Point Cloud Library (PCL)  1.14.1-dev
concatenate.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010-2011, Willow Garage, 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 
39 #pragma once
40 
41 #include <type_traits>
42 
43 namespace pcl
44 {
45  /** \brief Helper functor structure for concatenate.
46  * \ingroup common
47  */
48  template<typename PointInT, typename PointOutT>
50  {
51  using PodIn = typename traits::POD<PointInT>::type;
52  using PodOut = typename traits::POD<PointOutT>::type;
53 
54  NdConcatenateFunctor (const PointInT &p1, PointOutT &p2)
55  : p1_ (reinterpret_cast<const PodIn&> (p1))
56  , p2_ (reinterpret_cast<PodOut&> (p2)) { }
57 
58  template<typename Key> inline void
60  {
61  // This sucks without Fusion :(
62  //boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
63  using InT = typename pcl::traits::datatype<PointInT, Key>::type;
64  using OutT = typename pcl::traits::datatype<PointOutT, Key>::type;
65  // Note: don't currently support different types for the same field (e.g. converting double to float)
66  BOOST_MPL_ASSERT_MSG ((std::is_same<InT, OutT>::value),
67  POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
68  (Key, PointInT&, InT, PointOutT&, OutT));
69  memcpy (reinterpret_cast<std::uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value,
70  reinterpret_cast<const std::uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value,
71  sizeof (InT));
72  }
73 
74  private:
75  const PodIn &p1_;
76  PodOut &p2_;
77  };
78 }
Helper functor structure for concatenate.
Definition: concatenate.h:50
typename traits::POD< PointInT >::type PodIn
Definition: concatenate.h:51
typename traits::POD< PointOutT >::type PodOut
Definition: concatenate.h:52
NdConcatenateFunctor(const PointInT &p1, PointOutT &p2)
Definition: concatenate.h:54