text: /*
   * Software License Agreement (BSD License)
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   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
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   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
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   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   *
   * $Id: point_types.h 6459 2012-07-18 07:50:37Z dpb $
   *
   */
  
  #ifndef PCL_CUDA_POINT_TYPES_H_
  #define PCL_CUDA_POINT_TYPES_H_
  
  #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 cuda
  } // namespace pcl
  
  #endif //#ifndef PCL_CUDA_POINT_TYPES_H_
  