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Split point_types.hpp part into field_traits.(h|hpp) (#6375)
* Split `point_types.hpp` part into `field_traits.(h|hpp)` * Move `(H|h)as_` traits from `point_types.hpp` into `field_traits.(h|hpp)` * Add `field_traits.h` include where field traits are used * Change a MSVC compiler warning reset via `#pragma warning((push|pop))` * Add `field_traits.h` include in `point_types.h` for backward compatibility Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Fix changes according to clang-format Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Remove blank lines between namespace declarations in `field_traits.hpp` Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Optimize some imports related to `pcl/point_types.h` * Remove unnecessary `pcl/point_types.h` includes in some files * Add missing `pcl/point_types.h` includes in some files Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Change license description in `pcl/field_traits.(h|hpp)` * Change license description in `pcl/field_traits.(h|hpp)` Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Add missing `pcl/point_types.h` includes in `examples` * Add missing `pcl/point_types.h` includes in `examples` Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Add missing `pcl/point_types.h` includes in some files * Add missing `pcl/point_types.h` includes in some files Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Add missing `cstring` include in `pcl/common/impl/copy_point.hpp` Add missing `cstring` include in `common/include/pcl/common/impl/copy_point.hpp` Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Move 4661 MSVC warning configuration to CMake * Add 4661 MSVC warning configuration in CMake * Remove 4661 MSVC warning configuration from `pcl_macros.h` * Remove unused `type_traits` include from `point_types.hpp` * Use `Eigen::Map` in `boundary.h` Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Move 4244 and 4267 MSVC warnings configuration to CMake * Add 4244 and 4267 MSVC warnings configuration in CMake * Remove 4244 and 4267 MSVC warnings configuration from `pcl_macros.h` Signed-off-by: Ramir Sultanov <sumir0@proton.me> * Use `Eigen/Core` in `rift.hpp` * Use `Eigen::Map` in `rift.hpp` * Add missing `pcl/point_types.h` includes in tests where `rift.h` is used Signed-off-by: Ramir Sultanov <sumir0@proton.me> --------- Signed-off-by: Ramir Sultanov <sumir0@proton.me>
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Lines changed: 360 additions & 188 deletions

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‎CMakeLists.txt‎

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@@ -187,7 +187,9 @@ if(CMAKE_COMPILER_IS_MSVC)
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# /MANIFEST:NO") # please, don't disable manifest generation, otherwise crash at start for vs2008
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# Disable some warnings
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string(APPEND CMAKE_CXX_FLAGS " /wd4800 /wd4521 /wd4251 /wd4275 /wd4305 /wd4355")
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# 4244 : conversion from 'type1' to 'type2', possible loss of data
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# 4661 : no suitable definition provided for explicit template instantiation request
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string(APPEND CMAKE_CXX_FLAGS " /wd4800 /wd4521 /wd4251 /wd4275 /wd4305 /wd4355 /wd4244 /wd4267 /wd4661")
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# Enable warnings, which are disabled by default (see https://learn.microsoft.com/de-de/cpp/preprocessor/compiler-warnings-that-are-off-by-default)
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string(APPEND CMAKE_CXX_FLAGS " /w34265")

‎apps/src/statistical_multiscale_interest_region_extraction_example.cpp‎

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#include <pcl/filters/extract_indices.h>
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#include <pcl/filters/voxel_grid.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/point_types.h>
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using namespace pcl;
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‎benchmarks/filters/voxel_grid.cpp‎

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#include <pcl/filters/approximate_voxel_grid.h>
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#include <pcl/filters/voxel_grid.h>
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#include <pcl/io/pcd_io.h> // for PCDReader
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#include <pcl/io/pcd_io.h> // for PCDReader
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#include <pcl/point_types.h> // for pcl::PointXYZ
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#include <benchmark/benchmark.h>
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‎common/CMakeLists.txt‎

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include/pcl/correspondence.h
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include/pcl/memory.h
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include/pcl/exceptions.h
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include/pcl/field_traits.h
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include/pcl/pcl_base.h
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include/pcl/pcl_exports.h
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include/pcl/pcl_macros.h
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)
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set(impl_incs
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include/pcl/impl/field_traits.hpp
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include/pcl/impl/pcl_base.hpp
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include/pcl/impl/instantiate.hpp
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include/pcl/impl/point_types.hpp

