Commit 8d7bd981 authored by Pierre NARVOR's avatar Pierre NARVOR
Browse files

[cuda/mapping] Added the DeviceMapping1D type with automatic type selection in the MappingType

parent 86c3d985
......@@ -34,10 +34,42 @@ struct DeviceMapping2D
#endif //RTAC_CUDACC
}; //namespace cuda
}; //namespace rtac
template <typename T>
struct DeviceMapping1D
// Declaring input and output types to be compatible with other functors.
using InputT = float;
using OutputT = T;
namespace rtac { namespace cuda {
cudaTextureObject_t data;
#ifdef RTAC_CUDACC // this cannot be used from host side because of the texture fetch
__device__ T operator()(float u) const {
return tex2D<T>(data, u, 0.0f);
#endif //RTAC_CUDACC
* This is a convenience definition allowing to deduce a full DeviceMap type
* depending on the given FunctorT. Is used primarily in the Mapping type.
template <typename T, class FunctorT>
struct device_map_type {
using FoutT = typename FunctorT::OutputT;
static_assert(std::is_same<float, FoutT>::value || std::is_same<float2, FoutT>::value,
"For a cuda::Mapping type, the output type of the optional functor must be either float or float2");
// Deducing DeviceMap type to use (1D or 2D), depending on the
// FunctorT::OutputT type.
using DeviceMapT = typename std::conditional<std::is_same<float, FoutT>::value,
// Building final type.
using type = functors::FunctorCompound<DeviceMapT, FunctorT>;
* Host side class with manage device side Device mapping data. This also
......@@ -53,7 +85,7 @@ class Mapping
using Ptr = std::shared_ptr<Mapping>;
using ConstPtr = std::shared_ptr<const Mapping>;
using Texture = Texture2D<T>;
using DeviceMap = functors::FunctorCompound<DeviceMapping2D<T>, FunctorT>;
using DeviceMap = typename device_map_type<T, FunctorT>::type;
......@@ -4,8 +4,17 @@
#include <rtac_base/cuda/DeviceVector.h>
#include <rtac_base/cuda/HostVector.h>
#include <rtac_base/cuda/Mapping.h>
#include <rtac_base/cuda/functors.h>
using namespace rtac::cuda;
// This should fail successfully.
// using TypeTest0 = device_map_type<float, functors::Scaling<int>>;
// const TypeTest0 test0;
using TypeTest1 = device_map_type<float, functors::Scaling<float>>;
const TypeTest1 test1;
using TypeTest2 = device_map_type<float, functors::Scaling<float2>>;
const TypeTest2 test2;
// This Functor transforms pixel coordinates in normalized texture coordinates,
// given a size (width, height).
struct NormalizerUV {
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