Point Cloud Library (PCL) 1.12.1
pcl_macros.h
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36
37#pragma once
38
39/**
40 * \file pcl/pcl_macros.h
41 *
42 * \brief Defines all the PCL and non-PCL macros used
43 * \ingroup common
44 */
45
46#if defined __INTEL_COMPILER
47 #pragma warning disable 2196 2536 279
48#endif
49
50#if defined _MSC_VER
51 // 4244 : conversion from 'type1' to 'type2', possible loss of data
52 // 4661 : no suitable definition provided for explicit template instantiation reques
53 // 4503 : decorated name length exceeded, name was truncated
54 // 4146 : unary minus operator applied to unsigned type, result still unsigned
55 #pragma warning (disable: 4018 4244 4267 4521 4251 4661 4305 4503 4146)
56#endif
57
58#ifndef _USE_MATH_DEFINES
59 #define _USE_MATH_DEFINES
60#endif
61#include <cmath>
62#include <cstdlib>
63#include <iostream>
64
65// We need to check for GCC version, because GCC releases before 9 were implementing an
66// OpenMP 3.1 data sharing rule, even OpenMP 4 is supported, so a plain OpenMP version 4 check
67// isn't enough (see https://www.gnu.org/software/gcc/gcc-9/porting_to.html#ompdatasharing)
68#if (defined _OPENMP && (_OPENMP <= 201307)) || (defined __GNUC__ && (__GNUC__ >= 6 && __GNUC__ < 9))
69 #define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 1
70#else
71 #define OPENMP_LEGACY_CONST_DATA_SHARING_RULE 0
72#endif
73
74#include <pcl/pcl_config.h>
75
76#include <boost/preprocessor/arithmetic/add.hpp>
77#include <boost/preprocessor/comparison/equal.hpp>
78#include <boost/preprocessor/comparison/less.hpp>
79#include <boost/preprocessor/control/if.hpp>
80#include <boost/preprocessor/stringize.hpp>
81
82// MSVC < 2019 have issues:
83// * can't short-circuiting logic in macros
84// * don't define standard macros
85// => this leads to annyoing C4067 warnings (see https://developercommunity.visualstudio.com/content/problem/327796/-has-cpp-attribute-emits-warning-is-wrong-highligh.html)
86#if defined(_MSC_VER)
87 // nvcc on msvc can't work with [[deprecated]]
88 #if !defined(__CUDACC__)
89 #define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
90 #else
91 #define _PCL_DEPRECATED_IMPL(Message)
92 #endif
93#elif __has_cpp_attribute(deprecated)
94 #define _PCL_DEPRECATED_IMPL(Message) [[deprecated(Message)]]
95#else
96 #warning "You need to implement _PCL_DEPRECATED_IMPL for this compiler"
97 #define _PCL_DEPRECATED_IMPL(Message)
98#endif
99
100// Macro for pragma operator
101#if (defined (__GNUC__) || defined(__clang__))
102 #define PCL_PRAGMA(x) _Pragma (#x)
103#elif _MSC_VER
104 #define PCL_PRAGMA(x) __pragma (#x)
105#else
106 #define PCL_PRAGMA
107#endif
108
109// Macro for emitting pragma warning for deprecated headers
110#if (defined (__GNUC__) || defined(__clang__))
111 #define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (GCC warning Message)
112#elif _MSC_VER
113 #define _PCL_DEPRECATED_HEADER_IMPL(Message) PCL_PRAGMA (warning (Message))
114#else
115 #warning "You need to implement _PCL_DEPRECATED_HEADER_IMPL for this compiler"
116 #define _PCL_DEPRECATED_HEADER_IMPL(Message)
117#endif
118
119/**
120 * \brief A handy way to inform the user of the removal deadline
121 */
122#define _PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Msg) \
123 Msg " (It will be removed in PCL " BOOST_PP_STRINGIZE(Major.Minor) ")"
124
125/**
126 * \brief Tests for Minor < PCL_MINOR_VERSION
127 * \details When PCL VERSION is of format `34.12.99`, this macro behaves as if it is
128 * already `34.13.0`, and allows for smoother transition for maintainers
129 */
130#define _PCL_COMPAT_MINOR_VERSION(Minor, IfPass, IfFail) \
131 BOOST_PP_IF(BOOST_PP_EQUAL(PCL_REVISION_VERSION, 99), \
132 BOOST_PP_IF(BOOST_PP_LESS(BOOST_PP_ADD(PCL_MINOR_VERSION, 1), Minor), IfPass, IfFail), \
133 BOOST_PP_IF(BOOST_PP_LESS(PCL_MINOR_VERSION, Minor), IfPass, IfFail))
134
135/**
136 * \brief Tests for Major == PCL_MAJOR_VERSION
137 * \details When PCL VERSION is of format `34.99.12`, this macro behaves as if it is
138 * already `35.0.0`, and allows for smoother transition for maintainers
139 */
140#define _PCL_COMPAT_MAJOR_VERSION(Major, IfPass, IfFail) \
141 BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MINOR_VERSION, 99), \
142 BOOST_PP_IF(BOOST_PP_EQUAL(BOOST_PP_ADD(PCL_MAJOR_VERSION, 1), Major), IfPass, IfFail), \
143 BOOST_PP_IF(BOOST_PP_EQUAL(PCL_MAJOR_VERSION, Major), IfPass, IfFail))
144
145/**
146 * \brief macro for compatibility across compilers and help remove old deprecated
147 * items for the Major.Minor release
148 *
149 * \details compiler errors of `unneeded_deprecation` and `major_version_mismatch`
150 * are hints to the developer that those items can be safely removed.
