Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 00038 #ifndef PCL_COMMON_CONCATENATE_H_ 00039 #define PCL_COMMON_CONCATENATE_H_ 00040 00041 #include <pcl/conversions.h> 00042 00043 // We're doing a lot of black magic with Boost here, so disable warnings in Maintainer mode, as we will never 00044 // be able to fix them anyway 00045 #ifdef BUILD_Maintainer 00046 # if defined __GNUC__ 00047 # if __GNUC__ == 4 && __GNUC_MINOR__ > 3 00048 # pragma GCC diagnostic ignored "-Weffc++" 00049 # pragma GCC diagnostic ignored "-pedantic" 00050 # else 00051 # pragma GCC system_header 00052 # endif 00053 # elif defined _MSC_VER 00054 # pragma warning(push, 1) 00055 # endif 00056 #endif 00057 00058 namespace pcl 00059 { 00060 /** \brief Helper functor structure for concatenate. 00061 * \ingroup common 00062 */ 00063 template<typename PointInT, typename PointOutT> 00064 struct NdConcatenateFunctor 00065 { 00066 typedef typename traits::POD<PointInT>::type PodIn; 00067 typedef typename traits::POD<PointOutT>::type PodOut; 00068 00069 NdConcatenateFunctor (const PointInT &p1, PointOutT &p2) 00070 : p1_ (reinterpret_cast<const PodIn&> (p1)) 00071 , p2_ (reinterpret_cast<PodOut&> (p2)) { } 00072 00073 template<typename Key> inline void 00074 operator () () 00075 { 00076 // This sucks without Fusion :( 00077 //boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_); 00078 typedef typename pcl::traits::datatype<PointInT, Key>::type InT; 00079 typedef typename pcl::traits::datatype<PointOutT, Key>::type OutT; 00080 // Note: don't currently support different types for the same field (e.g. converting double to float) 00081 BOOST_MPL_ASSERT_MSG ((boost::is_same<InT, OutT>::value), 00082 POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD, 00083 (Key, PointInT&, InT, PointOutT&, OutT)); 00084 memcpy (reinterpret_cast<uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value, 00085 reinterpret_cast<const uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value, 00086 sizeof (InT)); 00087 } 00088 00089 private: 00090 const PodIn &p1_; 00091 PodOut &p2_; 00092 }; 00093 } 00094 00095 #ifdef BUILD_Maintainer 00096 # if defined __GNUC__ 00097 # if __GNUC__ == 4 && __GNUC_MINOR__ > 3 00098 # pragma GCC diagnostic warning "-Weffc++" 00099 # pragma GCC diagnostic warning "-pedantic" 00100 # endif 00101 # elif defined _MSC_VER 00102 # pragma warning(pop) 00103 # endif 00104 #endif 00105 00106 #endif // PCL_COMMON_CONCATENATE_H_ 00107