUDAState&) =
delete;
182 CUDAState& operator=(
const CUDAState&) =
delete;
186 bool IsP2PEnabled(
int src_id,
int tar_id)
const;
190 bool IsP2PEnabled(
const Device& src,
const Device& tar)
const;
194 void ForceDisableP2PForTesting();
199 std::vector<std::vector<bool>> p2p_enabled_;
203int GetCUDACurrentWarpSize();
206int GetCUDACurrentDeviceTextureAlignment();
209size_t GetCUDACurrentTotalMemSize();
265#ifdef BUILD_CUDA_MODULE
268cudaStream_t GetStream();
269cudaStream_t GetDefaultStream();
278#ifdef BUILD_CUDA_MODULE
283void __OPEN3D_CUDA_CHECK(cudaError_t err,
const char* file,
const int line);
285void __OPEN3D_GET_LAST_CUDA_ERROR(
const char* message,
When CUDA is not enabled, this is a dummy class.
Definition CUDAUtils.h:214
CUDAScopedDevice(const Device &device)
Definition CUDAUtils.h:217
CUDAScopedDevice(const CUDAScopedDevice &)=delete
CUDAScopedDevice(int device_id)
Definition CUDAUtils.h:216
~CUDAScopedDevice()
Definition CUDAUtils.h:218
CUDAScopedDevice & operator=(const CUDAScopedDevice &)=delete
void ReleaseCache()
Releases CUDA memory manager cache. This is typically used for debugging.
Definition CUDAUtils.cpp:40
bool IsAvailable()
Definition CUDAUtils.cpp:38
bool SupportsMemoryPools(const Device &device)
Definition CUDAUtils.cpp:111
int DeviceCount()
Definition CUDAUtils.cpp:21
void Synchronize()
Definition CUDAUtils.cpp:58
void AssertCUDADeviceAvailable(int device_id)
Definition CUDAUtils.cpp:75
Definition PinholeCameraIntrinsic.cpp:16