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<li class="navelem"><a class="el" href="dir_498271007b03b2a0521055e88776887b.html">utils</a></li><li class="navelem"><a class="el" href="dir_27fe3533266f51a49736ff1ead0df409.html">include</a></li><li class="navelem"><a class="el" href="dir_df866b4c8834b000eecd6613e112330d.html">pcl</a></li><li class="navelem"><a class="el" href="dir_c6825185595cd81d2f8f9dd254b33f9a.html">gpu</a></li><li class="navelem"><a class="el" href="dir_8041b8d6596953b5441e882c8ef0f280.html">utils</a></li><li class="navelem"><a class="el" href="dir_56482caa9f44d86582dfc0e373307452.html">device</a></li> </ul>
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<div class="title">block.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment">* Author: Anatoly Baskeheev, Itseez Ltd, ([email protected])</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef PCL_DEVICE_UTILS_BLOCK_HPP_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define PCL_DEVICE_UTILS_BLOCK_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">struct </span>Block</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  { </div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#ae318c1017cc8be75157f109b801cc9d5"> 46</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1device_1_1_block.html#ae318c1017cc8be75157f109b801cc9d5">id</a>()</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">return</span> blockIdx.x;</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  }</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04"> 51</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>()</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">return</span> blockDim.x * blockDim.y * blockDim.z;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#a7cf4102b1d6fe5295177244f1d788e8d"> 56</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#a7cf4102b1d6fe5295177244f1d788e8d">sync</a>()</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  __syncthreads(); </div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13"> 61</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>()</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> threadIdx.z * blockDim.x * blockDim.y + threadIdx.y * blockDim.x + threadIdx.x;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">template</span><<span class="keyword">typename</span> It, <span class="keyword">typename</span> T></div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#a1761af68d1be1a5af4c6e5ca4e2ec654"> 67</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#a1761af68d1be1a5af4c6e5ca4e2ec654">fill</a>(It beg, It end, <span class="keyword">const</span> T& value)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordtype">int</span> STRIDE = <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>();</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  It t = beg + <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>(); </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">for</span>(; t < end; t += STRIDE)</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  *t = value;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  }</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">template</span><<span class="keyword">typename</span> OutIt, <span class="keyword">typename</span> T></div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#a0767e794962e163a6e3e66c498cdc552"> 77</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#a0767e794962e163a6e3e66c498cdc552">yota</a>(OutIt beg, OutIt end, T value)</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  {</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">int</span> STRIDE = <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>();</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">int</span> tid = <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>(); </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  value += tid;</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">for</span>(OutIt t = beg + tid; t < end; t += STRIDE, value += STRIDE)</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  *t = value; </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">template</span><<span class="keyword">typename</span> InIt, <span class="keyword">typename</span> OutIt></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#abd38bcf5778a330f314fff39f0a42cfd"> 88</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#abd38bcf5778a330f314fff39f0a42cfd">copy</a>(InIt beg, InIt end, OutIt out)</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">int</span> STRIDE = <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>();</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  InIt t = beg + <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  OutIt o = out + (t - beg);</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">for</span>(; t < end; t += STRIDE, o += STRIDE)</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  *o = *t;</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">template</span><<span class="keyword">typename</span> InIt, <span class="keyword">typename</span> OutIt, <span class="keyword">class</span> UnOp></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#ae6f1abbbecf60db22618f2fe49fa44d6"> 99</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#ae6f1abbbecf60db22618f2fe49fa44d6">transform</a>(InIt beg, InIt end, OutIt out, UnOp op)</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  {</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">int</span> STRIDE = <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>();</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  InIt t = beg + <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  OutIt o = out + (t - beg);</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordflow">for</span>(; t < end; t += STRIDE, o += STRIDE)</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  *o = op(*t);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  }</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">template</span><<span class="keyword">typename</span> InIt1, <span class="keyword">typename</span> InIt2, <span class="keyword">typename</span> OutIt, <span class="keyword">class</span> BinOp></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#ab436c2b710c45b4c40f2e08fa526e591"> 