151 * Behavior of PCL_DEPRECATED(1, 99, "Not needed anymore")
152 * * till PCL 1.98: "Not needed anymore (It will be removed in PCL 1.99)"
153 * * PCL 1.99 onwards: compiler error with "unneeded_deprecation"
154 * * PCL 2.0 onwards: compiler error with "major_version_mismatch"
155 */
156#define PCL_DEPRECATED(Major, Minor, Message) \
157 _PCL_COMPAT_MAJOR_VERSION( \
158 Major, \
159 _PCL_COMPAT_MINOR_VERSION( \
160 Minor, \
161 _PCL_DEPRECATED_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE(Major, Minor, Message)), \
162 unneeded_deprecation), \
163 major_version_mismatch)
164
165/**
166 * \brief macro for compatibility across compilers and help remove old deprecated
167 * headers for the Major.Minor release
168 *
169 * \details compiler errors of `unneeded_header` and `major_version_mismatch`
170 * are hints to the developer that those items can be safely removed.
171 * Behavior of PCL_DEPRECATED_HEADER(1, 99, "Use file <newfile.h> instead.")
172 * * till PCL 1.98: "This header is deprecated. Use file <newfile.h> instead. (It will be removed in PCL 1.99)"
173 * * PCL 1.99 onwards: compiler error with "unneeded_header"
174 * * PCL 2.0 onwards: compiler error with "major_version_mismatch"
175 */
176#define PCL_DEPRECATED_HEADER(Major, Minor, Message) \
177 _PCL_COMPAT_MAJOR_VERSION( \
178 Major, \
179 _PCL_COMPAT_MINOR_VERSION( \
180 Minor, \
181 _PCL_DEPRECATED_HEADER_IMPL(_PCL_PREPARE_REMOVAL_MESSAGE( \
182 Major, \
183 Minor, \
184 "This header is deprecated. " Message)), \
185 unneeded_header), \
186 major_version_mismatch)
187
188#if defined _WIN32
189// Define math constants, without including math.h, to prevent polluting global namespace with old math methods
190// Copied from math.h
191// Check for M_2_SQRTPI since the cmath header on mingw-w64 doesn't seem to define
192// _MATH_DEFINES_DEFINED when included with _USE_MATH_DEFINES
193#if !defined _MATH_DEFINES_DEFINED && !defined M_2_SQRTPI
194 #define _MATH_DEFINES_DEFINED
195
196 #define M_E 2.71828182845904523536 // e
197 #define M_LOG2E 1.44269504088896340736 // log2(e)
198 #define M_LOG10E 0.434294481903251827651 // log10(e)
199 #define M_LN2 0.693147180559945309417 // ln(2)
200 #define M_LN10 2.30258509299404568402 // ln(10)
201 #define M_PI 3.14159265358979323846 // pi
202 #define M_PI_2 1.57079632679489661923 // pi/2
203 #define M_PI_4 0.785398163397448309616 // pi/4
204 #define M_1_PI 0.318309886183790671538 // 1/pi
205 #define M_2_PI 0.636619772367581343076 // 2/pi
206 #define M_2_SQRTPI 1.12837916709551257390 // 2/sqrt(pi)
207 #define M_SQRT2 1.41421356237309504880 // sqrt(2)
208 #define M_SQRT1_2 0.707106781186547524401 // 1/sqrt(2)
209#endif
210
211#if defined _MSC_VER
212 // Stupid. This should be removed when all the PCL dependencies have min/max fixed.
