Point Cloud Library (PCL) 1.12.1
device.hpp
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37
38#ifndef PCL_GPU_KINFU_DEVICE_HPP_
39#define PCL_GPU_KINFU_DEVICE_HPP_
40
41#include "utils.hpp" //temporary reimplementing to release kinfu without pcl_gpu_utils
42
43#include "internal.h"
44
45#include "pointer_shift.cu" // contains primitive needed by all cuda functions dealing with rolling tsdf buffer
46
47namespace pcl
48{
49 namespace device
50 {
51 namespace kinfuLS
52 {
53 #define INV_DIV 3.051850947599719e-5f
54
55 __device__ __forceinline__ void
56 pack_tsdf (float tsdf, int weight, short2& value)
57 {
58 int fixedp = max (-DIVISOR, min (DIVISOR, __float2int_rz (tsdf * DIVISOR)));
59 //int fixedp = __float2int_rz(tsdf * DIVISOR);
60 value = make_short2 (fixedp, weight);
61 }
62
63 __device__ __forceinline__ void
64 unpack_tsdf (short2 value, float& tsdf, int& weight)
65 {
66 weight = value.y;
67 tsdf = __int2float_rn (value.x) / DIVISOR; //*/ * INV_DIV;
68 }
69
70 __device__ __forceinline__ float
71 unpack_tsdf (short2 value)
72 {
73 return static_cast<float>(value.x) / DIVISOR; //*/ * INV_DIV;
74 }
75
76
77 __device__ __forceinline__ float3
78 operator* (const Mat33& m, const float3& vec)
79 {
80 return make_float3 (dot (m.data[0], vec), dot (m.data[1], vec), dot (m.data[2], vec));
81 }
82
83
84 ////////////////////////////////////////////////////////////////////////////////////////
85 ///// Prefix Scan utility
86
88
89 template<ScanKind Kind, class T>
90 __device__ __forceinline__ T
91 scan_warp ( volatile T *ptr, const unsigned int idx = threadIdx.x )
92 {
93 const unsigned int lane = idx & 31; // index of thread in warp (0..31)
94
95 if (lane >= 1) ptr[idx] = ptr[idx - 1] + ptr[idx];
96 if (lane >= 2) ptr[idx] = ptr[idx - 2] + ptr[idx];
97 if (lane >= 4) ptr[idx] = ptr[idx - 4] + ptr[idx];
98 if (lane >= 8) ptr[idx] = ptr[idx - 8] + ptr[idx];
99 if (lane >= 16) ptr[idx] = ptr[idx - 16] + ptr[idx];
100
101 if (Kind == inclusive)
102 return ptr[idx];
103 else
104 return (lane > 0) ? ptr[idx - 1] : 0;
105 }
106 }
107 }
108}
109
110#endif /* PCL_GPU_KINFU_DEVICE_HPP_ */
constexpr int DIVISOR
Definition: device.h:62
__device__ __forceinline__ float3 operator*(const Mat33 &m, const float3 &vec)
Definition: device.hpp:78
__device__ __forceinline__ T scan_warp(volatile T *ptr, const unsigned int idx=threadIdx.x)
Definition: device.hpp:91
__device__ __forceinline__ void pack_tsdf(float tsdf, int weight, short2 &value)
Definition: device.hpp:56
__device__ __forceinline__ float dot(const float3 &v1, const float3 &v2)
Definition: utils.hpp:61
__device__ __forceinline__ void unpack_tsdf(short2 value, float &tsdf, int &weight)
Definition: device.hpp:64
3x3 Matrix for device code
Definition: device.h:106