Point Cloud Library (PCL)  1.14.1-dev
device_memory.hpp
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage, Inc. nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *
34  * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35  */
36 
37 #ifndef PCL_GPU_CONTAINER_DEVICE_MEMORY_IMPL_HPP_
38 #define PCL_GPU_CONTAINER_DEVICE_MEMORY_IMPL_HPP_
39 
40 namespace pcl {
41 
42 namespace gpu {
43 
44 //////////////////// Inline implementations of DeviceMemory //////////////////
45 template <class T>
46 inline T*
47 DeviceMemory::ptr()
48 {
49  return (T*)data_;
50 }
51 
52 template <class T>
53 inline const T*
54 DeviceMemory::ptr() const
55 {
56  return (const T*)data_;
57 }
58 
59 template <class U>
60 inline DeviceMemory::operator PtrSz<U>() const
61 {
62  PtrSz<U> result;
63  result.data = (U*)ptr<U>();
64  result.size = sizeBytes_ / sizeof(U);
65  return result;
66 }
67 
68 //////////////////// Inline implementations of DeviceMemory2D ////////////////
69 template <class T>
70 T*
71 DeviceMemory2D::ptr(int y_arg)
72 {
73  return (T*)((char*)data_ + y_arg * step_);
74 }
75 
76 template <class T>
77 const T*
78 DeviceMemory2D::ptr(int y_arg) const
79 {
80  return (const T*)((const char*)data_ + y_arg * step_);
81 }
82 
83 template <class U>
84 DeviceMemory2D::operator PtrStep<U>() const
85 {
86  PtrStep<U> result;
87  result.data = (U*)ptr<U>();
88  result.step = step_;
89  return result;
90 }
91 
92 template <class U>
93 DeviceMemory2D::operator PtrStepSz<U>() const
94 {
95  PtrStepSz<U> result;
96  result.data = (U*)ptr<U>();
97  result.step = step_;
98  result.cols = colsBytes_ / sizeof(U);
99  result.rows = rows_;
100  return result;
101 }
102 
103 } // namespace gpu
104 } // namespace pcl
105 
106 #endif /* PCL_GPU_CONTAINER_DEVICE_MEMORY_IMPL_HPP_ */
pcl::gpu::DeviceMemory2D::ptr
T * ptr(int y_arg=0)
Returns pointer to given row in internal buffer.
Definition: device_memory.hpp:71
pcl::gpu::DeviceMemory::ptr
T * ptr()
Returns pointer for internal buffer in GPU memory.
Definition: device_memory.hpp:47
pcl::gpu::PtrStep::step
std::size_t step
stride between two consecutive rows in bytes.
Definition: kernel_containers.h:94