copy_point.hpp
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#pragma once
#include <pcl/point_types.h>
#include <pcl/type_traits.h>
#include <pcl/for_each_type.h>
#include <pcl/common/concatenate.h>
#include <pcl/common/copy_point.h>
namespace pcl
{
namespace detail
{
/* CopyPointHelper and its specializations copy the contents of a source
* point to a target point. There are three cases:
*
* - Points have the same type.
* In this case a single `memcpy` is used.
*
* - Points have different types and one of the following is true:
* * both have RGB fields;
* * both have RGBA fields;
* * one or both have no RGB/RGBA fields.
* In this case we find the list of common fields and copy their
* contents one by one with `NdConcatenateFunctor`.
*
* - Points have different types and one of these types has RGB field, and
* the other has RGBA field.
* In this case we also find the list of common fields and copy their
* contents. In order to account for the fact that RGB and RGBA do not
* match we have an additional `memcpy` to copy the contents of one into
* another.
*
* An appropriate version of CopyPointHelper is instantiated during
* compilation time automatically, so there is absolutely no run-time
* overhead. */
template <typename PointInT, typename PointOutT, typename Enable = void>
struct CopyPointHelper { };
template <typename PointInT, typename PointOutT>
struct CopyPointHelper<PointInT, PointOutT, std::enable_if_t<std::is_same<PointInT, PointOutT>::value>>
{
void operator () (const PointInT& point_in, PointOutT& point_out) const
{
memcpy (&point_out, &point_in, sizeof (PointInT));
}
};
template <typename PointInT, typename PointOutT>
struct CopyPointHelper<PointInT, PointOutT,
std::enable_if_t<boost::mpl::and_<boost::mpl::not_<std::is_same<PointInT, PointOutT>>,
boost::mpl::or_<boost::mpl::not_<pcl::traits::has_color<PointInT>>,
boost::mpl::not_<pcl::traits::has_color<PointOutT>>,
boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
pcl::traits::has_field<PointOutT, pcl::fields::rgb>>,
boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
pcl::traits::has_field<PointOutT, pcl::fields::rgba>>>>::value>>
{
void operator () (const PointInT& point_in, PointOutT& point_out) const
{
using FieldListInT = typename pcl::traits::fieldList<PointInT>::type;
using FieldListOutT = typename pcl::traits::fieldList<PointOutT>::type;
using FieldList = typename pcl::intersect<FieldListInT, FieldListOutT>::type;
pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
}
};
template <typename PointInT, typename PointOutT>
struct CopyPointHelper<PointInT, PointOutT,
std::enable_if_t<boost::mpl::and_<boost::mpl::not_<std::is_same<PointInT, PointOutT>>,
boost::mpl::or_<boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
pcl::traits::has_field<PointOutT, pcl::fields::rgba>>,
boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
pcl::traits::has_field<PointOutT, pcl::fields::rgb>>>>::value>>
{
void operator () (const PointInT& point_in, PointOutT& point_out) const
{
using FieldListInT = typename pcl::traits::fieldList<PointInT>::type;
using FieldListOutT = typename pcl::traits::fieldList<PointOutT>::type;
using FieldList = typename pcl::intersect<FieldListInT, FieldListOutT>::type;
const std::uint32_t offset_in = boost::mpl::if_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
pcl::traits::offset<PointInT, pcl::fields::rgb>,
pcl::traits::offset<PointInT, pcl::fields::rgba> >::type::value;
const std::uint32_t offset_out = boost::mpl::if_<pcl::traits::has_field<PointOutT, pcl::fields::rgb>,
pcl::traits::offset<PointOutT, pcl::fields::rgb>,
pcl::traits::offset<PointOutT, pcl::fields::rgba> >::type::value;
pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
memcpy (reinterpret_cast<char*> (&point_out) + offset_out,
reinterpret_cast<const char*> (&point_in) + offset_in,
4);
}
};
} // namespace detail
template <typename PointInT, typename PointOutT> void
copyPoint (const PointInT& point_in, PointOutT& point_out)
{
detail::CopyPointHelper<PointInT, PointOutT> copy;
copy (point_in, point_out);
}
} // namespace pcl
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl::copyPoint
void copyPoint(const PointInT &point_in, PointOutT &point_out)
Copy the fields of a source point into a target point.
Definition: copy_point.hpp:137
pcl
Definition: convolution.h:46
pcl::NdConcatenateFunctor
Helper functor structure for concatenate.
Definition: concatenate.h:50
pcl::detail::CopyPointHelper
Definition: copy_point.hpp:78
pcl::intersect::type
typename boost::mpl::remove_if< Sequence1, boost::mpl::not_< boost::mpl::contains< Sequence2, boost::mpl::_1 > > >::type type
Definition: for_each_type.h:103