TransformationConverter.cu

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#include <cuda.h>
#include <cuda_runtime.h>
 
#include "cloudViewer/t/pipelines/kernel/TransformationConverterImpl.h"
 
namespace cloudViewer {
namespace t {
namespace pipelines {
namespace kernel {
 
template <typename scalar_t>
__global__ void PoseToTransformationKernel(scalar_t *transformation_ptr,
                                           const scalar_t *X_ptr) {
    PoseToTransformationImpl(transformation_ptr, X_ptr);
}
 
template <typename scalar_t>
void PoseToTransformationCUDA(scalar_t *transformation_ptr,
                              const scalar_t *X_ptr) {
    utility::LogError("Unsupported data type.");
}
 
template <>
void PoseToTransformationCUDA<float>(float *transformation_ptr,
                                     const float *X_ptr) {
    PoseToTransformationKernel<float>
            <<<1, 1, 0, core::cuda::GetStream()>>>(transformation_ptr, X_ptr);
}
 
template <>
void PoseToTransformationCUDA<double>(double *transformation_ptr,
                                      const double *X_ptr) {
    PoseToTransformationKernel<double>
            <<<1, 1, 0, core::cuda::GetStream()>>>(transformation_ptr, X_ptr);
}
 
template <typename scalar_t>
__global__ void TransformationToPoseKernel(scalar_t *X_ptr,
                                           const scalar_t *transformation_ptr) {
    TransformationToPoseImpl(X_ptr, transformation_ptr);
}
 
template <typename scalar_t>
void TransformationToPoseCUDA(scalar_t *X_ptr,
                              const scalar_t *transformation_ptr) {
    utility::LogError("Unsupported data type.");
}
 
template <>
void TransformationToPoseCUDA<float>(float *X_ptr,
                                     const float *transformation_ptr) {
    TransformationToPoseKernel<float>
            <<<1, 1, 0, core::cuda::GetStream()>>>(X_ptr, transformation_ptr);
}
 
template <>
void TransformationToPoseCUDA<double>(double *X_ptr,
                                      const double *transformation_ptr) {
    TransformationToPoseKernel<double>
            <<<1, 1, 0, core::cuda::GetStream()>>>(X_ptr, transformation_ptr);
}
 
}  // namespace kernel
}  // namespace pipelines
}  // namespace t
}  // namespace cloudViewer