NCVAlg.hpp
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* $Id: $
* Ported to PCL by Koen Buys : Attention Work in progress!
*/
#ifndef _ncv_alg_hpp_
#define _ncv_alg_hpp_
#include "NCV.hpp"
template <class T>
static void swap(T &p1, T &p2)
{
T tmp = p1;
p1 = p2;
p2 = tmp;
}
template<typename T>
static T divUp(T a, T b)
{
return (a + b - 1) / b;
}
template<typename T>
struct functorAddValues
{
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
{
//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.
*dst = *src;
}
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
{
in1out += in2;
}
};
template<typename T>
struct functorMinValues
{
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
{
//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.
*dst = *src;
}
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
{
in1out = in1out > in2 ? in2 : in1out;
}
};
template<typename T>
struct functorMaxValues
{
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
{
//Works only for integral types. If you see compiler error here, then you have to specify how to copy your object as a set of integral fields.
*dst = *src;
}
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
{
in1out = in1out > in2 ? in1out : in2;
}
};
template<typename Tdata, class Tfunc, Ncv32u nThreads>
static __device__ Tdata subReduce(Tdata threadElem)
{
Tfunc functor;
__shared__ Tdata _reduceArr[nThreads];
volatile Tdata *reduceArr = _reduceArr;
functor.assign(reduceArr + threadIdx.x, &threadElem);
__syncthreads();
if (nThreads >= 256 && threadIdx.x < 128)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 128]);
}
__syncthreads();
if (nThreads >= 128 && threadIdx.x < 64)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 64]);
}
__syncthreads();
if (threadIdx.x < 32)
{
if (nThreads >= 64)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 32]);
}
if (nThreads >= 32 && threadIdx.x < 16)
{
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 16]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 8]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 4]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 2]);
functor.reduce(reduceArr[threadIdx.x], reduceArr[threadIdx.x + 1]);
}
}
__syncthreads();
Tdata reduceRes;
functor.assign(&reduceRes, reduceArr);
return reduceRes;
}
#endif //_ncv_alg_hpp_
functorMinValues
Definition: NCVAlg.hpp:79
functorMinValues::reduce
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
Definition: NCVAlg.hpp:86
functorMaxValues::assign
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
Definition: NCVAlg.hpp:96
functorAddValues
Definition: NCVAlg.hpp:64
functorMinValues::assign
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
Definition: NCVAlg.hpp:81
pcl::cuda::swap
__host__ __device__ void swap(float &a, float &b)
Definition: eigen.h:155
functorAddValues::reduce
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
Definition: NCVAlg.hpp:71
functorAddValues::assign
static __device__ __inline__ void assign(volatile T *dst, volatile T *src)
Definition: NCVAlg.hpp:66
functorMaxValues::reduce
static __device__ __inline__ void reduce(volatile T &in1out, const volatile T &in2)
Definition: NCVAlg.hpp:101
functorMaxValues
Definition: NCVAlg.hpp:94