Split point_types.hpp part into field_traits.(h|hpp)

apps/src/statistical_multiscale_interest_region_extraction_example.cpp

@@ -39,6 +39,7 @@
 #include <pcl/filters/extract_indices.h>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl/point_types.h>
 
 using namespace pcl;
 

benchmarks/filters/voxel_grid.cpp

@@ -1,6 +1,7 @@
 #include <pcl/filters/approximate_voxel_grid.h>
 #include <pcl/filters/voxel_grid.h>
-#include <pcl/io/pcd_io.h> // for PCDReader
+#include <pcl/io/pcd_io.h>   // for PCDReader
+#include <pcl/point_types.h> // for pcl::PointXYZ
 
 #include <benchmark/benchmark.h>
 

common/CMakeLists.txt

@@ -53,6 +53,7 @@ set(incs
   include/pcl/correspondence.h
   include/pcl/memory.h
   include/pcl/exceptions.h
+  include/pcl/field_traits.h
   include/pcl/pcl_base.h
   include/pcl/pcl_exports.h
   include/pcl/pcl_macros.h
@@ -145,6 +146,7 @@ set(common_incs_impl
 )
 
 set(impl_incs
+  include/pcl/impl/field_traits.hpp
   include/pcl/impl/pcl_base.hpp
   include/pcl/impl/instantiate.hpp
   include/pcl/impl/point_types.hpp

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

@@ -46,9 +46,9 @@
 #include <boost/fusion/include/as_vector.hpp>
 #include <boost/fusion/include/filter_if.hpp>
 
+#include <pcl/field_traits.h>
 #include <pcl/memory.h>
 #include <pcl/pcl_macros.h>
-#include <pcl/point_types.h>
 
 namespace pcl
 {

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

@@ -37,12 +37,13 @@
 
 #pragma once
 
-#include <pcl/point_types.h>
+#include <pcl/field_traits.h>
 #include <pcl/type_traits.h>
 #include <pcl/for_each_type.h>
 #include <pcl/common/concatenate.h>
 #include <pcl/common/copy_point.h>
 
+#include <cstring>  // for memcpy
 
 namespace pcl
 {

common/include/pcl/common/point_tests.h

@@ -39,6 +39,7 @@
 
 #pragma once
 
+#include <pcl/field_traits.h>
 #include <pcl/point_types.h>
 
 #ifdef _MSC_VER

common/include/pcl/field_traits.h

@@ -0,0 +1,148 @@
+/*
+* SPDX-License-Identifier: BSD-3-Clause
+*
+*  Point Cloud Library (PCL) - www.pointclouds.org
+*  Copyright (c) 2025-, Open Perception Inc.
+*
+*  All rights reserved
+*/
+
+#pragma once
+
+#include <type_traits> // for std::enable_if
+
+namespace pcl
+{
+namespace traits
+{
+
+/** \brief Metafunction to check if a given point type has a given field.
+ *
+ *  Example usage at run-time:
+ *
+ *  \code
+ *  bool curvature_available = pcl::traits::has_field<PointT, pcl::fields::curvature>::value;
+ *  \endcode
+ *
+ *  Example usage at compile-time:
+ *
+ *  \code
+ *  BOOST_MPL_ASSERT_MSG ((pcl::traits::has_field<PointT, pcl::fields::label>::value),
+ *                        POINT_TYPE_SHOULD_HAVE_LABEL_FIELD,
+ *                        (PointT));
+ *  \endcode
+ */
+template <typename PointT, typename Field>
+struct has_field;
+
+/** Metafunction to check if a given point type has all given fields. */
+template <typename PointT, typename Field>
+struct has_all_fields;
+
+/** Metafunction to check if a given point type has any of the given fields. */
+template <typename PointT, typename Field>
+struct has_any_field;
+
+/** \brief Traits defined for ease of use with common fields
+ *
+ * has_<fields to be detected>: struct with `value` datamember defined at compiletime
+ * has_<fields to be detected>_v: constexpr boolean
+ * Has<Fields to be detected>: concept modelling name alias for `enable_if`
+ */
+
+/** Metafunction to check if a given point type has x and y fields. */
+template <typename PointT>
+struct has_xy;
+
+template <typename PointT>
+constexpr auto has_xy_v = has_xy<PointT>::value;
+
+template <typename PointT>
+using HasXY = std::enable_if_t<has_xy_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoXY = std::enable_if_t<!has_xy_v<PointT>, bool>;
+
+/** Metafunction to check if a given point type has x, y, and z fields. */
+template <typename PointT>
+struct has_xyz;
+
+template <typename PointT>
+constexpr auto has_xyz_v = has_xyz<PointT>::value;
+
+template <typename PointT>
+using HasXYZ = std::enable_if_t<has_xyz_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoXYZ = std::enable_if_t<!has_xyz_v<PointT>, bool>;
+
+/** Metafunction to check if a given point type has normal_x, normal_y, and
+  * normal_z fields. */
+template <typename PointT>
+struct has_normal;
+
+template <typename PointT>
+constexpr auto has_normal_v = has_normal<PointT>::value;
+
+template <typename PointT>
+using HasNormal = std::enable_if_t<has_normal_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoNormal = std::enable_if_t<!has_normal_v<PointT>, bool>;
+
+/** Metafunction to check if a given point type has curvature field. */
+template <typename PointT>
+struct has_curvature;
+
+template <typename PointT>
+constexpr auto has_curvature_v = has_curvature<PointT>::value;
+
+template <typename PointT>
+using HasCurvature = std::enable_if_t<has_curvature_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoCurvature = std::enable_if_t<!has_curvature_v<PointT>, bool>;
+
+/** Metafunction to check if a given point type has intensity field. */
+template <typename PointT>
+struct has_intensity;
+
+template <typename PointT>
+constexpr auto has_intensity_v = has_intensity<PointT>::value;
+
+template <typename PointT>
+using HasIntensity = std::enable_if_t<has_intensity_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoIntensity = std::enable_if_t<!has_intensity_v<PointT>, bool>;
+
+/** Metafunction to check if a given point type has either rgb or rgba field. */
+template <typename PointT>
+struct has_color;
+
+template <typename PointT>
+constexpr auto has_color_v = has_color<PointT>::value;
+
+template <typename PointT>
+using HasColor = std::enable_if_t<has_color_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoColor = std::enable_if_t<!has_color_v<PointT>, bool>;
+
+/** Metafunction to check if a given point type has label field. */
+template <typename PointT>
+struct has_label;
+
+template <typename PointT>
+constexpr auto has_label_v = has_label<PointT>::value;
+
+template <typename PointT>
+using HasLabel = std::enable_if_t<has_label_v<PointT>, bool>;
+
+template <typename PointT>
+using HasNoLabel = std::enable_if_t<!has_label_v<PointT>, bool>;
+
+} // namespace traits
+} // namespace pcl
+
+#include <pcl/impl/field_traits.hpp>

