minor update of device layer

modules/gpu/src/opencv2/gpu/device/funcattrib.hpp

+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2011, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     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
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
+*/
+
+#ifndef PCL_DEVICE_FUNCATTRIB_HPP_
+#define PCL_DEVICE_FUNCATTRIB_HPP_
+
+#include<cstdio>
+
+namespace pcl
+{
+    namespace device
+    {
+        template<class Func> 
+        void printFuncAttrib(Func& func)
+        {
+
+            cudaFuncAttributes attrs;
+            cudaFuncGetAttributes(&attrs, func);  
+
+            printf("=== Function stats ===\n");
+            printf("Name: \n");
+            printf("sharedSizeBytes    = %d\n", attrs.sharedSizeBytes);
+            printf("constSizeBytes     = %d\n", attrs.constSizeBytes);
+            printf("localSizeBytes     = %d\n", attrs.localSizeBytes);
+            printf("maxThreadsPerBlock = %d\n", attrs.maxThreadsPerBlock);
+            printf("numRegs            = %d\n", attrs.numRegs);
+            printf("ptxVersion         = %d\n", attrs.ptxVersion);
+            printf("binaryVersion      = %d\n", attrs.binaryVersion);
+            printf("\n");
+            fflush(stdout); 
+        }
+    }
+
+}
+
+#endif  /* PCL_DEVICE_FUNCATTRIB_HPP_ */
\ No newline at end of file

modules/gpu/src/opencv2/gpu/device/kernels.hpp

-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-//  By downloading, copying, installing or using the software you agree to this license.
-//  If you do not agree to this license, do not download, install,
-//  copy or use the software.
-//
-//
-//                           License Agreement
-//                For Open Source Computer Vision Library
-//
-// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
-// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-//   * Redistribution's of source code must retain the above copyright notice,
-//     this list of conditions and the following disclaimer.
-//
-//   * Redistribution's in binary form must reproduce the above copyright notice,
-//     this list of conditions and the following disclaimer in the documentation
-//     and/or other materials provided with the distribution.
-//
-//   * The name of the copyright holders may not 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 limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#ifndef __OPENCV_GPU_KENELRS_HPP__
-#define __OPENCV_GPU_KENELRS_HPP__
-
-namespace cv
-{
-	namespace gpu
-	{
-		namespace device
-		{
-			struct Grid1D
-			{
-				static __forceinline__ __device__ int STRIDE() { return  gridDim.x * blockDim.x; }
-				static __forceinline__ __device__ int SHIFT()  { return blockIdx.x * blockDim.x + threadIdx.x; }
-			};
-
-			struct Block1D
-			{
-				static __forceinline__ __device__ int STRIDE() { return blockDim.x; }
-				static __forceinline__ __device__ int SHIFT()  { return threadIdx.x; }			
-			};
-
-			struct Warp
-			{
-				static __forceinline__ __device__ int STRIDE() { return warpSize };            
-				static __forceinline__ __device__ int SHIFT()  { return threadIdx.x & (warpSize - 1); }			
-			};
-
-			template <class Worker, typename T>
-			__forceinline__ __device__ void Copy(const T* in, T *out, int length)
-			{
-				int STRIDE = Worker::STRIDE();
-				int idx    = Worker::SHIFT();				
-				
-				for (; idx < length; idx += STRIDE) 
-	                out[idx] = in[idx];
-			}
-
-			template <class Worker, typename InIter, typename OutIter>
-			__forceinline__ __device__ void Copy(InIter beg, InIter end, OutIter out)
-			{
-				int STRIDE = Worker::STRIDE();
-				int SHIFT  = Worker::SHIFT();
-				
-				beg += SHIFT;
-				out += SHIFT;
-
-				for (; beg < end; beg += STRIDE, out += STRIDE) 
-					*out = *beg;				
-			}		
-
-			 template <class Worker, typename T>
-			__forceinline__ __device__ void Yota(T* out, int beg, int end)
-			{	            				
-				int STRIDE = Worker::STRIDE();
-				int SHIFT  = Worker::SHIFT();
-
-				int idx    = SHIFT;
-				int cur    = beg + SHIFT;
-				int length = end - beg;
-				
-				for (; idx < length; idx += STRIDE, cur += STRIDE)
-					out[idx] = cur;				
-			}
-
-			template <class Worker, typename OutIter>
-			__forceinline__ __device__ void Yota(OutIter beg, OutIter end, int val)
-			{
-				int STRIDE = Worker::STRIDE();
-				int SHIFT  = Worker::SHIFT();
-
-				beg += SHIFT;
-				val += SHIFT;
-				
-				for (; beg < end; beg += STRIDE, val += STRIDE)
-					*beg = val;
-			}
-		}
-	}
-}
-
-#endif /* __OPENCV_GPU_KENELRS_HPP__ */
\ No newline at end of file

