Open3D (C++ API)  0.12.0
TransformationConverterImpl.h
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26 
27 // Private header. Do not include in Open3d.h.
28 
29 #pragma once
30 
31 #include <cmath>
32 
33 #include "open3d/core/CUDAUtils.h"
34 
35 namespace open3d {
36 namespace t {
37 namespace pipelines {
38 
41  float *transformation_ptr, const float *pose_ptr) {
42  transformation_ptr[0] = cos(pose_ptr[2]) * cos(pose_ptr[1]);
43  transformation_ptr[1] =
44  -1 * sin(pose_ptr[2]) * cos(pose_ptr[0]) +
45  cos(pose_ptr[2]) * sin(pose_ptr[1]) * sin(pose_ptr[0]);
46  transformation_ptr[2] =
47  sin(pose_ptr[2]) * sin(pose_ptr[0]) +
48  cos(pose_ptr[2]) * sin(pose_ptr[1]) * cos(pose_ptr[0]);
49  transformation_ptr[4] = sin(pose_ptr[2]) * cos(pose_ptr[1]);
50  transformation_ptr[5] =
51  cos(pose_ptr[2]) * cos(pose_ptr[0]) +
52  sin(pose_ptr[2]) * sin(pose_ptr[1]) * sin(pose_ptr[0]);
53  transformation_ptr[6] =
54  -1 * cos(pose_ptr[2]) * sin(pose_ptr[0]) +
55  sin(pose_ptr[2]) * sin(pose_ptr[1]) * cos(pose_ptr[0]);
56  transformation_ptr[8] = -1 * sin(pose_ptr[1]);
57  transformation_ptr[9] = cos(pose_ptr[1]) * sin(pose_ptr[0]);
58  transformation_ptr[10] = cos(pose_ptr[1]) * cos(pose_ptr[0]);
59 }
60 
61 #ifdef BUILD_CUDA_MODULE
62 void PoseToTransformationCUDA(float *transformation_ptr, const float *pose_ptr);
67 #endif
68 
69 } // namespace pipelines
70 } // namespace t
71 } // namespace open3d
OPEN3D_HOST_DEVICE void PoseToTransformationImpl(float *transformation_ptr, const float *pose_ptr)
Shared implementation for PoseToTransformation function.
Definition: TransformationConverterImpl.h:40
#define OPEN3D_HOST_DEVICE
Definition: CUDAUtils.h:54
Definition: PinholeCameraIntrinsic.cpp:35
Common CUDA utilities.