46 #if defined __INTEL_COMPILER
47 #pragma warning disable 2196 2536 279
55 #pragma warning (disable: 4018 4244 4267 4521 4251 4661 4305 4503 4146)
58 #ifndef _USE_MATH_DEFINES
59 #define _USE_MATH_DEFINES
68 #if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9))
69 #define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 1
71 #define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 0
74 #include <pcl/pcl_config.h>
76 #include <boost/preprocessor/comparison/equal.hpp>
77 #include <boost/preprocessor/comparison/less.hpp>
78 #include <boost/preprocessor/control/if.hpp>
79 #include <boost/preprocessor/stringize.hpp>
87 #if !defined(__CUDACC__)
88 #define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
90 #define _PCL_DEPRECATED_IMPL(Message)
92 #elif __has_cpp_attribute(deprecated)
93 #define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
95 #warning "You need to implement _PCL_DEPRECATED_IMPL for this compiler"
96 #define _PCL_DEPRECATED_IMPL(Message)
100 #if (defined (__GNUC__) || defined(__clang__))
101 #define PCL_PRAGMA(x) _Pragma (#x)
103 #define PCL_PRAGMA(x) __pragma (#x)
109 #if (defined (__GNUC__) || defined(__clang__))
110 #define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (GCC warning Message)
112 #define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (warning (Message))
114 #warning "You need to implement _PCL_DEPRECATED_HEADER_IMPL for this compiler"
115 #define _PCL_DEPRECATED_HEADER_IMPL(Message)
121 #define _PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Msg) \
122 Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE(Major.Minor) ")"
127 #define _PCL_COMPAT_MINOR_VERSION(Minor, IfPass, IfFail) \
128 BOOST_PP_IF(BOOST_PP_LESS(PCL_MINOR_VERSION, Minor), IfPass, IfFail)
133 #define _PCL_COMPAT_MAJOR_VERSION(Major, IfPass, IfFail) \
134 BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MAJOR_VERSION, Major), IfPass, IfFail)
147 #define PCL_DEPRECATED(Major, Minor, Message) \
148 _PCL_COMPAT_MAJOR_VERSION( \
150 _PCL_COMPAT_MINOR_VERSION( \
152 _PCL_DEPRECATED_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Message)), \
153 unneeded_deprecation), \
154 major_version_mismatch)
167 #define PCL_DEPRECATED_HEADER(Major, Minor, Message) \
168 _PCL_COMPAT_MAJOR_VERSION( \
170 _PCL_COMPAT_MINOR_VERSION( \
172 _PCL_DEPRECATED_HEADER_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE( \
175 "This header is deprecated. " Message)), \
177 major_version_mismatch)
184 #if !defined _MATH_DEFINES_DEFINED && !defined M_2_SQRTPI
185 #define _MATH_DEFINES_DEFINED
187 #define M_E 2.71828182845904523536 // e
188 #define M_LOG2E 1.44269504088896340736 // log2(e)
189 #define M_LOG10E 0.434294481903251827651 // log10(e)
190 #define M_LN2 0.693147180559945309417 // ln(2)
191 #define M_LN10 2.30258509299404568402 // ln(10)
192 #define M_PI 3.14159265358979323846 // pi
193 #define M_PI_2 1.57079632679489661923 // pi/2
194 #define M_PI_4 0.785398163397448309616 // pi/4
195 #define M_1_PI 0.318309886183790671538 // 1/pi
196 #define M_2_PI 0.636619772367581343076 // 2/pi
197 #define M_2_SQRTPI 1.12837916709551257390 // 2/sqrt(pi)
198 #define M_SQRT2 1.41421356237309504880 // sqrt(2)
199 #define M_SQRT1_2 0.707106781186547524401 // 1/sqrt(2)
208 #define __PRETTY_FUNCTION__ __FUNCTION__
209 #define __func__ __FUNCTION__
211 #endif // defined _WIN32
216 bool
pcl_isnan (T&& x) {
return std::isnan (std::forward<T> (x)); }
219 PCL_DEPRECATED(1, 12,
"use std::isfinite instead of pcl_isfinite")
220 bool
pcl_isfinite (T&& x) {
return std::isfinite (std::forward<T> (x)); }
224 bool
pcl_isinf (T&& x) {
return std::isinf (std::forward<T> (x)); }
228 #define DEG2RAD(x) ((x)*0.017453293)
232 #define RAD2DEG(x) ((x)*57.29578)
237 #define PCL_LINEAR_VERSION(major,minor,patch) ((major)<<16|(minor)<<8|(patch))
