point_types.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL18_BACKPORTS_POINT_TYPES_H
#define PCL18_BACKPORTS_POINT_TYPES_H

#include <pcl/point_types.h>

#ifdef BACKPORT_PCL_CENTROID

#include <vector>
#include <bitset>

#include <pcl/pcl_macros.h>
#include <pcl/register_point_struct.h>
#include <boost/mpl/contains.hpp>
#include <boost/mpl/fold.hpp>
#include <boost/mpl/vector.hpp>

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_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

#endif  // BACKPORT_PCL_CENTROID
#endif  // PCL18_BACKPORTS_POINT_TYPES_H