common/include/pcl/impl/field_traits.hpp

@@ -0,0 +1,99 @@
+/*
+* SPDX-License-Identifier: BSD-3-Clause
+*
+*  Point Cloud Library (PCL) - www.pointclouds.org
+*  Copyright (c) 2025-, Open Perception Inc.
+*
+*  All rights reserved
+*/
+
+#pragma once
+
+#include <pcl/point_struct_traits.h>    // for pcl::traits::fieldList
+
+// Forward declarations of common pcl field types
+namespace pcl
+{
+namespace fields
+{
+struct x;
+struct y;
+struct z;
+struct normal_x;
+struct normal_y;
+struct normal_z;
+struct curvature;
+struct intensity;
+struct rgb;
+struct rgba;
+struct label;
+} // namespace fields
+} // namespace pcl
+
+#include <boost/mpl/and.hpp>            // for boost::mpl::and_
+#include <boost/mpl/bool.hpp>           // for boost::mpl::bool_
+#include <boost/mpl/contains.hpp>       // for boost::mpl::contains
+#include <boost/mpl/fold.hpp>           // for boost::mpl::fold
+#include <boost/mpl/or.hpp>             // for boost::mpl::or_
+#include <boost/mpl/placeholders.hpp>   // for boost::mpl::_1, boost::mpl::_2
+#include <boost/mpl/vector.hpp>         // for boost::mpl::vector
+
+namespace pcl
+{
+namespace traits
+{
+
+template <typename PointT, typename Field>
+struct has_field : boost::mpl::contains<typename pcl::traits::fieldList<PointT>::type, Field>::type
+{ };
+
+template <typename PointT, typename Field>
+struct has_all_fields : boost::mpl::fold<Field,
+                                         boost::mpl::bool_<true>,
+                                         boost::mpl::and_<boost::mpl::_1,
+                                                          has_field<PointT, boost::mpl::_2> > >::type
+{ };
+
+template <typename PointT, typename Field>
+struct has_any_field : boost::mpl::fold<Field,
+                                        boost::mpl::bool_<false>,
+                                        boost::mpl::or_<boost::mpl::_1,
+                                                        has_field<PointT, boost::mpl::_2> > >::type
+{ };
+
+template <typename PointT>
+struct has_xy : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
+                                                          pcl::fields::y> >
+{ };
+
+template <typename PointT>
+struct has_xyz : has_all_fields<PointT, boost::mpl::vector<pcl::fields::x,
+                                                           pcl::fields::y,
+                                                           pcl::fields::z> >
+{ };
+
+template <typename PointT>
+struct has_normal : has_all_fields<PointT, boost::mpl::vector<pcl::fields::normal_x,
+                                                              pcl::fields::normal_y,
+                                                              pcl::fields::normal_z> >
+{ };
+
+template <typename PointT>
+struct has_curvature : has_field<PointT, pcl::fields::curvature>
+{ };
+
+template <typename PointT>
+struct has_intensity : has_field<PointT, pcl::fields::intensity>
+{ };
+
+template <typename PointT>
+struct has_color : has_any_field<PointT, boost::mpl::vector<pcl::fields::rgb,
+                                                            pcl::fields::rgba> >
+{ };
+
+template <typename PointT>
+struct has_label : has_field<PointT, pcl::fields::label>
+{ };
+
+} // namespace traits
+} // namespace pcl