helper_funcs.hpp

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#ifndef OCLSLAM_HELPERFUNCS_HPP
#define OCLSLAM_HELPERFUNCS_HPP

#include <cassert>
#include <algorithm>
#include <functional>
#include <RBC/data_types.hpp>

#if defined(__APPLE__) || defined(__MACOSX)
#include <OpenCL/cl.hpp>
#else
#include <CL/cl.hpp>
#endif


namespace oclslam
{

    bool setProfilingFlag (int argc, char **argv);


    template <typename T>
    uint64_t nextPow2 (T num)
    {
        assert (num >= 0);

        uint64_t pow;
        for (pow = 1; pow < (uint64_t) num; pow <<= 1) ;

        return pow;
    }


    template <typename T>
    void printBuffer (const char *title, T *ptr, uint32_t width, uint32_t height)
    {
        std::cout << title << std::endl;

        for (int row = 0; row < height; ++row)
        {
            for (int col = 0; col < width; ++col)
            {
                std::cout << std::setw (3 * sizeof (T)) << +ptr[row * width + col] << " ";
            }
            std::cout << std::endl;
        }

        std::cout << std::endl;
    }


    template <typename T>
    void printBufferF (const char *title, T *ptr, uint32_t width, uint32_t height, uint32_t prec)
    {
        std::ios::fmtflags f (std::cout.flags ());
        std::cout << title << std::endl;
        std::cout << std::fixed << std::setprecision (prec);

        for (int row = 0; row < height; ++row)
        {
            for (int col = 0; col < width; ++col)
            {
                std::cout << std::setw (5 + prec) << ptr[row * width + col] << " ";
            }
            std::cout << std::endl;
        }

        std::cout << std::endl;
        std::cout.flags (f);
    }


    template <typename T>
    void cpuSplitPC8D (T *pc8d, T *pc3d, cl_uchar *rgb, uint32_t n)
    {
        for (uint k = 0; k < n; ++k)
        {
            cl_float *point = pc8d + (k << 3);

            for (uint j = 0; j < 3; ++j)
            {
                pc3d[3 * k + j] = point[j] * 0.001;
                rgb[3 * k + j] = (cl_uchar) (point[4 + j] * 255);
            }
        }
    }

}

#endif  // OCLSLAM_HELPERFUNCS_HPP