110</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#ab436c2b710c45b4c40f2e08fa526e591">transform</a>(InIt1 beg1, InIt1 end1, InIt2 beg2, OutIt out, BinOp op)</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  {</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">int</span> STRIDE = <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>();</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  InIt1 t1 = beg1 + <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  InIt2 t2 = beg2 + <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  OutIt o = out + (t1 - beg1);</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keywordflow">for</span>(; t1 < end1; t1 += STRIDE, t2 += STRIDE, o += STRIDE)</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  *o = op(*t1, *t2);</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">template</span><<span class="keywordtype">int</span> CTA_SIZE, <span class="keyword">typename</span> T, <span class="keyword">class</span> BinOp></div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#a25fb6c1ff222b270b8c833f85631f9ad"> 122</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#a25fb6c1ff222b270b8c833f85631f9ad">reduce</a>(<span class="keyword">volatile</span> T* buffer, BinOp op)</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  {</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordtype">int</span> tid = <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  T val = buffer[tid];</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 1024) { <span class="keywordflow">if</span> (tid < 512) buffer[tid] = val = op(val, buffer[tid + 512]); __syncthreads(); }</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 512) { <span class="keywordflow">if</span> (tid < 256) buffer[tid] = val = op(val, buffer[tid + 256]); __syncthreads(); }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 256) { <span class="keywordflow">if</span> (tid < 128) buffer[tid] = val = op(val, buffer[tid + 128]); __syncthreads(); }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 128) { <span class="keywordflow">if</span> (tid < 64) buffer[tid] = val = op(val, buffer[tid + 64]); __syncthreads(); }</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (tid < 32)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 64) { buffer[tid] = val = op(val, buffer[tid + 32]); }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 32) { buffer[tid] = val = op(val, buffer[tid + 16]); }</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 16) { buffer[tid] = val = op(val, buffer[tid + 8]); }</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 8) { buffer[tid] = val = op(val, buffer[tid + 4]); }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 4) { buffer[tid] = val = op(val, buffer[tid + 2]); }</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 2) { buffer[tid] = val = op(val, buffer[tid + 1]); }</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  }</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  </div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keyword">template</span><<span class="keywordtype">int</span> CTA_SIZE, <span class="keyword">typename</span> T, <span class="keyword">class</span> BinOp></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#a5471ce86e1fca4bc42705bcd2ffbde59"> 144</a></span>  <span class="keyword">static</span> __device__ __forceinline__ T <a class="code" href="structpcl_1_1device_1_1_block.html#a5471ce86e1fca4bc42705bcd2ffbde59">reduce</a>(<span class="keyword">volatile</span> T* buffer, T init, BinOp op)</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  {</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">int</span> tid = <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  T val = buffer[tid] = init;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  __syncthreads();</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 1024) { <span class="keywordflow">if</span> (tid < 512) buffer[tid] = val = op(val, buffer[tid + 512]); __syncthreads(); }</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 512) { <span class="keywordflow">if</span> (tid < 256) buffer[tid] = val = op(val, buffer[tid + 256]); __syncthreads(); }</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 256) { <span class="keywordflow">if</span> (tid < 128) buffer[tid] = val = op(val, buffer[tid + 128]); __syncthreads(); }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 128) { <span class="keywordflow">if</span> (tid < 64) buffer[tid] = val = op(val, buffer[tid + 64]); __syncthreads(); }</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">if</span> (tid < 32)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  {</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 64) { buffer[tid] = val = op(val, buffer[tid + 32]); }</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 32) { buffer[tid] = val = op(val, buffer[tid + 16]); }</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 16) { buffer[tid] = val = op(val, buffer[tid + 8]); }</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 8) { buffer[tid] = val = op(val, buffer[tid + 4]); }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 4) { buffer[tid] = val = op(val, buffer[tid + 2]); }</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">if</span> (CTA_SIZE >= 2) { buffer[tid] = val = op(val, buffer[tid + 1]); }</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  }</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  __syncthreads(); </div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">return</span> buffer[0];</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T, <span class="keyword">class</span> BinOp></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_block.html#a8a2b3e00f8dc9eabe25bcb1878150804"> 169</a></span>  <span class="keyword">static</span> __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1device_1_1_block.html#a8a2b3e00f8dc9eabe25bcb1878150804">reduce_n</a>(T* data, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n, BinOp op)</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  {</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">int</span> ftid = <a class="code" href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">flattenedThreadId</a>();</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordtype">int</span> sft = <a