Point Cloud Library (PCL)  1.12.0-dev
vector_operations.hpp
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34  * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36 
37 #ifndef PCL_GPU_FEATURS_DEVICE_VECTOR_OPERATIONS_HPP_
38 #define PCL_GPU_FEATURS_DEVICE_VECTOR_OPERATIONS_HPP_
39 
40 #include <pcl/gpu/features/device/rodrigues.hpp>
41 #include <pcl/gpu/utils/device/vector_math.hpp>
42 
43 namespace pcl
44 {
45  namespace device
46  {
47  __forceinline__ __device__ __host__ float3 operator/(const float3& vec, float val)
48  {
49  return make_float3(vec.x/val, vec.y/val, vec.z/val);
50  }
51 
52  __device__ __host__ __forceinline__ float3& operator/=(float3& v, const float& value)
53  {
54  v.x /= value;
55  v.y /= value;
56  v.z /= value;
57  return v;
58  }
59 
60  __device__ __host__ __forceinline__ float norm(const float3& v1, const float3& v2)
61  {
62  float dx = v1.x - v2.x;
63  float dy = v1.y - v2.y;
64  float dz = v1.z - v2.z;
65  return sqrtf(dx*dx + dy*dy + dz*dz);
66  }
67 
68  template<typename T> __device__ __forceinline__ float3 tr(const T& v)
69  {
70  return make_float3(v.x, v.y, v.z);
71  }
72 
73  inline __host__ __device__ float3 normalize(const float3& v)
74  {
75  return v * inverse_norm(v);
76  }
77  }
78 }
79 
80 #endif /* PCL_GPU_FEATURS_DEVICE_VECTOR_OPERATIONS_HPP_ */
pcl
Definition: convolution.h:46
pcl::device::normalize
__host__ __device__ float3 normalize(const float3 &v)
Definition: vector_operations.hpp:73
pcl::device::operator/=
__device__ __host__ __forceinline__ float3 & operator/=(float3 &v, const float &value)
Definition: vector_operations.hpp:52
pcl::device::operator/
__forceinline__ __device__ __host__ float3 operator/(const float3 &vec, float val)
Definition: vector_operations.hpp:47
pcl::device::inverse_norm
__host__ __device__ __forceinline__ float inverse_norm(const T &v)
Definition: vector_math.hpp:113
pcl::device::norm
__device__ __host__ __forceinline__ float norm(const float3 &v1, const float3 &v2)
Definition: vector_operations.hpp:60
pcl::device::tr
__device__ __forceinline__ float3 tr(const T &v)
Definition: vector_operations.hpp:68