Use SFINAE instead of relying on macros

PointCloudLibrary · Mar 11, 2021 · 94a573c · 94a573c
1 parent 7eec8f2
commit 94a573c
Show file tree

Hide file tree

Showing 4 changed files with 21 additions and 15 deletions.
diff --git a/tracking/include/pcl/tracking/impl/particle_filter.hpp b/tracking/include/pcl/tracking/impl/particle_filter.hpp
@@ -293,15 +293,11 @@ ParticleFilterTracker<PointInT, StateT>::computeTransformedPointCloudWithoutNorm
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointInT, typename StateT>
+template <typename PointT, pcl::traits::HasNormal<PointT>>
 void
 ParticleFilterTracker<PointInT, StateT>::computeTransformedPointCloudWithNormal(
-#ifdef PCL_TRACKING_NORMAL_SUPPORTED
     const StateT& hypothesis, pcl::Indices& indices, PointCloudIn& cloud)
-#else
-    const StateT&, pcl::Indices&, PointCloudIn&)
-#endif
 {
-#ifdef PCL_TRACKING_NORMAL_SUPPORTED
   const Eigen::Affine3f trans = toEigenMatrix(hypothesis);
   // destructively assigns to cloud
   pcl::transformPointCloudWithNormals<PointInT>(*ref_, cloud, trans);
@@ -318,11 +314,17 @@ ParticleFilterTracker<PointInT, StateT>::computeTransformedPointCloudWithNormal(
     if (theta > occlusion_angle_thr_)
       indices.push_back(i);
   }
-#else
+}
+
+template <typename PointInT, typename StateT>
+template <typename PointT, pcl::traits::HasNoNormal<PointT>>
+void
+ParticleFilterTracker<PointInT, StateT>::computeTransformedPointCloudWithNormal(
+    const StateT&, pcl::Indices&, PointCloudIn&)
+{
   PCL_WARN("[pcl::%s::computeTransformedPointCloudWithoutNormal] "
            "use_normal_ == true is not supported in this Point Type.\n",
            getClassName().c_str());
-#endif
 }
 
 template <typename PointInT, typename StateT>

diff --git a/tracking/include/pcl/tracking/particle_filter.h b/tracking/include/pcl/tracking/particle_filter.h
@@ -6,6 +6,7 @@
 #include <pcl/tracking/tracker.h>
 #include <pcl/tracking/tracking.h>
 #include <pcl/memory.h>
+#include <pcl/point_types.h>
 
 namespace pcl {
 namespace tracking {
@@ -438,6 +439,7 @@ class ParticleFilterTracker : public Tracker<PointInT, StateT> {
                                pcl::Indices& indices,
                                PointCloudIn& cloud);
 
+#ifdef DOXYGEN_ONLY
   /** \brief Compute a reference pointcloud transformed to the pose that hypothesis
    * represents and calculate indices taking occlusion into account.
    * \param[in] hypothesis a particle which represents a hypothesis.
@@ -449,6 +451,16 @@ class ParticleFilterTracker : public Tracker<PointInT, StateT> {
   computeTransformedPointCloudWithNormal(const StateT& hypothesis,
                                          pcl::Indices& indices,
                                          PointCloudIn& cloud);
+#else
+  template <typename PointT = PointInT, traits::HasNormal<PointT> = true>
+  void
+  computeTransformedPointCloudWithNormal(const StateT& hypothesis,
+                                         pcl::Indices& indices,
+                                         PointCloudIn& cloud);
+  template <typename PointT = PointInT, traits::HasNoNormal<PointT> = true>
+  void
+  computeTransformedPointCloudWithNormal(const StateT&, pcl::Indices&, PointCloudIn&);
+#endif
 
   /** \brief Compute a reference pointcloud transformed to the pose that hypothesis
    * represents and calculate indices without taking occlusion into account.

diff --git a/tracking/src/kld_adaptive_particle_filter.cpp b/tracking/src/kld_adaptive_particle_filter.cpp
@@ -40,7 +40,6 @@
 #ifndef PCL_NO_PRECOMPILE
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>
-#define PCL_TRACKING_NORMAL_SUPPORTED
 
 // clang-format off
 PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterTracker,
@@ -53,9 +52,6 @@ PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterOMPTracker,
                          (pcl::PointXYZINormal)
                          (pcl::PointXYZRGBNormal))
                         (PCL_STATE_POINT_TYPES))
-// clang-format on
-#undef PCL_TRACKING_NORMAL_SUPPORTED
-// clang-format off
 PCL_INSTANTIATE_PRODUCT(KLDAdaptiveParticleFilterOMPTracker,
                         ((pcl::PointXYZ)
                          (pcl::PointXYZI)

diff --git a/tracking/src/particle_filter.cpp b/tracking/src/particle_filter.cpp
@@ -40,7 +40,6 @@
 #ifndef PCL_NO_PRECOMPILE
 #include <pcl/impl/instantiate.hpp>
 #include <pcl/point_types.h>
-#define PCL_TRACKING_NORMAL_SUPPORTED
 
 // clang-format off
 PCL_INSTANTIATE_PRODUCT(ParticleFilterTracker,
@@ -53,9 +52,6 @@ PCL_INSTANTIATE_PRODUCT(ParticleFilterOMPTracker,
                          (pcl::PointXYZINormal)
                          (pcl::PointXYZRGBNormal))
                         (PCL_STATE_POINT_TYPES))
-// clang-format on
-#undef PCL_TRACKING_NORMAL_SUPPORTED
-// clang-format off
 PCL_INSTANTIATE_PRODUCT(ParticleFilterTracker,
                         ((pcl::PointXYZ)
                          (pcl::PointXYZI)