vector_operations.hpp

/*
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 *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
 */
 
#ifndef PCL_GPU_FEATURS_DEVICE_VECTOR_OPERATIONS_HPP_
#define PCL_GPU_FEATURS_DEVICE_VECTOR_OPERATIONS_HPP_
 
#include <pcl/gpu/features/device/rodrigues.hpp>
#include <pcl/gpu/utils/device/vector_math.hpp>
 
namespace pcl
{
    namespace device
    {       
         __forceinline__ __device__ __host__ float3 operator/(const float3& vec, float val)
        {
            return make_float3(vec.x/val, vec.y/val, vec.z/val);
        }
 
        __device__ __host__ __forceinline__ float3& operator/=(float3& v, const float& value)
        {
            v.x /= value;
            v.y /= value;
            v.z /= value;
            return v;
        }
             
        __device__ __host__ __forceinline__ float norm(const float3& v1, const float3& v2)
        {
            float dx = v1.x - v2.x;
            float dy = v1.y - v2.y;
            float dz = v1.z - v2.z;
            return sqrtf(dx*dx + dy*dy + dz*dz);
        }
        
        template<typename T> __device__ __forceinline__ float3 tr(const T& v)
        {
            return make_float3(v.x, v.y, v.z);
        }
 
        inline __host__ __device__ float3 normalize(const float3& v)
        {
            return v * inverse_norm(v);
        }
    }
}
 
#endif /* PCL_GPU_FEATURS_DEVICE_VECTOR_OPERATIONS_HPP_ */