Point Cloud Library (PCL) 1.15.0
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device.hpp
1/*
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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
45namespace pcl
46{
47 namespace device
48 {
49 #define INV_DIV 3.051850947599719e-5f
50
51 __device__ __forceinline__ void
52 pack_tsdf (float tsdf, int weight, short2& value)
53 {
54 int fixedp = max (-DIVISOR, min (DIVISOR, __float2int_rz (tsdf * DIVISOR)));
55 //int fixedp = __float2int_rz(tsdf * DIVISOR);
56 value = make_short2 (fixedp, weight);
57 }
58
59 __device__ __forceinline__ void
60 unpack_tsdf (short2 value, float& tsdf, int& weight)
61 {
62 weight = value.y;
63 tsdf = __int2float_rn (value.x) / DIVISOR; //*/ * INV_DIV;
64 }
65
66 __device__ __forceinline__ float
67 unpack_tsdf (short2 value)
68 {
69 return static_cast<float>(value.x) / DIVISOR; //*/ * INV_DIV;
70 }
71
72
73 __device__ __forceinline__ float3
74 operator* (const Mat33& m, const float3& vec)
75 {
76 return make_float3 (dot (m.data[0], vec), dot (m.data[1], vec), dot (m.data[2], vec));
77 }
78
79
80 ////////////////////////////////////////////////////////////////////////////////////////
81 ///// Prefix Scan utility
82
84
85 template<ScanKind Kind, class T>
86 __device__ __forceinline__ T
87 scan_warp ( volatile T *ptr, const unsigned int idx = threadIdx.x )
88 {
89 const unsigned int lane = idx & 31; // index of thread in warp (0..31)
90
91 if (lane >= 1) ptr[idx] = ptr[idx - 1] + ptr[idx];
92 if (lane >= 2) ptr[idx] = ptr[idx - 2] + ptr[idx];
93 if (lane >= 4) ptr[idx] = ptr[idx - 4] + ptr[idx];
94 if (lane >= 8) ptr[idx] = ptr[idx - 8] + ptr[idx];
95 if (lane >= 16) ptr[idx] = ptr[idx - 16] + ptr[idx];
96
97 if (Kind == inclusive)
98 return ptr[idx];
99 else
100 return (lane > 0) ? ptr[idx - 1] : 0;
101 }
102 }
103}
104
105#endif /* PCL_GPU_KINFU_DEVICE_HPP_ */
__device__ __forceinline__ T scan_warp(volatile T *ptr, const unsigned int idx=threadIdx.x)
Definition device.hpp:87
__device__ __forceinline__ void unpack_tsdf(short2 value, float &tsdf, int &weight)
Definition device.hpp:60
__device__ __forceinline__ float3 operator*(const Mat33 &m, const float3 &vec)
Definition device.hpp:74
__device__ __forceinline__ float dot(const float3 &v1, const float3 &v2)
Definition utils.hpp:59
__device__ __forceinline__ void pack_tsdf(float tsdf, int weight, short2 &value)
Definition device.hpp:52
constexpr int DIVISOR
Definition internal.h:56
3x3 Matrix for device code
Definition internal.h:84
float3 data[3]
Definition internal.h:85