Point Cloud Library (PCL)  1.12.1-dev
kernel_containers.h
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34  * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #pragma once
38 
39 #if defined(__CUDACC__)
40 #define __PCL_GPU_HOST_DEVICE__ __host__ __device__ __forceinline__
41 #else
42 #define __PCL_GPU_HOST_DEVICE__
43 #endif
44 
45 #include <cstddef>
46 
47 namespace pcl {
48 namespace gpu {
49 template <typename T>
50 struct DevPtr {
51  using elem_type = T;
52  const static std::size_t elem_size = sizeof(elem_type);
53 
54  T* data;
55 
56  __PCL_GPU_HOST_DEVICE__
57  DevPtr() : data(nullptr) {}
58 
59  __PCL_GPU_HOST_DEVICE__
60  DevPtr(T* data_arg) : data(data_arg) {}
61 
62  __PCL_GPU_HOST_DEVICE__ std::size_t
63  elemSize() const
64  {
65  return elem_size;
66  }
67 
68  __PCL_GPU_HOST_DEVICE__
69  operator T*() { return data; }
70  __PCL_GPU_HOST_DEVICE__ operator const T*() const { return data; }
71 };
72 
73 template <typename T>
74 struct PtrSz : public DevPtr<T> {
75  __PCL_GPU_HOST_DEVICE__
76  PtrSz() : size(0) {}
77 
78  __PCL_GPU_HOST_DEVICE__
79  PtrSz(T* data_arg, std::size_t size_arg) : DevPtr<T>(data_arg), size(size_arg) {}
80 
81  std::size_t size;
82 };
83 
84 template <typename T>
85 struct PtrStep : public DevPtr<T> {
86  __PCL_GPU_HOST_DEVICE__
87  PtrStep() : step(0) {}
88 
89  __PCL_GPU_HOST_DEVICE__
90  PtrStep(T* data_arg, std::size_t step_arg) : DevPtr<T>(data_arg), step(step_arg) {}
91 
92  /** \brief stride between two consecutive rows in bytes. Step is stored always and
93  * everywhere in bytes!!! */
94  std::size_t step;
95 
96  __PCL_GPU_HOST_DEVICE__ T*
97  ptr(int y = 0)
98  {
99  return (T*)((char*)DevPtr<T>::data + y * step);
100  }
101 
102  __PCL_GPU_HOST_DEVICE__ const T*
103  ptr(int y = 0) const
104  {
105  return (const T*)((const char*)DevPtr<T>::data + y * step);
106  }
107 
108  __PCL_GPU_HOST_DEVICE__ T&
109  operator()(int y, int x)
110  {
111  return ptr(y)[x];
112  }
113 
114  __PCL_GPU_HOST_DEVICE__ const T&
115  operator()(int y, int x) const
116  {
117  return ptr(y)[x];
118  }
119 };
120 
121 template <typename T>
122 struct PtrStepSz : public PtrStep<T> {
123  __PCL_GPU_HOST_DEVICE__
124  PtrStepSz() : cols(0), rows(0) {}
125 
126  __PCL_GPU_HOST_DEVICE__
127  PtrStepSz(int rows_arg, int cols_arg, T* data_arg, std::size_t step_arg)
128  : PtrStep<T>(data_arg, step_arg), cols(cols_arg), rows(rows_arg)
129  {}
130 
131  int cols;
132  int rows;
133 };
134 } // namespace gpu
135 
136 namespace device {
137 using pcl::gpu::PtrStep;
138 using pcl::gpu::PtrStepSz;
139 using pcl::gpu::PtrSz;
140 } // namespace device
141 } // namespace pcl
142 
143 #undef __PCL_GPU_HOST_DEVICE__
static const std::size_t elem_size
__PCL_GPU_HOST_DEVICE__ std::size_t elemSize() const
__PCL_GPU_HOST_DEVICE__ DevPtr(T *data_arg)
__PCL_GPU_HOST_DEVICE__ DevPtr()
__PCL_GPU_HOST_DEVICE__ PtrStep()
__PCL_GPU_HOST_DEVICE__ PtrStep(T *data_arg, std::size_t step_arg)
__PCL_GPU_HOST_DEVICE__ T * ptr(int y=0)
__PCL_GPU_HOST_DEVICE__ const T & operator()(int y, int x) const
__PCL_GPU_HOST_DEVICE__ T & operator()(int y, int x)
__PCL_GPU_HOST_DEVICE__ const T * ptr(int y=0) const
std::size_t step
stride between two consecutive rows in bytes.
__PCL_GPU_HOST_DEVICE__ PtrStepSz()
__PCL_GPU_HOST_DEVICE__ PtrStepSz(int rows_arg, int cols_arg, T *data_arg, std::size_t step_arg)
__PCL_GPU_HOST_DEVICE__ PtrSz(T *data_arg, std::size_t size_arg)
__PCL_GPU_HOST_DEVICE__ PtrSz()