Point Cloud Library (PCL) 1.13.0
device.h
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40
41#pragma once
42
43#include <cuda_runtime.h>
44
45namespace pcl
46{
47 namespace device
48 {
49 template<typename Point>
50 __device__ __forceinline__ float sqnorm(const Point& p1, const Point& p2)
51 {
52 float dx = (p1.x - p2.x);
53 float dy = (p1.y - p2.y);
54 float dz = (p1.z - p2.z);
55 return dx * dx + dy * dy + dz * dz;
56 }
57
58 __device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr& intr)
59 {
60 float z = depth * 0.001f; // mm -> meters
61 float3 result;
62
63 result.x = z * (x - intr.cx) / intr.fx;
64 result.y = z * (y - intr.cy) / intr.fy;
65 result.z = z;
66
67 return result;
68 }
69
70 __device__ __forceinline__ bool
71 isFinite(const float3& p)
72 {
73 return isfinite(p.x) && isfinite(p.y) && isfinite(p.z);
74 }
75 }
76}
__device__ __forceinline__ float3 computePoint(unsigned short depth, int x, int y, const Intr &intr)
Definition: device.h:58
__device__ __forceinline__ float sqnorm(const Point &p1, const Point &p2)
Definition: device.h:50
__device__ __forceinline__ bool isFinite(const float3 &p)
Definition: device.h:71
Camera intrinsics structure.
Definition: internal.h:69