Point Cloud Library (PCL)  1.12.1-dev
vector_math.hpp
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #ifndef PCL_GPU_UTILS_DEVICE_VECTOR_MATH_HPP_
38 #define PCL_GPU_UTILS_DEVICE_VECTOR_MATH_HPP_
39 
40 namespace pcl
41 {
42  namespace device
43  {
44  ////////////////////////////////
45  // one element vectors
46 
47 
48  ////////////////////////////////
49  // two element vectors
50 
51 
52  ////////////////////////////////
53  // three element vectors
54 
55 #define PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(type, scalar, op) \
56  __device__ __host__ __forceinline__ type & operator op (type & v1, const type & v2) { v1.x op v2.x; v1.y op v2.y; v1.z op v2.z; return v1; } \
57  __device__ __host__ __forceinline__ type & operator op (type & v, scalar val) { v.x op val; v.y op val; v.z op val; return v; }
58 
59  PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(float3, float, -=)
60  PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(float3, float, +=)
61  PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(float3, float, *=)
62 
63  PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(short3, short, -=)
64 
65  PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP(int3, int, +=)
66 
67 #undef PCL_GPU_IMPLEMENT_COMPOUND_VEC3_OP
68 
69  __device__ __host__ __forceinline__ float dot(const float3& v1, const float3& v2)
70  {
71  return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
72  }
73 
74  __device__ __host__ __forceinline__ float3 cross(const float3& v1, const float3& v2)
75  {
76  return make_float3(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x);
77  }
78 
79  ////////////////////////////////
80  // four element vectors
81 
82  __device__ __host__ __forceinline__ float dot(const float4& v1, const float4& v2)
83  {
84  return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
85  }
86 
87  ////////////////////////////////
88  // alltype binary operarators
89 
90 #define PCL_GPU_IMPLEMENT_VEC_BINOP(type, scalar, op, cop) \
91  __device__ __host__ __forceinline__ type operator op (const type & v1, const type & v2) { type r = v1; r cop v2; return r; } \
92  __device__ __host__ __forceinline__ type operator op (const type & v1, scalar c) { type r = v1; r cop c; return r; }
93 
94  PCL_GPU_IMPLEMENT_VEC_BINOP(float3, float, -, -=)
95  PCL_GPU_IMPLEMENT_VEC_BINOP(float3, float, +, +=)
96  PCL_GPU_IMPLEMENT_VEC_BINOP(float3, float, *, *=)
97 
98  PCL_GPU_IMPLEMENT_VEC_BINOP(short3, short, -, -=)
99 
100  PCL_GPU_IMPLEMENT_VEC_BINOP(int3, int, +, +=)
101 
102 #undef PCL_GPU_IMPLEMENT_VEC_BINOP
103 
104 
105  ////////////////////////////////
106  // tempalted operations vectors
107 
108  template<typename T> __device__ __host__ __forceinline__ float norm(const T& val)
109  {
110  return sqrtf(dot(val, val));
111  }
112 
113  template<typename T> __host__ __device__ __forceinline__ float inverse_norm(const T& v)
114  {
115  return rsqrtf(dot(v, v));
116  }
117 
118  template<typename T> __host__ __device__ __forceinline__ T normalized(const T& v)
119  {
120  return v * inverse_norm(v);
121  }
122 
123  template<typename T> __host__ __device__ __forceinline__ T normalized_safe(const T& v)
124  {
125  return (dot(v, v) > 0) ? (v * rsqrtf(dot(v, v))) : v;
126  }
127  }
128 }
129 
130 #endif /* PCL_GPU_UTILS_DEVICE_VECTOR_MATH_HPP_ */
131 
__host__ __device__ __forceinline__ float inverse_norm(const T &v)
__host__ __device__ __forceinline__ T normalized_safe(const T &v)
__device__ __forceinline__ float3 normalized(const float3 &v)
Definition: utils.hpp:101
__device__ __forceinline__ float dot(const float3 &v1, const float3 &v2)
Definition: utils.hpp:59
__device__ __host__ __forceinline__ float norm(const float3 &v1, const float3 &v2)
__device__ __host__ __forceinline__ float3 cross(const float3 &v1, const float3 &v2)
Definition: utils.hpp:107