‎common/include/pcl/common/impl/accumulators.hpp‎

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#include <boost/fusion/include/as_vector.hpp>
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#include <boost/fusion/include/filter_if.hpp>
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#include <pcl/field_traits.h>
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#include <pcl/memory.h>
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#include <pcl/pcl_macros.h>
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#include <pcl/point_types.h>
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namespace pcl
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{

‎common/include/pcl/common/impl/copy_point.hpp‎

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#pragma once
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#include <pcl/point_types.h>
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#include <pcl/field_traits.h>
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#include <pcl/type_traits.h>
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#include <pcl/for_each_type.h>
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#include <pcl/common/concatenate.h>
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#include <pcl/common/copy_point.h>
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#include <cstring> // for memcpy
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namespace pcl
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{

‎common/include/pcl/common/point_tests.h‎

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#pragma once
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#include <pcl/field_traits.h>
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#include <pcl/point_types.h>
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#ifdef _MSC_VER

‎common/include/pcl/field_traits.h‎

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/*
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* SPDX-License-Identifier: BSD-3-Clause
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2025-, Open Perception Inc.
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*
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* All rights reserved
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*/
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#pragma once
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#include <type_traits> // for std::enable_if
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namespace pcl
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{
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namespace traits
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{
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/** \brief Metafunction to check if a given point type has a given field.
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*
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* Example usage at run-time:
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*
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* \code
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* bool curvature_available = pcl::traits::has_field<PointT, pcl::fields::curvature>::value;
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* \endcode
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*
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* Example usage at compile-time:
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*
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* \code
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* BOOST_MPL_ASSERT_MSG ((pcl::traits::has_field<PointT, pcl::fields::label>::value),
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* POINT_TYPE_SHOULD_HAVE_LABEL_FIELD,
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* (PointT));
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* \endcode
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*/
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template <typename PointT, typename Field>
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struct has_field;
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/** Metafunction to check if a given point type has all given fields. */
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template <typename PointT, typename Field>
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struct has_all_fields;
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/** Metafunction to check if a given point type has any of the given fields. */
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template <typename PointT, typename Field>
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struct has_any_field;
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/** \brief Traits defined for ease of use with common fields
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*
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* has_<fields to be detected>: struct with `value` datamember defined at compiletime
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* has_<fields to be detected>_v: constexpr boolean
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* Has<Fields to be detected>: concept modelling name alias for `enable_if`
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*/
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/** Metafunction to check if a given point type has x and y fields. */
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template <typename PointT>
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struct has_xy;
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template <typename PointT>
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constexpr auto has_xy_v = has_xy<PointT>::value;
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template <typename PointT>
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using HasXY = std::enable_if_t<has_xy_v<PointT>, bool>;
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template <typename PointT>
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using HasNoXY = std::enable_if_t<!has_xy_v<PointT>, bool>;
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/** Metafunction to check if a given point type has x, y, and z fields. */
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template <typename PointT>
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struct has_xyz;
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template <typename PointT>
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constexpr auto has_xyz_v = has_xyz<PointT>::value;
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template <typename PointT>
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using HasXYZ = std::enable_if_t<has_xyz_v<PointT>, bool>;
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template <typename PointT>
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using HasNoXYZ = std::enable_if_t<!has_xyz_v<PointT>, bool>;
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/** Metafunction to check if a given point type has normal_x, normal_y, and
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* normal_z fields. */
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template <typename PointT>
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struct has_normal;
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template <typename PointT>
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constexpr auto has_normal_v = has_normal<PointT>::value;
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template <typename PointT>
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using HasNormal = std::enable_if_t<has_normal_v<PointT>, bool>;
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template <typename PointT>
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using HasNoNormal = std::enable_if_t<!has_normal_v<PointT>, bool>;
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/** Metafunction to check if a given point type has curvature field. */
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template <typename PointT>
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struct has_curvature;
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template <typename PointT>
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constexpr auto has_curvature_v = has_curvature<PointT>::value;
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template <typename PointT>
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using HasCurvature = std::enable_if_t<has_curvature_v<PointT>, bool>;
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template <typename PointT>
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using HasNoCurvature = std::enable_if_t<!has_curvature_v<PointT>, bool>;
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/** Metafunction to check if a given point type has intensity field. */
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template <typename PointT>
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struct has_intensity;
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template <typename PointT>
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constexpr auto has_intensity_v = has_intensity<PointT>::value;
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template <typename PointT>
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using HasIntensity = std::enable_if_t<has_intensity_v<PointT>, bool>;
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template <typename PointT>
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using HasNoIntensity = std::enable_if_t<!has_intensity_v<PointT>, bool>;
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/** Metafunction to check if a given point type has either rgb or rgba field. */
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template <typename PointT>
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struct has_color;
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template <typename PointT>
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constexpr auto has_color_v = has_color<PointT>::value;
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template <typename PointT>
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using HasColor = std::enable_if_t<has_color_v<PointT>, bool>;
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template <typename PointT>
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using HasNoColor = std::enable_if_t<!has_color_v<PointT>, bool>;
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/** Metafunction to check if a given point type has label field. */
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template <typename PointT>
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struct has_label;
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template <typename PointT>
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constexpr auto has_label_v = has_label<PointT>::value;
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template <typename PointT>
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using HasLabel = std::enable_if_t<has_label_v<PointT>, bool>;
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template <typename PointT>
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using HasNoLabel = std::enable_if_t<!has_label_v<PointT>, bool>;
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} // namespace traits
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} // namespace pcl
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#include <pcl/impl/field_traits.hpp>

