RK3588 OpenCL

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已于 2024-10-12 13:50:10 修改

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文章标签：嵌入式硬件

于 2023-05-12 16:27:59 首次发布

本文链接：https://blog.csdn.net/qq_36784503/article/details/130641395

版权

RK3588芯片搭载了ARMMaliG610GPU，支持OpenGLES1.1至3.2、Vulkan1.1和1.2以及OpenCL2.2。其2D硬件引擎优化了显示性能，确保流畅操作。此外，文章还提到了OpenCV3.4.5的配置信息，展示了CPU和硬件特性，包括NEON支持，并列出了OpenCLSDK的相关详细信息。

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reference
demo code

1 RK 3588 mali GPU

RK3588集成了嵌入式ARM Mali G610 3D GPU，支持OpenGLES 1.1、2.0、3.2，OpenCL 2.2和Vulkan1.2。带有MMU的特殊2D硬件引擎将最大限度地提高显示性能，并提供非常平稳的操作。

2 API support

OpenGL® ES 1.1, 2.0, 3.1, 3.2
Vulkan 1.1, 1.2
OpenCL™ 1.1, 1.2, 2.0 Full profile

Full support for next-generation and legacy 2D/3D graphics applications

3 demo result

General configuration for OpenCV 3.4.5 =====================================
  Version control:               unknown

  Platform:
    Timestamp:                   2023-05-10T09:40:39Z
    Host:                        Linux 5.10.110 aarch64
    CMake:                       3.16.3
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               RELEASE

  CPU/HW features:
    Baseline:                    NEON FP16
      required:                  NEON
      disabled:                  VFPV3

  C/C++:
    Built as dynamic libs?:      YES
    C++11:                       YES
    C++ Compiler:                /usr/bin/c++  (ver 9.4.0)
    C++ flags (Release):         -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffast-math -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -O3 -DNDEBUG  -DNDEBUG
    C++ flags (Debug):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wundef -Winit-self -Wpointer-arith -Wshadow -Wsign-promo -Wuninitialized -Winit-self -Wno-narrowing -Wno-delete-non-virtual-dtor -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffast-math -ffunction-sections -fdata-sections    -fvisibility=hidden -fvisibility-inlines-hidden -g  -O0 -DDEBUG -D_DEBUG
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-narrowing -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffast-math -ffunction-sections -fdata-sections    -fvisibility=hidden -O3 -DNDEBUG  -DNDEBUG
    C flags (Debug):             -fsigned-char -W -Wall -Werror=return-type -Werror=non-virtual-dtor -Werror=address -Werror=sequence-point -Wformat -Werror=format-security -Wmissing-declarations -Wmissing-prototypes -Wstrict-prototypes -Wundef -Winit-self -Wpointer-arith -Wshadow -Wuninitialized -Winit-self -Wno-narrowing -Wno-comment -Wimplicit-fallthrough=3 -Wno-strict-overflow -fdiagnostics-show-option -pthread -fomit-frame-pointer -ffast-math -ffunction-sections -fdata-sections    -fvisibility=hidden -g  -O0 -DDEBUG -D_DEBUG
    Linker flags (Release):      
    Linker flags (Debug):        
    ccache:                      NO
    Precompiled headers:         YES
    Extra dependencies:          dl m pthread rt
    3rdparty dependencies:

  OpenCV modules:
    To be built:                 calib3d core dnn features2d flann highgui imgcodecs imgproc java_bindings_generator ml objdetect photo python_bindings_generator shape stitching superres ts video videoio videostab
    Disabled:                    world
    Disabled by dependency:      -
    Unavailable:                 cudaarithm cudabgsegm cudacodec cudafeatures2d cudafilters cudaimgproc cudalegacy cudaobjdetect cudaoptflow cudastereo cudawarping cudev java js python2 python3 viz
    Applications:                tests perf_tests apps
    Documentation:               NO
    Non-free algorithms:         NO

  GUI: 
    GTK+:                        YES (ver 3.24.20)
      GThread :                  YES (ver 2.64.6)
      GtkGlExt:                  NO
    VTK support:                 NO

  Media I/O: 
    ZLib:                        /usr/lib/aarch64-linux-gnu/libz.so (ver 1.2.11)
    JPEG:                        /usr/lib/aarch64-linux-gnu/libjpeg.so (ver 80)
    WEBP:                        build (ver encoder: 0x020e)
    PNG:                         /usr/lib/aarch64-linux-gnu/libpng.so (ver 1.6.37)
    TIFF:                        /usr/lib/aarch64-linux-gnu/libtiff.so (ver 42 / 4.1.0)
    JPEG 2000:                   build (ver 1.900.1)
    OpenEXR:                     build (ver 1.7.1)
    HDR:                         YES
    SUNRASTER:                   YES
    PXM:                         YES

