rodrigues.hpp
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* * Neither the name of Willow Garage, Inc. 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 OWNER 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.
*
* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
*/
#ifndef PCL_GPU_DEVICE_RODRIGUES_HPP_
#define PCL_GPU_DEVICE_RODRIGUES_HPP_
#include <pcl/gpu/utils/device/vector_math.hpp>
namespace pcl
{
namespace device
{
__device__ __host__ __forceinline__ void AngleAxisf(float angle, const float3& r, float3& row1, float3& row2, float3& row3)
{
float cosA, sinA;
sincosf(angle, &sinA, &cosA);
row1.x = cosA; row1.y = 0.f; row1.z = 0.f;
row2.x = 0.f; row2.y = cosA; row2.z = 0.f;
row3.x = 0.f; row3.y = 0.f; row3.z = cosA;
/* */ row1.y += -r.z * sinA; row1.z += r.y * sinA;
row2.x += r.z * sinA; /* */ row2.z += -r.x * sinA;
row3.x += -r.y * sinA; row3.y += r.x * sinA; /* */
row1.x += r.x * r.x * (1 - cosA); row1.y += r.x * r.y * (1 - cosA); row1.z += r.x * r.z * (1 - cosA);
row2.x += r.y * r.x * (1 - cosA); row2.y += r.y * r.y * (1 - cosA); row2.z += r.y * r.z * (1 - cosA);
row3.x += r.z * r.x * (1 - cosA); row3.y += r.z * r.y * (1 - cosA); row3.z += r.z * r.z * (1 - cosA);
}
__device__ __host__ __forceinline__ void Rodrigues(const float3& rvec, float3& row1, float3& row2, float3& row3)
{
float angle = norm(rvec);
float3 unit_axis = make_float3(rvec.x/angle, rvec.y/angle, rvec.z/angle);
AngleAxisf(angle, unit_axis, row1, row2, row3);
}
}
}
#endif /* PCL_GPU_DEVICE_RODRIGUES_HPP_ */
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::device::norm
__device__ __host__ __forceinline__ float norm(const float3 &v1, const float3 &v2)
Definition: vector_operations.hpp:60
pcl::device::Rodrigues
__device__ __host__ __forceinline__ void Rodrigues(const float3 &rvec, float3 &row1, float3 &row2, float3 &row3)
Definition: rodrigues.hpp:65
pcl::device::AngleAxisf
__device__ __host__ __forceinline__ void AngleAxisf(float angle, const float3 &r, float3 &row1, float3 &row2, float3 &row3)
Definition: rodrigues.hpp:47