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pcl_macros.h
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2012, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#pragma once
/**
* \file pcl/pcl_macros.h
*
* \brief Defines all the PCL and non-PCL macros used
* \ingroup common
*/
#if defined __INTEL_COMPILER
#pragma warning disable 2196 2536 279
#endif
#if defined _MSC_VER
// 4244 : conversion from 'type1' to 'type2', possible loss of data
// 4661 : no suitable definition provided for explicit template instantiation request
// 4503 : decorated name length exceeded, name was truncated
// 4146 : unary minus operator applied to unsigned type, result still unsigned
#pragma warning (disable: 4018 4244 4267 4521 4251 4661 4305 4503 4146)
#endif
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#include <cmath>
#include <cstdlib>
#include <iostream>
// We need to check for GCC version, because GCC releases before 9 were implementing an
// OpenMP 3.1 data sharing rule, even OpenMP 4 is supported, so a plain OpenMP version 4 check
// isn't enough (see https://www.gnu.org/software/gcc/gcc-9/porting_to.html#ompdatasharing)
#if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9))
#define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 1
#else
#define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 0
#endif
#include <pcl/pcl_config.h>
#include <boost/preprocessor/arithmetic/add.hpp>
#include <boost/preprocessor/comparison/equal.hpp>
#include <boost/preprocessor/comparison/less.hpp>
#include <boost/preprocessor/control/if.hpp>
#include <boost/preprocessor/stringize.hpp>
// MSVC < 2019 have issues:
// * can't short-circuiting logic in macros
// * don't define standard macros
// => this leads to annyoing C4067 warnings (see https://developercommunity.visualstudio.com/content/problem/327796/-has-cpp-attribute-emits-warning-is-wrong-highligh.html)
#if defined(_MSC_VER)
// nvcc on msvc can't work with [[deprecated]]
#if !defined(__CUDACC__)
#define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
#else
#define _PCL_DEPRECATED_IMPL(Message)
#endif
#elif __has_cpp_attribute(deprecated)
#define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
#else
#warning "You need to implement _PCL_DEPRECATED_IMPL for this compiler"
#define _PCL_DEPRECATED_IMPL(Message)
#endif
// Macro for pragma operator
#if (defined (__GNUC__) || defined(__clang__))
#define PCL_PRAGMA(x) _Pragma (#x)
#elif _MSC_VER
#define PCL_PRAGMA(x) __pragma (#x)
#else
#define PCL_PRAGMA
#endif
// Macro for emitting pragma warning for deprecated headers
#if (defined (__GNUC__) || defined(__clang__))
#define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (message Message)
#elif _MSC_VER
#define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (warning (Message))
#else
#warning "You need to implement _PCL_DEPRECATED_HEADER_IMPL for this compiler"
#define _PCL_DEPRECATED_HEADER_IMPL(Message)
#endif
/**
* \brief A handy way to inform the user of the removal deadline
*/
#define _PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Msg) \
Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE(Major.Minor) ")"
/**
* \brief Tests for Minor < PCL_MINOR_VERSION
* \details When PCL VERSION is of format `34.12.99`, this macro behaves as if it is
* already `34.13.0`, and allows for smoother transition for maintainers
*/
#define _PCL_COMPAT_MINOR_VERSION(Minor, IfPass, IfFail) \
BOOST_PP_IF(BOOST_PP_EQUAL(PCL_REVISION_VERSION, 99), \
BOOST_PP_IF(BOOST_PP_LESS(BOOST_PP_ADD(PCL_MINOR_VERSION, 1), Minor), IfPass, IfFail), \
BOOST_PP_IF(BOOST_PP_LESS(PCL_MINOR_VERSION, Minor), IfPass, IfFail))
/**
* \brief Tests for Major == PCL_MAJOR_VERSION
* \details When PCL VERSION is of format `34.99.12`, this macro behaves as if it is
* already `35.0.0`, and allows for smoother transition for maintainers
*/
#define _PCL_COMPAT_MAJOR_VERSION(Major, IfPass, IfFail) \
BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MINOR_VERSION, 99), \
BOOST_PP_IF(BOOST_PP_EQUAL(BOOST_PP_ADD(PCL_MAJOR_VERSION, 1), Major), IfPass, IfFail), \
BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MAJOR_VERSION, Major), IfPass, IfFail))
/**
* \brief macro for compatibility across compilers and help remove old deprecated
* items for the Major.Minor release
*
* \details compiler errors of `unneeded_deprecation` and `major_version_mismatch`
* are hints to the developer that those items can be safely removed.
