[cuda/functors] Modified warning fix in FunctorCompound (not pretty...)

cuda/include/rtac_base/cuda/FunctorCompound.h

@@ -80,7 +80,9 @@ struct FunctorCompound
         // below is to suppress the warning but has no effect on the code. See
         // here for more info :
         // https://stackoverflow.com/questions/64523302/cuda-missing-return-statement-at-end-of-non-void-function-in-constexpr-if-fun
-        return std::get<Level>(functors_)(input);
+        // CAUTION : THIS CODE IMPLIES THAT ALL FUNCTORS OUTPUT MUST BE DEFAULT
+        // CONSTRUCTIBLE. MAYBE KEEPING THE WARNING IS BETTER.
+        return typename functor_get<Level>::OutputT();
     }
 
     public:

cuda/tests/functors/src/functors_test.cpp

@@ -7,9 +7,33 @@ using namespace rtac::cuda;
 
 #include "functors_test.h"
 
+template <typename T>
+void print_type(std::ostream& os = std::cout) { os << "'print_not_defined'"; }
+template<> void print_type<float> (std::ostream& os) { os << "'float'";  }
+template<> void print_type<float4>(std::ostream& os) { os << "'float4'"; }
+
+template <class FunctorT>
+void print_functor_type(std::ostream& os = std::cout)
+{
+    os << "(InputT : ";   print_type<typename FunctorT::InputT> (os);
+    os << ", OutputT : "; print_type<typename FunctorT::OutputT>(os);
+    os << ")" << endl;
+}
+
 int main()
 {
     int N = 10;
+    
+    print_functor_type<Vectorize4>();
+    print_functor_type<Norm4>();
+    print_functor_type<MultiType>();
+
+    //MultiType fm(Norm4(), Vectorize4()); // why this not working ?
+    //auto fm  = MultiType(Norm4(), Vectorize4());
+    MultiType fm(std::make_tuple(Norm4(), Vectorize4()));
+    print_functor_type<decltype(fm)>();
+    //cout << std::get<0>(fm.functors_) << endl;
+    cout << fm(1.0f) << endl;
 
     HostVector<float> input(N);
     for(int n = 0; n < N; n++) {
@@ -18,7 +42,7 @@ int main()
 
     //auto output = scaling(input, functor::Scaling<float>({2.0f}));
 
-    auto f = Saxpy(functors::Offset<float>({3.0f}), functors::Scaling<float>({2.0f}));
+    Saxpy f = Saxpy(functors::Offset<float>({3.0f}), functors::Scaling<float>({2.0f}));
     cout << f(1.0f) << endl;
 
     auto output = saxpy(input, Saxpy(functors::Offset<float>({3.0f}),

cuda/tests/functors/src/functors_test.h

@@ -7,8 +7,39 @@
 
 namespace rtac { namespace cuda {
 
+
+struct Vectorize4 {
+    using InputT  = float;
+    using OutputT = float4;
+
+    float x;
+
+    RTAC_HOSTDEVICE float4 operator()(float input) const {
+        return float4({input, input, input, input});
+    }
+};
+
+struct Norm4 {
+    using InputT  = float4;
+    using OutputT = float;
+
+    float x;
+
+    RTAC_HOSTDEVICE float operator()(const float4& input) const {
+        // return length(input); // WHY U NOT WORKING ???
+        return sqrt( input.x*input.x
+                   + input.y*input.y
+                   + input.z*input.z
+                   + input.w*input.w);
+                    
+    }
+};
+
+using MultiType = functors::FunctorCompound<Norm4, Vectorize4>;
+
 using Saxpy = functors::FunctorCompound<functors::Offset<float>, functors::Scaling<float>>;
 
+
 DeviceVector<float> scaling(const DeviceVector<float>& input, 
                             const functors::Scaling<float>& func);
 DeviceVector<float> saxpy(const DeviceVector<float>& input, const Saxpy& func);