device_array.hpp

/*
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */
 
#ifndef PCL_GPU_CONTAINER_DEVICE_ARRAY_IMPL_HPP_
#define PCL_GPU_CONTAINER_DEVICE_ARRAY_IMPL_HPP_
 
namespace pcl {
 
namespace gpu {
 
////////////////////  Inline implementations of DeviceArray //////////////////
 
template <class T>
inline DeviceArray<T>::DeviceArray()
{}
 
template <class T>
inline DeviceArray<T>::DeviceArray(std::size_t size) : DeviceMemory(size * elem_size)
{}
 
template <class T>
inline DeviceArray<T>::DeviceArray(T* ptr, std::size_t size)
: DeviceMemory(ptr, size * elem_size)
{}
 
template <class T>
inline DeviceArray<T>::DeviceArray(const DeviceArray& other) : DeviceMemory(other)
{}
 
template <class T>
inline DeviceArray<T>&
DeviceArray<T>::operator=(const DeviceArray& other)
{
  DeviceMemory::operator=(other);
  return *this;
}
 
template <class T>
inline void
DeviceArray<T>::create(std::size_t size)
{
  DeviceMemory::create(size * elem_size);
}
 
template <class T>
inline void
DeviceArray<T>::release()
{
  DeviceMemory::release();
}
 
template <class T>
inline void
DeviceArray<T>::copyTo(DeviceArray& other) const
{
  DeviceMemory::copyTo(other);
}
 
template <class T>
inline void
DeviceArray<T>::upload(const T* host_ptr, std::size_t size)
{
  DeviceMemory::upload(host_ptr, size * elem_size);
}
 
template <class T>
inline bool
DeviceArray<T>::upload(const T* host_ptr,
                       std::size_t device_begin_offset,
                       std::size_t num_elements)
{
  std::size_t begin_byte_offset = device_begin_offset * sizeof(T);
  std::size_t num_bytes = num_elements * sizeof(T);
  return DeviceMemory::upload(host_ptr, begin_byte_offset, num_bytes);
}
 
template <class T>
inline void
DeviceArray<T>::download(T* host_ptr) const
{
  DeviceMemory::download(host_ptr);
}
 
template <class T>
inline bool
DeviceArray<T>::download(T* host_ptr,
                         std::size_t device_begin_offset,
                         std::size_t num_elements) const
{
  std::size_t begin_byte_offset = device_begin_offset * sizeof(T);
  std::size_t num_bytes = num_elements * sizeof(T);
  return DeviceMemory::download(host_ptr, begin_byte_offset, num_bytes);
}
 
template <class T>
void
DeviceArray<T>::swap(DeviceArray& other_arg)
{
  DeviceMemory::swap(other_arg);
}
 
template <class T>
inline DeviceArray<T>::operator T*()
{
  return ptr();
}
 
template <class T>
inline DeviceArray<T>::operator const T*() const
{
  return ptr();
}
 
template <class T>
inline std::size_t
DeviceArray<T>::size() const
{
  return sizeBytes() / elem_size;
}
 
template <class T>
inline T*
DeviceArray<T>::ptr()
{
  return DeviceMemory::ptr<T>();
}
 
template <class T>
inline const T*
DeviceArray<T>::ptr() const
{
  return DeviceMemory::ptr<T>();
}
 
template <class T>
template <class A>
inline void
DeviceArray<T>::upload(const std::vector<T, A>& data)
{
  upload(&data[0], data.size());
}
 
template <class T>
template <class A>
inline void
DeviceArray<T>::download(std::vector<T, A>& data) const
{
  data.resize(size());
  if (!data.empty())
    download(&data[0]);
}
 
///////////////////  Inline implementations of DeviceArray2D //////////////////
 
template <class T>
inline DeviceArray2D<T>::DeviceArray2D()
{}
 
template <class T>
inline DeviceArray2D<T>::DeviceArray2D(int rows, int cols)
: DeviceMemory2D(rows, cols * elem_size)
{}
 
template <class T>
inline DeviceArray2D<T>::DeviceArray2D(int rows,
                                       int cols,
                                       void* data,
                                       std::size_t stepBytes)
: DeviceMemory2D(rows, cols * elem_size, data, stepBytes)
{}
 
template <class T>
inline DeviceArray2D<T>::DeviceArray2D(const DeviceArray2D& other)
: DeviceMemory2D(other)
{}
 
template <class T>
inline DeviceArray2D<T>&
DeviceArray2D<T>::operator=(const DeviceArray2D& other)
{
  DeviceMemory2D::operator=(other);
  return *this;
}
 
template <class T>
inline void
DeviceArray2D<T>::create(int rows, int cols)
{
  DeviceMemory2D::create(rows, cols * elem_size);
}
 
template <class T>
inline void
DeviceArray2D<T>::release()
{
  DeviceMemory2D::release();
}
 
template <class T>
inline void
DeviceArray2D<T>::copyTo(DeviceArray2D& other) const
{
  DeviceMemory2D::copyTo(other);
}
 
template <class T>
inline void
DeviceArray2D<T>::upload(const void* host_ptr,
                         std::size_t host_step,
                         int rows,
                         int cols)
{
  DeviceMemory2D::upload(host_ptr, host_step, rows, cols * elem_size);
}
 
template <class T>
inline void
DeviceArray2D<T>::download(void* host_ptr, std::size_t host_step) const
{
  DeviceMemory2D::download(host_ptr, host_step);
}
 
template <class T>
template <class A>
inline void
DeviceArray2D<T>::upload(const std::vector<T, A>& data, int cols)
{
  upload(&data[0], cols * elem_size, data.size() / cols, cols);
}
 
template <class T>
template <class A>
inline void
DeviceArray2D<T>::download(std::vector<T, A>& data, int& elem_step) const
{
  elem_step = cols();
  data.resize(cols() * rows());
  if (!data.empty())
    download(&data[0], colsBytes());
}
 
template <class T>
void
DeviceArray2D<T>::swap(DeviceArray2D& other_arg)
{
  DeviceMemory2D::swap(other_arg);
}
 
template <class T>
inline T*
DeviceArray2D<T>::ptr(int y)
{
  return DeviceMemory2D::ptr<T>(y);
}
 
template <class T>
inline const T*
DeviceArray2D<T>::ptr(int y) const
{
  return DeviceMemory2D::ptr<T>(y);
}
 
template <class T>
inline DeviceArray2D<T>::operator T*()
{
  return ptr();
}
 
template <class T>
inline DeviceArray2D<T>::operator const T*() const
{
  return ptr();
}
 
template <class T>
inline int
DeviceArray2D<T>::cols() const
{
  return DeviceMemory2D::colsBytes() / elem_size;
}
 
template <class T>
inline int
DeviceArray2D<T>::rows() const
{
  return DeviceMemory2D::rows();
}
 
template <class T>
inline std::size_t
DeviceArray2D<T>::elem_step() const
{
  return DeviceMemory2D::step() / elem_size;
}
 
} // namespace gpu
} // namespace pcl
 
#endif /* PCL_GPU_CONTAINER_DEVICE_ARRAY_IMPL_HPP_ */