213 #ifndef NOMINMAX
214 #define NOMINMAX
215 #endif
216
217 #define __PRETTY_FUNCTION__ __FUNCTION__
218 #define __func__ __FUNCTION__
219#endif
220#endif // defined _WIN32
221
222#ifndef DEG2RAD
223#define DEG2RAD(x) ((x)*0.017453293)
224#endif
225
226#ifndef RAD2DEG
227#define RAD2DEG(x) ((x)*57.29578)
228#endif
229
230/** \brief Macro that maps version information given by major.minor.patch to a linear integer value to enable easy comparison
231 */
232#define PCL_LINEAR_VERSION(major,minor,patch) ((major)<<16|(minor)<<8|(patch))
233
234/** Win32 doesn't seem to have rounding functions.
235 * Therefore implement our own versions of these functions here.
236 */
237
238__inline double
239pcl_round (double number)
240{
241 return (number < 0.0 ? std::ceil (number - 0.5) : std::floor (number + 0.5));
242}
243__inline float
244pcl_round (float number)
245{
246 return (number < 0.0f ? std::ceil (number - 0.5f) : std::floor (number + 0.5f));
247}
248
249#ifdef __GNUC__
250#define pcl_lrint(x) (lrint(static_cast<double> (x)))
251#define pcl_lrintf(x) (lrintf(static_cast<float> (x)))
252#else
253#define pcl_lrint(x) (static_cast<long int>(pcl_round(x)))
254#define pcl_lrintf(x) (static_cast<long int>(pcl_round(x)))
255#endif
256
257#ifdef WIN32
258#define pcl_sleep(x) Sleep(1000*(x))
259#else
260#define pcl_sleep(x) sleep(x)
261#endif
262
263#ifndef PVAR
264 #define PVAR(s) \
265 #s << " = " << (s) << std::flush
266#endif
267#ifndef PVARN
268#define PVARN(s) \
269 #s << " = " << (s) << "\n"
270#endif
271#ifndef PVARC
272#define PVARC(s) \
273 #s << " = " << (s) << ", " << std::flush
274#endif
275#ifndef PVARS
276#define PVARS(s) \
277 #s << " = " << (s) << " " << std::flush
278#endif
279#ifndef PVARA
280#define PVARA(s) \
281 #s << " = " << RAD2DEG(s) << "deg" << std::flush
282#endif
283#ifndef PVARAN
284#define PVARAN(s) \
285 #s << " = " << RAD2DEG(s) << "deg\n"
286#endif
287#ifndef PVARAC
288#define PVARAC(s) \
289 #s << " = " << RAD2DEG(s) << "deg, " << std::flush
290#endif
291#ifndef PVARAS
292#define PVARAS(s) \
293 #s << " = " << RAD2DEG(s) << "deg " << std::flush
294#endif
295
296#define FIXED(s) \
297 std::fixed << s << std::resetiosflags(std::ios_base::fixed)
298
299#ifndef ERASE_STRUCT
300#define ERASE_STRUCT(var) memset(&var, 0, sizeof(var))
301#endif
302
303#ifndef ERASE_ARRAY
304#define ERASE_ARRAY(var, size) memset(var, 0, size*sizeof(*var))
305#endif
306
307#ifndef SET_ARRAY
308#define SET_ARRAY(var, value, size) { for (decltype(size) i = 0; i < size; ++i) var[i]=value; }
309#endif
310
311#ifndef PCL_EXTERN_C
312 #ifdef __cplusplus
313 #define PCL_EXTERN_C extern "C"
314 #else
315 #define PCL_EXTERN_C
316 #endif
317#endif
318
319#if defined WIN32 || defined _WIN32 || defined WINCE || defined __MINGW32__
320 #ifdef PCLAPI_EXPORTS
321 #define PCL_EXPORTS __declspec(dllexport)
322 #else
323 #define PCL_EXPORTS
324 #endif
325#else
326 #define PCL_EXPORTS
327#endif
328
329#if defined WIN32 || defined _WIN32
330 #define PCL_CDECL __cdecl
331 #define PCL_STDCALL __stdcall
332#else
333 #define PCL_CDECL
334 #define PCL_STDCALL
335#endif
336
337#ifndef PCLAPI
338 #define PCLAPI(rettype) PCL_EXTERN_C PCL_EXPORTS rettype PCL_CDECL
339#endif
340
341//for clang cf. http://clang.llvm.org/docs/LanguageExtensions.html
342#ifndef __has_extension
343 #define __has_extension(x) 0 // Compatibility with pre-3.0 compilers.
