repacks.hpp

/*
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 *     disclaimer in the documentation and/or other materials provided
 *     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.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */

#ifndef __PCL_GPU_UTILS_REPACKS_HPP__
#define __PCL_GPU_UTILS_REPACKS_HPP__

#include <pcl/gpu/containers/device_array.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>

namespace pcl {
namespace gpu {
///////////////////////////////////////
///  This is an experimental code   ///
///////////////////////////////////////

const int NoCP = 0xFFFFFFFF;

/** \brief Returns field copy operation code. */
inline int
cp(int from, int to)
{
  return ((to & 0xF) << 4) + (from & 0xF);
}

/* Combines several field copy operations to one int (called rule) */
inline int
rule(int cp1, int cp2 = NoCP, int cp3 = NoCP, int cp4 = NoCP)
{
  return (cp1 & 0xFF) + ((cp2 & 0xFF) << 8) + ((cp3 & 0xFF) << 16) +
         ((cp4 & 0xFF) << 24);
}

/* Combines performs all field copy operations in given rule array (can be 0, 1, or 16
 * copies) */
void
copyFieldsImpl(
    int in_size, int out_size, int rules[4], int size, const void* input, void* output);

template <typename PointIn, typename PointOut>
void
copyFieldsEx(const DeviceArray<PointIn>& src,
             DeviceArray<PointOut>& dst,
             int rule1,
             int rule2 = NoCP,
             int rule3 = NoCP,
             int rule4 = NoCP)
{
  int rules[4] = {rule1, rule2, rule3, rule4};
  dst.create(src.size());
  copyFieldsImpl(sizeof(PointIn) / sizeof(int),
                 sizeof(PointOut) / sizeof(int),
                 rules,
                 (int)src.size(),
                 src.ptr(),
                 dst.ptr());
}

void
copyFields(const DeviceArray<PointXYZ>& src, DeviceArray<PointNormal>& dst)
{
  // PointXYZ.x (0) -> PointNormal.x (0)
  // PointXYZ.y (1) -> PointNormal.y (1)
  // PointXYZ.z (2) -> PointNormal.z (2)
  copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};

void
copyFields(const DeviceArray<Normal>& src, DeviceArray<PointNormal>& dst)
{
  // PointXYZ.normal_x (0)  -> PointNormal.normal_x (4)
  // PointXYZ.normal_y (1)  -> PointNormal.normal_y (5)
  // PointXYZ.normal_z (2)  -> PointNormal.normal_z (6)
  // PointXYZ.curvature (4) -> PointNormal.curvature (8)
  copyFieldsEx(src, dst, rule(cp(0, 4), cp(1, 5), cp(2, 6), cp(4, 8)));
};

void
copyFields(const DeviceArray<PointXYZRGBL>& src, DeviceArray<PointXYZ>& dst)
{
  // PointXYZRGBL.x (0) -> PointXYZ.x (0)
  // PointXYZRGBL.y (1) -> PointXYZ.y (1)
  // PointXYZRGBL.z (2) -> PointXYZ.z (2)
  copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};

void
copyFields(const DeviceArray<PointXYZRGB>& src, DeviceArray<PointXYZ>& dst)
{
  // PointXYZRGB.x (0) -> PointXYZ.x (0)
  // PointXYZRGB.y (1) -> PointXYZ.y (1)
  // PointXYZRGB.z (2) -> PointXYZ.z (2)
  copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};

void
copyFields(const DeviceArray<PointXYZRGBA>& src, DeviceArray<PointXYZ>& dst)
{
  // PointXYZRGBA.x (0) -> PointXYZ.x (0)
  // PointXYZRGBA.y (1) -> PointXYZ.y (1)
  // PointXYZRGBA.z (2) -> PointXYZ.z (2)
  copyFieldsEx(src, dst, rule(cp(0, 0), cp(1, 1), cp(2, 2)));
};

void
copyFieldsZ(const DeviceArray<PointXYZ>& src, DeviceArray<float>& dst)
{
  // PointXYZRGBL.z (2) -> float (1)
  copyFieldsEx(src, dst, rule(cp(2, 0)));
};

void
copyFieldsZ(const DeviceArray<PointXYZRGB>& src, DeviceArray<float>& dst)
{
  // PointXYZRGBL.z (2) -> float (1)
  copyFieldsEx(src, dst, rule(cp(2, 0)));
};
} // namespace gpu
} // namespace pcl

#endif /* __PCL_GPU_UTILS_REPACKS_HPP__ */