Point Cloud Library (PCL)  1.12.0-dev
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
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
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 inline void*
382 aligned_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 
403 inline void
404 aligned_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
pcl
Definition: convolution.h:46
pcl::aligned_free
void aligned_free(void *ptr)
Definition: pcl_macros.h:404
pcl_round
__inline double pcl_round(double number)
Win32 doesn't seem to have rounding functions.
Definition: pcl_macros.h:239
pcl::aligned_malloc
void * aligned_malloc(std::size_t size)
Definition: pcl_macros.h:382