Installation.
1. Download the SLAMBench benchmark suite, as well as the
'living_room_traj2_loop.raw' test data. You must have a working copy of
SLAMBench that correctly compiles the native OpenCL version.
2. Create 'config' file
% cd ${PATH_TO_REPO}
% cp config.orig config
3. Within this 'config' file, specify all of the paths required:
$PENCIL_TOOLS_HOME - location of 'pencil-optimizer'
$PENCIL_UTIL_HOME - location of 'pencil.h', 'prl.h' and associated headers
$PPCG_PATH - location of 'ppcg' executable
$PRL_PATH - location of 'libprl.so'
$ARCH - for cross compilation, specifies target compiler prefix
(e.g. 'arm-linux-gnueabihf-' for ARM)
$OPENCL_SDK - path to OpenCL SDK, needed to cover the case when OpenCL
is not a system-wide install (e.g. when cross compiling
on x86 for a Mali Target):
% ls ${OPENCL_SDK}
include/ lib/
% ls ${OPENCL_SDK}/include/CL
opencl.h
$SLAMBENCH_DIR - configuration variable must point to the directory which
contains the unpacked benchmark from step 2 above:
% ls ${SLAMBENCH_DIR}
build/ cmake/ CMakeLists.txt gui_doc/ kfusion/ LICENSE Makefile README.md
$TOON_INSTALL_DIR - configuration variable must point to the directory where
toon is installed:
% ls ${TOON_INSTALL_DIR}
include/ lib/
% ls ${TOON_INSTALL_DIR}/include
TooN/
$PATH_TO_REPO - configuration variable must point to this directory,
i.e. where this repository lies
% ls ${PATH_TO_REPO}
config config.orig README.txt /patches /src
4. Once 'config' file is appropriately filled you may run the provided
'setupSLAMPencil.sh' script. The script will do the following:
4.1. apply a patch to the SLAMBench benchmark in folder ${SLAMBENCH_DIR}
4.2. run 'ppcg' on ${PATH_TO_REPO}/src/pencil_kernels.c
4.3. create a new '${SLAMBENCH_DIR}/kfusion/src/pencil' folder
4.4. copy the generated host.c and kernel.cl files to this folder, along
with ${PATH_TO_REPO}/src/kernels.cpp
4.5. run 'make' in ${SLAMBENCH_DIR} to build the Pencil-based executable
Or, the aforementioned steps may be performed manually, as directed below in
steps 5 and 6. Note that the script above should only be used the first time.
5. Apply patches/0001-Enable-PENCIL-OpenCL-benchmark.patch patch in the ${SLAMBENCH_DIR}:
% cd ${SLAMBENCH_DIR}
% patch -p1 < ${PATH_TO_REPO}/patches/0001-Enable-PENCIL-OpenCL-benchmark.patch
6. Build PENCIL module:
% cd ${PATH_TO_REPO}
% make -C src ppcg # Generate OpenCL from PENCIL
% make -C src build # Build SLAMBench with PENCIL
Rebuild PENCIL module, if needed (i.e. if PENCIL code was changed), in the
same way:
% make -C src ppcg # If PENCIL code was changed
% make -C src build # Rebuild the PENCIL OpenCL module
7. Run the pencil executable as follows:
% cd ${SLAMBENCH_DIR}
% ./build/kfusion/kfusion-benchmark-pencilCL -s 4.8 -p 0.34,0.5,0.24 -z 4 \
-c 2 -r 1 -k 481.2,480,320,240 -i ../living_room_traj2_loop.raw \
-o benchmark.2.PencilCL.log 2> kernels.2.PencilCL.log
Also set LD_LIBRARY_PATH variable if there is a need to specify the location
of libOpenCL.so or libprl.so, etc.