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Remove global includes and use target include for GPU/CUDA (PointClou…
…dLibrary#6010) * Change to use target_include_directories. Rearranged files between gpu_utils and gpu_containers, to break cyclic includes. * Remove unncessary .cpp file. * Revert moving of files. * Copy error function to safe_call. Added deprecated headers for notice to users. * Revert include paths. * Add missing include * Added empty cu file. * Add include to gpu people.
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154 changes: 154 additions & 0 deletions
154
gpu/containers/include/pcl/gpu/containers/impl/repacks.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2011, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) | ||
| */ | ||
|
|
||
| #ifndef __PCL_GPU_UTILS_REPACKS_HPP__ | ||
| #define __PCL_GPU_UTILS_REPACKS_HPP__ | ||
|
|
||
| #include <pcl/gpu/containers/device_array.h> | ||
| #include <pcl/pcl_macros.h> | ||
| #include <pcl/point_types.h> | ||
|
|
||
| namespace pcl { | ||
| namespace gpu { | ||
| /////////////////////////////////////// | ||
| /// This is an experimental code /// | ||
| /////////////////////////////////////// | ||
|
|
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| const int NoCP = 0xFFFFFFFF; | ||
|
|
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| /** \brief Returns field copy operation code. */ | ||
| inline int | ||
| cp(int from, int to) | ||
| { | ||
| return ((to & 0xF) << 4) + (from & 0xF); | ||
| } | ||
|
|
||
| /* Combines several field copy operations to one int (called rule) */ | ||
| inline int | ||
| rule(int cp1, int cp2 = NoCP, int cp3 = NoCP, int cp4 = NoCP) | ||
| { | ||
| return (cp1 & 0xFF) + ((cp2 & 0xFF) << 8) + ((cp3 & 0xFF) << 16) + | ||
| ((cp4 & 0xFF) << 24); | ||
| } | ||
|
|
||
| /* Combines performs all field copy operations in given rule array (can be 0, 1, or 16 | ||
| * copies) */ | ||
| void | ||
| copyFieldsImpl( | ||
| int in_size, int out_size, int rules[4], int size, const void* input, void* output); | ||
|
|
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| template <typename PointIn, typename PointOut> | ||
| void | ||
| copyFieldsEx(const DeviceArray<PointIn>& src, | ||
| DeviceArray<PointOut>& dst, | ||
| int rule1, | ||
| int rule2 = NoCP, | ||
| int rule3 = NoCP, | ||
| int rule4 = NoCP) | ||
| { | ||
| int rules[4] = {rule1, rule2, rule3, rule4}; | ||
| dst.create(src.size()); | ||
| copyFieldsImpl(sizeof(PointIn) / sizeof(int), | ||
| sizeof(PointOut) / sizeof(int), | ||
| rules, | ||
| (int)src.size(), | ||
| src.ptr(), | ||
| dst.ptr()); | ||
| } | ||
|
|
||
| void | ||
| copyFields(const DeviceArray<PointXYZ>& src, DeviceArray<PointNormal>& dst) | ||
| { | ||
| // PointXYZ.x (0) -> PointNormal.x (0) | ||
| // PointXYZ.y (1) -> PointNormal.y (1) | ||
| // PointXYZ.z (2) -> PointNormal.z (2) | ||
| copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); | ||
| }; | ||
|
|
||
| void | ||
| copyFields(const DeviceArray<Normal>& src, DeviceArray<PointNormal>& dst) | ||
| { | ||
| // PointXYZ.normal_x (0) -> PointNormal.normal_x (4) | ||
| // PointXYZ.normal_y (1) -> PointNormal.normal_y (5) | ||
| // PointXYZ.normal_z (2) -> PointNormal.normal_z (6) | ||
| // PointXYZ.curvature (4) -> PointNormal.curvature (8) | ||
| copyFieldsEx(src, dst, rule(cp(0, 4), cp(1, 5), cp(2, 6), cp(4, 8))); | ||
| }; | ||
|
|
||
| void | ||
| copyFields(const DeviceArray<PointXYZRGBL>& src, DeviceArray<PointXYZ>& dst) | ||
| { | ||
| // PointXYZRGBL.x (0) -> PointXYZ.x (0) | ||
| // PointXYZRGBL.y (1) -> PointXYZ.y (1) | ||
| // PointXYZRGBL.z (2) -> PointXYZ.z (2) | ||
| copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); | ||
| }; | ||
|
|
||
| void | ||
| copyFields(const DeviceArray<PointXYZRGB>& src, DeviceArray<PointXYZ>& dst) | ||
| { | ||
