66 lines
2.1 KiB
C
66 lines
2.1 KiB
C
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#pragma once
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#include <pcl/memory.h> // for shared_ptr
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#include <pcl/type_traits.h> // for asEnum_v
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#include <pcl/types.h> // for index_t
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#include <string> // for string
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#include <ostream> // for ostream
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namespace pcl
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{
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struct PCLPointField
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{
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std::string name;
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uindex_t offset = 0;
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std::uint8_t datatype = 0;
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uindex_t count = 0;
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enum PointFieldTypes { INT8 = traits::asEnum_v<std::int8_t>,
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UINT8 = traits::asEnum_v<std::uint8_t>,
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INT16 = traits::asEnum_v<std::int16_t>,
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UINT16 = traits::asEnum_v<std::uint16_t>,
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INT32 = traits::asEnum_v<std::int32_t>,
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UINT32 = traits::asEnum_v<std::uint32_t>,
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FLOAT32 = traits::asEnum_v<float>,
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FLOAT64 = traits::asEnum_v<double>};
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public:
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using Ptr = shared_ptr< ::pcl::PCLPointField>;
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using ConstPtr = shared_ptr<const ::pcl::PCLPointField>;
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}; // struct PCLPointField
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using PCLPointFieldPtr = PCLPointField::Ptr;
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using PCLPointFieldConstPtr = PCLPointField::ConstPtr;
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inline std::ostream& operator<<(std::ostream& s, const ::pcl::PCLPointField & v)
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{
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s << "name: ";
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s << " " << v.name << std::endl;
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s << "offset: ";
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s << " " << v.offset << std::endl;
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s << "datatype: ";
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s << " " << v.datatype << std::endl;
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s << "count: ";
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s << " " << v.count << std::endl;
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return (s);
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}
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// Return true if the PCLPointField matches the expected name and data type.
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// Written as a struct to allow partially specializing on Tag.
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template<typename PointT, typename Tag>
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struct FieldMatches
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{
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bool operator() (const PCLPointField& field)
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{
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return ((field.name == traits::name<PointT, Tag>::value) &&
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(field.datatype == traits::datatype<PointT, Tag>::value) &&
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((field.count == traits::datatype<PointT, Tag>::size) ||
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(field.count == 0 && traits::datatype<PointT, Tag>::size == 1 /* see bug #821 */)));
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}
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};
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} // namespace pcl
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