Point Cloud Library (PCL)  1.9.1-dev
concatenate.h
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38 
39 #pragma once
40 
41 #include <pcl/conversions.h>
42 
43 #include <type_traits>
44 
45 namespace pcl
46 {
47  /** \brief Helper functor structure for concatenate.
48  * \ingroup common
49  */
50  template<typename PointInT, typename PointOutT>
52  {
55 
56  NdConcatenateFunctor (const PointInT &p1, PointOutT &p2)
57  : p1_ (reinterpret_cast<const PodIn&> (p1))
58  , p2_ (reinterpret_cast<PodOut&> (p2)) { }
59 
60  template<typename Key> inline void
62  {
63  // This sucks without Fusion :(
64  //boost::fusion::at_key<Key> (p2_) = boost::fusion::at_key<Key> (p1_);
65  using InT = typename pcl::traits::datatype<PointInT, Key>::type;
66  using OutT = typename pcl::traits::datatype<PointOutT, Key>::type;
67  // Note: don't currently support different types for the same field (e.g. converting double to float)
68  BOOST_MPL_ASSERT_MSG ((std::is_same<InT, OutT>::value),
69  POINT_IN_AND_POINT_OUT_HAVE_DIFFERENT_TYPES_FOR_FIELD,
70  (Key, PointInT&, InT, PointOutT&, OutT));
71  memcpy (reinterpret_cast<std::uint8_t*>(&p2_) + pcl::traits::offset<PointOutT, Key>::value,
72  reinterpret_cast<const std::uint8_t*>(&p1_) + pcl::traits::offset<PointInT, Key>::value,
73  sizeof (InT));
74  }
75 
76  private:
77  const PodIn &p1_;
78  PodOut &p2_;
79  };
80 }
NdConcatenateFunctor(const PointInT &p1, PointOutT &p2)
Definition: concatenate.h:56
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
typename traits::POD< PointInT >::type PodIn
Definition: concatenate.h:53
typename traits::POD< PointOutT >::type PodOut
Definition: concatenate.h:54
A point structure representing Euclidean xyz coordinates, and the RGB color.
Helper functor structure for concatenate.
Definition: concatenate.h:51