| // PointXYZRGB.x (0) -> PointXYZ.x (0) | ||
| // PointXYZRGB.y (1) -> PointXYZ.y (1) | ||
| // PointXYZRGB.z (2) -> PointXYZ.z (2) | ||
| copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); | ||
| }; | ||
|
|
||
| void | ||
| copyFields(const DeviceArray<PointXYZRGBA>& src, DeviceArray<PointXYZ>& dst) | ||
| { | ||
| // PointXYZRGBA.x (0) -> PointXYZ.x (0) | ||
| // PointXYZRGBA.y (1) -> PointXYZ.y (1) | ||
| // PointXYZRGBA.z (2) -> PointXYZ.z (2) | ||
| copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2))); | ||
| }; | ||
|
|
||
| void | ||
| copyFieldsZ(const DeviceArray<PointXYZ>& src, DeviceArray<float>& dst) | ||
| { | ||
| // PointXYZRGBL.z (2) -> float (1) | ||
| copyFieldsEx(src, dst, rule(cp(2, 0))); | ||
| }; | ||
|
|
||
| void | ||
| copyFieldsZ(const DeviceArray<PointXYZRGB>& src, DeviceArray<float>& dst) | ||
| { | ||
| // PointXYZRGBL.z (2) -> float (1) | ||
| copyFieldsEx(src, dst, rule(cp(2, 0))); | ||
| }; | ||
| } // namespace gpu | ||
| } // namespace pcl | ||
|
|
||
| #endif /* __PCL_GPU_UTILS_REPACKS_HPP__ */ |
93 changes: 93 additions & 0 deletions
93
gpu/containers/include/pcl/gpu/containers/impl/texture_binder.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| /* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2011, Willow Garage, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com) | ||
| */ | ||
|
|
||
| #ifndef PCL_GPU_UTILS_TEXTURE_BINDER_HPP_ | ||
| #define PCL_GPU_UTILS_TEXTURE_BINDER_HPP_ | ||
|
|
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| #include <pcl/gpu/containers/device_array.h> | ||
| #include <pcl/gpu/utils/safe_call.hpp> | ||
|
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| namespace pcl { | ||
| namespace gpu { | ||
| class TextureBinder { | ||
| public: | ||
| template <class T, enum cudaTextureReadMode readMode> | ||
| TextureBinder(const DeviceArray2D<T>& arr, const struct texture<T, 2, readMode>& tex) | ||
| : texref(&tex) | ||
| { | ||
| cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>(); | ||
| cudaSafeCall( | ||
| cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step())); | ||
| } | ||
|
|
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| template <class T, enum cudaTextureReadMode readMode> | ||
| TextureBinder(const DeviceArray<T>& arr, const struct texture<T, 1, readMode>& tex) | ||
| : texref(&tex) | ||
| { | ||
| cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>(); | ||
| cudaSafeCall(cudaBindTexture(0, tex, arr.ptr(), desc, arr.sizeBytes())); | ||
| } | ||
|
|
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| template <class T, enum cudaTextureReadMode readMode> | ||
| TextureBinder(const PtrStepSz<T>& arr, const struct texture<T, 2, readMode>& tex) | ||
| : texref(&tex) | ||
| { | ||
| cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>(); | ||
| cudaSafeCall( | ||
| cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step)); | ||
| } | ||
|
|
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| template <class T, enum cudaTextureReadMode readMode> | ||
| TextureBinder(const PtrSz<T>& arr, const struct texture<T, 1, readMode>& tex) | ||
| : texref(&tex) | ||
| { | ||
| cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>(); | ||
| cudaSafeCall(cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize())); | ||
| } | ||
|
|
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| ~TextureBinder() { cudaSafeCall(cudaUnbindTexture(texref)); } | ||
|
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| private: | ||
| const struct textureReference* texref; | ||
| }; | ||
| } // namespace gpu | ||
|
|
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| namespace device { | ||
| using pcl::gpu::TextureBinder; | ||
| } | ||
| } // namespace pcl | ||
|
|
||
| #endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/ |
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