modules/gpu/src/opencv2/gpu/device/laneid.hpp

-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-//  By downloading, copying, installing or using the software you agree to this license.
-//  If you do not agree to this license, do not download, install,
-//  copy or use the software.
-//
-//
-//                           License Agreement
-//                For Open Source Computer Vision Library
-//
-// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
-// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-//   * Redistribution's of source code must retain the above copyright notice,
-//     this list of conditions and the following disclaimer.
-//
-//   * Redistribution's in binary form must reproduce the above copyright notice,
-//     this list of conditions and the following disclaimer in the documentation
-//     and/or other materials provided with the distribution.
-//
-//   * The name of the copyright holders may not 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 limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-
-#ifndef OPENCV_GPU_LANEID_HPP_
-#define OPENCV_GPU_LANEID_HPP_
-
-namespace cv
-{
-    namespace device
-    {
-        // Returns the warp lane ID of the calling thread
-        __device__ __forceinline__ unsigned int LaneId()
-        {
-	        unsigned int ret;
-	        asm("mov.u32 %0, %laneid;" : "=r"(ret) );
-	        return ret;
-        }
-    }
-}
-
-#endif /* OPENCV_GPU_LANEID_HPP_ */
\ No newline at end of file

modules/gpu/src/opencv2/gpu/device/static_check.hpp

+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2011, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     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
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
+*/
+
+#ifndef PCL_GPU_DEVICE_STATIC_CHECK_HPP_
+#define PCL_GPU_DEVICE_STATIC_CHECK_HPP_
+
+#if defined(__CUDACC__) 
+    #define __PCL_GPU_HOST_DEVICE__ __host__ __device__ __forceinline__ 
+#else
+    #define __PCL_GPU_HOST_DEVICE__
+#endif  
+
+namespace pcl
+{
+    namespace device
+    {
+        template<bool expr> struct Static {};
+        
+        template<> struct Static<true> 
+        { 
+            __PCL_GPU_HOST_DEVICE__ static void check() {}; 
+        };
+    }    
+
+    namespace gpu
+    {
+        using pcl::device::Static;
+    }
+}
+
+#undef __PCL_GPU_HOST_DEVICE__
+
+#endif /* PCL_GPU_DEVICE_STATIC_CHECK_HPP_ */ 
\ No newline at end of file

modules/gpu/src/opencv2/gpu/device/warp.hpp

+/*
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2011, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of Willow Garage, Inc. nor the names of its
+*     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
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*
+*  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
+*/
+
+#ifndef PCL_DEVICE_UTILS_WARP_HPP_
+#define PCL_DEVICE_UTILS_WARP_HPP_
+
+namespace pcl
+{
+    namespace device
+    {
+        struct Warp
+        {
+            enum
+            {
+                LOG_WARP_SIZE = 5,
+                WARP_SIZE     = 1 << LOG_WARP_SIZE,
+                STRIDE        = WARP_SIZE
+            };
+
+            /** \brief Returns the warp lane ID of the calling thread. */
+            static __device__ __forceinline__ unsigned int laneId()
+            {
+	            unsigned int ret;
+	            asm("mov.u32 %0, %laneid;" : "=r"(ret) );
+	            return ret;
+            }
+
+            template<typename It, typename T>
+            static __device__ __forceinline__ void fill(It beg, It end, const T& value)
+            {                
+                for(It t = beg + laneId(); t < end; t += STRIDE)
+                    *t = value;
+            }            
+
+            template<typename InIt, typename OutIt>
+            static __device__ __forceinline__ OutIt copy(InIt beg, InIt end, OutIt out)
+            {                
+                for(InIt t = beg + laneId(); t < end; t += STRIDE, out += STRIDE)
+                    *out = *t;
+                return out;
+            }            
+           
+            template<typename InIt, typename OutIt, class UnOp>
+            static __device__ __forceinline__ OutIt transform(InIt beg, InIt end, OutIt out, UnOp op)
+            {
+                for(InIt t = beg + laneId(); t < end; t += STRIDE, out += STRIDE)
+                    *out = op(*t);
+                return out;
+            }
+
+            template<typename InIt1, typename InIt2, typename OutIt, class BinOp>
+            static __device__ __forceinline__ OutIt transform(InIt1 beg1, InIt1 end1, InIt2 beg2, OutIt out, BinOp op)
+            {
+                unsigned int lane = laneId();
+                
+                InIt1 t1 = beg1 + lane; 
+                InIt2 t2 = beg2 + lane;
+                for(; t1 < end1; t1 += STRIDE, t2 += STRIDE, out += STRIDE)
+                    *out = op(*t1, *t2);
+                return out;
+            }
+        };
+    }
+}
+
+#endif /* PCL_DEVICE_UTILS_WARP_HPP_ */
\ No newline at end of file