1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2012, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of the copyright holder(s) nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 */
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
pcl_round(double number)239 pcl_round (double number)
240 {
241 return (number < 0.0 ? std::ceil (number - 0.5) : std::floor (number + 0.5));
242 }
243 __inline float
pcl_round(float number)244 pcl_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
379 namespace pcl {
380
381 #ifdef __DragonFly__
382 #define HAVE_POSIX_MEMALIGN
383 #endif
384
385 inline void*
aligned_malloc(std::size_t size)386 aligned_malloc(std::size_t size)
387 {
388 void* ptr;
389 #if defined(MALLOC_ALIGNED)
390 ptr = std::malloc(size);
391 #elif defined(HAVE_POSIX_MEMALIGN)
392 if (posix_memalign(&ptr, 16, size))
393 ptr = 0;
394 #elif defined(HAVE_MM_MALLOC)
395 ptr = _mm_malloc(size, 16);
396 #elif defined(_MSC_VER)
397 ptr = _aligned_malloc(size, 16);
398 #elif defined(ANDROID)
399 ptr = memalign(16, size);
400 #else
401 #error aligned_malloc not supported on your platform
402 ptr = 0;
403 #endif
404 return (ptr);
405 }
406
407 inline void
aligned_free(void * ptr)408 aligned_free(void* ptr)
409 {
410 #if defined(MALLOC_ALIGNED) || defined(HAVE_POSIX_MEMALIGN)
411 std::free(ptr);
412 #elif defined(HAVE_MM_MALLOC)
413 _mm_free(ptr);
414 #elif defined(_MSC_VER)
415 _aligned_free(ptr);
416 #elif defined(ANDROID)
417 free(ptr);
418 #else
419 #error aligned_free not supported on your platform
420 #endif
421 }
422
423 } // namespace pcl
424
425 /**
426 * \brief Macro to add a no-op or a fallthrough attribute based on compiler feature
427 *
428 * \ingroup common
429 */
430 #if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1910) && (_MSVC_LANG >= 201703L))
431 #define PCL_FALLTHROUGH [[fallthrough]];
432 #elif defined(__clang__)
433 #define PCL_FALLTHROUGH [[clang::fallthrough]];
434 #elif defined(__GNUC__) && (__GNUC__ >= 7)
435 #define PCL_FALLTHROUGH [[gnu::fallthrough]];
436 #else
437 #define PCL_FALLTHROUGH
438 #endif
439
440 #if (__cplusplus >= 201703L) || (defined(_MSC_VER) && (_MSC_VER >= 1911) && (_MSVC_LANG >= 201703L))
441 #define PCL_NODISCARD [[nodiscard]]
442 #elif defined(__clang__) && (PCL_LINEAR_VERSION(__clang_major__, __clang_minor__, 0) >= PCL_LINEAR_VERSION(3, 9, 0))
443 #define PCL_NODISCARD [[clang::warn_unused_result]]
444 #elif defined(__GNUC__)
445 #define PCL_NODISCARD [[gnu::warn_unused_result]]
446 #else
447 #define PCL_NODISCARD
448 #endif
449
450 #ifdef __cpp_if_constexpr
451 #define PCL_IF_CONSTEXPR(x) if constexpr(x)
452 #else
453 #define PCL_IF_CONSTEXPR(x) if (x)
454 #endif
455