Python : keep data in GPU

Software Python
1

Hello,

I developed some CUDA processing for the depth data sl.MEASURE.XYZRGBA.

I would like to avoid moving data from GPU (I expect data to be computed on GPU by ZED SDK) then to CPU and then go back to GPU.

I tried to set cam.retrieve_measure(ptCloud, sl.MEASURE.XYZRGBA , sl.MEM.GPU) then I have an error as attribute GPU does not exist (which is used on this page : Using the Depth Sensing API | Stereolabs )

How could i keep data on GPU to avoid extra transfer that cost lots of time ?

Regards

Boris

2

Hello,

Indeed, you cannot keep the memory on the GPU with our Python wrapper. We did not find a way to do this (yet).
However our wrapper is open source (GitHub - stereolabs/zed-python-api: Python API for the ZED SDK)
You are more than free to give us any idea you can have about this kind of CUDA usage in python.

Antoine

1 Like
3

Hello,

So we recently wanted to achieve the same, and I went down the rabbit hole of trying to figure this out.
I think I got an answer to this issue, and I already raised a PR: https://github.com/stereolabs/zed-python-api/pull/230) containing the changes.

It’s still not thoroughly tested, but I kinda want the community to take it from here.

4

Great,

I hope I will be able to test it soon.
Did you check if it is possible to use sl.MEM.GPU with the latest version of the SDK ( 4.0 ) ?
The documentation does not mention any restriction with it.

5

Actually, I worked on the 4.0, and the Python API still had no sl.MEM.GPU option. Additionally, the Python API only returned Numpy arrays (only CPU).

6

Hello! Has there been any progress on this? I saw the PR, has this been integrated after the latest 4.1 sdk release? Any other way around this?
Thanks a lot and really appreciate the effort!!!

7

I recently opened a new PR with full working GPU grab across all resolutions (tried it even with the ZED X Mini with HD1200 resolution). It works with ZED SDK 4.1.4.
You can give it a try and see if it suits your needs: get_data on GPU using cupy by Rad-hi · Pull Request #241 · stereolabs/zed-python-api · GitHub