common.h

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

/*
 * Copyright 2018-2019 Autoware Foundation. All rights reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#pragma once

// headers in STL
#include <stdio.h>

// headers in CUDA
#include <cuda_runtime_api.h>

namespace apollo {
namespace perception {
namespace lidar {

// using MACRO to allocate memory inside CUDA kernel
#define NUM_3D_BOX_CORNERS_MACRO 8
#define NUM_2D_BOX_CORNERS_MACRO 4
#define NUM_THREADS_MACRO 64  // need to be changed when num_threads_ is changed

#define DIVUP(m, n) ((m) / (n) + ((m) % (n) > 0))

#define GPU_CHECK(ans) \
  { GPUAssert((ans), __FILE__, __LINE__); }
inline void GPUAssert(cudaError_t code, const char* file, int line,
                      bool abort = true) {
  if (code != cudaSuccess) {
    fprintf(stderr, "GPUassert: %s %s %d\n", cudaGetErrorString(code), file,
            line);
    if (abort) exit(code);
  }
}

}  // namespace lidar
}  // namespace perception
}  // namespace apollo