Point Cloud Library (PCL)  1.8.0
device.h
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40 
41 #ifndef PCL_GPU_PEOPLE_CUDA_DEVICE_H_
42 #define PCL_GPU_PEOPLE_CUDA_DEVICE_H_
43 
44 #include <cuda_runtime.h>
45 
46 namespace pcl
47 {
48  namespace device
49  {
50  template<typename Point>
51  __device__ __forceinline__ float sqnorm(const Point& p1, const Point& p2)
52  {
53  float dx = (p1.x - p2.x);
54  float dy = (p1.y - p2.y);
55  float dz = (p1.z - p2.z);
56  return dx * dx + dy * dy + dz * dz;
57  }
58 
59  __device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr& intr)
60  {
61  float z = depth * 0.001f; // mm -> meters
62  float3 result;
63 
64  result.x = z * (x - intr.cx) / intr.fx;
65  result.y = z * (y - intr.cy) / intr.fy;
66  result.z = z;
67 
68  return result;
69  }
70 
71  __device__ __forceinline__ bool
72  isFinite(const float3& p)
73  {
74  return isfinite(p.x) && isfinite(p.y) && isfinite(p.z);
75  }
76  }
77 }
78 
79 #endif /* PCL_GPU_PEOPLE_CUDA_DEVICE_H_ */
__device__ __forceinline__ float sqnorm(const Point &p1, const Point &p2)
Definition: device.h:51
__device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr &intr)
Definition: device.h:59
__device__ __forceinline__ bool isFinite(const float3 &p)
Definition: device.h:72
Camera intrinsics structure.
Definition: internal.h:67