WSeries_Calibration/QtCameraHardWareCopilot/include/opencv2/cudev/ptr2d/texture.hpp

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#pragma once

#ifndef OPENCV_CUDEV_PTR2D_TEXTURE_HPP
#define OPENCV_CUDEV_PTR2D_TEXTURE_HPP

#include <cstring>
#include "../common.hpp"
#include "glob.hpp"
#include "gpumat.hpp"
#include "traits.hpp"

#if CUDART_VERSION >= 5050

namespace
{
    template <typename T> struct CvCudevTextureRef
    {
        typedef texture<T, cudaTextureType2D, cudaReadModeElementType> TexRef;

        static TexRef ref;

        __host__ static void bind(const cv::cudev::GlobPtrSz<T>& mat,
                                  bool normalizedCoords = false,
                                  cudaTextureFilterMode filterMode = cudaFilterModePoint,
                                  cudaTextureAddressMode addressMode = cudaAddressModeClamp)
        {
            ref.normalized = normalizedCoords;
            ref.filterMode = filterMode;
            ref.addressMode[0] = addressMode;
            ref.addressMode[1] = addressMode;
            ref.addressMode[2] = addressMode;

            cudaChannelFormatDesc desc = cudaCreateChannelDesc<T>();

            CV_CUDEV_SAFE_CALL( cudaBindTexture2D(0, &ref, mat.data, &desc, mat.cols, mat.rows, mat.step) );
        }

        __host__ static void unbind()
        {
            cudaUnbindTexture(ref);
        }
    };

    template <typename T>
    typename CvCudevTextureRef<T>::TexRef CvCudevTextureRef<T>::ref;
}

#endif

namespace cv { namespace cudev {

//! @addtogroup cudev
//! @{

#if CUDART_VERSION >= 5050

template <typename T> struct TexturePtr
{
    typedef T     value_type;
    typedef float index_type;

    cudaTextureObject_t texObj;

    __device__ __forceinline__ T operator ()(float y, float x) const
    {
    #if CV_CUDEV_ARCH < 300
        // Use the texture reference
        return tex2D(CvCudevTextureRef<T>::ref, x, y);
    #else
        // Use the texture object
        return tex2D<T>(texObj, x, y);
    #endif
    }
};

template <typename T> struct Texture : TexturePtr<T>
{
    int rows, cols;
    bool cc30;

    __host__ explicit Texture(const GlobPtrSz<T>& mat,
                              bool normalizedCoords = false,
                              cudaTextureFilterMode filterMode = cudaFilterModePoint,
                              cudaTextureAddressMode addressMode = cudaAddressModeClamp)
    {
        cc30 = deviceSupports(FEATURE_SET_COMPUTE_30);

        rows = mat.rows;
        cols = mat.cols;

        if (cc30)
        {
            // Use the texture object
            cudaResourceDesc texRes;
            std::memset(&texRes, 0, sizeof(texRes));
            texRes.resType = cudaResourceTypePitch2D;
            texRes.res.pitch2D.devPtr = mat.data;
            texRes.res.pitch2D.height = mat.rows;
            texRes.res.pitch2D.width = mat.cols;
            texRes.res.pitch2D.pitchInBytes = mat.step;
            texRes.res.pitch2D.desc = cudaCreateChannelDesc<T>();

            cudaTextureDesc texDescr;
            std::memset(&texDescr, 0, sizeof(texDescr));
            texDescr.normalizedCoords = normalizedCoords;
            texDescr.filterMode = filterMode;
            texDescr.addressMode[0] = addressMode;
            texDescr.addressMode[1] = addressMode;
            texDescr.addressMode[2] = addressMode;
            texDescr.readMode = cudaReadModeElementType;

            CV_CUDEV_SAFE_CALL( cudaCreateTextureObject(&this->texObj, &texRes, &texDescr, 0) );
        }
        else
        {
            // Use the texture reference
            CvCudevTextureRef<T>::bind(mat, normalizedCoords, filterMode, addressMode);
        }
    }

    __host__ ~Texture()
    {
        if (cc30)
        {
            // Use the texture object
            cudaDestroyTextureObject(this->texObj);
        }
        else
        {
            // Use the texture reference
            CvCudevTextureRef<T>::unbind();
        }
    }
};

template <typename T> struct PtrTraits< Texture<T> > : PtrTraitsBase<Texture<T>, TexturePtr<T> >
{
};

#else

template <typename T> struct TexturePtr
{
    typedef T     value_type;
    typedef float index_type;

    cudaTextureObject_t texObj;

    __device__ __forceinline__ T operator ()(float y, float x) const
    {
    #if CV_CUDEV_ARCH >= 300
        // Use the texture object
        return tex2D<T>(texObj, x, y);
    #else
        CV_UNUSED(y);
        CV_UNUSED(x);
        return T();
    #endif
    }
};

template <typename T> struct Texture : TexturePtr<T>
{
    int rows, cols;

    __host__ explicit Texture(const GlobPtrSz<T>& mat,
                              bool normalizedCoords = false,
                              cudaTextureFilterMode filterMode = cudaFilterModePoint,
                              cudaTextureAddressMode addressMode = cudaAddressModeClamp)
    {
        CV_Assert( deviceSupports(FEATURE_SET_COMPUTE_30) );

        rows = mat.rows;
        cols = mat.cols;

        // Use the texture object
        cudaResourceDesc texRes;
        std::memset(&texRes, 0, sizeof(texRes));
        texRes.resType = cudaResourceTypePitch2D;
        texRes.res.pitch2D.devPtr = mat.data;
        texRes.res.pitch2D.height = mat.rows;
        texRes.res.pitch2D.width = mat.cols;
        texRes.res.pitch2D.pitchInBytes = mat.step;
        texRes.res.pitch2D.desc = cudaCreateChannelDesc<T>();

        cudaTextureDesc texDescr;
        std::memset(&texDescr, 0, sizeof(texDescr));
        texDescr.normalizedCoords = normalizedCoords;
        texDescr.filterMode = filterMode;
        texDescr.addressMode[0] = addressMode;
        texDescr.addressMode[1] = addressMode;
        texDescr.addressMode[2] = addressMode;
        texDescr.readMode = cudaReadModeElementType;

        CV_CUDEV_SAFE_CALL( cudaCreateTextureObject(&this->texObj, &texRes, &texDescr, 0) );
    }

    __host__ ~Texture()
    {
        // Use the texture object
        cudaDestroyTextureObject(this->texObj);
    }
};

template <typename T> struct PtrTraits< Texture<T> > : PtrTraitsBase<Texture<T>, TexturePtr<T> >
{
};

#endif

//! @}

}}

#endif