Point Cloud Library (PCL)  1.14.1-dev
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 
43 namespace 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