451 lines
15 KiB
C
451 lines
15 KiB
C
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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) 2010-2012, 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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#pragma once
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/**
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* \file pcl/pcl_macros.h
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*
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* \brief Defines all the PCL and non-PCL macros used
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* \ingroup common
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*/
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#if defined __INTEL_COMPILER
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#pragma warning disable 2196 2536 279
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#endif
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#if defined _MSC_VER
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// 4244 : conversion from 'type1' to 'type2', possible loss of data
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// 4661 : no suitable definition provided for explicit template instantiation reques
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// 4503 : decorated name length exceeded, name was truncated
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// 4146 : unary minus operator applied to unsigned type, result still unsigned
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#pragma warning (disable: 4018 4244 4267 4521 4251 4661 4305 4503 4146)
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#endif
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#ifndef _USE_MATH_DEFINES
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#define _USE_MATH_DEFINES
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#endif
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#include <cmath>
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#include <cstdlib>
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#include <iostream>
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// We need to check for GCC version, because GCC releases before 9 were implementing an
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// OpenMP 3.1 data sharing rule, even OpenMP 4 is supported, so a plain OpenMP version 4 check
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// isn't enough (see https://www.gnu.org/software/gcc/gcc-9/porting_to.html#ompdatasharing)
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#if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9))
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#define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 1
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#else
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#define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 0
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#endif
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#include <pcl/pcl_config.h>
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#include <boost/preprocessor/arithmetic/add.hpp>
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#include <boost/preprocessor/comparison/equal.hpp>
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#include <boost/preprocessor/comparison/less.hpp>
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#include <boost/preprocessor/control/if.hpp>
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#include <boost/preprocessor/stringize.hpp>
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// MSVC < 2019 have issues:
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// * can't short-circuiting logic in macros
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// * don't define standard macros
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// => this leads to annyoing C4067 warnings (see https://developercommunity.visualstudio.com/content/problem/327796/-has-cpp-attribute-emits-warning-is-wrong-highligh.html)
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#if defined(_MSC_VER)
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// nvcc on msvc can't work with [[deprecated]]
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#if !defined(__CUDACC__)
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#define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
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#else
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#define _PCL_DEPRECATED_IMPL(Message)
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#endif
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#elif __has_cpp_attribute(deprecated)
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#define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
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#else
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#warning "You need to implement _PCL_DEPRECATED_IMPL for this compiler"
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#define _PCL_DEPRECATED_IMPL(Message)
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#endif
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// Macro for pragma operator
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#if (defined (__GNUC__) || defined(__clang__))
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#define PCL_PRAGMA(x) _Pragma (#x)
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#elif _MSC_VER
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#define PCL_PRAGMA(x) __pragma (#x)
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#else
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#define PCL_PRAGMA
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#endif
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// Macro for emitting pragma warning for deprecated headers
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#if (defined (__GNUC__) || defined(__clang__))
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#define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (GCC warning Message)
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#elif _MSC_VER
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#define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (warning (Message))
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#else
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#warning "You need to implement _PCL_DEPRECATED_HEADER_IMPL for this compiler"
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#define _PCL_DEPRECATED_HEADER_IMPL(Message)
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#endif
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/**
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* \brief A handy way to inform the user of the removal deadline
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*/
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#define _PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Msg) \
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Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE(Major.Minor) ")"
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/**
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* \brief Tests for Minor < PCL_MINOR_VERSION
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* \details When PCL VERSION is of format `34.12.99`, this macro behaves as if it is
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* already `34.13.0`, and allows for smoother transition for maintainers
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*/
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#define _PCL_COMPAT_MINOR_VERSION(Minor, IfPass, IfFail) \
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BOOST_PP_IF(BOOST_PP_EQUAL(PCL_REVISION_VERSION, 99), \
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BOOST_PP_IF(BOOST_PP_LESS(BOOST_PP_ADD(PCL_MINOR_VERSION, 1), Minor), IfPass, IfFail), \
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BOOST_PP_IF(BOOST_PP_LESS(PCL_MINOR_VERSION, Minor), IfPass, IfFail))
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/**
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* \brief Tests for Major == PCL_MAJOR_VERSION
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* \details When PCL VERSION is of format `34.99.12`, this macro behaves as if it is
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* already `35.0.0`, and allows for smoother transition for maintainers
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*/
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#define _PCL_COMPAT_MAJOR_VERSION(Major, IfPass, IfFail) \
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BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MINOR_VERSION, 99), \
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BOOST_PP_IF(BOOST_PP_EQUAL(BOOST_PP_ADD(PCL_MAJOR_VERSION, 1), Major), IfPass, IfFail), \
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BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MAJOR_VERSION, Major), IfPass, IfFail))
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/**
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* \brief macro for compatibility across compilers and help remove old deprecated
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* items for the Major.Minor release
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*
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* \details compiler errors of `unneeded_deprecation` and `major_version_mismatch`
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* are hints to the developer that those items can be safely removed.