‎common/include/pcl/impl/field_traits.hpp‎

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/*
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* SPDX-License-Identifier: BSD-3-Clause
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2025-, Open Perception Inc.
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*
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* All rights reserved
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*/
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#pragma once
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#include <pcl/point_struct_traits.h> // for pcl::traits::fieldList
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// Forward declarations of common pcl field types
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namespace pcl
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{
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namespace fields
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{
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struct x;
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struct y;
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struct z;
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struct normal_x;
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struct normal_y;
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struct normal_z;
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struct curvature;
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struct intensity;
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struct rgb;
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struct rgba;
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struct label;
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} // namespace fields
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} // namespace pcl
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#include <boost/mpl/and.hpp> // for boost::mpl::and_
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#include <boost/mpl/bool.hpp> // for boost::mpl::bool_
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#include <boost/mpl/contains.hpp> // for boost::mpl::contains
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#include <boost/mpl/fold.hpp> // for boost::mpl::fold
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#include <boost/mpl/or.hpp> // for boost::mpl::or_
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#include <boost/mpl/placeholders.hpp> // for boost::mpl::_1, boost::mpl::_2
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#include <boost/mpl/vector.hpp> // for boost::mpl::vector
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namespace pcl
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{
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namespace traits
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{
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template <typename PointT, typename Field>
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struct has_field : boost::mpl::contains<typename pcl::traits::fieldList<PointT>::type, Field>::type
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{ };
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template <typename PointT, typename Field>
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struct has_all_fields : boost::mpl::fold<Field,
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boost::mpl::bool_<true>,
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boost::mpl::and_<boost::mpl::_1,
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has_field<PointT, boost::mpl::_2> > >::type
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{ };
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template <typename PointT, typename Field>
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struct has_any_field : boost::mpl::fold<Field,
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boost::mpl::bool_<false>,
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boost::mpl::or_<boost::mpl::_1,
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has_field<PointT, boost::mpl::_2> > >::type
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{ };
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template <typename PointT>
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struct has_xy : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
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pcl::fields::y> >
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{ };
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template <typename PointT>
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struct has_xyz : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
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pcl::fields::y,
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pcl::fields::z> >
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{ };
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template <typename PointT>
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struct has_normal : has_all_fields<PointT, boost::mpl::vector<pcl::fields::normal_x,
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pcl::fields::normal_y,
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pcl::fields::normal_z> >
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{ };
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template <typename PointT>
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struct has_curvature : has_field<PointT, pcl::fields::curvature>
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{ };
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template <typename PointT>
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struct has_intensity : has_field<PointT, pcl::fields::intensity>
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{ };
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template <typename PointT>
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struct has_color : has_any_field<PointT, boost::mpl::vector<pcl::fields::rgb,
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pcl::fields::rgba> >
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{ };
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template <typename PointT>
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struct has_label : has_field<PointT, pcl::fields::label>
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{ };
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} // namespace traits
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} // namespace pcl

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