* Behavior of PCL_DEPRECATED(1, 99, "Not needed anymore")
* * till PCL 1.98: "Not needed anymore (It will be removed in PCL 1.99)"
* * PCL 1.99 onwards: compiler error with "unneeded_deprecation"
* * PCL 2.0 onwards: compiler error with "major_version_mismatch"
*/
#define PCL_DEPRECATED(Major, Minor, Message) \
_PCL_COMPAT_MAJOR_VERSION( \
Major, \
_PCL_COMPAT_MINOR_VERSION( \
Minor, \
_PCL_DEPRECATED_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Message)), \
unneeded_deprecation), \
major_version_mismatch)
/**
* \brief macro for compatibility across compilers and help remove old deprecated
* headers for the Major.Minor release
*
* \details compiler errors of `unneeded_header` and `major_version_mismatch`
* are hints to the developer that those items can be safely removed.
* Behavior of PCL_DEPRECATED_HEADER(1, 99, "Use file <newfile.h> instead.")
* * till PCL 1.98: "This header is deprecated. Use file <newfile.h> instead. (It will be removed in PCL 1.99)"
* * PCL 1.99 onwards: compiler error with "unneeded_header"
* * PCL 2.0 onwards: compiler error with "major_version_mismatch"
*/
#define PCL_DEPRECATED_HEADER(Major, Minor, Message) \
_PCL_COMPAT_MAJOR_VERSION( \
Major, \
_PCL_COMPAT_MINOR_VERSION( \
Minor, \
_PCL_DEPRECATED_HEADER_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE( \
Major, \
Minor, \
"This header is deprecated. " Message)), \
unneeded_header), \
major_version_mismatch)
#if defined _WIN32
// Define math constants, without including math.h, to prevent polluting global namespace with old math methods
// Copied from math.h
// Check for M_2_SQRTPI since the cmath header on mingw-w64 doesn't seem to define
// _MATH_DEFINES_DEFINED when included with _USE_MATH_DEFINES
#if !defined _MATH_DEFINES_DEFINED && !defined M_2_SQRTPI
#define _MATH_DEFINES_DEFINED
#define M_E 2.71828182845904523536 // e
#define M_LOG2E 1.44269504088896340736 // log2(e)
#define M_LOG10E 0.434294481903251827651 // log10(e)
#define M_LN2 0.693147180559945309417 // ln(2)
#define M_LN10 2.30258509299404568402 // ln(10)
#define M_PI 3.14159265358979323846 // pi
#define M_PI_2 1.57079632679489661923 // pi/2
#define M_PI_4 0.785398163397448309616 // pi/4
#define M_1_PI 0.318309886183790671538 // 1/pi
#define M_2_PI 0.636619772367581343076 // 2/pi
#define M_2_SQRTPI 1.12837916709551257390 // 2/sqrt(pi)
#define M_SQRT2 1.41421356237309504880 // sqrt(2)
#define M_SQRT1_2 0.707106781186547524401 // 1/sqrt(2)
#endif
#if defined _MSC_VER
// Stupid. This should be removed when all the PCL dependencies have min/max fixed.
#ifndef NOMINMAX
#define NOMINMAX
#endif
#define __PRETTY_FUNCTION__ __FUNCTION__
#define __func__ __FUNCTION__
#endif
#endif // defined _WIN32
#ifndef DEG2RAD
#define DEG2RAD(x) ((x)*0.017453293)
#endif
#ifndef RAD2DEG
#define RAD2DEG(x) ((x)*57.29578)
#endif
/** \brief Macro that maps version information given by major.minor.patch to a linear integer value to enable easy comparison
*/
#define PCL_LINEAR_VERSION(major,minor,patch) ((major)<<16|(minor)<<8|(patch))
/** Win32 doesn't seem to have rounding functions.
* Therefore implement our own versions of these functions here.
