WSeries_Calibration/QtCameraHardWareCopilot/include/opencv2/cudev/util/saturate_cast.hpp

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#pragma once

#ifndef OPENCV_CUDEV_UTIL_SATURATE_CAST_HPP
#define OPENCV_CUDEV_UTIL_SATURATE_CAST_HPP

#include "../common.hpp"
#if __CUDACC_VER_MAJOR__ >= 9
#include <cuda_fp16.h>
#endif

namespace cv { namespace cudev {

//! @addtogroup cudev
//! @{

template <typename T> __device__ __forceinline__ T saturate_cast(uchar v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(schar v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(ushort v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(short v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(uint v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(int v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(float v) { return T(v); }
template <typename T> __device__ __forceinline__ T saturate_cast(double v) { return T(v); }

template <> __device__ __forceinline__ uchar saturate_cast<uchar>(schar v)
{
    uint res = 0;
    int vi = v;
    asm("cvt.sat.u8.s8 %0, %1;" : "=r"(res) : "r"(vi));
    return res;
}
template <> __device__ __forceinline__ uchar saturate_cast<uchar>(short v)
{
    uint res = 0;
    asm("cvt.sat.u8.s16 %0, %1;" : "=r"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ uchar saturate_cast<uchar>(ushort v)
{
    uint res = 0;
    asm("cvt.sat.u8.u16 %0, %1;" : "=r"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ uchar saturate_cast<uchar>(int v)
{
    uint res = 0;
    asm("cvt.sat.u8.s32 %0, %1;" : "=r"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ uchar saturate_cast<uchar>(uint v)
{
    uint res = 0;
    asm("cvt.sat.u8.u32 %0, %1;" : "=r"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ uchar saturate_cast<uchar>(float v)
{
    uint res = 0;
    asm("cvt.rni.sat.u8.f32 %0, %1;" : "=r"(res) : "f"(v));
    return res;
}
template <> __device__ __forceinline__ uchar saturate_cast<uchar>(double v)
{
    uint res = 0;
    asm("cvt.rni.sat.u8.f64 %0, %1;" : "=r"(res) : "d"(v));
    return res;
}

template <> __device__ __forceinline__ schar saturate_cast<schar>(uchar v)
{
    uint res = 0;
    uint vi = v;
    asm("cvt.sat.s8.u8 %0, %1;" : "=r"(res) : "r"(vi));
    return res;
}
template <> __device__ __forceinline__ schar saturate_cast<schar>(short v)
{
    uint res = 0;
    asm("cvt.sat.s8.s16 %0, %1;" : "=r"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ schar saturate_cast<schar>(ushort v)
{
    uint res = 0;
    asm("cvt.sat.s8.u16 %0, %1;" : "=r"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ schar saturate_cast<schar>(int v)
{
    uint res = 0;
    asm("cvt.sat.s8.s32 %0, %1;" : "=r"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ schar saturate_cast<schar>(uint v)
{
    uint res = 0;
    asm("cvt.sat.s8.u32 %0, %1;" : "=r"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ schar saturate_cast<schar>(float v)
{
    uint res = 0;
    asm("cvt.rni.sat.s8.f32 %0, %1;" : "=r"(res) : "f"(v));
    return res;
}
template <> __device__ __forceinline__ schar saturate_cast<schar>(double v)
{
    uint res = 0;
    asm("cvt.rni.sat.s8.f64 %0, %1;" : "=r"(res) : "d"(v));
    return res;
}

template <> __device__ __forceinline__ ushort saturate_cast<ushort>(schar v)
{
    ushort res = 0;
    int vi = v;
    asm("cvt.sat.u16.s8 %0, %1;" : "=h"(res) : "r"(vi));
    return res;
}
template <> __device__ __forceinline__ ushort saturate_cast<ushort>(short v)
{
    ushort res = 0;
    asm("cvt.sat.u16.s16 %0, %1;" : "=h"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ ushort saturate_cast<ushort>(int v)
{
    ushort res = 0;
    asm("cvt.sat.u16.s32 %0, %1;" : "=h"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ ushort saturate_cast<ushort>(uint v)
{
    ushort res = 0;
    asm("cvt.sat.u16.u32 %0, %1;" : "=h"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ ushort saturate_cast<ushort>(float v)
{
    ushort res = 0;
    asm("cvt.rni.sat.u16.f32 %0, %1;" : "=h"(res) : "f"(v));
    return res;
}
template <> __device__ __forceinline__ ushort saturate_cast<ushort>(double v)
{
    ushort res = 0;
    asm("cvt.rni.sat.u16.f64 %0, %1;" : "=h"(res) : "d"(v));
    return res;
}

template <> __device__ __forceinline__ short saturate_cast<short>(ushort v)
{
    short res = 0;
    asm("cvt.sat.s16.u16 %0, %1;" : "=h"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ short saturate_cast<short>(int v)
{
    short res = 0;
    asm("cvt.sat.s16.s32 %0, %1;" : "=h"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ short saturate_cast<short>(uint v)
{
    short res = 0;
    asm("cvt.sat.s16.u32 %0, %1;" : "=h"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ short saturate_cast<short>(float v)
{
    short res = 0;
    asm("cvt.rni.sat.s16.f32 %0, %1;" : "=h"(res) : "f"(v));
    return res;
}
template <> __device__ __forceinline__ short saturate_cast<short>(double v)
{
    short res = 0;
    asm("cvt.rni.sat.s16.f64 %0, %1;" : "=h"(res) : "d"(v));
    return res;
}

template <> __device__ __forceinline__ int saturate_cast<int>(uint v)
{
    int res = 0;
    asm("cvt.sat.s32.u32 %0, %1;" : "=r"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ int saturate_cast<int>(float v)
{
    return __float2int_rn(v);
}
template <> __device__ __forceinline__ int saturate_cast<int>(double v)
{
#if CV_CUDEV_ARCH >= 130
    return __double2int_rn(v);
#else
    return saturate_cast<int>((float) v);
#endif
}

template <> __device__ __forceinline__ uint saturate_cast<uint>(schar v)
{
    uint res = 0;
    int vi = v;
    asm("cvt.sat.u32.s8 %0, %1;" : "=r"(res) : "r"(vi));
    return res;
}
template <> __device__ __forceinline__ uint saturate_cast<uint>(short v)
{
    uint res = 0;
    asm("cvt.sat.u32.s16 %0, %1;" : "=r"(res) : "h"(v));
    return res;
}
template <> __device__ __forceinline__ uint saturate_cast<uint>(int v)
{
    uint res = 0;
    asm("cvt.sat.u32.s32 %0, %1;" : "=r"(res) : "r"(v));
    return res;
}
template <> __device__ __forceinline__ uint saturate_cast<uint>(float v)
{
    return __float2uint_rn(v);
}
template <> __device__ __forceinline__ uint saturate_cast<uint>(double v)
{
#if CV_CUDEV_ARCH >= 130
    return __double2uint_rn(v);
#else
    return saturate_cast<uint>((float) v);
#endif
}

template <typename T, typename D> __device__ __forceinline__ D cast_fp16(T v);

template <> __device__ __forceinline__ float cast_fp16<short, float>(short v)
{
#if __CUDACC_VER_MAJOR__ >= 9
  return float(*(__half*)&v);
#else
    return __half2float(v);
#endif
}

template <> __device__ __forceinline__ short cast_fp16<float, short>(float v)
{
#if __CUDACC_VER_MAJOR__ >= 9
  __half h(v);
  return *(short*)&h;
#else
  return (short)__float2half_rn(v);
#endif
}
//! @}

}}

#endif