Point Cloud Library (PCL) 1.15.0
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cuda_async_copy.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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36 * @authors: Anatoly Baksheev
37 */
38
39#pragma once
40
41#include <pcl/gpu/containers/device_array.h>
42#include <pcl/gpu/utils/safe_call.hpp>
43
44namespace pcl
45{
46 namespace gpu
47 {
48 template<class T>
50 {
51 public:
52 AsyncCopy(T* ptr, std::size_t size) : ptr_(ptr)
53 {
54 cudaSafeCall( cudaHostRegister(ptr_, size, 0) );
55 cudaSafeCall( cudaStreamCreate(&stream_) );
56 }
57
58 AsyncCopy(std::vector<T>& data) : ptr_(&data[0])
59 {
60 cudaSafeCall( cudaHostRegister(ptr_, data.size(), 0) );
61 cudaSafeCall( cudaStreamCreate(&stream_) );
62 }
63
65 {
66 cudaSafeCall( cudaHostUnregister(ptr_) );
67 cudaSafeCall( cudaStreamDestroy(stream_) );
68 }
69
70 void download(const DeviceArray<T>& arr)
71 {
72 cudaSafeCall( cudaMemcpyAsync(ptr_, arr.ptr(), arr.sizeBytes(), cudaMemcpyDeviceToHost, stream_) );
73 }
74
75 void download(const DeviceArray2D<T>& arr)
76 {
77 cudaSafeCall( cudaMemcpy2DAsync(ptr_, arr.cols(), arr.ptr(), arr.step(), arr.colsBytes(), arr.rows(), cudaMemcpyDeviceToHost, stream_) );
78 }
79
80 void upload(const DeviceArray<T>& arr) const
81 {
82 cudaSafeCall( cudaMemcpyAsync(arr.ptr(), ptr_, arr.size(), cudaMemcpyHostToDevice, stream_) );
83 }
84
85 void upload(const DeviceArray2D<T>& arr) const
86 {
87 cudaSafeCall( cudaMemcpy2DAsync(arr.ptr(), arr.step(), ptr_, arr.cols(), arr.colsBytes(), arr.rows(), cudaMemcpyHostToDevice, stream_) );
88 }
89
91 {
92 cudaSafeCall( cudaStreamSynchronize(stream_) );
93 }
94 private:
95 cudaStream_t stream_;
96 T* ptr_ ;
97 };
98 }
99
100 namespace device
101 {
103 }
104}
AsyncCopy(T *ptr, std::size_t size)
void upload(const DeviceArray2D< T > &arr) const
void download(const DeviceArray2D< T > &arr)
void download(const DeviceArray< T > &arr)
AsyncCopy(std::vector< T > &data)
void upload(const DeviceArray< T > &arr) const
DeviceArray2D class
int rows() const
Returns number of rows.
int cols() const
Returns number of elements in each row.
T * ptr(int y=0)
Returns pointer to given row in internal buffer.
DeviceArray class
std::size_t size() const
Returns size in elements.
T * ptr()
Returns pointer for internal buffer in GPU memory.
std::size_t step() const
Returns stride between two consecutive rows in bytes for internal buffer.
int colsBytes() const
Returns number of bytes in each row.
std::size_t sizeBytes() const