Point Cloud Library (PCL) 1.13.0
copygen.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_OCTREE_COPYGE_HPP
38#define PCL_GPU_OCTREE_COPYGE_HPP
39
40#include <pcl/gpu/utils/device/warp.hpp>
41
42namespace pcl
43{
44 namespace device
45 {
46
47 template <typename T>
48 __device__ void CopyKernel(const T* in, T *out, int length)
49 {
50 int STRIDE = gridDim.x * blockDim.x;
51 for (int idx = (blockIdx.x * blockDim.x) + threadIdx.x; idx < length; idx += STRIDE)
52 {
53 out[idx] = in[idx];
54 }
55 }
56
57 template <typename T>
58 __device__ void GenerateKernel(T* out, int beg, int end)
59 {
60 int length = end - beg;
61 int pos = beg;
62
63 int STRIDE = blockDim.x;
64 for (int idx = threadIdx.x; idx < length; idx += STRIDE, pos += STRIDE)
65 {
66 out[idx] = pos + threadIdx.x;
67 }
68 }
69
70 template <typename T>
71 __device__ void GenerateTasksKernel(T* out, int beg, int end, int level)
72 {
73 int length = end - beg;
74 int pos = beg;
75
76 int STRIDE = blockDim.x;
77 for (int idx = threadIdx.x; idx < length; idx += STRIDE, pos += STRIDE)
78 {
79 out[idx] = ((pos + threadIdx.x) << 8) + level;
80 }
81 }
82 }
83}
84
85#endif /* PCL_GPU_OCTREE_COPYGE_HPP */
__device__ void CopyKernel(const T *in, T *out, int length)
Definition: copygen.hpp:48
__device__ void GenerateTasksKernel(T *out, int beg, int end, int level)
Definition: copygen.hpp:71
__device__ void GenerateKernel(T *out, int beg, int end)
Definition: copygen.hpp:58