344#endif
345
346#if defined (__GNUC__) || defined (__PGI) || defined (__IBMCPP__) || defined (__SUNPRO_CC)
347 #define PCL_ALIGN(alignment) __attribute__((aligned(alignment)))
348#elif defined (_MSC_VER)
349 #define PCL_ALIGN(alignment) __declspec(align(alignment))
350#else
351 #error Alignment not supported on your platform
352#endif
353
354#if defined(__GLIBC__) && PCL_LINEAR_VERSION(__GLIBC__,__GLIBC_MINOR__,0)>PCL_LINEAR_VERSION(2,8,0)
355 #define GLIBC_MALLOC_ALIGNED 1
356#else
357 #define GLIBC_MALLOC_ALIGNED 0
358#endif
359
360#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
361 #define FREEBSD_MALLOC_ALIGNED 1
362#else
363 #define FREEBSD_MALLOC_ALIGNED 0
364#endif
365
366#if defined(__APPLE__) || defined(_WIN64) || GLIBC_MALLOC_ALIGNED || FREEBSD_MALLOC_ALIGNED
367 #define MALLOC_ALIGNED 1
368#endif
369
370#if defined (HAVE_MM_MALLOC)
371 // Intel compiler defines an incompatible _mm_malloc signature
372 #if defined(__INTEL_COMPILER)
373 #include <malloc.h>
374 #else
375 #include <mm_malloc.h>
376 #endif
377#endif
378
379namespace pcl {
380
381inline void*
382aligned_malloc(std::size_t size)
383{
384 void* ptr;
385#if defined(MALLOC_ALIGNED)
386 ptr = std::malloc(size);
387#elif defined(HAVE_POSIX_MEMALIGN)
388 if (posix_memalign(&ptr, 16, size))
389 ptr = 0;
390#elif defined(HAVE_MM_MALLOC)
391 ptr = _mm_malloc(size, 16);
392#elif defined(_MSC_VER)
393 ptr = _aligned_malloc(size, 16);
394#elif defined(ANDROID)
395 ptr = memalign(16, size);
396#else
397#error aligned_malloc not supported on your platform
398 ptr = 0;
399#endif
400 return (ptr);
401}
402
403inline void
404aligned_free(void* ptr)
405{
406#if defined(MALLOC_ALIGNED) || defined(HAVE_POSIX_MEMALIGN)
407 std::free(ptr);
408#elif defined(HAVE_MM_MALLOC)
409 _mm_free(ptr);
410#elif defined(_MSC_VER)
411 _aligned_free(ptr);
412#elif defined(ANDROID)
413 free(ptr);
414#else
415#error aligned_free not supported on your platform
416#endif
417}
418
419} // namespace pcl
420
421/**
422 * \brief Macro to add a no-op or a fallthrough attribute based on compiler feature
423 *
424 * \ingroup common
425 */
426#if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1910) && (_MSVC_LANG >= 201703L))
427 #define PCL_FALLTHROUGH [[fallthrough]];
428#elif defined(__clang__)
429 #define PCL_FALLTHROUGH [[clang::fallthrough]];
430#elif defined(__GNUC__) && (__GNUC__ >= 7)
431 #define PCL_FALLTHROUGH [[gnu::fallthrough]];
432#else
433 #define PCL_FALLTHROUGH
434#endif
435
436#if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1911) && (_MSVC_LANG >= 201703L))
437 #define PCL_NODISCARD [[nodiscard]]
438#elif defined(__clang__) && (PCL_LINEAR_VERSION(__clang_major__, __clang_minor__, 0) >= PCL_LINEAR_VERSION(3, 9, 0))
439 #define PCL_NODISCARD [[clang::warn_unused_result]]
440#elif defined(__GNUC__)
441 #define PCL_NODISCARD [[gnu::warn_unused_result]]
442#else
443 #define PCL_NODISCARD
444#endif
445
446#ifdef __cpp_if_constexpr
447 #define PCL_IF_CONSTEXPR(x) if constexpr(x)
448#else
449 #define PCL_IF_CONSTEXPR(x) if (x)
450#endif
void * aligned_malloc(std::size_t size)
Definition: pcl_macros.h:382
void aligned_free(void *ptr)
Definition: pcl_macros.h:404
__inline double pcl_round(double number)
Win32 doesn't seem to have rounding functions.
Definition: pcl_macros.h:239