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YarpCloudUtils-pcl-traits.hpp
1 // -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
2 
3 #ifndef __YARP_CLOUD_UTILS_PCL_TRAITS_HPP__
4 #define __YARP_CLOUD_UTILS_PCL_TRAITS_HPP__
5 
6 #include <type_traits>
7 #include <yarp/sig/PointCloudTypes.h>
8 #include <pcl/point_types.h>
9 
10 namespace
11 {
12 
13 // YARP point type to PCL point type
14 
15 template <typename T>
16 struct pcl_type_from_yarp;
17 
18 template <>
19 struct pcl_type_from_yarp<yarp::sig::DataXY>
20 { typedef pcl::PointXY type; };
21 
22 template <>
23 struct pcl_type_from_yarp<yarp::sig::DataXYZ>
24 { typedef pcl::PointXYZ type; };
25 
26 template <>
27 struct pcl_type_from_yarp<yarp::sig::DataNormal>
28 { typedef pcl::Normal type; };
29 
30 template <>
31 struct pcl_type_from_yarp<yarp::sig::DataXYZRGBA>
32 { typedef pcl::PointXYZRGB type; };
33 
34 template <>
35 struct pcl_type_from_yarp<yarp::sig::DataXYZI>
36 { typedef pcl::PointXYZI type; };
37 
38 template <>
39 struct pcl_type_from_yarp<yarp::sig::DataInterestPointXYZ>
40 { typedef pcl::InterestPoint type; };
41 
42 template <>
43 struct pcl_type_from_yarp<yarp::sig::DataXYZNormal>
44 { typedef pcl::PointNormal type; };
45 
46 template <>
47 struct pcl_type_from_yarp<yarp::sig::DataXYZNormalRGBA>
48 { typedef pcl::PointXYZRGBNormal type; };
49 
50 // PCL type tags
51 
52 struct pcl_all_xyz_types_tag {};
53 
54 struct pcl_xyz_rgb_types_tag {}; // XYZ or XYZ+RGB
55 
56 struct pcl_rgb_types_tag {}; // XYZ+RGB
57 
58 struct pcl_xyzi_types_tag {}; // XYZI(+Normal)
59 
60 struct pcl_normal_types_tag {};
61 
62 // special cases for pcl::MovingLeastSquares, see:
63 // https://github.com/PointCloudLibrary/pcl/pull/5764
64 struct pcl_mls_types_tag : public pcl_all_xyz_types_tag {};
65 struct pcl_mls_normal_types_tag : public pcl_normal_types_tag {};
66 
67 // map PCL type according to selected tag
68 
69 template <typename T, typename tag>
70 struct pcl_decay;
71 
72 // 1-to-1 mapping if T belongs to any of the supported XYZ types
73 
74 template <typename T>
75 struct pcl_decay<T, pcl_all_xyz_types_tag>
76 { typedef T type; };
77 
78 // mappings for XYZ or XYZ+RGB types
79 
80 template <typename T>
81 struct pcl_decay<T, pcl_xyz_rgb_types_tag>
82 { typedef pcl::PointXYZ type; };
83 
84 template <>
85 struct pcl_decay<pcl::PointXYZRGB, pcl_xyz_rgb_types_tag>
86 { typedef pcl::PointXYZRGB type; };
87 
88 template <>
89 struct pcl_decay<pcl::PointXYZRGBNormal, pcl_xyz_rgb_types_tag>
90 { typedef pcl::PointXYZRGB type; };
91 
92 // mappings for XYZ+RGB types
93 
94 template <typename T>
95 struct pcl_decay<T, pcl_rgb_types_tag>
96 { typedef pcl::PointXYZRGB type; };
97 
98 // mappings for XYZI(+Normal) types
99 
100 template <typename T>
101 struct pcl_decay<T, pcl_xyzi_types_tag>
102 { typedef pcl::PointXYZI type; };
103 
104 template <>
105 struct pcl_decay<pcl::PointNormal, pcl_xyzi_types_tag>
106 { typedef pcl::PointXYZINormal type; };
107 
108 template <>
109 struct pcl_decay<pcl::PointXYZRGBNormal, pcl_xyzi_types_tag>
110 { typedef pcl::PointXYZINormal type; };
111 
112 template <>
113 struct pcl_decay<pcl::PointXYZINormal, pcl_xyzi_types_tag>
114 { typedef pcl::PointXYZINormal type; };
115 
116 // mappings for XYZ+normal types
117 
118 template <typename T>
119 struct pcl_decay<T, pcl_normal_types_tag>
120 { typedef T type; };
121 
122 template <>
123 struct pcl_decay<pcl::PointXYZ, pcl_normal_types_tag>
124 { typedef pcl::PointNormal type; };
125 
126 template <>
