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device.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, 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.
*
* $Id: $
* @authors: Anatoly Baksheev
*
*/
#pragma once
#include <cuda_runtime.h>
namespace pcl
{
namespace device
{
template<typename Point>
__device__ __forceinline__ float sqnorm(const Point& p1, const Point& p2)
{
float dx = (p1.x - p2.x);
float dy = (p1.y - p2.y);
float dz = (p1.z - p2.z);
return dx * dx + dy * dy + dz * dz;
}
__device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr& intr)
{
float z = depth * 0.001f; // mm -> meters
float3 result;
result.x = z * (x - intr.cx) / intr.fx;
result.y = z * (y - intr.cy) / intr.fy;
result.z = z;
return result;
}
__device__ __forceinline__ bool
isFinite(const float3& p)
{
return isfinite(p.x) && isfinite(p.y) && isfinite(p.z);
}
}
}
pcl::device::computePoint
__device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr &intr)
Definition device.h:58
pcl::device::sqnorm
__device__ __forceinline__ float sqnorm(const Point &p1, const Point &p2)
Definition device.h:50
pcl::device::isFinite
__device__ __forceinline__ bool isFinite(const float3 &p)
Definition device.h:71
pcl
Definition convolution.h:46
pcl::device::Intr
Camera intrinsics structure.
Definition internal.h:69
pcl::device::Intr::fy
float fy
Definition internal.h:70
pcl::device::Intr::fx
float fx
Definition internal.h:70
pcl::device::Intr::cy
float cy
Definition internal.h:70
pcl::device::Intr::cx
float cx
Definition internal.h:70