*/
__inline double
pcl_round (double number)
{
return (number < 0.0 ? std::ceil (number - 0.5) : std::floor (number + 0.5));
}
__inline float
pcl_round (float number)
{
return (number < 0.0f ? std::ceil (number - 0.5f) : std::floor (number + 0.5f));
}
#ifdef __GNUC__
#define pcl_lrint(x) (lrint(static_cast<double> (x)))
#define pcl_lrintf(x) (lrintf(static_cast<float> (x)))
#else
#define pcl_lrint(x) (static_cast<long int>(pcl_round(x)))
#define pcl_lrintf(x) (static_cast<long int>(pcl_round(x)))
#endif
#ifdef WIN32
#define pcl_sleep(x) Sleep(1000*(x))
#else
#define pcl_sleep(x) sleep(x)
#endif
#ifndef PVAR
#define PVAR(s) \
#s << " = " << (s) << std::flush
#endif
#ifndef PVARN
#define PVARN(s) \
#s << " = " << (s) << "\n"
#endif
#ifndef PVARC
#define PVARC(s) \
#s << " = " << (s) << ", " << std::flush
#endif
#ifndef PVARS
#define PVARS(s) \
#s << " = " << (s) << " " << std::flush
#endif
#ifndef PVARA
#define PVARA(s) \
#s << " = " << RAD2DEG(s) << "deg" << std::flush
#endif
#ifndef PVARAN
#define PVARAN(s) \
#s << " = " << RAD2DEG(s) << "deg\n"
#endif
#ifndef PVARAC
#define PVARAC(s) \
#s << " = " << RAD2DEG(s) << "deg, " << std::flush
#endif
#ifndef PVARAS
#define PVARAS(s) \
#s << " = " << RAD2DEG(s) << "deg " << std::flush
#endif
#define FIXED(s) \
std::fixed << s << std::resetiosflags(std::ios_base::fixed)
#ifndef ERASE_STRUCT
#define ERASE_STRUCT(var) memset(&var, 0, sizeof(var))
#endif
#ifndef ERASE_ARRAY
#define ERASE_ARRAY(var, size) memset(var, 0, size*sizeof(*var))
#endif
#ifndef SET_ARRAY
#define SET_ARRAY(var, value, size) { for (decltype(size) i = 0; i < size; ++i) var[i]=value; }
#endif
#ifndef PCL_EXTERN_C
#ifdef __cplusplus
#define PCL_EXTERN_C extern "C"
#else
#define PCL_EXTERN_C
#endif
#endif
#if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
#ifdef PCLAPI_EXPORTS
#define PCL_EXPORTS __declspec(dllexport)
#else
#define PCL_EXPORTS
#endif
#else
#define PCL_EXPORTS
#endif
#if defined WIN32 || defined _WIN32
#define PCL_CDECL __cdecl
#define PCL_STDCALL __stdcall
#else
#define PCL_CDECL
#define PCL_STDCALL
#endif
#ifndef PCLAPI
#define PCLAPI(rettype) PCL_EXTERN_C PCL_EXPORTS rettype PCL_CDECL
#endif
//for clang cf. http://clang.llvm.org/docs/LanguageExtensions.html
#ifndef __has_extension
#define __has_extension(x) 0 // Compatibility with pre-3.0 compilers.
#endif
#if defined (__GNUC__) || defined (__PGI) || defined (__IBMCPP__) || defined (__SUNPRO_CC)
#define PCL_ALIGN(alignment) __attribute__((aligned(alignment)))
#elif defined (_MSC_VER)
#define PCL_ALIGN(alignment) __declspec(align(alignment))
#else
#error Alignment not supported on your platform
#endif
#if defined(__GLIBC__) && PCL_LINEAR_VERSION(__GLIBC__,__GLIBC_MINOR__,0)>PCL_LINEAR_VERSION(2,8,0)
#define GLIBC_MALLOC_ALIGNED 1
#else
#define GLIBC_MALLOC_ALIGNED 0
#endif
#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
#define FREEBSD_MALLOC_ALIGNED 1
#else
#define FREEBSD_MALLOC_ALIGNED 0
#endif
#if defined(__APPLE__) || defined(_WIN64) || GLIBC_MALLOC_ALIGNED || FREEBSD_MALLOC_ALIGNED
#define MALLOC_ALIGNED 1
#endif
#if defined (HAVE_MM_MALLOC)
// Intel compiler defines an incompatible _mm_malloc signature
#if defined(__INTEL_COMPILER)
#include <malloc.h>
#else
#include <mm_malloc.h>
#endif
#endif
namespace pcl {
inline void*
aligned_malloc(std::size_t size)
{
void* ptr;
#if defined(MALLOC_ALIGNED)
ptr = std::malloc(size);
#elif defined(HAVE_POSIX_MEMALIGN)
if (posix_memalign(&ptr, 16, size))
ptr = 0;
