OpenCL Programming Guide (英文版).pdf

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Contents

Figures

Tables

Listings

Foreword

Preface

Acknowledgments.

About the Authors

Part I: The OpenCL 1.1 Language and API

1. An Introduction to OpenCL

What Is OpenCL, or . . . Why You Need This Book

Our Many-Core Future: Heterogeneous Platforms

Software in a Many-Core World

Conceptual Foundations of OpenCL

OpenCL and Graphics

The Contents of OpenCL

The Embedded Profile

Learning OpenCL

2. HelloWorld: An OpenCL Example

Building the Examples.

HelloWorld Example

Checking for Errors in OpenCL

3. Platforms, Contexts, and Devices

OpenCL Platforms

OpenCL Devices

OpenCL Contexts

4. Programming with OpenCL C

Writing a Data-Parallel Kernel Using OpenCL C

Scalar Data Types

Vector Data Types

Other Data Types

Derived Types

Implicit Type Conversions

Explicit Casts

Explicit Conversions

Reinterpreting Data as Another Type

Vector Operators

Qualifiers

Keywords

Preprocessor Directives and Macros

Restrictions

5. OpenCL C Built-In Functions

Work-Item Functions

Math Functions

Integer Functions

Common Functions

Geometric Functions

Relational Functions

Vector Data Load and Store Functions

Synchronization Functions

Async Copy and Prefetch Functions

Atomic Functions

Miscellaneous Vector Functions

Image Read and Write Functions

6. Programs and Kernels

Program and Kernel Object Overview

Program Objects

Kernel Objects

7. Buffers and Sub-Buffers

Memory Objects, Buffers, and Sub-Buffers Overview

Creating Buffers and Sub-Buffers

Querying Buffers and Sub-Buffers

Reading, Writing, and Copying Buffers and Sub-Buffers

Mapping Buffers and Sub-Buffers

8. Images and Samplers

Image and Sampler Object Overview

Creating Image Objects

Creating Sampler Objects

OpenCL C Functions for Working with Images

Transferring Image Objects

9. Events

Commands, Queues, and Events Overview

Events and Command-Queues

Event Objects

Generating Events on the Host

Events Impacting Execution on the Host

Using Events for Profiling

Events Inside Kernels

Events from Outside OpenCL

10. Interoperability with OpenGL

OpenCL/OpenGL Sharing Overview

Querying for the OpenGL Sharing Extension

Initializing an OpenCL Context for OpenGL Interoperability

Creating OpenCL Buffers from OpenGL Buffers

Creating OpenCL Image Objects from OpenGL Textures

Querying Information about OpenGL Objects

Synchronization between OpenGL and OpenCL

11. Interoperability with Direct3D

Direct3D/OpenCL Sharing Overview

Initializing an OpenCL Context for Direct3D Interoperability

Creating OpenCL Memory Objects from Direct3D Buffers and Textures

Acquiring and Releasing Direct3D Objects in OpenCL

Processing a Direct3D Texture in OpenCL

Processing D3D Vertex Data in OpenCL

12. C++ Wrapper API

C++ Wrapper API Overview

C++ Wrapper API Exceptions

Vector Add Example Using the C++ Wrapper API

13. OpenCL Embedded Profile

OpenCL Profile Overview

64-Bit Integers

Images

Built-In Atomic Functions

Mandated Minimum Single-Precision Floating-Point Capabilities

Determining the Profile Supported by a Device in an OpenCL C Program

Part II: OpenCL 1.1 Case Studies

14. Image Histogram

Computing an Image Histogram

Parallelizing the Image Histogram

Additional Optimizations to the Parallel Image Histogram

Computing Histograms with Half-Float or Float Values for Each Channel

15. Sobel Edge Detection Filter

What Is a Sobel Edge Detection Filter?

