Point Cloud Library (PCL)  1.9.1-dev
device.h
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37  * @authors: Anatoly Baksheev
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40 
41 #pragma once
42 
43 #include <cuda_runtime.h>
44 
45 namespace pcl
46 {
47  namespace device
48  {
49  template<typename Point>
50  __device__ __forceinline__ float sqnorm(const Point& p1, const Point& p2)
51  {
52  float dx = (p1.x - p2.x);
53  float dy = (p1.y - p2.y);
54  float dz = (p1.z - p2.z);
55  return dx * dx + dy * dy + dz * dz;
56  }
57 
58  __device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr& intr)
59  {
60  float z = depth * 0.001f; // mm -> meters
61  float3 result;
62 
63  result.x = z * (x - intr.cx) / intr.fx;
64  result.y = z * (y - intr.cy) / intr.fy;
65  result.z = z;
66 
67  return result;
68  }
69 
70  __device__ __forceinline__ bool
71  isFinite(const float3& p)
72  {
73  return isfinite(p.x) && isfinite(p.y) && isfinite(p.z);
74  }
75  }
76 }
__device__ __forceinline__ float sqnorm(const Point &p1, const Point &p2)
Definition: device.h:50
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
__device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr &intr)
Definition: device.h:58
__device__ __forceinline__ bool isFinite(const float3 &p)
Definition: device.h:71
Camera intrinsics structure.
Definition: internal.h:68