Open3D (C++ API)  0.16.1
MiniVec.h
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26
27#pragma once
28
29#include <cmath>
30
31#ifdef __CUDACC__
32#define FN_SPECIFIERS inline __host__ __device__
33#else
34#define FN_SPECIFIERS inline
35#endif
36
37namespace open3d {
38namespace utility {
39
42template <class T, int N>
43struct MiniVec {
44 typedef T Scalar_t;
45
47
48 template <class... TInit>
49 FN_SPECIFIERS explicit MiniVec(TInit... as) : arr{as...} {}
50
51 FN_SPECIFIERS explicit MiniVec(const T* const ptr) {
52 for (int i = 0; i < N; ++i) operator[](i) = ptr[i];
53 }
54
55 FN_SPECIFIERS const T operator[](size_t i) const { return arr[i]; }
56
57 FN_SPECIFIERS T& operator[](size_t i) { return arr[i]; }
58
59 template <class T2>
62 for (int i = 0; i < N; ++i) a[i] = T2(operator[](i));
63 return a;
64 }
65
66 FN_SPECIFIERS T dot(const MiniVec<T, N>& a) const {
67 T result = 0;
68 for (int i = 0; i < N; ++i) result += operator[](i) * a[i];
69 return result;
70 }
71
74 for (int i = 0; i < N; ++i) r[i] = std::abs(operator[](i));
75 return r;
76 }
77
78 FN_SPECIFIERS bool all() const {
79 bool result = true;
80 for (int i = 0; i < N && result; ++i) result = result && operator[](i);
81 return result;
82 }
83
84 FN_SPECIFIERS bool any() const {
85 for (int i = 0; i < N; ++i)
86 if (operator[](i)) return true;
87 return false;
88 }
89
90 T arr[N];
91};
92
93template <int N>
96 for (int i = 0; i < N; ++i) r[i] = floorf(a[i]);
97 return r;
98}
99
100template <int N>
103 for (int i = 0; i < N; ++i) r[i] = std::floor(a[i]);
104 return r;
105}
106
107template <int N>
110 for (int i = 0; i < N; ++i) r[i] = ceilf(a[i]);
111 return r;
112}
113
114template <int N>
117 for (int i = 0; i < N; ++i) r[i] = std::ceil(a[i]);
118 return r;
119}
120
121template <class T, int N>
124 for (int i = 0; i < N; ++i) r[i] = -a[i];
125 return r;
126}
127
128template <class T, int N>
131 for (int i = 0; i < N; ++i) r[i] = !a[i];
132 return r;
133}
134
135#define DEFINE_OPERATOR(op, opas) \
136 template <class T, int N> \
137 FN_SPECIFIERS MiniVec<T, N> operator op(const MiniVec<T, N>& a, \
138 const MiniVec<T, N>& b) { \
139 MiniVec<T, N> c; \
140 for (int i = 0; i < N; ++i) c[i] = a[i] op b[i]; \
141 return c; \
142 } \
143 \
144 template <class T, int N> \
145 FN_SPECIFIERS void operator opas(MiniVec<T, N>& a, \
146 const MiniVec<T, N>& b) { \
147 for (int i = 0; i < N; ++i) a[i] opas b[i]; \
148 } \
149 \
150 template <class T, int N> \
151 FN_SPECIFIERS MiniVec<T, N> operator op(const MiniVec<T, N>& a, T b) { \
152 MiniVec<T, N> c; \
153 for (int i = 0; i < N; ++i) c[i] = a[i] op b; \
154 return c; \
155 } \
156 \
157 template <class T, int N> \
158 FN_SPECIFIERS MiniVec<T, N> operator op(T a, const MiniVec<T, N>& b) { \
159 MiniVec<T, N> c; \
160 for (int i = 0; i < N; ++i) c[i] = a op b[i]; \
161 return c; \
162 } \
163 \
164 template <class T, int N> \
165 FN_SPECIFIERS void operator opas(MiniVec<T, N>& a, T b) { \
166 for (int i = 0; i < N; ++i) a[i] opas b; \
167 }
168
169DEFINE_OPERATOR(+, +=)
170DEFINE_OPERATOR(-, -=)
171DEFINE_OPERATOR(*, *=)
172DEFINE_OPERATOR(/, /=)
173#undef DEFINE_OPERATOR
174
175#define DEFINE_OPERATOR(op) \
176 template <class T, int N> \
177 FN_SPECIFIERS MiniVec<bool, N> operator op(const MiniVec<T, N>& a, \
178 const MiniVec<T, N>& b) { \
179 MiniVec<bool, N> c; \
180 for (int i = 0; i < N; ++i) c[i] = a[i] op b[i]; \
181 return c; \
182 } \
183 \
184 template <class T, int N> \
185 FN_SPECIFIERS MiniVec<bool, N> operator op(const MiniVec<T, N>& a, T b) { \
186 MiniVec<T, N> c; \
187 for (int i = 0; i < N; ++i) c[i] = a[i] op b; \
188 return c; \
189 } \
190 \
191 template <class T, int N> \
192 FN_SPECIFIERS MiniVec<T, N> operator op(T a, const MiniVec<T, N>& b) { \
193 MiniVec<bool, N> c; \
194 for (int i = 0; i < N; ++i) c[i] = a op b[i]; \
195 return c; \
196 }
197
206#undef DEFINE_OPERATOR
207#undef FN_SPECIFIERS
208
209} // namespace utility
210} // namespace open3d
#define DEFINE_OPERATOR(op, opas)
Definition: MiniVec.h:175
#define FN_SPECIFIERS
Definition: MiniVec.h:34
core::Tensor result
Definition: VtkUtils.cpp:91
FN_SPECIFIERS MiniVec< double, N > ceil(const MiniVec< double, N > &a)
Definition: MiniVec.h:115
FN_SPECIFIERS MiniVec< float, N > ceil(const MiniVec< float, N > &a)
Definition: MiniVec.h:108
FN_SPECIFIERS MiniVec< T, N > operator!(const MiniVec< T, N > &a)
Definition: MiniVec.h:129
FN_SPECIFIERS MiniVec< double, N > floor(const MiniVec< double, N > &a)
Definition: MiniVec.h:101
FN_SPECIFIERS MiniVec< T, N > operator-(const MiniVec< T, N > &a)
Definition: MiniVec.h:122
FN_SPECIFIERS MiniVec< float, N > floor(const MiniVec< float, N > &a)
Definition: MiniVec.h:94
Definition: PinholeCameraIntrinsic.cpp:35
Definition: MiniVec.h:43
FN_SPECIFIERS MiniVec< T2, N > cast() const
Definition: MiniVec.h:60
FN_SPECIFIERS MiniVec(const T *const ptr)
Definition: MiniVec.h:51
FN_SPECIFIERS bool all() const
Definition: MiniVec.h:78
T arr[N]
Definition: MiniVec.h:90
FN_SPECIFIERS T & operator[](size_t i)
Definition: MiniVec.h:57
FN_SPECIFIERS MiniVec()
Definition: MiniVec.h:46
T Scalar_t
Definition: MiniVec.h:44
FN_SPECIFIERS T dot(const MiniVec< T, N > &a) const
Definition: MiniVec.h:66
FN_SPECIFIERS MiniVec< T, N > abs() const
Definition: MiniVec.h:72
FN_SPECIFIERS bool any() const
Definition: MiniVec.h:84
FN_SPECIFIERS MiniVec(TInit... as)
Definition: MiniVec.h:49
FN_SPECIFIERS const T operator[](size_t i) const
Definition: MiniVec.h:55