Point Cloud Library (PCL) 1.13.0
point_types.h
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37
38#pragma once
39
40#include <pcl/cuda/common/point_type_rgb.h>
41#include <cuda.h>
42
43namespace pcl
44{
45namespace cuda
46{
47 /** \brief Default point xyz-rgb structure. */
48 struct /*__align__(16)*/ PointXYZRGB
49 {
50 inline __host__ __device__ PointXYZRGB () {}
51 inline __host__ __device__ PointXYZRGB (float _x, float _y, float _z, int _rgb) :
52 x(_x), y(_y), z(_z), rgb(_rgb) {}
53
54 // Declare a union for XYZ
55 union
56 {
57 float3 xyz;
58 struct
59 {
60 float x;
61 float y;
62 float z;
63 };
64 };
66
67 inline __host__ __device__ bool operator == (const PointXYZRGB &rhs)
68 {
69 return (x == rhs.x && y == rhs.y && z == rhs.z && rgb == rhs.rgb);
70 }
71
72 // this allows direct assignment of a PointXYZRGB to float3...
73 inline __host__ __device__ operator float3 () const
74 {
75 return xyz;
76 }
77
78 const inline __host__ __device__ PointXYZRGB operator - (const PointXYZRGB &rhs) const
79 {
80 PointXYZRGB res = *this;
81 res -= rhs;
82 return (res);
83// xyz = -rhs.xyz;
84// rgb = -rhs.rgb;
85// return (*this -= rhs);
86 }
87
88 inline __host__ __device__ PointXYZRGB& operator += (const PointXYZRGB &rhs)
89 {
90 xyz += rhs.xyz;
91 rgb += rhs.rgb;
92 return (*this);
93 }
94
95 inline __host__ __device__ PointXYZRGB& operator -= (const PointXYZRGB &rhs)
96 {
97 xyz -= rhs.xyz;
98 rgb -= rhs.rgb;
99 return (*this);
100 }
101
102 inline __host__ __device__ PointXYZRGB& operator *= (const PointXYZRGB &rhs)
103 {
104 xyz *= rhs.xyz;
105 rgb *= rhs.rgb;
106 return (*this);
107 }
108
109 inline __host__ __device__ PointXYZRGB& operator /= (const PointXYZRGB &rhs)
110 {
111 xyz /= rhs.xyz;
112 rgb /= rhs.rgb;
113 return (*this);
114 }
115 };
116
117 /** \brief Default point xyz-rgb structure. */
119 {
120 inline __host__ __device__ PointXYZRGBNormal () {}
121 inline __host__ __device__ PointXYZRGBNormal (float _x, float _y, float _z, int _rgb) :
122 x(_x), y(_y), z(_z), rgb(_rgb) {}
123
124 // Declare a union for XYZ
125 union
126 {
127 float3 xyz;
128 struct
129 {
130 float x;
131 float y;
132 float z;
133 };
134 };
135 RGB rgb;
136 union
137 {
138 float4 normal;
139 struct
140 {
141 float normal_x;
142 float normal_y;
143 float normal_z;
144 float curvature;
145 };
146 };
147
148 inline __host__ __device__ bool operator == (const PointXYZRGBNormal &rhs)
149 {
150 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);
151 }
152
153 // this allows direct assignment of a PointXYZRGBNormal to float3...
154 inline __host__ __device__ operator float3 () const
155 {
156 return xyz;
157 }
158
159 const inline __host__ __device__ PointXYZRGBNormal operator - (const PointXYZRGBNormal &rhs) const
160 {
161 PointXYZRGBNormal res = *this;
162 res -= rhs;
163 return (res);
164// xyz = -rhs.xyz;
165// rgb = -rhs.rgb;
166// return (*this -= rhs);
167 }
168
169 inline __host__ __device__ PointXYZRGBNormal& operator += (const PointXYZRGBNormal &rhs)
170 {
171 xyz += rhs.xyz;
172 rgb += rhs.rgb;
173 normal += rhs.normal;
174 return (*this);
175 }
176
177 inline __host__ __device__ PointXYZRGBNormal& operator -= (const PointXYZRGBNormal &rhs)
178 {
179 xyz -= rhs.xyz;
180 rgb -= rhs.rgb;
181 normal -= rhs.normal;
182 return (*this);
183 }
184
185 inline __host__ __device__ PointXYZRGBNormal& operator *= (const PointXYZRGBNormal &rhs)
186 {
187 xyz *= rhs.xyz;
188 rgb *= rhs.rgb;
189 normal *= rhs.normal;
190 return (*this);
191 }
192
193 inline __host__ __device__ PointXYZRGBNormal& operator /= (const PointXYZRGBNormal &rhs)
194 {
195 xyz /= rhs.xyz;
196 rgb /= rhs.rgb;
197 normal /= rhs.normal;
198 return (*this);
199 }
200 };
201} // namespace
202} // namespace
struct __align__(16) PointXYZRGBNormal
Default point xyz-rgb structure.
Definition: point_types.h:118
bool operator==(const PCLHeader &lhs, const PCLHeader &rhs)
Definition: PCLHeader.h:37
A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...
Default point xyz-rgb structure.
Definition: point_types.h:49
__host__ __device__ bool operator==(const PointXYZRGB &rhs)
Definition: point_types.h:67
__host__ __device__ PointXYZRGB & operator-=(const PointXYZRGB &rhs)
Definition: point_types.h:95
__host__ __device__ PointXYZRGB()
Definition: point_types.h:50
const __host__ __device__ PointXYZRGB operator-(const PointXYZRGB &rhs) const
Definition: point_types.h:78
__host__ __device__ PointXYZRGB & operator/=(const PointXYZRGB &rhs)
Definition: point_types.h:109
__host__ __device__ PointXYZRGB & operator*=(const PointXYZRGB &rhs)
Definition: point_types.h:102
__host__ __device__ PointXYZRGB(float _x, float _y, float _z, int _rgb)
Definition: point_types.h:51
__host__ __device__ PointXYZRGB & operator+=(const PointXYZRGB &rhs)
Definition: point_types.h:88
Default RGB structure, defined as a union over 4 chars.