[CMake] Add option to choose pcl::index_t while compiling (#4166)

Author: haritha-j

cmake/pcl_options.cmake

@@ -64,3 +64,14 @@ set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 option(BUILD_tools "Useful PCL-based command line tools" ON)
 
 option(WITH_DOCS "Build doxygen documentation" OFF)
+
+# set index size
+set(PCL_INDEX_SIZE -1 CACHE STRING "Set index size. Available options are: 8 16 32 64. A negative value indicates default size (32 for PCL >= 1.12, 8*sizeof(int) i.e., the number of bits in int, otherwise)")
+
+#set whether indices are signed or unsigned
+set(PCL_INDEX_SIGNED true CACHE BOOL "Set whether indices need to be signed or unsigned. Signed by default.")
+if (PCL_INDEX_SIGNED)
+  set(PCL_INDEX_SIGNED_STR "true")
+else()
+  set (PCL_INDEX_SIGNED_STR "false")
+endif()

common/include/pcl/types.h

@@ -43,8 +43,8 @@
  * \ingroup common
  */
 
+#include <pcl/pcl_config.h>
 #include <pcl/pcl_macros.h>
-
 #include <vector>
 
 #include <cstdint>
@@ -61,21 +61,6 @@ namespace pcl
   using int64_t PCL_DEPRECATED(1, 12, "use std::int64_t instead of pcl::int64_t") = std::int64_t;
   using int_fast16_t PCL_DEPRECATED(1, 12, "use std::int_fast16_t instead of pcl::int_fast16_t") = std::int_fast16_t;
 
-// temporary macros for customization. Only use for PCL < 1.12
-// Aim is to remove macros and instead allow multiple index types to coexist together
-#ifndef PCL_INDEX_SIZE
-#if PCL_MINOR_VERSION <= 11
-// sizeof returns bytes, while we measure size by bits in the template
-#define PCL_INDEX_SIZE (sizeof(int) * 8)
-#else
-#define PCL_INDEX_SIZE 32
-#endif  // PCL_MINOR_VERSION
-#endif  // PCL_INDEX_SIZE
-
-#ifndef PCL_INDEX_SIGNED
-#define PCL_INDEX_SIGNED true
-#endif
-
   namespace detail {
     /**
      * \brief int_type::type refers to an integral type that satisfies template parameters
@@ -112,17 +97,16 @@ namespace pcl
     /**
      * \brief number of bits in PCL's index type
      *
-     * For PCL 1.11, please use PCL_INDEX_SIZE to choose a size best suited for your needs.
-     * PCL 1.12 will come with default 32, along with client code compile time choice
+     * Please use PCL_INDEX_SIZE when building PCL to choose a size best suited for your needs.
+     * PCL 1.12 will come with default 32
      *
      * PCL 1.11 has a default size = sizeof(int)
      */
     constexpr std::uint8_t index_type_size = PCL_INDEX_SIZE;
 
     /**
      * \brief signed/unsigned nature of PCL's index type
-     * For PCL 1.11, please use PCL_INDEX_SIGNED to choose a type best suited for your needs.
-     * PCL 1.12 will come with default signed, along with client code compile time choice
+     * Please use PCL_INDEX_SIGNED when building PCL to choose a type best suited for your needs.
      * Default: signed
      */
     constexpr bool index_type_signed = PCL_INDEX_SIGNED;

pcl_config.h.in

@@ -20,6 +20,20 @@
 #define PCL_VERSION_COMPARE(OP, MAJ, MIN, PATCH) \
     (PCL_VERSION*10+PCL_DEV_VERSION OP PCL_VERSION_CALC(MAJ, MIN, PATCH)*10)
 
+/* Index type and signed/unsigned property */
+#define PCL_INDEX_SIGNED ${PCL_INDEX_SIGNED_STR}
+
+#if (${PCL_INDEX_SIZE} > 0)
+  #define PCL_INDEX_SIZE ${PCL_INDEX_SIZE}
+#else
+  #if PCL_MINOR_VERSION <= 11
+    // sizeof returns bytes, while we measure size by bits in the template
+    #define PCL_INDEX_SIZE (sizeof(int) * 8)
+  #else
+    #define PCL_INDEX_SIZE 32
+  #endif //PCL_MINOR_VERSION
+#endif 
+
 #cmakedefine HAVE_TBB 1
 
 #cmakedefine HAVE_OPENNI 1