point_traits.h
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#ifndef PCL_POINT_TRAITS_H_
#define PCL_POINT_TRAITS_H_
#ifdef __GNUC__
#pragma GCC system_header
#endif
#include "pcl/pcl_macros.h"
#include <pcl/PCLPointField.h>
#include <boost/type_traits/remove_all_extents.hpp>
#include <boost/type_traits/is_same.hpp>
#include <boost/mpl/assert.hpp>
#if PCL_LINEAR_VERSION(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__) == PCL_LINEAR_VERSION(4,4,3)
#include <boost/mpl/bool.hpp>
#endif
// This is required for the workaround at line 109
#ifdef _MSC_VER
#include <Eigen/Core>
#include <Eigen/src/StlSupport/details.h>
#endif
namespace pcl
{
namespace fields
{
// Tag types get put in this namespace
}
namespace traits
{
// Metafunction to return enum value representing a type
template<typename T> struct asEnum {};
template<> struct asEnum<int8_t> { static const uint8_t value = pcl::PCLPointField::INT8; };
template<> struct asEnum<uint8_t> { static const uint8_t value = pcl::PCLPointField::UINT8; };
template<> struct asEnum<int16_t> { static const uint8_t value = pcl::PCLPointField::INT16; };
template<> struct asEnum<uint16_t> { static const uint8_t value = pcl::PCLPointField::UINT16; };
template<> struct asEnum<int32_t> { static const uint8_t value = pcl::PCLPointField::INT32; };
template<> struct asEnum<uint32_t> { static const uint8_t value = pcl::PCLPointField::UINT32; };
template<> struct asEnum<float> { static const uint8_t value = pcl::PCLPointField::FLOAT32; };
template<> struct asEnum<double> { static const uint8_t value = pcl::PCLPointField::FLOAT64; };
// Metafunction to return type of enum value
template<int> struct asType {};
template<> struct asType<pcl::PCLPointField::INT8> { typedef int8_t type; };
template<> struct asType<pcl::PCLPointField::UINT8> { typedef uint8_t type; };
template<> struct asType<pcl::PCLPointField::INT16> { typedef int16_t type; };
template<> struct asType<pcl::PCLPointField::UINT16> { typedef uint16_t type; };
template<> struct asType<pcl::PCLPointField::INT32> { typedef int32_t type; };
template<> struct asType<pcl::PCLPointField::UINT32> { typedef uint32_t type; };
template<> struct asType<pcl::PCLPointField::FLOAT32> { typedef float type; };
template<> struct asType<pcl::PCLPointField::FLOAT64> { typedef double type; };
// Metafunction to decompose a type (possibly of array of any number of dimensions) into
// its scalar type and total number of elements.
template<typename T> struct decomposeArray
{
typedef typename boost::remove_all_extents<T>::type type;
static const uint32_t value = sizeof (T) / sizeof (type);
};
// For non-POD point types, this is specialized to return the corresponding POD type.
template<typename PointT>
struct POD
{
typedef PointT type;
};
#ifdef _MSC_VER
/* Sometimes when calling functions like `copyPoint()` or `copyPointCloud`
* without explicitly specifying point types, MSVC deduces them to be e.g.
* `Eigen::internal::workaround_msvc_stl_support<pcl::PointXYZ>` instead of
* plain `pcl::PointXYZ`. Subsequently these types are passed to meta-
* functions like `has_field` or `fieldList` and make them choke. This hack
* makes use of the fact that internally `fieldList` always applies `POD` to
* its argument type. This specialization therefore allows to unwrap the
* contained point type. */
template<typename PointT>
struct POD<Eigen::internal::workaround_msvc_stl_support<PointT> >
{
typedef PointT type;
};
#endif
// name
/* This really only depends on Tag, but we go through some gymnastics to avoid ODR violations.
We template it on the point type PointT to avoid ODR violations when registering multiple
point types with shared tags.
The dummy parameter is so we can partially specialize name on PointT and Tag but leave it
templated on dummy. Each specialization declares a static char array containing the tag
name. The definition of the static member would conflict when linking multiple translation
units that include the point type registration. But when the static member definition is
templated (on dummy), we sidestep the ODR issue.
