Point Cloud Library (PCL) 1.15.0
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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/containers/device_array.h>
41#include <pcl/gpu/utils/safe_call.hpp>
42
43namespace pcl {
44namespace gpu {
46public:
47 template <class T, enum cudaTextureReadMode readMode>
48 TextureBinder(const DeviceArray2D<T>& arr, const struct texture<T, 2, readMode>& tex)
49 : texref(&tex)
50 {
51 cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
52 cudaSafeCall(
53 cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step()));
54 }
55
56 template <class T, enum cudaTextureReadMode readMode>
57 TextureBinder(const DeviceArray<T>& arr, const struct texture<T, 1, readMode>& tex)
58 : 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)
66 : texref(&tex)
67 {
68 cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
69 cudaSafeCall(
70 cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step));
71 }
72
73 template <class T, enum cudaTextureReadMode readMode>
74 TextureBinder(const PtrSz<T>& arr, const struct texture<T, 1, readMode>& tex)
75 : texref(&tex)
76 {
77 cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
78 cudaSafeCall(cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize()));
79 }
80
81 ~TextureBinder() { cudaSafeCall(cudaUnbindTexture(texref)); }
82
83private:
84 const struct textureReference* texref;
85};
86} // namespace gpu
87
88namespace device {
90}
91} // namespace pcl
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.