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<div class="title">bitonic_sort.hpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment">* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">*/</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#ifndef PCL_GPU_BITONIC_SORT_WARP_HPP</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define PCL_GPU_BITONIC_SORT_WARP_HPP</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  {</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">template</span><<span class="keyword">typename</span> T> </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a52dd7ab83604a07aecdbd6c68ea5b5e8"> 45</a></span>  __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="namespacepcl_1_1device.html#ad1981268802da447ae51a26fa81fc533">swap</a>(T& a, T& b) { T t = a; a = b; b = t; }</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">template</span><<span class="keyword">typename</span> V, <span class="keyword">typename</span> K></div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="namespacepcl_1_1device.html#a446e154bf0d905329b3b02e8f176ce13"> 48</a></span>  __device__ __forceinline__ <span class="keywordtype">void</span> <a class="code" href="namespacepcl_1_1device.html#a446e154bf0d905329b3b02e8f176ce13">bitonicSortWarp</a>(<span class="keyword">volatile</span> <a class="code" href="group__common.html#gga9d37f00989a9de11b48deb263649463ca5c1d5fa96c1a1d9ee8a3d65459576e1f">K</a>* keys, <span class="keyword">volatile</span> V* vals, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dir = 1)</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  {</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> arrayLength = 64; </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lane = threadIdx.x & 31;</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size = 2; size < arrayLength; size <<= 1)</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="comment">//Bitonic merge</span></div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ddd = dir ^ ( (lane & (size / 2)) != 0 );</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> stride = size / 2; stride > 0; stride >>= 1)</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  { </div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos = 2 * lane - (lane & (stride - 1));</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> ( (keys[pos] > keys[pos + stride]) == ddd )</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  {</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="namespacepcl_1_1device.html#ad1981268802da447ae51a26fa81fc533">swap</a>(keys[pos], keys[pos + stride]);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="namespacepcl_1_1device.html#ad1981268802da447ae51a26fa81fc533">swap</a>(vals[pos], vals[pos + stride]);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  } </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  }</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  }</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="comment">//ddd == dir for the last bitonic merge step</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> stride = arrayLength / 2; stride > 0; stride >>= 1)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  { </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pos = 2 * lane - (lane & (stride - 1));</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordflow">if</span> ( (keys[pos] > keys[pos + stride]) == dir )</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  {</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <a class="code" href="namespacepcl_1_1device.html#ad1981268802da447ae51a26fa81fc533">swap</a>(keys[pos], keys[pos + stride]);</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <a class="code" href="namespacepcl_1_1device.html#ad1981268802da447ae51a26fa81fc533">swap</a>(vals[pos], vals[pos + stride]);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  } </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  }</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="preprocessor">#endif </span><span class="comment">/* PCL_GPU_BITONIC_SORT_WARP_HPP */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="agroup__common_html_gga9d37f00989a9de11b48deb263649463ca5c1d5fa96c1a1d9ee8a3d65459576e1f"><div class="ttname"><a href="group__common.html#gga9d37f00989a9de11b48deb263649463ca5c1d5fa96c1a1d9ee8a3d65459576e1f">pcl::K</a></div><div class="ttdeci">@ K</div><div class="ttdef"><b>Definition:</b> <a href="norms_8h_source.html#l00054">norms.h:54</a></div></div>
<div class="ttc" id="anamespacepcl_1_1device_html_a446e154bf0d905329b3b02e8f176ce13"><div class="ttname"><a href="namespacepcl_1_1device.html#a446e154bf0d905329b3b02e8f176ce13">pcl::device::bitonicSortWarp</a></div><div class="ttdeci">__device__ __forceinline__ void bitonicSortWarp(volatile K *keys, volatile V *vals, unsigned int dir=1)</div><div class="ttdef"><b>Definition:</b> <a href="bitonic__sort_8hpp_source.html#l00048">bitonic_sort.hpp:48</a></div></div>
<div class="ttc" id="anamespacepcl_1_1device_html_ad1981268802da447ae51a26fa81fc533"><div class="ttname"><a href="namespacepcl_1_1device.html#ad1981268802da447ae51a26fa81fc533">pcl::device::swap</a></div><div class="ttdeci">__device__ __host__ __forceinline__ void swap(T &a, T &b)</div><div class="ttdef"><b>Definition:</b> <a href="src_2cuda_2utils_8hpp_source.html#l00053">utils.hpp:53</a></div></div>
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