Implementing the Sobel Filter as an OpenCL Kernel

16. Parallelizing Dijkstra’s Single-Source Shortest-Path Graph Algorithm

Graph Data Structures

Kernels

Leveraging Multiple Compute Devices

17. Cloth Simulation in the Bullet Physics SDK

An Introduction to Cloth Simulation

Simulating the Soft Body

Executing the Simulation on the CPU

Changes Necessary for Basic GPU Execution

Two-Layered Batching

Optimizing for SIMD Computation and Local Memory

Adding OpenGL Interoperation

18. Simulating the Ocean with Fast Fourier Transform

An Overview of the Ocean Application

Phillips Spectrum Generation

An OpenCL Discrete Fourier Transform

A Closer Look at the FFT Kernel

A Closer Look at the Transpose Kernel

19. Optical Flow

Optical Flow Problem Overview

Sub-Pixel Accuracy with Hardware Linear Interpolation

Application of the Texture Cache

Using Local Memory

Early Exit and Hardware Scheduling

Efficient Visualization with OpenGL Interop

Performance

20. Using OpenCL with PyOpenCL

Introducing PyOpenCL

Running the PyImageFilter2D Example

PyImageFilter2D Code

Context and Command-Queue Creation

Loading to an Image Object

Creating and Building a Program

Setting Kernel Arguments and Executing a Kernel

Reading the Results

21. Matrix Multiplication with OpenCL

The Basic Matrix Multiplication Algorithm

A Direct Translation into OpenCL

Increasing the Amount of Work per Kernel

Optimizing Memory Movement: Local Memory

Performance Results and Optimizing the Original CPU Code

22. Sparse Matrix-Vector Multiplication

Sparse Matrix-Vector Multiplication (SpMV) Algorithm

Description of This Implementation

Tiled and Packetized Sparse Matrix Representation

Header Structure

Tiled and Packetized Sparse Matrix Design Considerations

Optional Team Information

Tested Hardware Devices and Results

Additional Areas of Optimization

A. Summary of OpenCL 1.1

The OpenCL Platform Layer

Contexts

Querying Platform Information and Devices

The OpenCL Runtime

Command-Queues

Buffer Objects

Create Buffer Objects

Read, Write, and Copy Buffer Objects

Map Buffer Objects

Manage Buffer Objects

Query Buffer Objects

Program Objects

Create Program Objects

Build Program Executable

Build Options

Query Program Objects

Unload the OpenCL Compiler

Kernel and Event Objects

Create Kernel Objects

Kernel Arguments and Object Queries

Execute Kernels

Event Objects

Out-of-Order Execution of Kernels and Memory Object Commands

Profiling Operations

Flush and Finish

Supported Data Types

Built-In Scalar Data Types

Built-In Vector Data Types

Other Built-In Data Types

Reserved Data Types

Vector Component Addressing

Vector Components

Vector Addressing Equivalencies

Conversions and Type Casting Examples

Operators

Address Space Qualifiers

Function Qualifiers

Preprocessor Directives and Macros

Specify Type Attributes

Math Constants

Work-Item Built-In Functions

Integer Built-In Functions

Common Built-In Functions

Math Built-In Functions

Geometric Built-In Functions

Relational Built-In Functions

Vector Data Load/Store Functions

Atomic Functions

Async Copies and Prefetch Functions

Synchronization, Explicit Memory Fence

Miscellaneous Vector Built-In Functions

Image Read and Write Built-In Functions

Image Objects

Create Image Objects

Query List of Supported Image Formats

Copy between Image, Buffer Objects

Map and Unmap Image Objects

Read, Write, Copy Image Objects

Query Image Objects

Image Formats

Access Qualifiers

Sampler Objects

Sampler Declaration Fields

OpenCL Device Architecture Diagram

OpenCL/OpenGL Sharing APIs

CL Buffer Objects > GL Buffer Objects

CL Image Objects > GL Textures

CL Image Objects > GL Renderbuffers

Query Information

Share Objects

CL Event Objects > GL Sync Objects

CL Context > GL Context, Sharegroup

OpenCL/Direct3D 10 Sharing APIs

Index

ptg

OpenCL Programming Guide

OpenGL® Series Visit informit.com/opengl for a complete list of available products The OpenGL graphics system is a software interface to graphics hardware. (“GL” stands for “Graphics Library.”) It allows you to create interactive programs that produce color images of moving, three- dimensional objects. With OpenGL, you can control computer-graphics technology to produce realistic pictures, or ones that depart from reality in imaginative ways. The OpenGL Series from Addison-Wesley Professional comprises tutorial and reference books that help programmers gain a practical understanding of OpenGL standards, along with the insight needed to unlock OpenGL’s full potential. ptg

OpenCL Programming Guide Aaftab Munshi Benedict R. Gaster Timothy G. Mattson James Fung Dan Ginsburg Upper Saddle River, NJ • Boston • Indianapolis • San Francisco New York • Toronto • Montreal • London • Munich • Paris • Madrid Capetown • Sydney • Tokyo • Singapore • Mexico City ptg

