Point Cloud Library (PCL) 1.14.0
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texture_binder.hpp
1/*
2 * Software License Agreement (BSD License)
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4 * Copyright (c) 2011, Willow Garage, Inc.
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
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
43namespace 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_*/
DeviceArray2D class
int rows() const
Returns number of rows.
int cols() const
Returns number of elements in each row.
T * ptr(int y=0)
Returns pointer to given row in internal buffer.
DeviceArray class
T * ptr()
Returns pointer for internal buffer in GPU memory.
std::size_t step() const
Returns stride between two consecutive rows in bytes for internal buffer.
std::size_t sizeBytes() const
TextureBinder(const PtrStepSz< T > &arr, const struct texture< T, 2, readMode > &tex)
TextureBinder(const PtrSz< T > &arr, const struct texture< T, 1, readMode > &tex)
TextureBinder(const DeviceArray2D< T > &arr, const struct texture< T, 2, readMode > &tex)
TextureBinder(const DeviceArray< T > &arr, const struct texture< T, 1, readMode > &tex)
__PCL_GPU_HOST_DEVICE__ std::size_t elemSize() const
std::size_t step
stride between two consecutive rows in bytes.