class="code" href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">stride</a>();</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">if</span> (sft < n)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = sft + ftid; i < n; i += sft)</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  data[ftid] = op(data[ftid], data[i]);</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  </div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  __syncthreads();</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  n = sft;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  }</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">while</span> (n > 1)</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> half = n/2;</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  </div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <span class="keywordflow">if</span> (ftid < half)</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  data[ftid] = op(data[ftid], data[n - ftid - 1]);</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  </div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  __syncthreads();</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  </div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  n = n - half;</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  }</div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  }</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  };</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  }</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> }</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="preprocessor">#endif </span><span class="comment">/* PCL_DEVICE_UTILS_BLOCK_HPP_ */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  </div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_a0767e794962e163a6e3e66c498cdc552"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#a0767e794962e163a6e3e66c498cdc552">pcl::device::Block::yota</a></div><div class="ttdeci">static __device__ __forceinline__ void yota(OutIt beg, OutIt end, T value)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00077">block.hpp:77</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_a1761af68d1be1a5af4c6e5ca4e2ec654"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#a1761af68d1be1a5af4c6e5ca4e2ec654">pcl::device::Block::fill</a></div><div class="ttdeci">static __device__ __forceinline__ void fill(It beg, It end, const T &value)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00067">block.hpp:67</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_a25fb6c1ff222b270b8c833f85631f9ad"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#a25fb6c1ff222b270b8c833f85631f9ad">pcl::device::Block::reduce</a></div><div class="ttdeci">static __device__ __forceinline__ void reduce(volatile T *buffer, BinOp op)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00122">block.hpp:122</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_a5471ce86e1fca4bc42705bcd2ffbde59"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#a5471ce86e1fca4bc42705bcd2ffbde59">pcl::device::Block::reduce</a></div><div class="ttdeci">static __device__ __forceinline__ T reduce(volatile T *buffer, T init, BinOp op)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00144">block.hpp:144</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_a7cf4102b1d6fe5295177244f1d788e8d"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#a7cf4102b1d6fe5295177244f1d788e8d">pcl::device::Block::sync</a></div><div class="ttdeci">static __device__ __forceinline__ void sync()</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00056">block.hpp:56</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_a8a2b3e00f8dc9eabe25bcb1878150804"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#a8a2b3e00f8dc9eabe25bcb1878150804">pcl::device::Block::reduce_n</a></div><div class="ttdeci">static __device__ __forceinline__ void reduce_n(T *data, unsigned int n, BinOp op)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00169">block.hpp:169</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_aa0ea7b36c31b0af1a8c8c63b9fdcae04"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#aa0ea7b36c31b0af1a8c8c63b9fdcae04">pcl::device::Block::stride</a></div><div class="ttdeci">static __device__ __forceinline__ unsigned int stride()</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00051">block.hpp:51</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_ab436c2b710c45b4c40f2e08fa526e591"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#ab436c2b710c45b4c40f2e08fa526e591">pcl::device::Block::transform</a></div><div class="ttdeci">static __device__ __forceinline__ void transform(InIt1 beg1, InIt1 end1, InIt2 beg2, OutIt out, BinOp op)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00110">block.hpp:110</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_abd38bcf5778a330f314fff39f0a42cfd"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#abd38bcf5778a330f314fff39f0a42cfd">pcl::device::Block::copy</a></div><div class="ttdeci">static __device__ __forceinline__ void copy(InIt beg, InIt end, OutIt out)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00088">block.hpp:88</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_ae318c1017cc8be75157f109b801cc9d5"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#ae318c1017cc8be75157f109b801cc9d5">pcl::device::Block::id</a></div><div class="ttdeci">static __device__ __forceinline__ unsigned int id()</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00046">block.hpp:46</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_ae6f1abbbecf60db22618f2fe49fa44d6"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#ae6f1abbbecf60db22618f2fe49fa44d6">pcl::device::Block::transform</a></div><div class="ttdeci">static __device__ __forceinline__ void transform(InIt beg, InIt end, OutIt out, UnOp op)</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00099">block.hpp:99</a></div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_block_html_aea3a8e61d7b6f4762a1f410655e0be13"><div class="ttname"><a href="structpcl_1_1device_1_1_block.html#aea3a8e61d7b6f4762a1f410655e0be13">pcl::device::Block::flattenedThreadId</a></div><div class="ttdeci">static __device__ __forceinline__ int flattenedThreadId()</div><div class="ttdef"><b>Definition:</b> <a href="block_8hpp_source.html#l00061">block.hpp:61</a></div></div>
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