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Point Cloud Library (PCL)
1.6.0
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Point Cloud Library (PCL)
1.6.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, 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 Willow Garage, Inc. 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 * $Id: register_point_struct.h 6126 2012-07-03 20:19:58Z aichim $ 00037 * 00038 */ 00039 00040 #ifndef PCL_REGISTER_POINT_STRUCT_H_ 00041 #define PCL_REGISTER_POINT_STRUCT_H_ 00042 00043 #include <pcl/point_traits.h> 00044 00045 #include <boost/mpl/vector.hpp> 00046 #include <boost/mpl/for_each.hpp> 00047 #include <boost/mpl/assert.hpp> 00048 #include <boost/preprocessor/seq/enum.hpp> 00049 #include <boost/preprocessor/seq/for_each.hpp> 00050 #include <boost/preprocessor/seq/transform.hpp> 00051 #include <boost/preprocessor/cat.hpp> 00052 #include <boost/preprocessor/repetition/repeat_from_to.hpp> 00053 #include <boost/type_traits/is_pod.hpp> 00054 #include <stddef.h> //offsetof 00055 00056 // Must be used in global namespace with name fully qualified 00057 #define POINT_CLOUD_REGISTER_POINT_STRUCT(name, fseq) \ 00058 POINT_CLOUD_REGISTER_POINT_STRUCT_I(name, \ 00059 BOOST_PP_CAT(POINT_CLOUD_REGISTER_POINT_STRUCT_X fseq, 0)) \ 00060 /***/ 00061 00062 #define POINT_CLOUD_REGISTER_POINT_WRAPPER(wrapper, pod) \ 00063 BOOST_MPL_ASSERT_MSG(sizeof(wrapper) == sizeof(pod), POINT_WRAPPER_AND_POD_TYPES_HAVE_DIFFERENT_SIZES, (wrapper&, pod&)); \ 00064 namespace pcl { \ 00065 namespace traits { \ 00066 template<> struct POD<wrapper> { typedef pod type; }; \ 00067 } \ 00068 } \ 00069 /***/ 00070 00071 // These macros help transform the unusual data structure (type, name, tag)(type, name, tag)... 00072 // into a proper preprocessor sequence of 3-tuples ((type, name, tag))((type, name, tag))... 00073 #define POINT_CLOUD_REGISTER_POINT_STRUCT_X(type, name, tag) \ 00074 ((type, name, tag)) POINT_CLOUD_REGISTER_POINT_STRUCT_Y 00075 #define POINT_CLOUD_REGISTER_POINT_STRUCT_Y(type, name, tag) \ 00076 ((type, name, tag)) POINT_CLOUD_REGISTER_POINT_STRUCT_X 00077 #define POINT_CLOUD_REGISTER_POINT_STRUCT_X0 00078 #define POINT_CLOUD_REGISTER_POINT_STRUCT_Y0 00079 00080 // Construct type traits given full sequence of (type, name, tag) triples 00081 // BOOST_MPL_ASSERT_MSG(boost::is_pod<name>::value, 00082 // REGISTERED_POINT_TYPE_MUST_BE_PLAIN_OLD_DATA, (name)); 00083 #define POINT_CLOUD_REGISTER_POINT_STRUCT_I(name, seq) \ 00084 namespace pcl \ 00085 { \ 00086 namespace fields \ 00087 { \ 00088 BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_TAG, name, seq) \ 00089 } \ 00090 namespace traits \ 00091 { \ 00092 BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_NAME, name, seq) \ 00093 BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_OFFSET, name, seq) \ 00094 BOOST_PP_SEQ_FOR_EACH(POINT_CLOUD_REGISTER_FIELD_DATATYPE, name, seq) \ 00095 POINT_CLOUD_REGISTER_POINT_FIELD_LIST(name, POINT_CLOUD_EXTRACT_TAGS(seq)) \ 00096 } \ 00097 } \ 00098 /***/ 00099 00100 #define POINT_CLOUD_REGISTER_FIELD_TAG(r, name, elem) \ 00101 struct BOOST_PP_TUPLE_ELEM(3, 2, elem); \ 00102 /***/ 00103 00104 #define POINT_CLOUD_REGISTER_FIELD_NAME(r, point, elem) \ 00105 template<int dummy> \ 00106 struct name<point, pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem), dummy> \ 00107 { \ 00108 static const char value[]; \ 00109 }; \ 00110 \ 00111 template<int dummy> \ 00112 const char name<point, \ 00113 pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem), \ 00114 dummy>::value[] = \ 00115 BOOST_PP_STRINGIZE(BOOST_PP_TUPLE_ELEM(3, 2, elem)); \ 00116 /***/ 00117 00118 #define POINT_CLOUD_REGISTER_FIELD_OFFSET(r, name, elem) \ 00119 template<> struct offset<name, pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem)> \ 00120 { \ 00121 static const size_t value = offsetof(name, BOOST_PP_TUPLE_ELEM(3, 1, elem)); \ 00122 }; \ 00123 /***/ 00124 00125 // \note: the mpl::identity weirdness is to support array types without requiring the 00126 // user to wrap them. The basic problem is: 00127 // typedef float[81] type; // SYNTAX ERROR! 00128 // typedef float type[81]; // OK, can now use "type" as a synonym for float[81] 00129 #define POINT_CLOUD_REGISTER_FIELD_DATATYPE(r, name, elem) \ 00130 template<> struct datatype<name, pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem)> \ 00131 { \ 00132 typedef boost::mpl::identity<BOOST_PP_TUPLE_ELEM(3, 0, elem)>::type type; \ 00133 typedef decomposeArray<type> decomposed; \ 00134 static const uint8_t value = asEnum<decomposed::type>::value; \ 00135 static const uint32_t size = decomposed::value; \ 00136 }; \ 00137 /***/ 00138 00139 #define POINT_CLOUD_TAG_OP(s, data, elem) pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem) 00140 00141 #define POINT_CLOUD_EXTRACT_TAGS(seq) BOOST_PP_SEQ_TRANSFORM(POINT_CLOUD_TAG_OP, _, seq) 00142 00143 #define POINT_CLOUD_REGISTER_POINT_FIELD_LIST(name, seq) \ 00144 template<> struct fieldList<name> \ 00145 { \ 00146 typedef boost::mpl::vector<BOOST_PP_SEQ_ENUM(seq)> type; \ 00147 }; \ 00148 /***/ 00149 00150 // Disabling barely-used Fusion registration of point types for now. 00151 #if 0 00152 #define POINT_CLOUD_EXPAND_TAG_OP(s, data, elem) \ 00153 (boost::mpl::identity<BOOST_PP_TUPLE_ELEM(3, 0, elem)>::type, \ 00154 BOOST_PP_TUPLE_ELEM(3, 1, elem), \ 00155 pcl::fields::BOOST_PP_TUPLE_ELEM(3, 2, elem)) \ 00156 /***/ 00157 00158 #define POINT_CLOUD_EXPAND_TAGS(seq) BOOST_PP_SEQ_TRANSFORM(POINT_CLOUD_EXPAND_TAG_OP, _, seq) 00159 00160 #define POINT_CLOUD_REGISTER_WITH_FUSION(name, seq) \ 00161 BOOST_FUSION_ADAPT_ASSOC_STRUCT_I(name, POINT_CLOUD_EXPAND_TAGS(seq)) \ 00162 /***/ 00163 #endif 00164 00165 #endif //#ifndef PCL_REGISTER_POINT_STRUCT_H_
1.7.6.1
