concatenate.h
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#pragma once
#include <pcl/conversions.h>
#include <type_traits>
namespace pcl
{
/** \brief Helper functor structure for concatenate.
* \ingroup common
*/
template<typename PointInT, typename PointOutT>
struct NdConcatenateFunctor
{
using PodIn = typename traits::POD<PointInT>::type;
using PodOut = typename traits::POD<PointOutT>::type;
NdConcatenateFunctor (const PointInT &p1, PointOutT &p2)
: p1_ (reinterpret_cast<const PodIn&> (p1))
, p2_ (reinterpret_cast<PodOut&> (p2)) { }
template<typename Key> inline void
operator () ()
{
// This sucks without Fusion :(
//boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
using InT = typename pcl::traits::datatype<PointInT, Key>::type;
using OutT = typename pcl::traits::datatype<PointOutT, Key>::type;
// Note: don't currently support different types for the same field (e.g. converting double to float)
BOOST_MPL_ASSERT_MSG ((std::is_same<InT, OutT>::value),
POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
(Key, PointInT&, InT, PointOutT&, OutT));
memcpy (reinterpret_cast<std::uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value,
reinterpret_cast<const std::uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value,
sizeof (InT));
}
private:
const PodIn &p1_;
PodOut &p2_;
};
}
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::traits::offset
Definition: point_traits.h:153
pcl::traits::datatype
Definition: point_traits.h:165
pcl::NdConcatenateFunctor
Helper functor structure for concatenate.
Definition: concatenate.h:51
pcl::NdConcatenateFunctor::operator()
void operator()()
Definition: concatenate.h:61
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:623
pcl::NdConcatenateFunctor::PodOut
typename traits::POD< PointOutT >::type PodOut
Definition: concatenate.h:54
pcl::NdConcatenateFunctor::NdConcatenateFunctor
NdConcatenateFunctor(const PointInT &p1, PointOutT &p2)
Definition: concatenate.h:56
pcl::NdConcatenateFunctor::PodIn
typename traits::POD< PointInT >::type PodIn
Definition: concatenate.h:53