perf: remove Thrust#12
Draft
mojomex wants to merge 3 commits into
Draft
Conversation
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>
mojomex
force-pushed
the
perf/yank-out-thrust
branch
from
4819705 to
90271a6
Compare
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
SpConv is great when there's only one model on the GPU, but its extensive use of Thrust comes with lots of
cudaMalloc,cudaFree, andcudaMemsetcalls that cannot be avoided, even withthrust::cuda::par.on(stream).We had similar issues with
autoware_cuda_pointcloud_preprocessorhere.The (ugly but most straightforward) solution for SpConv is to add an API-compatible Thrust replacement, and point SpConv and CUMM to that replacement. This replacement always uses the
Asyncequivalents of the above CUDA calls.