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* Behavior of PCL_DEPRECATED(1, 99, "Not needed anymore")
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* * till PCL 1.98: "Not needed anymore (It will be removed in PCL 1.99)"
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* * PCL 1.99 onwards: compiler error with "unneeded_deprecation"
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* * PCL 2.0 onwards: compiler error with "major_version_mismatch"
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*/
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#define PCL_DEPRECATED(Major, Minor, Message) \
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_PCL_COMPAT_MAJOR_VERSION( \
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Major, \
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_PCL_COMPAT_MINOR_VERSION( \
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Minor, \
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_PCL_DEPRECATED_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Message)), \
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unneeded_deprecation), \
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major_version_mismatch)
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/**
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* \brief macro for compatibility across compilers and help remove old deprecated
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* headers for the Major.Minor release
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*
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* \details compiler errors of `unneeded_header` and `major_version_mismatch`
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* are hints to the developer that those items can be safely removed.
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* Behavior of PCL_DEPRECATED_HEADER(1, 99, "Use file <newfile.h> instead.")
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* * till PCL 1.98: "This header is deprecated. Use file <newfile.h> instead. (It will be removed in PCL 1.99)"
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* * PCL 1.99 onwards: compiler error with "unneeded_header"
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* * PCL 2.0 onwards: compiler error with "major_version_mismatch"
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*/
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#define PCL_DEPRECATED_HEADER(Major, Minor, Message) \
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_PCL_COMPAT_MAJOR_VERSION( \
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Major, \
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_PCL_COMPAT_MINOR_VERSION( \
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Minor, \
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_PCL_DEPRECATED_HEADER_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE( \
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Major, \
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Minor, \
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"This header is deprecated. " Message)), \
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unneeded_header), \
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major_version_mismatch)
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#if defined _WIN32
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// Define math constants, without including math.h, to prevent polluting global namespace with old math methods
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// Copied from math.h
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// Check for M_2_SQRTPI since the cmath header on mingw-w64 doesn't seem to define
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// _MATH_DEFINES_DEFINED when included with _USE_MATH_DEFINES
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#if !defined _MATH_DEFINES_DEFINED && !defined M_2_SQRTPI
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#define _MATH_DEFINES_DEFINED
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#define M_E 2.71828182845904523536 // e
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#define M_LOG2E 1.44269504088896340736 // log2(e)
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#define M_LOG10E 0.434294481903251827651 // log10(e)
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#define M_LN2 0.693147180559945309417 // ln(2)
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#define M_LN10 2.30258509299404568402 // ln(10)
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#define M_PI 3.14159265358979323846 // pi
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#define M_PI_2 1.57079632679489661923 // pi/2
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#define M_PI_4 0.785398163397448309616 // pi/4
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#define M_1_PI 0.318309886183790671538 // 1/pi
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#define M_2_PI 0.636619772367581343076 // 2/pi
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#define M_2_SQRTPI 1.12837916709551257390 // 2/sqrt(pi)
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#define M_SQRT2 1.41421356237309504880 // sqrt(2)
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#define M_SQRT1_2 0.707106781186547524401 // 1/sqrt(2)
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#endif
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#if defined _MSC_VER
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// Stupid. This should be removed when all the PCL dependencies have min/max fixed.