*/
template<class PointT, typename Tag, int dummy = 0>
struct name : name<typename POD<PointT>::type, Tag, dummy>
{
// Contents of specialization:
// static const char value[];
// Avoid infinite compile-time recursion
BOOST_MPL_ASSERT_MSG((!boost::is_same<PointT, typename POD<PointT>::type>::value),
POINT_TYPE_NOT_PROPERLY_REGISTERED, (PointT&));
};
// offset
template<class PointT, typename Tag>
struct offset : offset<typename POD<PointT>::type, Tag>
{
// Contents of specialization:
// static const size_t value;
// Avoid infinite compile-time recursion
BOOST_MPL_ASSERT_MSG((!boost::is_same<PointT, typename POD<PointT>::type>::value),
POINT_TYPE_NOT_PROPERLY_REGISTERED, (PointT&));
};
// datatype
template<class PointT, typename Tag>
struct datatype : datatype<typename POD<PointT>::type, Tag>
{
// Contents of specialization:
// typedef ... type;
// static const uint8_t value;
// static const uint32_t size;
// Avoid infinite compile-time recursion
BOOST_MPL_ASSERT_MSG((!boost::is_same<PointT, typename POD<PointT>::type>::value),
POINT_TYPE_NOT_PROPERLY_REGISTERED, (PointT&));
};
// fields
template<typename PointT>
struct fieldList : fieldList<typename POD<PointT>::type>
{
// Contents of specialization:
// typedef boost::mpl::vector<...> type;
// Avoid infinite compile-time recursion
BOOST_MPL_ASSERT_MSG((!boost::is_same<PointT, typename POD<PointT>::type>::value),
POINT_TYPE_NOT_PROPERLY_REGISTERED, (PointT&));
};
#if PCL_LINEAR_VERSION(__GNUC__,__GNUC_MINOR__,__GNUC_PATCHLEVEL__) == PCL_LINEAR_VERSION(4,4,3)
/*
At least on GCC 4.4.3, but not later versions, some valid usages of the above traits for
non-POD (but registered) point types fail with:
error: ‘!(bool)mpl_::bool_<false>::value’ is not a valid template argument for type ‘bool’ because it is a non-constant expression
"Priming the pump" with the trivial assertion below somehow fixes the problem...
*/
//BOOST_MPL_ASSERT_MSG((!bool (mpl_::bool_<false>::value)), WTF_GCC443, (bool));
BOOST_MPL_ASSERT_MSG((!bool (boost::mpl::bool_<false>::value)), WTF_GCC443, (bool));
#endif
} //namespace traits
// Return true if the PCLPointField matches the expected name and data type.
// Written as a struct to allow partially specializing on Tag.
template<typename PointT, typename Tag>
struct FieldMatches
{
bool operator() (const pcl::PCLPointField& field)
{
return (field.name == traits::name<PointT, Tag>::value &&
field.datatype == traits::datatype<PointT, Tag>::value &&
(field.count == traits::datatype<PointT, Tag>::size ||
field.count == 0 && traits::datatype<PointT, Tag>::size == 1 /* see bug #821 */));
}
};
/** \brief A helper functor that can copy a specific value if the given field exists.
*
* \note In order to actually copy the value an instance of this functor should be passed
* to a pcl::for_each_type loop. See the example below.
*
* \code
* PointInT p;
* bool exists;
* float value;
* typedef typename pcl::traits::fieldList<PointInT>::type FieldList;
* pcl::for_each_type<FieldList> (pcl::CopyIfFieldExists<PointT, float> (p, "intensity", exists, value));
* \endcode
*/
template <typename PointInT, typename OutT>
struct CopyIfFieldExists
{
typedef typename traits::POD<PointInT>::type Pod;
/** \brief Constructor.
