kernel_containers.h

/*
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
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 *     notice, this list of conditions and the following disclaimer.
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 *     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,
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 *  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)
 */

#pragma once

#if defined(__CUDACC__) 
    #define __PCL_GPU_HOST_DEVICE__ __host__ __device__ __forceinline__ 
#else
    #define __PCL_GPU_HOST_DEVICE__
#endif  

#include <cstddef>

namespace pcl
{
    namespace gpu
    {
        template<typename T> struct DevPtr
        {
            using elem_type = T;
            const static std::size_t elem_size = sizeof(elem_type);

            T* data;

            __PCL_GPU_HOST_DEVICE__ DevPtr() : data(nullptr) {}
            __PCL_GPU_HOST_DEVICE__ DevPtr(T* data_arg) : data(data_arg) {}

            __PCL_GPU_HOST_DEVICE__ std::size_t elemSize() const { return elem_size; }
            __PCL_GPU_HOST_DEVICE__ operator       T*()       { return data; }
            __PCL_GPU_HOST_DEVICE__ operator const T*() const { return data; }
        };

        template<typename T> struct PtrSz : public DevPtr<T>
        {                     
            __PCL_GPU_HOST_DEVICE__ PtrSz() : size(0) {}
            __PCL_GPU_HOST_DEVICE__ PtrSz(T* data_arg, std::size_t size_arg) : DevPtr<T>(data_arg), size(size_arg) {}

            std::size_t size;
        };

        template<typename T>  struct PtrStep : public DevPtr<T>
        {   
            __PCL_GPU_HOST_DEVICE__ PtrStep() : step(0) {}
            __PCL_GPU_HOST_DEVICE__ PtrStep(T* data_arg, std::size_t step_arg) : DevPtr<T>(data_arg), step(step_arg) {}

            /** \brief stride between two consecutive rows in bytes. Step is stored always and everywhere in bytes!!! */
            std::size_t step;            

            __PCL_GPU_HOST_DEVICE__       T* ptr(int y = 0)       { return (      T*)( (      char*)DevPtr<T>::data + y * step); }
            __PCL_GPU_HOST_DEVICE__ const T* ptr(int y = 0) const { return (const T*)( (const char*)DevPtr<T>::data + y * step); }

            __PCL_GPU_HOST_DEVICE__       T& operator()(int y, int x)       { return ptr(y)[x]; }
            __PCL_GPU_HOST_DEVICE__ const T& operator()(int y, int x) const { return ptr(y)[x]; }
        };

        template <typename T> struct PtrStepSz : public PtrStep<T>
        {   
            __PCL_GPU_HOST_DEVICE__ PtrStepSz() : cols(0), rows(0) {}
            __PCL_GPU_HOST_DEVICE__ PtrStepSz(int rows_arg, int cols_arg, T* data_arg, std::size_t step_arg) 
                : PtrStep<T>(data_arg, step_arg), cols(cols_arg), rows(rows_arg) {}

            int cols;
            int rows;                                                                              
        };
    }

    namespace device
    {
        using pcl::gpu::PtrSz;
        using pcl::gpu::PtrStep;
        using pcl::gpu::PtrStepSz;
    }
}

#undef __PCL_GPU_HOST_DEVICE__