texture_binder.hpp

/*
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */
 
#ifndef PCL_GPU_UTILS_TEXTURE_BINDER_HPP_
#define PCL_GPU_UTILS_TEXTURE_BINDER_HPP_
 
#include <pcl/gpu/containers/device_array.h>
#include <pcl/gpu/utils/safe_call.hpp>
 
namespace pcl {
namespace gpu {
class TextureBinder {
public:
  template <class T, enum cudaTextureReadMode readMode>
  TextureBinder(const DeviceArray2D<T>& arr, const struct texture<T, 2, readMode>& tex)
  : texref(&tex)
  {
    cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
    cudaSafeCall(
        cudaBindTexture2D(0, tex, arr.ptr(), desc, arr.cols(), arr.rows(), arr.step()));
  }
 
  template <class T, enum cudaTextureReadMode readMode>
  TextureBinder(const DeviceArray<T>& arr, const struct texture<T, 1, readMode>& tex)
  : texref(&tex)
  {
    cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
    cudaSafeCall(cudaBindTexture(0, tex, arr.ptr(), desc, arr.sizeBytes()));
  }
 
  template <class T, enum cudaTextureReadMode readMode>
  TextureBinder(const PtrStepSz<T>& arr, const struct texture<T, 2, readMode>& tex)
  : texref(&tex)
  {
    cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
    cudaSafeCall(
        cudaBindTexture2D(0, tex, arr.data, desc, arr.cols, arr.rows, arr.step));
  }
 
  template <class T, enum cudaTextureReadMode readMode>
  TextureBinder(const PtrSz<T>& arr, const struct texture<T, 1, readMode>& tex)
  : texref(&tex)
  {
    cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();
    cudaSafeCall(cudaBindTexture(0, tex, arr.data, desc, arr.size * arr.elemSize()));
  }
 
  ~TextureBinder() { cudaSafeCall(cudaUnbindTexture(texref)); }
 
private:
  const struct textureReference* texref;
};
} // namespace gpu
 
namespace device {
using pcl::gpu::TextureBinder;
}
} // namespace pcl
 
#endif /* PCL_GPU_UTILS_TEXTURE_BINDER_HPP_*/