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#ifndef NOMINMAX
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#define NOMINMAX
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#endif
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#define __PRETTY_FUNCTION__ __FUNCTION__
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#define __func__ __FUNCTION__
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#endif
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#endif // defined _WIN32
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#ifndef DEG2RAD
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#define DEG2RAD(x) ((x)*0.017453293)
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#endif
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#ifndef RAD2DEG
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#define RAD2DEG(x) ((x)*57.29578)
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#endif
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/** \brief Macro that maps version information given by major.minor.patch to a linear integer value to enable easy comparison
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*/
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#define PCL_LINEAR_VERSION(major,minor,patch) ((major)<<16|(minor)<<8|(patch))
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/** Win32 doesn't seem to have rounding functions.
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* Therefore implement our own versions of these functions here.
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*/
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__inline double
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pcl_round (double number)
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{
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return (number < 0.0 ? std::ceil (number - 0.5) : std::floor (number + 0.5));
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}
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__inline float
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pcl_round (float number)
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{
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return (number < 0.0f ? std::ceil (number - 0.5f) : std::floor (number + 0.5f));
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}
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#ifdef __GNUC__
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#define pcl_lrint(x) (lrint(static_cast<double> (x)))
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#define pcl_lrintf(x) (lrintf(static_cast<float> (x)))
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#else
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#define pcl_lrint(x) (static_cast<long int>(pcl_round(x)))
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#define pcl_lrintf(x) (static_cast<long int>(pcl_round(x)))
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#endif
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#ifdef WIN32
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#define pcl_sleep(x) Sleep(1000*(x))
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#else
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#define pcl_sleep(x) sleep(x)
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#endif
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#ifndef PVAR
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#define PVAR(s) \
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#s << " = " << (s) << std::flush
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#endif
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#ifndef PVARN
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#define PVARN(s) \
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#s << " = " << (s) << "\n"
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#endif
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#ifndef PVARC
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#define PVARC(s) \
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#s << " = " << (s) << ", " << std::flush
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#endif
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#ifndef PVARS
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#define PVARS(s) \
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#s << " = " << (s) << " " << std::flush
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#endif
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#ifndef PVARA
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#define PVARA(s) \
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#s << " = " << RAD2DEG(s) << "deg" << std::flush
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#endif
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#ifndef PVARAN
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#define PVARAN(s) \
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#s << " = " << RAD2DEG(s) << "deg\n"
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#endif
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#ifndef PVARAC
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#define PVARAC(s) \
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#s << " = " << RAD2DEG(s) << "deg, " << std::flush
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#endif
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#ifndef PVARAS
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#define PVARAS(s) \
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#s << " = " << RAD2DEG(s) << "deg " << std::flush
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#endif
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#define FIXED(s) \
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std::fixed << s << std::resetiosflags(std::ios_base::fixed)
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#ifndef ERASE_STRUCT
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#define ERASE_STRUCT(var) memset(&var, 0, sizeof(var))
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#endif
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#ifndef ERASE_ARRAY
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#define ERASE_ARRAY(var, size) memset(var, 0, size*sizeof(*var))
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#endif
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#ifndef SET_ARRAY
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#define SET_ARRAY(var, value, size) { for (decltype(size) i = 0; i < size; ++i) var[i]=value; }
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#endif
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#ifndef PCL_EXTERN_C
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#ifdef __cplusplus
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#define PCL_EXTERN_C extern "C"
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#else
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#define PCL_EXTERN_C
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#endif
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#endif
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#if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
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#ifdef PCLAPI_EXPORTS
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#define PCL_EXPORTS __declspec(dllexport)
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#else
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#define PCL_EXPORTS
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#endif
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#else
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#define PCL_EXPORTS
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#endif
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#if defined WIN32 || defined _WIN32
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#define PCL_CDECL __cdecl
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#define PCL_STDCALL __stdcall
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#else
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#define PCL_CDECL
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#define PCL_STDCALL
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||
|
|
#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
|