text: // Copyright 2019 ETH Zürich, Thomas Schöps
  //
  // Redistribution and use in source and binary forms, with or without
  // modification, are permitted provided that the following conditions are met:
  //
  // 1. Redistributions of source code must retain the above copyright notice,
  //    this list of conditions and the following disclaimer.
  //
  // 2. Redistributions in binary form must reproduce the above copyright notice,
  //    this list of conditions and the following disclaimer in the documentation
  //    and/or other materials provided with the distribution.
  //
  // 3. Neither the name of the copyright holder nor the names of its contributors
  //    may be used to endorse or promote products derived from this software
  //    without specific prior written permission.
  //
  // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
  // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  // POSSIBILITY OF SUCH DAMAGE.
  
  #pragma once
  
  #include <cuda_runtime.h>
  #include <libvis/cuda/cuda_buffer.cuh>
  #include <libvis/libvis.h>
  
  #include "badslam/surfel_projection.cuh"
  
  namespace vis {
  
  void CallResetSurfelForColorAssignmentKernel(
      cudaStream_t stream,
      int surfels_size,
      const CUDABuffer_<float>& surfels);
  
  void CallAccumulateColorObservationsCUDAKernel(
      cudaStream_t stream,
      int surfels_size,
      const SurfelProjectionParameters& s,
      const DepthToColorPixelCorner& depth_to_color,
      cudaTextureObject_t color_texture);
  
  void CallAssignColorsCUDAKernel(
      cudaStream_t stream,
      int surfels_size,
      const CUDABuffer_<float>& surfels);
  
  void CallResetSurfelForDescriptorColorAssignmentKernel(
      cudaStream_t stream,
      int surfels_size,
      const CUDABuffer_<float>& surfels);
  
  void CallAccumulateDescriptorColorObservationsCUDAKernel(
      cudaStream_t stream,
      int surfels_size,
      const SurfelProjectionParameters& s,
      const DepthToColorPixelCorner& depth_to_color,
      const PixelCornerProjector& color_corner_projector,
      cudaTextureObject_t color_texture);
  
  void CallAssignDescriptorColorsCUDAKernel(
      cudaStream_t stream,
      u32 surfels_size,
      const CUDABuffer_<float>& surfels);
  
  }
  