local ffi = require 'ffi'

local pcl = require 'pcl.PointTypes'

local utils = {}

local type_key_map = {}

type_key_map[pcl.PointXYZ] = 'XYZ'

type_key_map[pcl.PointXYZI] = 'XYZI'

type_key_map[pcl.PointXYZRGBA] = 'XYZRGBA'

type_key_map[pcl.PointNormal] = 'XYZNormal'

type_key_map[pcl.PointXYZINormal] = 'XYZINormal'

type_key_map[pcl.PointXYZRGBNormal] = 'XYZRGBNormal'

type_key_map[pcl.Normal] = 'Normal'

utils.type_key_map = type_key_map

function utils.create_typed_methods(prefix, names, type_key)

local map = {}

for i,n in ipairs(names) do

local full_name = string.gsub(prefix .. n, 'TYPE_KEY', type_key)

-- use pcall since not all types support all functions

local ok,v = pcall(function() return pcl.lib[full_name] end)

if ok then

map[n] = v

end

end

-- check whether we have new and delete functions

-- automatically register objects created by new with the gc

local _new, _clone, _delete = map.new, map.clone, map.delete

if _new and _delete then

map.new = function(...)

local obj = _new(...)

ffi.gc(obj, _delete)

return obj

end

end

if _clone and _delete then

map.clone = function(...)

local obj = _clone(...)

ffi.gc(obj, _delete)

return obj

end

end

return map

end

function utils.check_arg(argName, check, errorMsg)

if not check then

error("Invalid argument '" .. argName .. " ': " .. errorMsg)

end

end

-- safe accessor for cdata()

function utils.cdata(x)

return x and x:cdata() or pcl.NULL

end

local normal_type_map = {}

normal_type_map[pcl.PointXYZ] = pcl.PointNormal

normal_type_map[pcl.PointXYZI] = pcl.PointXYZINormal

normal_type_map[pcl.PointXYZRGBA] = pcl.PointXYZRGBNormal

utils.normal_type_map = normal_type_map

function utils.getNormalTypeFor(pointType)

return utils.normal_type_map[pointType]

end

if not table.copy then

--http://stackoverflow.com/questions/640642/how-do-you-copy-a-lua-table-by-value

function table.copy(t)

if t == nil then

return {}

end

local u = { }

for k, v in pairs(t) do u[k] = v end

return setmetatable(u, getmetatable(t))

end

end

return utils