Point Cloud Library (PCL)  1.7.0
concatenate.h
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38 #ifndef PCL_COMMON_CONCATENATE_H_
39 #define PCL_COMMON_CONCATENATE_H_
40 
41 #include <pcl/conversions.h>
42 
43 // We're doing a lot of black magic with Boost here, so disable warnings in Maintainer mode, as we will never
44 // be able to fix them anyway
45 #ifdef BUILD_Maintainer
46 # if defined __GNUC__
47 # if __GNUC__ == 4 && __GNUC_MINOR__ > 3
48 # pragma GCC diagnostic ignored "-Weffc++"
49 # pragma GCC diagnostic ignored "-pedantic"
50 # else
51 # pragma GCC system_header
52 # endif
53 # elif defined _MSC_VER
54 # pragma warning(push, 1)
55 # endif
56 #endif
57 
58 namespace pcl
59 {
60  /** \brief Helper functor structure for concatenate.
61  * \ingroup common
62  */
63  template<typename PointInT, typename PointOutT>
65  {
68 
69  NdConcatenateFunctor (const PointInT &p1, PointOutT &p2)
70  : p1_ (reinterpret_cast<const PodIn&> (p1))
71  , p2_ (reinterpret_cast<PodOut&> (p2)) { }
72 
73  template<typename Key> inline void
75  {
76  // This sucks without Fusion :(
77  //boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
78  typedef typename pcl::traits::datatype<PointInT, Key>::type InT;
79  typedef typename pcl::traits::datatype<PointOutT, Key>::type OutT;
80  // Note: don't currently support different types for the same field (e.g. converting double to float)
81  BOOST_MPL_ASSERT_MSG ((boost::is_same<InT, OutT>::value),
82  POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
83  (Key, PointInT&, InT, PointOutT&, OutT));
84  memcpy (reinterpret_cast<uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value,
85  reinterpret_cast<const uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value,
86  sizeof (InT));
87  }
88 
89  private:
90  const PodIn &p1_;
91  PodOut &p2_;
92  };
93 }
94 
95 #ifdef BUILD_Maintainer
96 # if defined __GNUC__
97 # if __GNUC__ == 4 && __GNUC_MINOR__ > 3
98 # pragma GCC diagnostic warning "-Weffc++"
99 # pragma GCC diagnostic warning "-pedantic"
100 # endif
101 # elif defined _MSC_VER
102 # pragma warning(pop)
103 # endif
104 #endif
105 
106 #endif // PCL_COMMON_CONCATENATE_H_
107