  Video I/O:
    DC1394:                      YES (ver 2.2.5)
    FFMPEG:                      YES
      avcodec:                   YES (ver 58.54.100)
      avformat:                  YES (ver 58.29.100)
      avutil:                    YES (ver 56.31.100)
      swscale:                   YES (ver 5.5.100)
      avresample:                NO
    GStreamer:                   
      base:                      YES (ver 1.16.2)
      video:                     YES (ver 1.16.2)
      app:                       YES (ver 1.16.2)
      riff:                      YES (ver 1.16.2)
      pbutils:                   YES (ver 1.16.2)
    libv4l/libv4l2:              NO
    v4l/v4l2:                    linux/videodev2.h

  Parallel framework:            pthreads

  Trace:                         YES (built-in)

  Other third-party libraries:
    Lapack:                      NO
    Eigen:                       YES (ver 3.3.7)
    Custom HAL:                  YES (carotene (ver 0.0.1))
    Protobuf:                    build (3.5.1)

  OpenCL:                        YES (no extra features)
    Include path:                /home/firefly/sofeware/opencv/opencv-3.4.5/3rdparty/include/opencl/1.2
    Link libraries:              Dynamic load

  Python (for build):            /usr/bin/python2.7

  Java:                          
    ant:                         NO
    JNI:                         NO
    Java wrappers:               NO
    Java tests:                  NO

  Install to:                    /usr/local
-----------------------------------------------------------------


getNumThreads=8
getNumberOfCPUs=8
useOptimized=1
CV_CPU_SSE4_1=0
CV_CPU_SSE4_2=0
CV_CPU_AVX2=0
HardwareSupport:
CV_CPU_MMX: 0
CV_CPU_SSE: 0
CV_CPU_SSE2: 0
CV_CPU_SSE3: 0
CV_CPU_SSSE3: 0
CV_CPU_SSE4_1: 0
CV_CPU_SSE4_2: 0
CV_CPU_POPCNT: 0
CV_CPU_FP16: 1
CV_CPU_AVX: 0
CV_CPU_AVX2: 0
CV_CPU_FMA3: 0
CV_CPU_AVX_512F: 0
CV_CPU_AVX_512BW: 0
CV_CPU_AVX_512CD: 0
CV_CPU_AVX_512DQ: 0
CV_CPU_AVX_512ER: 0
CV_CPU_AVX_512IFMA512: 0
CV_CPU_AVX_512IFMA: 0
CV_CPU_AVX_512PF: 0
CV_CPU_AVX_512VBMI: 0
CV_CPU_AVX_512VL: 0
CV_CPU_NEON: 1
CV_CPU_VSX: 0
CV_CPU_AVX512_SKX: 0
CV_HARDWARE_MAX_FEATURE: 0

***********SDK************
Name:ARM Platform
Vendor:ARM
Version:OpenCL 2.1 v1.g6p0-01eac0.2819f9d4dbe0b5a2f89c835d8484f9cd
Version:OpenCL 2.1 v1.g6p0-01eac0.2819f9d4dbe0b5a2f89c835d8484f9cd
Number of devices:1

arm_release_ver of this libmali is 'g6p0-01eac0', rk_so_ver is '7'.
***********Device 1***********

code

#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/core/ocl.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/imgproc.hpp>
 
#define IMAGE_PATHNAME "D:\\allike\\Image_20210707220543807.jpg"
 
void checkBuild()
{
    //查询opencv编译时配置
    std::cout << cv::getBuildInformation() << std::endl;
}
 
void checkSimd()
{
    //查询opencv线程
    int numTh = cv::getNumThreads(); //默认值是cpu的逻辑线程数
    int numCore = cv::getNumberOfCPUs();
    std::cout << "getNumThreads=" << numTh << std::endl;
    std::cout << "getNumberOfCPUs=" << numCore << std::endl;
 
    //查询opencv当前是否开启了并行优化功能
    bool opt = cv::useOptimized(); //默认值是true
    std::cout << "useOptimized=" << opt << std::endl;
 
    //查询opencv当前是否支持具体的CPU指令集
    bool check1 = cv::checkHardwareSupport(CV_CPU_SSE4_1);
    bool check2 = cv::checkHardwareSupport(CV_CPU_SSE4_2);
    bool check3 = cv::checkHardwareSupport(CV_CPU_AVX2);
    std::cout << "CV_CPU_SSE4_1=" << check1 << std::endl;
    std::cout << "CV_CPU_SSE4_2=" << check2 << std::endl;
    std::cout << "CV_CPU_AVX2=" << check3 << std::endl;
 
