Point Cloud Library (PCL)
1.11.0
pcl
common
concatenate.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*
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*/
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#pragma once
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#include <pcl/conversions.h>
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#include <type_traits>
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namespace
pcl
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{
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/** \brief Helper functor structure for concatenate.
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* \ingroup common
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*/
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template
<
typename
Po
int
InT,
typename
Po
int
OutT>
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struct
NdConcatenateFunctor
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{
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using
PodIn
=
typename
traits::POD<PointInT>::type
;
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using
PodOut
=
typename
traits::POD<PointOutT>::type
;
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NdConcatenateFunctor
(
const
PointInT &p1, PointOutT &p2)
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: p1_ (reinterpret_cast<const
PodIn
&> (p1))
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, p2_ (reinterpret_cast<
PodOut
&> (p2)) { }
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template
<
typename
Key>
inline
void
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operator ()
()
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{
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// This sucks without Fusion :(
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//boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
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using
InT =
typename
pcl::traits::datatype<PointInT, Key>::type
;
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using
OutT =
typename
pcl::traits::datatype<PointOutT, Key>::type
;
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// Note: don't currently support different types for the same field (e.g. converting double to float)
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BOOST_MPL_ASSERT_MSG ((std::is_same<InT, OutT>::value),
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POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
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(Key, PointInT&, InT, PointOutT&, OutT));
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memcpy (
reinterpret_cast<
std::uint8_t
*
>
(&p2_) +
pcl::traits::offset<PointOutT, Key>::value
,
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reinterpret_cast<
const
std::uint8_t
*
>
(&p1_) +
pcl::traits::offset<PointInT, Key>::value
,
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sizeof
(InT));
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}
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private
:
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const
PodIn
&p1_;
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PodOut
&p2_;
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};
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}
pcl
Definition:
convolution.h:46
pcl::traits::offset
Definition:
type_traits.h:169
pcl::traits::datatype
Definition:
type_traits.h:181
pcl::NdConcatenateFunctor
Helper functor structure for concatenate.
Definition:
concatenate.h:52
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:629
pcl::NdConcatenateFunctor::PodOut
typename traits::POD< PointOutT >::type PodOut
Definition:
concatenate.h:54
pcl::uint8_t
std::uint8_t uint8_t
Definition:
types.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