Point Cloud Library (PCL)  1.9.1-dev
texture_binder.hpp
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36 
37 #ifndef PCL_GPU_UTILS_TEXTURE_BINDER_HPP_
38 #define PCL_GPU_UTILS_TEXTURE_BINDER_HPP_
39 
40 #include <pcl/gpu/utils/safe_call.hpp>
41 #include <pcl/gpu/containers/device_array.h>
42 
43 namespace pcl
44 {
45  namespace gpu
46  {
48  {
49  public:
50  template<class T, enum cudaTextureReadMode readMode>
51  TextureBinder(const DeviceArray2D<T>& arr, const struct texture<T, 2, readMode>& tex) : texref(&tex)
52  {
53  cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
54  cudaSafeCall( cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step()) );
55  }
56 
57  template<class T, enum cudaTextureReadMode readMode>
58  TextureBinder(const DeviceArray<T>& arr, const struct texture<T, 1, readMode> &tex) : texref(&tex)
59  {
60  cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
61  cudaSafeCall( cudaBindTexture(0, tex, arr.ptr(), desc, arr.sizeBytes()) );
62  }
63 
64  template<class T, enum cudaTextureReadMode readMode>
65  TextureBinder(const PtrStepSz<T>& arr, const struct texture<T, 2, readMode>& tex) : texref(&tex)
66  {
67  cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
68  cudaSafeCall( cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step) );
69  }
70 
71  template<class T, enum cudaTextureReadMode readMode>
72  TextureBinder(const PtrSz<T>& arr, const struct texture<T, 1, readMode> &tex) : texref(&tex)
73  {
74  cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
75  cudaSafeCall( cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize()) );
76  }
77 
79  {
80  cudaSafeCall( cudaUnbindTexture(texref) );
81  }
82  private:
83  const struct textureReference *texref;
84  };
85  }
86 
87  namespace device
88  {
90  }
91 }
92 
93 #endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/
size_t sizeBytes() const
TextureBinder(const PtrStepSz< T > &arr, const struct texture< T, 2, readMode > &tex)
size_t step() const
Returns stride between two consecutive rows in bytes for internal buffer.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
DeviceArray2D class
Definition: device_array.h:153
__PCL_GPU_HOST_DEVICE__ size_t elemSize() const
T * ptr(int y=0)
Returns pointer to given row in internal buffer.
int rows() const
Returns number of rows.
TextureBinder(const DeviceArray< T > &arr, const struct texture< T, 1, readMode > &tex)
size_t step
stride between two consecutive rows in bytes.
DeviceArray class
Definition: device_array.h:56
TextureBinder(const PtrSz< T > &arr, const struct texture< T, 1, readMode > &tex)
TextureBinder(const DeviceArray2D< T > &arr, const struct texture< T, 2, readMode > &tex)
int cols() const
Returns number of elements in each row.
T * ptr()
Returns pointer for internal buffer in GPU memory.