    //查询完整的硬件支持清单
    std::cout << "HardwareSupport:" << std::endl;
    std::cout << "CV_CPU_MMX: " << cv::checkHardwareSupport(CV_CPU_MMX) << std::endl;
    std::cout << "CV_CPU_SSE: " << cv::checkHardwareSupport(CV_CPU_SSE) << std::endl;
    std::cout << "CV_CPU_SSE2: " << cv::checkHardwareSupport(CV_CPU_SSE2) << std::endl;
    std::cout << "CV_CPU_SSE3: " << cv::checkHardwareSupport(CV_CPU_SSE3) << std::endl;
    std::cout << "CV_CPU_SSSE3: " << cv::checkHardwareSupport(CV_CPU_SSSE3) << std::endl;
    std::cout << "CV_CPU_SSE4_1: " << cv::checkHardwareSupport(CV_CPU_SSE4_1) << std::endl;
    std::cout << "CV_CPU_SSE4_2: " << cv::checkHardwareSupport(CV_CPU_SSE4_2) << std::endl;
    std::cout << "CV_CPU_POPCNT: " << cv::checkHardwareSupport(CV_CPU_POPCNT) << std::endl;
    std::cout << "CV_CPU_FP16: " << cv::checkHardwareSupport(CV_CPU_FP16) << std::endl;
    std::cout << "CV_CPU_AVX: " << cv::checkHardwareSupport(CV_CPU_AVX) << std::endl;
    std::cout << "CV_CPU_AVX2: " << cv::checkHardwareSupport(CV_CPU_AVX2) << std::endl;
    std::cout << "CV_CPU_FMA3: " << cv::checkHardwareSupport(CV_CPU_FMA3) << std::endl;
    std::cout << "CV_CPU_AVX_512F: " << cv::checkHardwareSupport(CV_CPU_AVX_512F) << std::endl;
    std::cout << "CV_CPU_AVX_512BW: " << cv::checkHardwareSupport(CV_CPU_AVX_512BW) << std::endl;
    std::cout << "CV_CPU_AVX_512CD: " << cv::checkHardwareSupport(CV_CPU_AVX_512CD) << std::endl;
    std::cout << "CV_CPU_AVX_512DQ: " << cv::checkHardwareSupport(CV_CPU_AVX_512DQ) << std::endl;
    std::cout << "CV_CPU_AVX_512ER: " << cv::checkHardwareSupport(CV_CPU_AVX_512ER) << std::endl;
    std::cout << "CV_CPU_AVX_512IFMA512: " << cv::checkHardwareSupport(CV_CPU_AVX_512IFMA512) << std::endl;
    std::cout << "CV_CPU_AVX_512IFMA: " << cv::checkHardwareSupport(CV_CPU_AVX_512IFMA) << std::endl;
    std::cout << "CV_CPU_AVX_512PF: " << cv::checkHardwareSupport(CV_CPU_AVX_512PF) << std::endl;
    std::cout << "CV_CPU_AVX_512VBMI: " << cv::checkHardwareSupport(CV_CPU_AVX_512VBMI) << std::endl;
    std::cout << "CV_CPU_AVX_512VL: " << cv::checkHardwareSupport(CV_CPU_AVX_512VL) << std::endl;
    std::cout << "CV_CPU_NEON: " << cv::checkHardwareSupport(CV_CPU_NEON) << std::endl;
    std::cout << "CV_CPU_VSX: " << cv::checkHardwareSupport(CV_CPU_VSX) << std::endl;
    std::cout << "CV_CPU_AVX512_SKX: " << cv::checkHardwareSupport(CV_CPU_AVX512_SKX) << std::endl;
    std::cout << "CV_HARDWARE_MAX_FEATURE: " << cv::checkHardwareSupport(CV_HARDWARE_MAX_FEATURE) << std::endl;
    std::cout << std::endl;
 
    //cv::setUseOptimized(false);
    //cv::setNumThreads(1);
}
 
void checkOpenCL() //Open Computing Language:开放计算语言,可以附加在主机处理器的CPU或GPU上执行
{
    std::vector<cv::ocl::PlatformInfo> info;
    getPlatfomsInfo(info);
    cv::ocl::PlatformInfo sdk = info.at(0);
 
    int number = sdk.deviceNumber();
    if (number < 1)
    {
        std::cout << "Number of devices:" << number << std::endl;
        return;
    }
 
    std::cout << "***********SDK************" << std::endl;
    std::cout << "Name:" << sdk.name() << std::endl;
    std::cout << "Vendor:" << sdk.vendor() << std::endl;
    std::cout << "Version:" << sdk.version() << std::endl;
    std::cout << "Version:" << sdk.version() << std::endl;
    std::cout << "Number of devices:" << number << std::endl;
 
    for (int i = 0; i < number; i++)
    {
        std::cout << std::endl;
 
