145 lines
6.8 KiB
C++
145 lines
6.8 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2014-, Open Perception, 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
|
|
|
|
#include <pcl/point_types.h>
|
|
#include <pcl/type_traits.h>
|
|
#include <pcl/for_each_type.h>
|
|
#include <pcl/common/concatenate.h>
|
|
#include <pcl/common/copy_point.h>
|
|
|
|
|
|
namespace pcl
|
|
{
|
|
|
|
namespace detail
|
|
{
|
|
|
|
/* CopyPointHelper and its specializations copy the contents of a source
|
|
* point to a target point. There are three cases:
|
|
*
|
|
* - Points have the same type.
|
|
* In this case a single `memcpy` is used.
|
|
*
|
|
* - Points have different types and one of the following is true:
|
|
* * both have RGB fields;
|
|
* * both have RGBA fields;
|
|
* * one or both have no RGB/RGBA fields.
|
|
* In this case we find the list of common fields and copy their
|
|
* contents one by one with `NdConcatenateFunctor`.
|
|
*
|
|
* - Points have different types and one of these types has RGB field, and
|
|
* the other has RGBA field.
|
|
* In this case we also find the list of common fields and copy their
|
|
* contents. In order to account for the fact that RGB and RGBA do not
|
|
* match we have an additional `memcpy` to copy the contents of one into
|
|
* another.
|
|
*
|
|
* An appropriate version of CopyPointHelper is instantiated during
|
|
* compilation time automatically, so there is absolutely no run-time
|
|
* overhead. */
|
|
|
|
template <typename PointInT, typename PointOutT, typename Enable = void>
|
|
struct CopyPointHelper { };
|
|
|
|
template <typename PointInT, typename PointOutT>
|
|
struct CopyPointHelper<PointInT, PointOutT, std::enable_if_t<std::is_same<PointInT, PointOutT>::value>>
|
|
{
|
|
void operator () (const PointInT& point_in, PointOutT& point_out) const
|
|
{
|
|
memcpy (&point_out, &point_in, sizeof (PointInT));
|
|
}
|
|
};
|
|
|
|
template <typename PointInT, typename PointOutT>
|
|
struct CopyPointHelper<PointInT, PointOutT,
|
|
std::enable_if_t<boost::mpl::and_<boost::mpl::not_<std::is_same<PointInT, PointOutT>>,
|
|
boost::mpl::or_<boost::mpl::not_<pcl::traits::has_color<PointInT>>,
|
|
boost::mpl::not_<pcl::traits::has_color<PointOutT>>,
|
|
boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
|
|
pcl::traits::has_field<PointOutT, pcl::fields::rgb>>,
|
|
boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
|
|
pcl::traits::has_field<PointOutT, pcl::fields::rgba>>>>::value>>
|
|
{
|
|
void operator () (const PointInT& point_in, PointOutT& point_out) const
|
|
{
|
|
using FieldListInT = typename pcl::traits::fieldList<PointInT>::type;
|
|
using FieldListOutT = typename pcl::traits::fieldList<PointOutT>::type;
|
|
using FieldList = typename pcl::intersect<FieldListInT, FieldListOutT>::type;
|
|
pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
|
|
}
|
|
};
|
|
|
|
template <typename PointInT, typename PointOutT>
|
|
struct CopyPointHelper<PointInT, PointOutT,
|
|
std::enable_if_t<boost::mpl::and_<boost::mpl::not_<std::is_same<PointInT, PointOutT>>,
|
|
boost::mpl::or_<boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
|
|
pcl::traits::has_field<PointOutT, pcl::fields::rgba>>,
|
|
boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
|
|
pcl::traits::has_field<PointOutT, pcl::fields::rgb>>>>::value>>
|
|
{
|
|
void operator () (const PointInT& point_in, PointOutT& point_out) const
|
|
{
|
|
using FieldListInT = typename pcl::traits::fieldList<PointInT>::type;
|
|
using FieldListOutT = typename pcl::traits::fieldList<PointOutT>::type;
|
|
using FieldList = typename pcl::intersect<FieldListInT, FieldListOutT>::type;
|
|
const std::uint32_t offset_in = boost::mpl::if_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
|
|
pcl::traits::offset<PointInT, pcl::fields::rgb>,
|
|
pcl::traits::offset<PointInT, pcl::fields::rgba> >::type::value;
|
|
const std::uint32_t offset_out = boost::mpl::if_<pcl::traits::has_field<PointOutT, pcl::fields::rgb>,
|
|
pcl::traits::offset<PointOutT, pcl::fields::rgb>,
|
|
pcl::traits::offset<PointOutT, pcl::fields::rgba> >::type::value;
|
|
pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
|
|
memcpy (reinterpret_cast<char*> (&point_out) + offset_out,
|
|
reinterpret_cast<const char*> (&point_in) + offset_in,
|
|
4);
|
|
}
|
|
};
|
|
|
|
} // namespace detail
|
|
|
|
template <typename PointInT, typename PointOutT> void
|
|
copyPoint (const PointInT& point_in, PointOutT& point_out)
|
|
{
|
|
detail::CopyPointHelper<PointInT, PointOutT> copy;
|
|
copy (point_in, point_out);
|
|
}
|
|
|
|
} // namespace pcl
|
|
|