Point Cloud Library (PCL) 1.12.1
rodrigues.hpp
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34* Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
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36
37
38#ifndef PCL_GPU_DEVICE_RODRIGUES_HPP_
39#define PCL_GPU_DEVICE_RODRIGUES_HPP_
40
41#include <pcl/gpu/utils/device/vector_math.hpp>
42
43namespace pcl
44{
45 namespace device
46 {
47 __device__ __host__ __forceinline__ void AngleAxisf(float angle, const float3& r, float3& row1, float3& row2, float3& row3)
48 {
49 float cosA, sinA;
50 sincosf(angle, &sinA, &cosA);
51
52 row1.x = cosA; row1.y = 0.f; row1.z = 0.f;
53 row2.x = 0.f; row2.y = cosA; row2.z = 0.f;
54 row3.x = 0.f; row3.y = 0.f; row3.z = cosA;
55
56 /* */ row1.y += -r.z * sinA; row1.z += r.y * sinA;
57 row2.x += r.z * sinA; /* */ row2.z += -r.x * sinA;
58 row3.x += -r.y * sinA; row3.y += r.x * sinA; /* */
59
60 row1.x += r.x * r.x * (1 - cosA); row1.y += r.x * r.y * (1 - cosA); row1.z += r.x * r.z * (1 - cosA);
61 row2.x += r.y * r.x * (1 - cosA); row2.y += r.y * r.y * (1 - cosA); row2.z += r.y * r.z * (1 - cosA);
62 row3.x += r.z * r.x * (1 - cosA); row3.y += r.z * r.y * (1 - cosA); row3.z += r.z * r.z * (1 - cosA);
63 }
64
65 __device__ __host__ __forceinline__ void Rodrigues(const float3& rvec, float3& row1, float3& row2, float3& row3)
66 {
67 float angle = norm(rvec);
68 float3 unit_axis = make_float3(rvec.x/angle, rvec.y/angle, rvec.z/angle);
69 AngleAxisf(angle, unit_axis, row1, row2, row3);
70 }
71 }
72}
73
74#endif /* PCL_GPU_DEVICE_RODRIGUES_HPP_ */
__device__ __host__ __forceinline__ float norm(const float3 &v1, const float3 &v2)
__device__ __host__ __forceinline__ void Rodrigues(const float3 &rvec, float3 &row1, float3 &row2, float3 &row3)
Definition: rodrigues.hpp:65
__device__ __host__ __forceinline__ void AngleAxisf(float angle, const float3 &r, float3 &row1, float3 &row2, float3 &row3)
Definition: rodrigues.hpp:47