        cv::ocl::Device device;
        sdk.getDevice(device, i);
 
        std::cout << "***********Device " << i + 1 << "***********" << std::endl;
        std::cout << "Vendor Id:" << device.vendorID() << std::endl;
        std::cout << "Vendor name:" << device.vendorName() << std::endl;
        std::cout << "Name:" << device.name() << std::endl;
        std::cout << "Driver version:" << device.vendorID() << std::endl;
 
        if (device.isAMD())
            std::cout << "Is AMD device" << std::endl;
 
        if (device.isIntel())
            std::cout << "Is Intel device" << std::endl;
 
        if (device.isNVidia())
            std::cout << "Is NVidia device" << std::endl;
 
        std::cout << "Global Memory size:" << device.globalMemSize() << std::endl;
        std::cout << "Memory cache size:" << device.globalMemCacheSize() << std::endl;
        std::cout << "Memory cache type:" << device.globalMemCacheType() << std::endl;
        std::cout << "Local Memory size:" << device.localMemSize() << std::endl;
        std::cout << "Local Memory type:" << device.localMemType() << std::endl;
        std::cout << "Max Clock frequency:" << device.maxClockFrequency() << std::endl;
    }
}
 
void calcEdgesCPU()
{
    cv::ocl::setUseOpenCL(false);
 
    bool ret1 = cv::ocl::haveOpenCL();
    bool ret2 = cv::ocl::useOpenCL();
    std::cout << "haveOpenCL:" << ret1 << std::endl;
    std::cout << "useOpenCL:" << ret2 << std::endl;
 
    double start = cv::getTickCount();
    cv::Mat cpuGray, cpuBlur, cpuEdges;
    cv::Mat cpuFrame = cv::imread(IMAGE_PATHNAME);
 
    cvtColor(cpuFrame, cpuGray, cv::COLOR_BGR2GRAY);
    cv::GaussianBlur(cpuGray, cpuBlur, cv::Size(3, 3), 15, 15);
    cv::Canny(cpuBlur, cpuEdges, 50, 100, 3);
    std::vector<cv::Vec3f> cir;
    cv::HoughCircles(cpuBlur, cir, cv::HOUGH_GRADIENT_ALT, 1.5, 15, 300, 0.8, 1, 100);
 
    std::cout << "CPU cost time:(s)" << ((cv::getTickCount() - start) / cv::getTickFrequency()) << std::endl;
 
    cv::namedWindow("Canny Edges CPU", cv::WINDOW_NORMAL);
    cv::imshow("Canny Edges CPU", cpuEdges);
}
 
void calcEdgesGPU()
{
    cv::ocl::setUseOpenCL(true);
 
    bool ret1 = cv::ocl::haveOpenCL();
    bool ret2 = cv::ocl::useOpenCL();
    std::cout << "haveOpenCL:" << ret1 << std::endl;
    std::cout << "useOpenCL:" << ret2 << std::endl;
 
    //通过使用UMat对象，OpenCV会自动在支持OpenCL的设备上使用GPU运算，在不支持OpenCL的设备仍然使用CPU运算，这样就避免了程序运行失败，而且统一了接口。
    double start = cv::getTickCount();
    cv::UMat gpuFrame, gpuGray, gpuBlur, gpuEdges;
    cv::Mat cpuFrame = cv::imread(IMAGE_PATHNAME);
    cpuFrame.copyTo(gpuFrame); //Mat与UMat相互转换
 
    cvtColor(gpuFrame, gpuGray, cv::COLOR_BGR2GRAY);
    cv::GaussianBlur(gpuGray, gpuBlur, cv::Size(3, 3), 15, 15);
    cv::Canny(gpuBlur, gpuEdges, 50, 100, 3);
    std::vector<cv::Vec3f> cir;
    cv::HoughCircles(gpuBlur, cir, cv::HOUGH_GRADIENT_ALT, 1.5, 15, 300, 0.8, 1, 100);
 
    std::cout << "GPU cost time:(s)" << ((cv::getTickCount() - start) / cv::getTickFrequency()) << std::endl;
 
    cv::Mat matResult = gpuEdges.getMat(cv::ACCESS_READ); //Mat与UMat相互转换
    cv::namedWindow("Canny Edges GPU1", cv::WINDOW_NORMAL);
    cv::imshow("Canny Edges GPU1", matResult);
 
    cv::namedWindow("Canny Edges GPU2", cv::WINDOW_NORMAL);
    cv::imshow("Canny Edges GPU2", gpuEdges);
}
 
int main(int argc, char *argv[])
{
    checkBuild();
    checkSimd();
    checkOpenCL();
    calcEdgesCPU();
    calcEdgesGPU();
    cv::waitKey(0);
    return 0;
}