Open3D (C++ API)  0.15.1
Device.h
Go to the documentation of this file.
1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// The MIT License (MIT)
5//
6// Copyright (c) 2018-2021 www.open3d.org
7//
8// Permission is hereby granted, free of charge, to any person obtaining a copy
9// of this software and associated documentation files (the "Software"), to deal
10// in the Software without restriction, including without limitation the rights
11// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12// copies of the Software, and to permit persons to whom the Software is
13// furnished to do so, subject to the following conditions:
14//
15// The above copyright notice and this permission notice shall be included in
16// all copies or substantial portions of the Software.
17//
18// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24// IN THE SOFTWARE.
25// ----------------------------------------------------------------------------
26
27#pragma once
28#include <string>
29#include <vector>
30
33
34namespace open3d {
35namespace core {
36
39class Device {
40public:
42 enum class DeviceType { CPU = 0, CUDA = 1 };
43
45 Device() = default;
46
48 explicit Device(DeviceType device_type, int device_id)
49 : device_type_(device_type), device_id_(device_id) {
51 }
52
54 explicit Device(const std::string& device_type, int device_id)
55 : Device(device_type + ":" + std::to_string(device_id)) {}
56
58 explicit Device(const std::string& type_colon_id)
59 : device_type_(StringToDeviceType(type_colon_id)),
60 device_id_(StringToDeviceId(type_colon_id)) {
62 }
63
64 bool operator==(const Device& other) const {
65 return this->device_type_ == other.device_type_ &&
66 this->device_id_ == other.device_id_;
67 }
68
69 bool operator!=(const Device& other) const { return !operator==(other); }
70
71 bool operator<(const Device& other) const {
72 return ToString() < other.ToString();
73 }
74
75 std::string ToString() const {
76 std::string str = "";
77 switch (device_type_) {
78 case DeviceType::CPU:
79 str += "CPU";
80 break;
82 str += "CUDA";
83 break;
84 default:
85 utility::LogError("Unsupported device type");
86 }
87 str += ":" + std::to_string(device_id_);
88 return str;
89 }
90
91 DeviceType GetType() const { return device_type_; }
92
93 int GetID() const { return device_id_; }
94
95protected:
98 utility::LogError("CPU has device_id {}, but it must be 0.",
100 }
101 }
102
103 static DeviceType StringToDeviceType(const std::string& type_colon_id) {
104 std::vector<std::string> tokens =
105 utility::SplitString(type_colon_id, ":", true);
106 if (tokens.size() == 2) {
107 std::string device_name_lower = utility::ToLower(tokens[0]);
108 if (device_name_lower == "cpu") {
109 return DeviceType::CPU;
110 } else if (device_name_lower == "cuda") {
111 return DeviceType::CUDA;
112 } else {
113 utility::LogError("Invalid device string {}.", type_colon_id);
114 }
115 } else {
116 utility::LogError("Invalid device string {}.", type_colon_id);
117 }
118 }
119
120 static int StringToDeviceId(const std::string& type_colon_id) {
121 std::vector<std::string> tokens =
122 utility::SplitString(type_colon_id, ":", true);
123 if (tokens.size() == 2) {
124 return std::stoi(tokens[1]);
125 } else {
126 utility::LogError("Invalid device string {}.", type_colon_id);
127 }
128 }
129
130protected:
132 int device_id_ = 0;
133};
134
135} // namespace core
136} // namespace open3d
137
138namespace std {
139template <>
140struct hash<open3d::core::Device> {
142 return std::hash<std::string>{}(device.ToString());
143 }
144};
145} // namespace std
#define LogError(...)
Definition: Logging.h:67
Definition: Device.h:39
int GetID() const
Definition: Device.h:93
static int StringToDeviceId(const std::string &type_colon_id)
Definition: Device.h:120
DeviceType
Type for device.
Definition: Device.h:42
bool operator!=(const Device &other) const
Definition: Device.h:69
DeviceType device_type_
Definition: Device.h:131
bool operator==(const Device &other) const
Definition: Device.h:64
Device(const std::string &type_colon_id)
Constructor from string, e.g. "CUDA:0".
Definition: Device.h:58
Device()=default
Default constructor.
Device(const std::string &device_type, int device_id)
Constructor from device type string and device id.
Definition: Device.h:54
Device(DeviceType device_type, int device_id)
Constructor with device specified.
Definition: Device.h:48
bool operator<(const Device &other) const
Definition: Device.h:71
void AssertCPUDeviceIDIsZero()
Definition: Device.h:96
int device_id_
Definition: Device.h:132
std::string ToString() const
Definition: Device.h:75
DeviceType GetType() const
Definition: Device.h:91
static DeviceType StringToDeviceType(const std::string &type_colon_id)
Definition: Device.h:103
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle image_handle timestamp_usec white_balance image_handle k4a_device_configuration_t config device_handle char size_t serial_number_size bool int32_t int32_t int32_t int32_t k4a_color_control_mode_t default_mode value const const k4a_calibration_t calibration char size_t
Definition: K4aPlugin.cpp:738
std::string ToLower(const std::string &str)
Convert string to the lower case.
Definition: Helper.cpp:102
std::vector< std::string > SplitString(const std::string &str, const std::string &delimiters, bool trim_empty_str)
Definition: Helper.cpp:45
Definition: PinholeCameraIntrinsic.cpp:35
Definition: Device.h:138
std::size_t operator()(const open3d::core::Device &device) const
Definition: Device.h:141