Add a family of "has field" meta-functions

[taketwo]

As suggested in #440, this pull request adds a family of "has field" functions to check presence of a particular field in a point type both at compile- and run-time.

The functions are put inside pcl::traits namespace. Logically, they should belong to 'pcl_traits.h' file, however due to inclusion loop I had to move them to 'point_types.h'.

The functions added are:

• has_field
• has_all_fields
• has_any_field

for querying any kind/combination of fields, and:

• has_xyz
• has_normal
• has_curvature
• has_color
• has_label

to check presence of most commonly used fields.

This pull request also adds a unit test for the new functions.

[taketwo]

Are there any questions/reasons not to merge this? Sorry for my impatience, but I have a number of other pull requests that rely on this one.

[andersgb1]

If it helps anything, a big +1 from my side on this one :)

[taketwo]

@andersgb1 Thanks for the support :)

[shawnshuailin]

Hi taketwo,

I encountered a problem when I want to compile kinfu_app.cpp. As it includes point_types.h, then the compiler reported errors in namespace traits, it said 'type' is not a member of 'boost::mpl::contains'. As I'm a newer to PCL and boost, could you please give me some advice to solve this problem? I'm using MSVC2010 and boost 1.55. Thanks very much!

[taketwo]

I don't have MSVC at my disposal, so can not test. Though quick googling does not reveal any complaints about Boost MPL support in MSVC. You mentioned 'kinfu_app', but do you get the same error compiling the rest of PCL?

[shawnshuailin]

Hi taketwo,

Thanks for your reply! I build several other projects. Not only 'kinfu_app' get stuck by this error, some other projects such as "pcl_crf_segmentation", "pcl_icp" and "pcl_icp2d" also encounter this error, cause they all include 'point_types.h'. The error are the same ones as I described above. I also attach an image of the error. Hope you could help to solve this problem. Thanks!

[Logrus]

Hi @shawnshuailin,

I use MSVS2010 on Win8 x64 machine with boost 1.50. kinfu_app compiles successfully. So it seems like the problem can be due to newer version of boost. I'll try it later.

[taketwo]

@shawnshuailin Still, what about other (basic) parts of PCL like pcl_common? The thing is, everything in PCL includes 'point_types.h'. So it will be interesting to know whether for you it fails everywhere, or only in several specific places.

[shawnshuailin]

@Logrus Thanks very much for your help! I'll have try for that.
@taketwo It seems that the error occurs in the projects including 'point_types.h', others could be built successfully. pcl_common could also be built and generate dll file successfully.

[taketwo]

If pcl_common builds successfully, then there must be something special about kinfu_app an others.

Among the errors that you posted the 3rd one ("type is not a member of pcl::traits::fieldList") seems to be the "parent error" for the others. By the way, is the screenshot complete? Are there more errors that did not fit into?

[shawnshuailin]

@taketwo I will try to build the solution again using boost 1.50 and then post the error list if they occur
again.
In the mailing list of PCL, I put forward this problem as well, and another one said he encountered the same problem when compiling kinfu_app in Win32 platform, however, he successfully built whole solution in x64 platform. You can have a look at this webpage. http://www.pcl-users.org/compile-error-in-point-types-h-tp4032582p4032610.html. I guess this issue has something to do with the platform, cause @Logrus has built it successfully in x64 platform.

[taketwo]

Yeah, I would also blame it on x32 MSVC.

Speaking about boost::mpl::contains, it derives from boost::mpl::contains_impl, and the latter has type declaration.