device.h

/*
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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
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 *     from this software without specific prior written permission.
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 * $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);
    }
  }
}