Open3D (C++ API)  0.17.0
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SlabMacros.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8// Copyright 2019 Saman Ashkiani
9//
10// Licensed under the Apache License, Version 2.0 (the "License");
11// you may not use this file except in compliance with the License.
12// You may obtain a copy of the License at
13//
14// http://www.apache.org/licenses/LICENSE-2.0
15//
16// Unless required by applicable law or agreed to in writing, software
17// distributed under the License is distributed on an "AS IS" BASIS,
18// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
19// implied. See the License for the specific language governing permissions
20// and limitations under the License.
21
22#pragma once
23#include <cstdint>
24
26
27namespace open3d {
28namespace core {
29
30// Device-specific, safe for current NVIDIA architectures.
31static constexpr uint32_t kWarpSize = 32;
32
34// Tunable variables
36// HashMap
37static constexpr uint32_t kSuperBlocks = 32;
38static constexpr uint32_t kBlocksPerSuperBlock = 4;
39static constexpr uint32_t kBlocksPerSuperBlockInBits = 2;
40static constexpr uint32_t kSlabsPerBlock = 1024;
41
42// Misc
43static constexpr uint32_t kMaxKeyByteSize = 32;
44static constexpr uint32_t kThreadsPerBlock = 128;
45
47// Combination of tunable variables
49static 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.
52static constexpr uint32_t kBitmapsPerSuperBlock =
53 kBlocksPerSuperBlock * kSlabsPerBlock;
54static constexpr uint32_t kUIntsPerSuperBlock =
55 kBlocksPerSuperBlock * kUIntsPerBlock + kBitmapsPerSuperBlock;
56
58// Non-tunable variables
60// Mask offsets
61static constexpr uint32_t kSuperBlockMaskBits = 27;
62static constexpr uint32_t kBlockMaskBits = 10;
63static constexpr uint32_t kSlabMaskBits = 5;
64
65// Masks & flags
66static constexpr uint32_t kSyncLanesMask = 0xFFFFFFFF;
67static constexpr uint32_t kNodePtrLanesMask = 0x7FFFFFFF;
68static constexpr uint32_t kNextSlabPtrLaneId = 31;
69
70static constexpr uint32_t kHeadSlabAddr = 0xFFFFFFFE;
71
72static constexpr uint32_t kEmptySlabAddr = 0xFFFFFFFF;
73static constexpr uint32_t kEmptyNodeAddr = 0xFFFFFFFF;
74static constexpr uint32_t kNullAddr = 0xFFFFFFFF;
75
76static 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.
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:548
Definition PinholeCameraIntrinsic.cpp:16