Merge pull request #1431 from pierotofy/qfix

More resiliant GPU feature detection

opendm/gpu.py

@@ -1,6 +1,7 @@
 import os
 import sys
 import shutil
+import ctypes
 from opendm import log
 from repoze.lru import lru_cache
 
@@ -9,9 +10,21 @@ def gpu_disabled_by_user():
 
 @lru_cache(maxsize=None)
 def has_popsift_and_can_handle_texsize(width, height):
+    # We first check that we have the required compute capabilities
+    # As we do not support compute capabilities less than 3.5
+    try:
+        compute_major, compute_minor = get_cuda_compute_version(0)
+        if compute_major < 3 or (compute_major == 3 and compute_minor < 5):
+            # Not supported
+            log.ODM_WARNING("CUDA compute platform is not supported (detected: %s.%s but we need at least 3.5)" % (compute_major, compute_minor))
+            return False
+    except Exception as e:
+        log.ODM_WARNING("Cannot use GPU for feature extraction: %s" % str(e))
+        return False
+
     try:
         from opensfm import pypopsift
-        fits = pypopsift.fits_texture(int(width * 1.025), int(height * 1.025))
+        fits = pypopsift.fits_texture(int(width * 1.02), int(height * 1.02))
         if not fits:
             log.ODM_WARNING("Image size (%sx%spx) would not fit in GPU memory, falling back to CPU" % (width, height))
         return fits
@@ -21,6 +34,40 @@ def has_popsift_and_can_handle_texsize(width, height):
         log.ODM_WARNING(str(e))
         return False
 
+@lru_cache(maxsize=None)
+def get_cuda_compute_version(device_id = 0):
+    cuda_lib = "libcuda.so"
+    if sys.platform == 'win32':
+        cuda_lib = "nvcuda.dll"
+
+    nvcuda = ctypes.cdll.LoadLibrary(cuda_lib)
+
+    nvcuda.cuInit.argtypes = (ctypes.c_uint32, )
+    nvcuda.cuInit.restypes = (ctypes.c_int32)
+
+    if nvcuda.cuInit(0) != 0:
+        raise Exception("Cannot initialize CUDA")
+
+    nvcuda.cuDeviceGetCount.argtypes = (ctypes.POINTER(ctypes.c_int32), )
+    nvcuda.cuDeviceGetCount.restypes = (ctypes.c_int32)
+    
+    device_count = ctypes.c_int32()
+    if nvcuda.cuDeviceGetCount(ctypes.byref(device_count)) != 0:
+        raise Exception("Cannot get device count")
+
+    if device_count.value == 0:
+        raise Exception("No devices")
+
+    nvcuda.cuDeviceComputeCapability.argtypes = (ctypes.POINTER(ctypes.c_int32), ctypes.POINTER(ctypes.c_int32), ctypes.c_int32)
+    nvcuda.cuDeviceComputeCapability.restypes = (ctypes.c_int32)
+    compute_major = ctypes.c_int32()
+    compute_minor = ctypes.c_int32()
+
+    if nvcuda.cuDeviceComputeCapability(ctypes.byref(compute_major), ctypes.byref(compute_minor), device_id) != 0:
+        raise Exception("Cannot get CUDA compute version")
+
+    return (compute_major.value, compute_minor.value)
+
 @lru_cache(maxsize=None)
 def has_gpu():
     if gpu_disabled_by_user():

opendm/osfm.py

@@ -257,6 +257,7 @@ class OSFMContext:
                 if has_popsift_and_can_handle_texsize(w, h) and feature_type == "SIFT":
                     log.ODM_INFO("Using GPU for extracting SIFT features")
                     feature_type = "SIFT_GPU"
+                    self.gpu_sift_feature_extraction = True
             
             config.append("feature_type: %s" % feature_type)
 
@@ -361,7 +362,18 @@ class OSFMContext:
         matches_dir = self.path("matches")
         
         if not io.dir_exists(features_dir) or rerun:
-            self.run('detect_features')
+            try:
+                self.run('detect_features')
+            except system.SubprocessException as e:
+                # Sometimes feature extraction by GPU can fail
+                # for various reasons, so before giving up
+                # we try to fallback to CPU
+                if hasattr(self, 'gpu_sift_feature_extraction'):
+                    log.ODM_WARNING("GPU SIFT extraction failed, maybe the graphics card is not supported? Attempting fallback to CPU")
+                    self.update_config({'feature_type': "SIFT"})
+                    self.run('detect_features')
+                else:
+                    raise e
         else:
             log.ODM_WARNING('Detect features already done: %s exists' % features_dir)