127 struct pcl_decay<pcl::PointXYZRGB, pcl_normal_types_tag>
128 { typedef pcl::PointXYZRGBNormal type; };
129 
130 template <>
131 struct pcl_decay<pcl::PointXYZI, pcl_normal_types_tag>
132 { typedef pcl::PointXYZINormal type; };
133 
134 template <>
135 struct pcl_decay<pcl::InterestPoint, pcl_normal_types_tag>
136 { typedef pcl::PointNormal type; };
137 
138 // mappings for pcl::MovingLeastSquares (special case, less precompiled instantiations)
139 
140 template <typename T>
141 struct pcl_decay<T, pcl_mls_types_tag>
142 { typedef T type; };
143 
144 template <>
145 struct pcl_decay<pcl::InterestPoint, pcl_mls_types_tag>
146 { typedef pcl::PointXYZ type; };
147 
148 template <typename T>
149 struct pcl_decay<T, pcl_mls_normal_types_tag>
150 { typedef T type; };
151 
152 template <>
153 struct pcl_decay<pcl::PointXYZ, pcl_mls_normal_types_tag>
154 { typedef pcl::PointNormal type; };
155 
156 template <>
157 struct pcl_decay<pcl::PointXYZRGB, pcl_mls_normal_types_tag>
158 { typedef pcl::PointXYZRGBNormal type; };
159 
160 template <>
161 struct pcl_decay<pcl::PointXYZI, pcl_mls_normal_types_tag>
162 { typedef pcl::PointNormal type; };
163 
164 template <>
165 struct pcl_decay<pcl::InterestPoint, pcl_mls_normal_types_tag>
166 { typedef pcl::PointNormal type; };
167 
168 // register allowed conversions
169 
170 template <typename T1, typename T2>
171 struct pcl_is_convertible : std::false_type {};
172 
173 template <typename T>
174 struct pcl_is_convertible<T, pcl::PointXYZ> : std::true_type {}; // T->XYZ always allowed
175 
176 template <>
177 struct pcl_is_convertible<pcl::PointXYZRGBNormal, pcl::PointXYZRGB> : std::true_type {};
178 
179 template <>
180 struct pcl_is_convertible<pcl::PointXYZRGBNormal, pcl::PointNormal> : std::true_type {};
181 
182 template <>
183 struct pcl_is_convertible<pcl::PointXYZINormal, pcl::PointXYZI> : std::true_type {};
184 
185 template <>
186 struct pcl_is_convertible<pcl::PointXYZINormal, pcl::PointNormal> : std::true_type {};
187 
188 // describe each type
189 
190 template <typename T>
191 struct pcl_descriptor;
192 
193 template <>
194 struct pcl_descriptor<pcl::PointXY>
195 { static constexpr const char * name = "XY"; };
196 
197 template <>
198 struct pcl_descriptor<pcl::PointXYZ>
199 { static constexpr const char * name = "XYZ"; };
200 
201 template <>
202 struct pcl_descriptor<pcl::Normal>
203 { static constexpr const char * name = "NORMAL"; };
204 
205 template <>
206 struct pcl_descriptor<pcl::PointXYZRGB>
207 { static constexpr const char * name = "XYZ_RGB"; };
208 
209 template <>
210 struct pcl_descriptor<pcl::PointXYZI>
211 { static constexpr const char * name = "XYZI"; };
212 
213 template <>
214 struct pcl_descriptor<pcl::InterestPoint>
215 { static constexpr const char * name = "XYZ_INTEREST"; };
216 
217 template <>
218 struct pcl_descriptor<pcl::PointNormal>
219 { static constexpr const char * name = "XYZ_NORMAL"; };
220 
221 template <>
222 struct pcl_descriptor<pcl::PointXYZRGBNormal>
223 { static constexpr const char * name = "XYZ_RGB_NORMAL"; };
224 
225 template <>
226 struct pcl_descriptor<pcl::PointXYZINormal>
227 { static constexpr const char * name = "XYZI_NORMAL"; };
228 
229 // conditional switches
230 
231 template <typename T>
232 constexpr auto is_unsupported_type =
233  std::is_same_v<T, pcl::PointXY> ||
234  std::is_same_v<T, pcl::Normal>;
235 
236 } // namespace
237 
238 #endif // __YARP_CLOUD_UTILS_PCL_TRAITS_HPP__
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