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

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#pragma once

#ifndef OPENCV_CUDEV_GRID_TRANSPOSE_DETAIL_HPP
#define OPENCV_CUDEV_GRID_TRANSPOSE_DETAIL_HPP

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

namespace cv { namespace cudev {

namespace transpose_detail
{
    template <int TILE_DIM, int BLOCK_DIM_Y, class SrcPtr, typename DstType>
    __global__ void transpose(const SrcPtr src, GlobPtr<DstType> dst, const int rows, const int cols)
    {
        typedef typename PtrTraits<SrcPtr>::value_type src_type;

        __shared__ src_type tile[TILE_DIM][TILE_DIM + 1];

        int blockIdx_x, blockIdx_y;

        // do diagonal reordering
        if (gridDim.x == gridDim.y)
        {
            blockIdx_y = blockIdx.x;
            blockIdx_x = (blockIdx.x + blockIdx.y) % gridDim.x;
        }
        else
        {
            int bid = blockIdx.x + gridDim.x * blockIdx.y;
            blockIdx_y = bid % gridDim.y;
            blockIdx_x = ((bid / gridDim.y) + blockIdx_y) % gridDim.x;
        }

        int xIndex = blockIdx_x * TILE_DIM + threadIdx.x;
        int yIndex = blockIdx_y * TILE_DIM + threadIdx.y;

        if (xIndex < cols)
        {
            for (int i = 0; i < TILE_DIM; i += BLOCK_DIM_Y)
            {
                if (yIndex + i < rows)
                {
                    tile[threadIdx.y + i][threadIdx.x] = src(yIndex + i, xIndex);
                }
            }
        }

        __syncthreads();

        xIndex = blockIdx_y * TILE_DIM + threadIdx.x;
        yIndex = blockIdx_x * TILE_DIM + threadIdx.y;

        if (xIndex < rows)
        {
            for (int i = 0; i < TILE_DIM; i += BLOCK_DIM_Y)
            {
                if (yIndex + i < cols)
                {
                    dst(yIndex + i, xIndex) = saturate_cast<DstType>(tile[threadIdx.x][threadIdx.y + i]);
                }
            }
        }
    }

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

        transpose<Policy::tile_dim, Policy::block_dim_y><<<grid, block, 0, stream>>>(src, dst, rows, cols);
        CV_CUDEV_SAFE_CALL( cudaGetLastError() );

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

}}

#endif