Point Cloud Library (PCL)  1.9.1-dev
device.h
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37 
38 #pragma once
39 
40 #include "internal.h"
41 #include <pcl/gpu/utils/device/vector_math.hpp>
42 
43 namespace pcl
44 {
45  namespace device
46  {
47  /** \brief Computers plane from 3 points (v, v1, v2), ensures that point P lies positive subspace.
48  * \param[in] v 3D point volume tsdf volume container
49  * \param[in] v1 3D point volume tsdf volume container
50  * \param[in] v2 3D point volume tsdf volume container
51  * \param[in] p point for sign check of plane coefs (should lie in positive subspace)
52  * \return a,b,c,d coefs vector
53  */
54  __device__ __host__ __forceinline__
55  float4 compute_plane(const float3& v, const float3& v1, const float3& v2, const float3& p)
56  {
57  float3 n = cross(v1 - v, v2 - v);
58 
59  float d = -dot(n, v);
60 
61  if (dot(n, p) + d < 0)
62  {
63  n*=-1.f;
64  d*=-1.f;
65  }
66  return make_float4(n.x, n.y, n.z, d);
67  }
68 
69  __device__ __host__ __forceinline__ float3 tr(const PointType& p) { return make_float3(p.x, p.y, p.z); }
70 
72  {
73  __device__ __forceinline__
74  bool operator()(const std::uint64_t& e1, const int& e2) const
75  {
76  int i1 = (int)(e1 >> 32);
77  return i1 < e2;
78  }
79  };
80 
81  __device__ __host__ __forceinline__ float compue_inv_normal_norm(const float4& p) { return 1.f/sqrt(p.x*p.x + p.y*p.y + p.z*p.z); }
82 
83 
84  __device__ __host__ __forceinline__ float4& operator*=(float4& p, float v) { p.x*=v; p.y*=v; p.z*=v; p.w*=v; return p; }
85 
86  }
87 };
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
__device__ __forceinline__ bool operator()(const std::uint64_t &e1, const int &e2) const
Definition: device.h:74
__device__ __host__ __forceinline__ float3 cross(const float3 &v1, const float3 &v2)
Definition: utils.hpp:105
float4 PointType
Definition: internal.hpp:58
__device__ __forceinline__ float dot(const float3 &v1, const float3 &v2)
Definition: utils.hpp:57
__device__ __host__ __forceinline__ float4 compute_plane(const float3 &v, const float3 &v1, const float3 &v2, const float3 &p)
Computers plane from 3 points (v, v1, v2), ensures that point P lies positive subspace.
Definition: device.h:55
__device__ __forceinline__ float3 & operator*=(float3 &vec, const float &v)
Definition: utils.hpp:75
__device__ __forceinline__ float3 tr(const T &v)
__device__ __host__ __forceinline__ float compue_inv_normal_norm(const float4 &p)
Definition: device.h:81