void CudaSynchronizedMemory<T>::pullFromDeviceAsync(cudaStream_t stream, size_t nElements)
{
ASRL_ASSERT_GT(m_size,0, "The array is empty");
ASRL_ASSERT(m_pageLocked, "Asynchronous transfer is only valid for page-locked host memory");
if(nElements > m_size)
nElements = m_size;
cudaError_t err = (cudaMemcpyAsync((void*) m_host, (void *)m_device, nElements*sizeof(T), cudaMemcpyDeviceToHost, stream));
ASRL_ASSERT_EQ(err,cudaSuccess, "Unable to copy " << typeid(T).name() << " array of size " << m_size << " from device. Stream " << stream << ": (" << err << "): " << cudaGetErrorString(err));
}
void GpuSurfDetectorInternal::saveIntegralImage(std::string const & basename)
{
float * iimg = m_intImg->h_get();
std::stringstream sout;
sout << basename << "-iimg.bin";
std::ofstream fout(sout.str().c_str(),std::ios::binary);
ASRL_ASSERT(fout.good(),"Unable to open file \"" << sout.str() << "\" for writing");
int size[2];
size[0] = m_intImg->width();
size[1] = m_intImg->height();
fout.write(reinterpret_cast<const char *>(&size[0]),2*sizeof(int));
fout.write(reinterpret_cast<const char *>(iimg),m_intImg->width()*m_intImg->height() * sizeof(float));
}