Open3D (C++ API)  0.18.0+252c867
SlabMacros.h
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7 
8 // Copyright 2019 Saman Ashkiani
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21 
22 #pragma once
23 #include <cstdint>
24 
25 #include "open3d/core/CUDAUtils.h"
26 
27 namespace open3d {
28 namespace core {
29 
30 // Device-specific, safe for current NVIDIA architectures.
31 static constexpr uint32_t kWarpSize = 32;
32 
34 // Tunable variables
36 // HashMap
37 static constexpr uint32_t kSuperBlocks = 32;
38 static constexpr uint32_t kBlocksPerSuperBlock = 4;
39 static constexpr uint32_t kBlocksPerSuperBlockInBits = 2;
40 static constexpr uint32_t kSlabsPerBlock = 1024;
41 
42 // Misc
43 static constexpr uint32_t kMaxKeyByteSize = 32;
44 static constexpr uint32_t kThreadsPerBlock = 128;
45 
47 // Combination of tunable variables
49 static constexpr uint32_t kUIntsPerBlock = kSlabsPerBlock * kWarpSize;
50 // We need one bitmap (32-bit) per slab (32 nodes). Number of bitmaps is equal
51 // to number of slabs.
52 static constexpr uint32_t kBitmapsPerSuperBlock =
53  kBlocksPerSuperBlock * kSlabsPerBlock;
54 static constexpr uint32_t kUIntsPerSuperBlock =
55  kBlocksPerSuperBlock * kUIntsPerBlock + kBitmapsPerSuperBlock;
56 
58 // Non-tunable variables
60 // Mask offsets
61 static constexpr uint32_t kSuperBlockMaskBits = 27;
62 static constexpr uint32_t kBlockMaskBits = 10;
63 static constexpr uint32_t kSlabMaskBits = 5;
64 
65 // Masks & flags
66 static constexpr uint32_t kSyncLanesMask = 0xFFFFFFFF;
67 static constexpr uint32_t kNodePtrLanesMask = 0x7FFFFFFF;
68 static constexpr uint32_t kNextSlabPtrLaneId = 31;
69 
70 static constexpr uint32_t kHeadSlabAddr = 0xFFFFFFFE;
71 
72 static constexpr uint32_t kEmptySlabAddr = 0xFFFFFFFF;
73 static constexpr uint32_t kEmptyNodeAddr = 0xFFFFFFFF;
74 static constexpr uint32_t kNullAddr = 0xFFFFFFFF;
75 
76 static constexpr uint32_t kNotFoundFlag = 0xFFFFFFFF;
77 
78 #define MEMCPY_AS_INTS(dst, src, num_bytes) \
79  auto dst_in_int = reinterpret_cast<int*>(dst); \
80  auto src_in_int = reinterpret_cast<const int*>(src); \
81  int count_in_int = num_bytes / sizeof(int); \
82  for (int i = 0; i < count_in_int; ++i) { \
83  dst_in_int[i] = src_in_int[i]; \
84  }
85 
86 } // namespace core
87 } // namespace open3d
Common CUDA utilities.
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Definition: K4aPlugin.cpp:548
Definition: PinholeCameraIntrinsic.cpp:16