* \param[in] pt the input point
* \param[in] field the name of the field
* \param[out] exists set to true if the field exists, false otherwise
* \param[out] value the copied field value
*/
CopyIfFieldExists (const PointInT &pt,
const std::string &field,
bool &exists,
OutT &value)
: pt_ (reinterpret_cast<const Pod&>(pt)), name_ (field), exists_ (exists), value_ (value)
{
exists_ = false;
}
/** \brief Constructor.
* \param[in] pt the input point
* \param[in] field the name of the field
* \param[out] value the copied field value
*/
CopyIfFieldExists (const PointInT &pt,
const std::string &field,
OutT &value)
: pt_ (reinterpret_cast<const Pod&>(pt)), name_ (field), exists_ (exists_tmp_), value_ (value)
{
}
/** \brief Operator. Data copy happens here. */
template <typename Key> inline void
operator() ()
{
if (name_ == pcl::traits::name<PointInT, Key>::value)
{
exists_ = true;
typedef typename pcl::traits::datatype<PointInT, Key>::type T;
const uint8_t* data_ptr = reinterpret_cast<const uint8_t*>(&pt_) + pcl::traits::offset<PointInT, Key>::value;
value_ = static_cast<OutT> (*reinterpret_cast<const T*>(data_ptr));
}
}
private:
const Pod &pt_;
const std::string &name_;
bool &exists_;
// Bogus entry
bool exists_tmp_;
OutT &value_;
};
/** \brief A helper functor that can set a specific value in a field if the field exists.
*
* \note In order to actually set the value an instance of this functor should be passed
* to a pcl::for_each_type loop. See the example below.
*
* \code
* PointT p;
* typedef typename pcl::traits::fieldList<PointT>::type FieldList;
* pcl::for_each_type<FieldList> (pcl::SetIfFieldExists<PointT, float> (p, "intensity", 42.0f));
* \endcode
*/
template <typename PointOutT, typename InT>
struct SetIfFieldExists
{
typedef typename traits::POD<PointOutT>::type Pod;
/** \brief Constructor.
* \param[in] pt the input point
* \param[in] field the name of the field
* \param[out] value the value to set
*/
SetIfFieldExists (PointOutT &pt,
const std::string &field,
const InT &value)
: pt_ (reinterpret_cast<Pod&>(pt)), name_ (field), value_ (value)
{
}
/** \brief Operator. Data copy happens here. */
template <typename Key> inline void
operator() ()
{
if (name_ == pcl::traits::name<PointOutT, Key>::value)
{
typedef typename pcl::traits::datatype<PointOutT, Key>::type T;
uint8_t* data_ptr = reinterpret_cast<uint8_t*>(&pt_) + pcl::traits::offset<PointOutT, Key>::value;
*reinterpret_cast<T*>(data_ptr) = static_cast<T> (value_);
}
}
private:
Pod &pt_;
const std::string &name_;
const InT &value_;
};
/** \brief Set the value at a specified field in a point
* \param[out] pt the point to set the value to
* \param[in] field_offset the offset of the field
* \param[in] value the value to set
*/
template <typename PointT, typename ValT> inline void
setFieldValue (PointT &pt, size_t field_offset, const ValT &value)
{
uint8_t* data_ptr = reinterpret_cast<uint8_t*>(&pt) + field_offset;
*reinterpret_cast<ValT*>(data_ptr) = value;
}
/** \brief Get the value at a specified field in a point
* \param[in] pt the point to get the value from
* \param[in] field_offset the offset of the field
* \param[out] value the value to retreive
*/
template <typename PointT, typename ValT> inline void
getFieldValue (const PointT &pt, size_t field_offset, ValT &value)
{
const uint8_t* data_ptr = reinterpret_cast<const uint8_t*>(&pt) + field_offset;
value = *reinterpret_cast<const ValT*>(data_ptr);
}
}
#endif //#ifndef PCL_POINT_TRAITS_H_
pcl::PCLPointField::INT32
Definition: PCLPointField.h:31
pcl::SetIfFieldExists
A helper functor that can set a specific value in a field if the field exists.
