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<div class="title">NCVAlg.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (C) 2009-2010, NVIDIA Corporation, all rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Third party copyrights are property of their respective owners.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> * $Id: $</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> * Ported to PCL by Koen Buys : Attention Work in progress!</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#ifndef _ncv_alg_hpp_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#define _ncv_alg_hpp_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "NCV.hpp"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">template</span> <<span class="keyword">class</span> T></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="namespacepcl_1_1cuda.html#a491cbbb94bb33e4b1dc54470ccdb307b">swap</a>(T &p1, T &p2)</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  T tmp = p1;</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  p1 = p2;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  p2 = tmp;</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> }</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">template</span><<span class="keyword">typename</span> T></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">static</span> T divUp(T a, T b)</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> {</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> (a + b - 1) / b;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> }</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">template</span><<span class="keyword">typename</span> T></div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structfunctor_add_values.html"> 64</a></span> <span class="keyword">struct </span><a class="code" href="structfunctor_add_values.html">functorAddValues</a></div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> {</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structfunctor_add_values.html#ace1225a8f584acbb0fe5b39f915b1c96"> 66</a></span>  <span class="keyword">static</span> __device__ __inline__ <span class="keywordtype">void</span> <a class="code" href="structfunctor_add_values.html#ace1225a8f584acbb0fe5b39f915b1c96">assign</a>(<span class="keyword">volatile</span> T *dst, <span class="keyword">volatile</span> T *src)</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  *dst = *src;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  }</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structfunctor_add_values.html#a9805fc7b9c84e69fbbc696148187649e"> 71</a></span>  <span class="keyword">static</span> __device__ __inline__ <span class="keywordtype">void</span> <a class="code" href="structfunctor_add_values.html#a9805fc7b9c84e69fbbc696148187649e">reduce</a>(<span class="keyword">volatile</span> T &in1out, <span class="keyword">const</span> <span class="keyword">volatile</span> T &in2)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  in1out += in2;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> };</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">template</span><<span class="keyword">typename</span> T></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structfunctor_min_values.html"> 79</a></span> <span class="keyword">struct </span><a class="code" href="structfunctor_min_values.html">functorMinValues</a></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> {</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structfunctor_min_values.html#a37033f41232b9a5c2c1167ecd6bf1dd1"> 81</a></span>  <span class="keyword">static</span> __device__ __inline__ <span class="keywordtype">void</span> <a class="code" href="structfunctor_min_values.html#a37033f41232b9a5c2c1167ecd6bf1dd1">assign</a>(<span class="keyword">volatile</span> T *dst, <span class="keyword">volatile</span> T *src)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="comment">//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  *dst = *src;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structfunctor_min_values.html#a003d9cadf9ecdbe525ef2e63c78321cd"> 86</a></span>  <span class="keyword">static</span> __device__ __inline__ <span class="keywordtype">void</span> <a class="code" href="structfunctor_min_values.html#a003d9cadf9ecdbe525ef2e63c78321cd">reduce</a>(<span class="keyword">volatile</span> T &in1out, <span class="keyword">const</span> <span class="keyword">volatile</span> T &in2)</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  in1out = in1out > in2 ? in2 : in1out;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> };</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  </div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">template</span><<span class="keyword">typename</span> T></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structfunctor_max_values.html"> 94</a></span> <span class="keyword">struct </span><a class="code" href="structfunctor_max_values.html">functorMaxValues</a></div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> {</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structfunctor_max_values.html#a879dc0c0f8e92bcfcf3bb2686b23a950"> 96</a></span>  <span class="keyword">static</span> __device__ __inline__ <span class="keywordtype">void</span> <a class="code" href="structfunctor_max_values.html#a879dc0c0f8e92bcfcf3bb2686b23a950">assign</a>(<span class="keyword">volatile</span> T *dst, <span class="keyword">volatile</span> T *src)</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  {</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="comment">//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  *dst = *src;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="structfunctor_max_values.html#a9bc138150a8eacffbec0642dd7eae31c"> 101</a></span>  <span class="keyword">static</span> __device__ __inline__ <span class="keywordtype">void</span> <a class="code" href="structfunctor_max_values.html#a9bc138150a8eacffbec0642dd7eae31c">reduce</a>(<span class="keyword">volatile</span> T &in1out, <span class="keyword">const</span> <span class="keyword">volatile</span> T &in2)</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  {</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  in1out = in1out > in2 ? in1out : in2;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  }</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> };</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="keyword">template</span><<span class="keyword">typename</span> Tdata, <span class="keyword">class</span> Tfunc, Ncv32u nThreads></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="keyword">static</span> __device__ Tdata subReduce(Tdata threadElem)</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span> {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  Tfunc functor;</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  __shared__ Tdata _reduceArr[nThreads];</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">volatile</span> Tdata *reduceArr = _reduceArr;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  functor.assign(reduceArr + threadIdx.x, &threadElem);</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  __syncthreads();</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordflow">if</span> (nThreads >= 256 && threadIdx.x < 128)</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  {</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 128]);</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  __syncthreads();</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">if</span> (nThreads >= 128 && threadIdx.x < 64)</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  {</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 64]);</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  }</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  __syncthreads();</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">if</span> (threadIdx.x < 32)</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  {</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (nThreads >= 64)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 32]);</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">if</span> (nThreads >= 32 && threadIdx.x < 16)</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  {</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 16]);</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 8]);</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 4]);</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 2]);</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 1]);</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  </div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  __syncthreads();</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  Tdata reduceRes;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  functor.assign(&reduceRes, reduceArr);</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">return</span> reduceRes;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span> }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  </div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> <span class="preprocessor">#endif </span><span class="comment">//_ncv_alg_hpp_</span></div>
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