Point Cloud Library (PCL) 1.14.0
Loading...
Searching...
No Matches
copy_point.hpp
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2014-, Open Perception, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#pragma once
39
40#include <pcl/point_types.h>
41#include <pcl/type_traits.h>
42#include <pcl/for_each_type.h>
43#include <pcl/common/concatenate.h>
44#include <pcl/common/copy_point.h>
45
46
47namespace pcl
48{
49
50namespace detail
51{
52
53/* CopyPointHelper and its specializations copy the contents of a source
54 * point to a target point. There are three cases:
55 *
56 * - Points have the same type.
57 * In this case a single `memcpy` is used.
58 *
59 * - Points have different types and one of the following is true:
60 * * both have RGB fields;
61 * * both have RGBA fields;
62 * * one or both have no RGB/RGBA fields.
63 * In this case we find the list of common fields and copy their
64 * contents one by one with `NdConcatenateFunctor`.
65 *
66 * - Points have different types and one of these types has RGB field, and
67 * the other has RGBA field.
68 * In this case we also find the list of common fields and copy their
69 * contents. In order to account for the fact that RGB and RGBA do not
70 * match we have an additional `memcpy` to copy the contents of one into
71 * another.
72 *
73 * An appropriate version of CopyPointHelper is instantiated during
74 * compilation time automatically, so there is absolutely no run-time
75 * overhead. */
76
77template <typename PointInT, typename PointOutT, typename Enable = void>
78struct CopyPointHelper { };
79
80template <typename PointInT, typename PointOutT>
81struct CopyPointHelper<PointInT, PointOutT, std::enable_if_t<std::is_same<PointInT, PointOutT>::value>>
82{
83 void operator () (const PointInT& point_in, PointOutT& point_out) const
84 {
85 memcpy (&point_out, &point_in, sizeof (PointInT));
86 }
87};
88
89template <typename PointInT, typename PointOutT>
90struct CopyPointHelper<PointInT, PointOutT,
91 std::enable_if_t<boost::mpl::and_<boost::mpl::not_<std::is_same<PointInT, PointOutT>>,
92 boost::mpl::or_<boost::mpl::not_<pcl::traits::has_color<PointInT>>,
93 boost::mpl::not_<pcl::traits::has_color<PointOutT>>,
94 boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
95 pcl::traits::has_field<PointOutT, pcl::fields::rgb>>,
96 boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
97 pcl::traits::has_field<PointOutT, pcl::fields::rgba>>>>::value>>
98{
99 void operator () (const PointInT& point_in, PointOutT& point_out) const
100 {
101 using FieldListInT = typename pcl::traits::fieldList<PointInT>::type;
102 using FieldListOutT = typename pcl::traits::fieldList<PointOutT>::type;
103 using FieldList = typename pcl::intersect<FieldListInT, FieldListOutT>::type;
104 pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
105 }
106};
107
108template <typename PointInT, typename PointOutT>
109struct CopyPointHelper<PointInT, PointOutT,
110 std::enable_if_t<boost::mpl::and_<boost::mpl::not_<std::is_same<PointInT, PointOutT>>,
111 boost::mpl::or_<boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
112 pcl::traits::has_field<PointOutT, pcl::fields::rgba>>,
113 boost::mpl::and_<pcl::traits::has_field<PointInT, pcl::fields::rgba>,
114 pcl::traits::has_field<PointOutT, pcl::fields::rgb>>>>::value>>
115{
116 void operator () (const PointInT& point_in, PointOutT& point_out) const
117 {
118 using FieldListInT = typename pcl::traits::fieldList<PointInT>::type;
119 using FieldListOutT = typename pcl::traits::fieldList<PointOutT>::type;
120 using FieldList = typename pcl::intersect<FieldListInT, FieldListOutT>::type;
121 constexpr std::uint32_t offset_in = boost::mpl::if_<pcl::traits::has_field<PointInT, pcl::fields::rgb>,
122 pcl::traits::offset<PointInT, pcl::fields::rgb>,
123 pcl::traits::offset<PointInT, pcl::fields::rgba> >::type::value;
124 constexpr std::uint32_t offset_out = boost::mpl::if_<pcl::traits::has_field<PointOutT, pcl::fields::rgb>,
125 pcl::traits::offset<PointOutT, pcl::fields::rgb>,
126 pcl::traits::offset<PointOutT, pcl::fields::rgba> >::type::value;
127 pcl::for_each_type <FieldList> (pcl::NdConcatenateFunctor <PointInT, PointOutT> (point_in, point_out));
128 memcpy (reinterpret_cast<char*> (&point_out) + offset_out,
129 reinterpret_cast<const char*> (&point_in) + offset_in,
130 4);
131 }
132};
133
134} // namespace detail
135
136template <typename PointInT, typename PointOutT> void
137copyPoint (const PointInT& point_in, PointOutT& point_out)
138{
140 copy (point_in, point_out);
141}
142
143} // namespace pcl
144
Defines all the PCL implemented PointT point type structures.
void copyPoint(const PointInT &point_in, PointOutT &point_out)
Copy the fields of a source point into a target point.
typename boost::mpl::remove_if< Sequence1, boost::mpl::not_< boost::mpl::contains< Sequence2, boost::mpl::_1 > > >::type type