Point Cloud Library (PCL) 1.14.0
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concatenate.h
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38
39#pragma once
40
41#include <type_traits>
42
43namespace 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