41 #ifndef PCL_GPU_PEOPLE_CUDA_DEVICE_H_
42 #define PCL_GPU_PEOPLE_CUDA_DEVICE_H_
44 #include <cuda_runtime.h>
50 template<
typename Po
int>
51 __device__ __forceinline__
float sqnorm(
const Point& p1,
const Point& p2)
53 float dx = (p1.x - p2.x);
54 float dy = (p1.y - p2.y);
55 float dz = (p1.z - p2.z);
56 return dx * dx + dy * dy + dz * dz;
59 __device__ __forceinline__ float3
computePoint(
unsigned short depth,
int x,
int y,
const Intr& intr)
61 float z = depth * 0.001f;
64 result.x = z * (x - intr.
cx) / intr.
fx;
65 result.y = z * (y - intr.
cy) / intr.
fy;
71 __device__ __forceinline__
bool
74 return isfinite(p.x) && isfinite(p.y) && isfinite(p.z);