Point Cloud Library (PCL) 1.15.0
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vector_operations.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Willow Garage, Inc.
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19 * from this software without specific prior written permission.
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21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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34 * Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
35 */
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
43namespace 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_ */
__host__ __device__ __forceinline__ float inverse_norm(const T &v)
__device__ __forceinline__ float3 tr(const T &v)
__forceinline__ __device__ __host__ float3 operator/(const float3 &vec, float val)
__host__ __device__ float3 normalize(const float3 &v)
__device__ __host__ __forceinline__ float norm(const float3 &v1, const float3 &v2)
__device__ __host__ __forceinline__ float3 & operator/=(float3 &v, const float &value)