Editor-in-Chief Mark Taub Acquisitions Editor Debra Williams Cauley Development Editor Michael Thurston Managing Editor John Fuller Project Editor Anna Popick Copy Editor Barbara Wood Indexer Jack Lewis Proofreader Lori Newhouse Technical Reviewers Andrew Brownsword Yahya H. Mizra Dave Shreiner Publishing Coordinator Kim Boedigheimer Cover Designer Alan Clements Compositor The CIP Group Many of the designations used by manufacturers and sellers to distin- guish their products are claimed as trademarks. Where those designa- tions appear in this book, and the publisher was aware of a trademark claim, the designations have been printed with initial capital letters or in all capitals. The authors and publisher have taken care in the preparation of this book, but make no expressed or implied warranty of any kind and assume no responsibility for errors or omissions. No liability is assumed for incidental or consequential damages in connection with or arising out of the use of the information or programs contained herein. The publisher offers excellent discounts on this book when ordered in quantity for bulk purchases or special sales, which may include elec- tronic versions and/or custom covers and content particular to your business, training goals, marketing focus, and branding interests. For more information, please contact: U.S. Corporate and Government Sales (800) 382-3419 corpsales@pearsontechgroup.com For sales outside the United States please contact: International Sales international@pearson.com Visit us on the Web: informit.com/aw Cataloging-in-publication data is on file with the Library of Congress. Copyright © 2012 Pearson Education, Inc. All rights reserved. Printed in the United States of America. This pub- lication is protected by copyright, and permission must be obtained from the publisher prior to any prohibited reproduction, storage in a retrieval system, or transmission in any form or by any means, elec- tronic, mechanical, photocopying, recording, or likewise. For informa- tion regarding permissions, write to: Pearson Education, Inc. Rights and Contracts Department 501 Boylston Street, Suite 900 Boston, MA 02116 Fax: (617) 671-3447 ISBN-13: 978-0-321-74964-2 ISBN-10: 0-321-74964-2 Text printed in the United States on recycled paper at Edwards Brothers in Ann Arbor, Michigan. First printing, July 2011 ptg

Contents Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxi Listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxv Foreword. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxix Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxxiii Acknowledgments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xli About the Authors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xliii Part I The OpenCL 1.1 Language and API . . . . . . . . . . . . . . .1 1. An Introduction to OpenCL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 What Is OpenCL, or . . . Why You Need This Book . . . . . . . . . . . . . . . 3 Our Many-Core Future: Heterogeneous Platforms . . . . . . . . . . . . . . . . 4 Software in a Many-Core World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Conceptual Foundations of OpenCL . . . . . . . . . . . . . . . . . . . . . . . . . 11 Platform Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Execution Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Memory Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Programming Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 OpenCL and Graphics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 The Contents of OpenCL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Platform API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Runtime API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Kernel Programming Language . . . . . . . . . . . . . . . . . . . . . . . . . . 32 OpenCL Summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 The Embedded Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Learning OpenCL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 v ptg

2. HelloWorld: An OpenCL Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Building the Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Prerequisites. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Mac OS X and Code::Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Microsoft Windows and Visual Studio . . . . . . . . . . . . . . . . . . . . . 42 Linux and Eclipse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 HelloWorld Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Choosing an OpenCL Platform and Creating a Context . . . . . . . 49 Choosing a Device and Creating a Command-Queue . . . . . . . . . 50 Creating and Building a Program Object . . . . . . . . . . . . . . . . . . . 52 Creating Kernel and Memory Objects . . . . . . . . . . . . . . . . . . . . . 54 Executing a Kernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Checking for Errors in OpenCL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 3. Platforms, Contexts, and Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 OpenCL Platforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 OpenCL Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 OpenCL Contexts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 4. Programming with OpenCL C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Writing a Data-Parallel Kernel Using OpenCL C . . . . . . . . . . . . . . . . 97 Scalar Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 The half Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 Vector Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 Vector Literals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Vector Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Other Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 Derived Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Implicit Type Conversions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Usual Arithmetic Conversions . . . . . . . . . . . . . . . . . . . . . . . . . . 114 Explicit Casts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Explicit Conversions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Reinterpreting Data as Another Type . . . . . . . . . . . . . . . . . . . . . . . . 121 Vector Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 Arithmetic Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Relational and Equality Operators . . . . . . . . . . . . . . . . . . . . . . . 127 vi Contents ptg

Bitwise Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Logical Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 Conditional Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Shift Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 Unary Operators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Assignment Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 Qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Function Qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133 Kernel Attribute Qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 Address Space Qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 Access Qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Type Qualifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Preprocessor Directives and Macros . . . . . . . . . . . . . . . . . . . . . . . . . 141 Pragma Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 Macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 5. OpenCL C Built-In Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Work-Item Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Math Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 Floating-Point Pragmas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Floating-Point Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Relative Error as ulps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 Integer Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Common Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Geometric Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Relational Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Vector Data Load and Store Functions . . . . . . . . . . . . . . . . . . . . . . . 181 Synchronization Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 Async Copy and Prefetch Functions . . . . . . . . . . . . . . . . . . . . . . . . . 191 Atomic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 Miscellaneous Vector Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 Image Read and Write Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 Reading from an Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 Samplers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 Determining the Border Color . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Contents vii ptg

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