WSeries_Calibration/QtCameraHardWareCopilot/include/opencv2/cudev/grid/detail/copy.hpp

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#pragma once

#ifndef OPENCV_CUDEV_GRID_COPY_DETAIL_HPP
#define OPENCV_CUDEV_GRID_COPY_DETAIL_HPP

#include "../../common.hpp"
#include "../../util/tuple.hpp"
#include "../../util/saturate_cast.hpp"
#include "../../ptr2d/glob.hpp"
#include "../../ptr2d/traits.hpp"

namespace cv { namespace cudev {

namespace grid_copy_detail
{
    template <class SrcPtr, typename DstType, class MaskPtr>
    __global__ void copy(const SrcPtr src, GlobPtr<DstType> dst, const MaskPtr mask, const int rows, const int cols)
    {
        const int x = blockIdx.x * blockDim.x + threadIdx.x;
        const int y = blockIdx.y * blockDim.y + threadIdx.y;

        if (x >= cols || y >= rows || !mask(y, x))
            return;

        dst(y, x) = saturate_cast<DstType>(src(y, x));
    }

    template <class Policy, class SrcPtr, typename DstType, class MaskPtr>
    __host__ void copy(const SrcPtr& src, const GlobPtr<DstType>& dst, const MaskPtr& mask, int rows, int cols, cudaStream_t stream)
    {
        const dim3 block(Policy::block_size_x, Policy::block_size_y);
        const dim3 grid(divUp(cols, block.x), divUp(rows, block.y));

        copy<<<grid, block, 0, stream>>>(src, dst, mask, rows, cols);
        CV_CUDEV_SAFE_CALL( cudaGetLastError() );

        if (stream == 0)
            CV_CUDEV_SAFE_CALL( cudaDeviceSynchronize() );
    }

    template <int count> struct Unroll
    {
        template <class SrcPtrTuple, class DstPtrTuple>
        __device__ static void copy(const SrcPtrTuple& src, DstPtrTuple& dst, const int y, const int x)
        {
            typedef typename tuple_element<count - 1, DstPtrTuple>::type dst_ptr_type;
            typedef typename PtrTraits<dst_ptr_type>::value_type dst_type;

            get<count - 1>(dst)(y, x) = saturate_cast<dst_type>(get<count - 1>(src)(y, x));
            Unroll<count - 1>::copy(src, dst, y, x);
        }
    };
    template <> struct Unroll<0>
    {
        template <class SrcPtrTuple, class DstPtrTuple>
        __device__ __forceinline__ static void copy(const SrcPtrTuple&, DstPtrTuple&, const int, const int)
        {
        }
    };

    template <class SrcPtrTuple, class DstPtrTuple, class MaskPtr>
    __global__ void copy_tuple(const SrcPtrTuple src, DstPtrTuple dst, const MaskPtr mask, const int rows, const int cols)
    {
        const int x = blockIdx.x * blockDim.x + threadIdx.x;
        const int y = blockIdx.y * blockDim.y + threadIdx.y;

        if (x >= cols || y >= rows || !mask(y, x))
            return;

        Unroll<tuple_size<SrcPtrTuple>::value>::copy(src, dst, y, x);
    }

    template <class Policy, class SrcPtrTuple, class DstPtrTuple, class MaskPtr>
    __host__ void copy_tuple(const SrcPtrTuple& src, const DstPtrTuple& dst, const MaskPtr& mask, int rows, int cols, cudaStream_t stream)
    {
        const dim3 block(Policy::block_size_x, Policy::block_size_y);
        const dim3 grid(divUp(cols, block.x), divUp(rows, block.y));

        copy_tuple<<<grid, block, 0, stream>>>(src, dst, mask, rows, cols);
        CV_CUDEV_SAFE_CALL( cudaGetLastError() );

        if (stream == 0)
            CV_CUDEV_SAFE_CALL( cudaDeviceSynchronize() );
    }
}

}}

#endif