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>

Author: sumir0

CMakeLists.txt

@@ -187,7 +187,8 @@ if(CMAKE_COMPILER_IS_MSVC)
     # /MANIFEST:NO") # please, don't disable manifest generation, otherwise crash at start for vs2008
 
     # Disable some warnings
-    string(APPEND CMAKE_CXX_FLAGS " /wd4800 /wd4521 /wd4251 /wd4275 /wd4305 /wd4355")
+    # 4661 : no suitable definition provided for explicit template instantiation request
+    string(APPEND CMAKE_CXX_FLAGS " /wd4800 /wd4521 /wd4251 /wd4275 /wd4305 /wd4355 /wd4661")
 
     # Enable warnings, which are disabled by default (see https://learn.microsoft.com/de-de/cpp/preprocessor/compiler-warnings-that-are-off-by-default)
     string(APPEND CMAKE_CXX_FLAGS " /w34265")

common/include/pcl/impl/point_types.hpp

@@ -50,7 +50,6 @@
 #include <algorithm>                    // for copy_n, fill_n
 #include <cstdint>                      // for uint8_t, uint32_t
 #include <ostream>                      // for ostream, operator<<
-#include <type_traits>                  // for enable_if_t
 
 // Define all PCL point types
 #define PCL_POINT_TYPES         \

common/include/pcl/pcl_macros.h

@@ -49,10 +49,9 @@
 
 #if defined _MSC_VER
   // 4244 : conversion from 'type1' to 'type2', possible loss of data
-  // 4661 : no suitable definition provided for explicit template instantiation request
   // 4503 : decorated name length exceeded, name was truncated
   // 4146 : unary minus operator applied to unsigned type, result still unsigned
-  #pragma warning (disable: 4018 4244 4267 4521 4251 4661 4305 4503 4146)
+  #pragma warning (disable: 4018 4244 4267 4521 4251 4305 4503 4146)
 #endif
 
 #ifndef _USE_MATH_DEFINES

features/include/pcl/features/boundary.h

@@ -41,7 +41,8 @@
 #pragma once
 
 #include <pcl/features/feature.h>
-#include <pcl/point_types.h>       // for pcl::Vector4fMapConst
+
+#include <Eigen/Core>
 
 namespace pcl
 {
@@ -160,7 +161,8 @@ namespace pcl
       getCoordinateSystemOnPlane (const PointNT &p_coeff, 
                                   Eigen::Vector4f &u, Eigen::Vector4f &v)
       {
-        pcl::Vector4fMapConst p_coeff_v = p_coeff.getNormalVector4fMap ();
+        const Eigen::Map<const Eigen::Vector4f, Eigen::Aligned> p_coeff_v =
+            p_coeff.getNormalVector4fMap ();
         v = p_coeff_v.unitOrthogonal ();
         u = p_coeff_v.cross3 (v);
       }

tools/boundary_estimation.cpp

@@ -43,6 +43,7 @@
 #include <pcl/console/print.h>
 #include <pcl/console/parse.h>
 #include <pcl/console/time.h>
+#include <pcl/point_types.h>
 
 using namespace pcl;
 using namespace pcl::io;