#elif defined(HAVE_MM_MALLOC)
ptr = _mm_malloc(size, 16);
#elif defined(_MSC_VER)
ptr = _aligned_malloc(size, 16);
#elif defined(ANDROID)
ptr = memalign(16, size);
#else
#error aligned_malloc not supported on your platform
ptr = 0;
#endif
return (ptr);
}
inline void
aligned_free(void* ptr)
{
#if defined(MALLOC_ALIGNED) || defined(HAVE_POSIX_MEMALIGN)
std::free(ptr);
#elif defined(HAVE_MM_MALLOC)
_mm_free(ptr);
#elif defined(_MSC_VER)
_aligned_free(ptr);
#elif defined(ANDROID)
free(ptr);
#else
#error aligned_free not supported on your platform
#endif
}
} // namespace pcl
/**
* \brief Macro to add a no-op or a fallthrough attribute based on compiler feature
*
* \ingroup common
*/
#if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1910) && (_MSVC_LANG >= 201703L))
#define PCL_FALLTHROUGH [[fallthrough]];
#elif defined(__clang__)
#define PCL_FALLTHROUGH [[clang::fallthrough]];
#elif defined(__GNUC__) && (__GNUC__ >= 7)
#define PCL_FALLTHROUGH [[gnu::fallthrough]];
#else
#define PCL_FALLTHROUGH
#endif
#if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1911) && (_MSVC_LANG >= 201703L))
#define PCL_NODISCARD [[nodiscard]]
#elif defined(__clang__) && (PCL_LINEAR_VERSION(__clang_major__, __clang_minor__, 0) >= PCL_LINEAR_VERSION(3, 9, 0))
#define PCL_NODISCARD [[clang::warn_unused_result]]
#elif defined(__GNUC__)
#define PCL_NODISCARD [[gnu::warn_unused_result]]
#else
#define PCL_NODISCARD
#endif
#ifdef __cpp_if_constexpr
#define PCL_IF_CONSTEXPR(x) if constexpr(x)
#else
#define PCL_IF_CONSTEXPR(x) if (x)
#endif
// [[unlikely]] can be used on any conditional branch, but __builtin_expect is restricted to the evaluation point
// This makes it quite difficult to create a single macro for switch and while/if
/**
* @def PCL_CONDITION_UNLIKELY
* @brief Tries to inform the compiler to optimize codegen assuming that the condition will probably evaluate to false
* @note Prefer using `PCL_{IF,WHILE}_UNLIKELY`
* @warning This can't be used with switch statements
* @details This tries to help the compiler optimize for the unlikely case.
* Most compilers assume that the condition would evaluate to true in if and while loops (reference needed)
* As such the opposite of this macro (PCL_CONDITION_LIKELY) will not result in significant performance improvement
*
* Some sample usage:
* @code{.cpp}
* if PCL_CONDITION_UNLIKELY(x == 0) { return; } else { throw std::runtime_error("some error"); }
* //
* while PCL_CONDITION_UNLIKELY(wait_for_result) { sleep(1); } // busy wait, with minimal chances of waiting
* @endcode
*/
#if __has_cpp_attribute(unlikely)
#define PCL_CONDITION_UNLIKELY(x) (static_cast<bool>(x)) [[unlikely]]
#elif defined(__GNUC__)
#define PCL_CONDITION_UNLIKELY(x) (__builtin_expect(static_cast<bool>(x), 0))
#elif defined(__clang__) && (PCL_LINEAR_VERSION(__clang_major__, __clang_minor__, 0) >= PCL_LINEAR_VERSION(3, 9, 0))
#define PCL_CONDITION_UNLIKELY(x) (__builtin_expect(static_cast<bool>(x), 0))
#else // MSVC has no such alternative
#define PCL_CONDITION_UNLIKELY(x) (x)
#endif
#define PCL_IF_UNLIKELY(x) if PCL_CONDITION_UNLIKELY(x)
#define PCL_WHILE_UNLIKELY(x) while PCL_CONDITION_UNLIKELY(x)
pcl
Definition convolution.h:46
pcl::aligned_malloc
void * aligned_malloc(std::size_t size)
Definition pcl_macros.h:382
pcl::aligned_free
void aligned_free(void *ptr)
Definition pcl_macros.h:404
pcl_round
__inline double pcl_round(double number)
Win32 doesn't seem to have rounding functions.
Definition pcl_macros.h:239