246 return (number < 0.0 ? std::ceil (number - 0.5) : std::floor (number + 0.5));
251 return (number < 0.0f ? std::ceil (number - 0.5f) : std::floor (number + 0.5f));
255 #define pcl_lrint(x) (lrint(static_cast<double> (x)))
256 #define pcl_lrintf(x) (lrintf(static_cast<float> (x)))
258 #define pcl_lrint(x) (static_cast<long int>(pcl_round(x)))
259 #define pcl_lrintf(x) (static_cast<long int>(pcl_round(x)))
263 #define pcl_sleep(x) Sleep(1000*(x))
265 #define pcl_sleep(x) sleep(x)
270 #s << " = " << (s) << std::flush
274 #s << " = " << (s) << "\n"
278 #s << " = " << (s) << ", " << std::flush
282 #s << " = " << (s) << " " << std::flush
286 #s << " = " << RAD2DEG(s) << "deg" << std::flush
290 #s << " = " << RAD2DEG(s) << "deg\n"
294 #s << " = " << RAD2DEG(s) << "deg, " << std::flush
298 #s << " = " << RAD2DEG(s) << "deg " << std::flush
302 std::fixed << s << std::resetiosflags(std::ios_base::fixed)
305 #define ERASE_STRUCT(var) memset(&var, 0, sizeof(var))
309 #define ERASE_ARRAY(var, size) memset(var, 0, size*sizeof(*var))
313 #define SET_ARRAY(var, value, size) { for (decltype(size) i = 0; i < size; ++i) var[i]=value; }
318 #define PCL_EXTERN_C extern "C"
324 #if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
325 #ifdef PCLAPI_EXPORTS
326 #define PCL_EXPORTS __declspec(dllexport)
334 #if defined WIN32 || defined _WIN32
335 #define PCL_CDECL __cdecl
336 #define PCL_STDCALL __stdcall
343 #define PCLAPI(rettype) PCL_EXTERN_C PCL_EXPORTS rettype PCL_CDECL
347 #ifndef __has_extension
348 #define __has_extension(x) 0 // Compatibility with pre-3.0 compilers.
351 #if defined (__GNUC__) || defined (__PGI) || defined (__IBMCPP__) || defined (__SUNPRO_CC)
352 #define PCL_ALIGN(alignment) __attribute__((aligned(alignment)))
353 #elif defined (_MSC_VER)
354 #define PCL_ALIGN(alignment) __declspec(align(alignment))
356 #error Alignment not supported on your platform
359 #if defined(__GLIBC__) && PCL_LINEAR_VERSION(__GLIBC__,__GLIBC_MINOR__,0)>PCL_LINEAR_VERSION(2,8,0)
360 #define GLIBC_MALLOC_ALIGNED 1
362 #define GLIBC_MALLOC_ALIGNED 0
365 #if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
366 #define FREEBSD_MALLOC_ALIGNED 1
368 #define FREEBSD_MALLOC_ALIGNED 0
371 #if defined(__APPLE__) || defined(_WIN64) || GLIBC_MALLOC_ALIGNED || FREEBSD_MALLOC_ALIGNED
372 #define MALLOC_ALIGNED 1
375 #if defined (HAVE_MM_MALLOC)
377 #if defined(__INTEL_COMPILER)
380 #include <mm_malloc.h>
388 #if defined (MALLOC_ALIGNED)
389 ptr = std::malloc (size);
390 #elif defined (HAVE_POSIX_MEMALIGN)
391 if (posix_memalign (&ptr, 16, size))
393 #elif defined (HAVE_MM_MALLOC)
394 ptr = _mm_malloc (size, 16);
395 #elif defined (_MSC_VER)
396 ptr = _aligned_malloc (size, 16);
397 #elif defined (ANDROID)
398 ptr = memalign (16, size);
400 #error aligned_malloc not supported on your platform
409 #if defined (MALLOC_ALIGNED) || defined (HAVE_POSIX_MEMALIGN)
411 #elif defined (HAVE_MM_MALLOC)
413 #elif defined (_MSC_VER)
415 #elif defined (ANDROID)
418 #error aligned_free not supported on your platform
427 #if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1910) && (_MSVC_LANG >= 201703L))
428 #define PCL_FALLTHROUGH [[fallthrough]];
429 #elif defined(__clang__)
430 #define PCL_FALLTHROUGH [[clang::fallthrough]];
431 #elif defined(__GNUC__) && (__GNUC__ >= 7)
432 #define PCL_FALLTHROUGH [[gnu::fallthrough]];
434 #define PCL_FALLTHROUGH
437 #if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1911) && (_MSVC_LANG >= 201703L))
438 #define PCL_NODISCARD [[nodiscard]]
439 #elif defined(__clang__) && (PCL_LINEAR_VERSION(__clang_major__, __clang_minor__, 0) >= PCL_LINEAR_VERSION(3, 9, 0))
440 #define PCL_NODISCARD [[clang::warn_unused_result]]
441 #elif defined(__GNUC__)
442 #define PCL_NODISCARD [[gnu::warn_unused_result]]
444 #define PCL_NODISCARD