point_types.h

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#pragma once
 
#include <pcl/cuda/common/point_type_rgb.h>
#include <cuda.h>
 
namespace pcl
{
namespace cuda
{
  /** \brief Default point xyz-rgb structure. */
  struct /*__align__(16)*/ PointXYZRGB
  {
    inline __host__ __device__ PointXYZRGB () {}
    inline __host__ __device__ PointXYZRGB (float _x, float _y, float _z, int _rgb) : 
                                     x(_x), y(_y), z(_z), rgb(_rgb) {}
 
    // Declare a union for XYZ
    union
    {
      float3 xyz;
      struct
      {
        float x;
        float y;
        float z;
      };
    };
    RGB rgb;
    
    inline __host__ __device__ bool operator == (const PointXYZRGB &rhs)
    {
      return (x == rhs.x && y == rhs.y && z == rhs.z && rgb == rhs.rgb);
    }
 
    // this allows direct assignment of a PointXYZRGB to float3...
    inline __host__ __device__ operator float3 () const
    {
      return xyz;
    }
 
    const inline __host__ __device__ PointXYZRGB operator - (const PointXYZRGB &rhs) const
    {
      PointXYZRGB res = *this;
      res -= rhs;
      return (res);
//      xyz = -rhs.xyz;
//      rgb = -rhs.rgb;
//      return (*this -= rhs);
    }
 
    inline __host__ __device__ PointXYZRGB& operator += (const PointXYZRGB &rhs)
    {
      xyz += rhs.xyz;
      rgb += rhs.rgb;
      return (*this);
    }
 
    inline __host__ __device__ PointXYZRGB& operator -= (const PointXYZRGB &rhs)
    {
      xyz -= rhs.xyz;
      rgb -= rhs.rgb;
      return (*this);
    }
 
    inline __host__ __device__ PointXYZRGB& operator *= (const PointXYZRGB &rhs)
    {
      xyz *= rhs.xyz;
      rgb *= rhs.rgb;
      return (*this);
    }
 
    inline __host__ __device__ PointXYZRGB& operator /= (const PointXYZRGB &rhs)
    {
      xyz /= rhs.xyz;
      rgb /= rhs.rgb;
      return (*this);
    }
  };
 
  /** \brief Default point xyz-rgb structure. */
  struct __align__(16) PointXYZRGBNormal
  {
    inline __host__ __device__ PointXYZRGBNormal () {}
    inline __host__ __device__ PointXYZRGBNormal (float _x, float _y, float _z, int _rgb) : 
                                     x(_x), y(_y), z(_z), rgb(_rgb) {}
 
    // Declare a union for XYZ
    union
    {
      float3 xyz;
      struct
      {
        float x;
        float y;
        float z;
      };
    };
    RGB rgb;
    union
    {
      float4 normal;
      struct
      {
        float normal_x;
        float normal_y;
        float normal_z;
        float curvature;
      };
    };
    
    inline __host__ __device__ bool operator == (const PointXYZRGBNormal &rhs)
    {
      return (x == rhs.x && y == rhs.y && z == rhs.z && rgb == rhs.rgb && normal_x == rhs.normal_x && normal_y == rhs.normal_y && normal_z == rhs.normal_z);
    }
 
    // this allows direct assignment of a PointXYZRGBNormal to float3...
    inline __host__ __device__ operator float3 () const
    {
      return xyz;
    }
 
    const inline __host__ __device__ PointXYZRGBNormal operator - (const PointXYZRGBNormal &rhs) const
    {
      PointXYZRGBNormal res = *this;
      res -= rhs;
      return (res);
//      xyz = -rhs.xyz;
//      rgb = -rhs.rgb;
//      return (*this -= rhs);
    }
 
    inline __host__ __device__ PointXYZRGBNormal& operator += (const PointXYZRGBNormal &rhs)
    {
      xyz += rhs.xyz;
      rgb += rhs.rgb;
      normal += rhs.normal;
      return (*this);
    }
 
    inline __host__ __device__ PointXYZRGBNormal& operator -= (const PointXYZRGBNormal &rhs)
    {
      xyz -= rhs.xyz;
      rgb -= rhs.rgb;
      normal -= rhs.normal;
      return (*this);
    }
 
    inline __host__ __device__ PointXYZRGBNormal& operator *= (const PointXYZRGBNormal &rhs)
    {
      xyz *= rhs.xyz;
      rgb *= rhs.rgb;
      normal *= rhs.normal;
      return (*this);
    }
 
    inline __host__ __device__ PointXYZRGBNormal& operator /= (const PointXYZRGBNormal &rhs)
    {
      xyz /= rhs.xyz;
      rgb /= rhs.rgb;
      normal /= rhs.normal;
      return (*this);
    }
  };
} // namespace
} // namespace