Open3D (C++ API)  0.12.0
Macros.h
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27 // Copyright 2019 Saman Ashkiani
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40 
41 #pragma once
42 #include <cstdint>
43 
44 #include "open3d/core/CUDAUtils.h"
45 
46 namespace open3d {
47 namespace core {
48 
49 // Device-specific, safe for current NVIDIA architectures.
50 static constexpr uint32_t kWarpSize = 32;
51 
53 // Tunable variables
55 // Hashmap
56 static constexpr uint32_t kSuperBlocks = 32;
57 static constexpr uint32_t kBlocksPerSuperBlock = 4;
58 static constexpr uint32_t kBlocksPerSuperBlockInBits = 2;
59 static constexpr uint32_t kSlabsPerBlock = 1024;
60 
61 // Misc
62 static constexpr uint32_t kMaxKeyByteSize = 32;
63 static constexpr uint32_t kThreadsPerBlock = 128;
64 
66 // Combination of tunable variables
68 static constexpr uint32_t kUIntsPerBlock = kSlabsPerBlock * kWarpSize;
69 // We need one bitmap (32-bit) per slab (32 nodes). Number of bitmaps is equal
70 // to number of slabs.
71 static constexpr uint32_t kBitmapsPerSuperBlock =
72  kBlocksPerSuperBlock * kSlabsPerBlock;
73 static constexpr uint32_t kUIntsPerSuperBlock =
74  kBlocksPerSuperBlock * kUIntsPerBlock + kBitmapsPerSuperBlock;
75 
77 // Non-tunable variables
79 // Mask offsets
80 static constexpr uint32_t kSuperBlockMaskBits = 27;
81 static constexpr uint32_t kBlockMaskBits = 10;
82 static constexpr uint32_t kSlabMaskBits = 5;
83 
84 // Masks & flags
85 static constexpr uint32_t kSyncLanesMask = 0xFFFFFFFF;
86 static constexpr uint32_t kNodePtrLanesMask = 0x7FFFFFFF;
87 static constexpr uint32_t kNextSlabPtrLaneId = 31;
88 
89 static constexpr uint32_t kHeadSlabAddr = 0xFFFFFFFE;
90 
91 static constexpr uint32_t kEmptySlabAddr = 0xFFFFFFFF;
92 static constexpr uint32_t kEmptyNodeAddr = 0xFFFFFFFF;
93 static constexpr uint32_t kNullAddr = 0xFFFFFFFF;
94 
95 static constexpr uint32_t kNotFoundFlag = 0xFFFFFFFF;
96 
97 #define MEMCPY_AS_INTS(dst, src, num_bytes) \
98  auto dst_in_int = reinterpret_cast<int*>(dst); \
99  auto src_in_int = reinterpret_cast<const int*>(src); \
100  int count_in_int = num_bytes / sizeof(int); \
101  for (int i = 0; i < count_in_int; ++i) { \
102  dst_in_int[i] = src_in_int[i]; \
103  }
104 
105 } // namespace core
106 } // namespace open3d
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:557
Definition: PinholeCameraIntrinsic.cpp:35
Common CUDA utilities.