Definition: point_traits.h:291
pcl::traits::decomposeArray::type
boost::remove_all_extents< T >::type type
Definition: point_traits.h:98
pcl::PCLPointField::FLOAT32
Definition: PCLPointField.h:33
pcl::PCLPointField::INT16
Definition: PCLPointField.h:29
pcl::PCLPointField::UINT8
Definition: PCLPointField.h:28
pcl::traits::asType
Definition: point_traits.h:84
pcl::traits::asType< pcl::PCLPointField::UINT8 >::type
uint8_t type
Definition: point_traits.h:86
pcl
Definition: convolution.h:45
pcl::traits::decomposeArray
Definition: point_traits.h:96
pcl::SetIfFieldExists::SetIfFieldExists
SetIfFieldExists(PointOutT &pt, const std::string &field, const InT &value)
Constructor.
Definition: point_traits.h:300
pcl::traits::asType< pcl::PCLPointField::FLOAT32 >::type
float type
Definition: point_traits.h:91
Eigen
Definition: bfgs.h:10
pcl::traits::asType< pcl::PCLPointField::UINT32 >::type
uint32_t type
Definition: point_traits.h:90
pcl::traits::asType< pcl::PCLPointField::INT16 >::type
int16_t type
Definition: point_traits.h:87
pcl::PCLPointField::INT8
Definition: PCLPointField.h:27
pcl::PCLPointField::FLOAT64
Definition: PCLPointField.h:34
pcl::setFieldValue
void setFieldValue(PointT &pt, size_t field_offset, const ValT &value)
Set the value at a specified field in a point.
Definition: point_traits.h:331
pcl::FieldMatches
Definition: point_traits.h:201
pcl::PCLPointField::count
pcl::uint32_t count
Definition: PCLPointField.h:25
pcl::getFieldValue
void getFieldValue(const PointT &pt, size_t field_offset, ValT &value)
Get the value at a specified field in a point.
Definition: point_traits.h:343
pcl::traits::fieldList
Definition: point_traits.h:176
pcl::PCLPointField::UINT32
Definition: PCLPointField.h:32
pcl::traits::asType< pcl::PCLPointField::INT32 >::type
int32_t type
Definition: point_traits.h:89
pcl::CopyIfFieldExists::CopyIfFieldExists
CopyIfFieldExists(const PointInT &pt, const std::string &field, bool &exists, OutT &value)
Constructor.
Definition: point_traits.h:236
pcl::CopyIfFieldExists::CopyIfFieldExists
CopyIfFieldExists(const PointInT &pt, const std::string &field, OutT &value)
Constructor.
Definition: point_traits.h:250
pcl::traits::name
Definition: point_traits.h:138
pcl::traits::asEnum
Definition: point_traits.h:73
pcl::traits::POD
Definition: point_traits.h:104
pcl::traits::datatype
Definition: point_traits.h:162
pcl::traits::offset
Definition: point_traits.h:150
pcl::traits::asType< pcl::PCLPointField::INT8 >::type
int8_t type
Definition: point_traits.h:85
pcl::PCLPointField::UINT16
Definition: PCLPointField.h:30
pcl::PCLPointField
Definition: PCLPointField.h:16
pcl::PCLPointField::datatype
pcl::uint8_t datatype
Definition: PCLPointField.h:24
pcl::PCLPointField::name
std::string name
Definition: PCLPointField.h:21
pcl::SetIfFieldExists::Pod
traits::POD< PointOutT >::type Pod
Definition: point_traits.h:293
pcl::traits::POD::type
PointT type
Definition: point_traits.h:106
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:606
pcl::traits::BOOST_MPL_ASSERT_MSG
BOOST_MPL_ASSERT_MSG((!bool(boost::mpl::bool_< false >::value)), WTF_GCC443,(bool))
pcl::traits::asType< pcl::PCLPointField::UINT16 >::type
uint16_t type
Definition: point_traits.h:88
pcl::traits::asType< pcl::PCLPointField::FLOAT64 >::type
double type
Definition: point_traits.h:92
pcl::CopyIfFieldExists
A helper functor that can copy a specific value if the given field exists.
Definition: point_traits.h:226
pcl::CopyIfFieldExists::Pod
traits::POD< PointInT >::type Pod
Definition: point_traits.h:228