Move static asserts outside callable

Author: shrijitsingh99

filters/include/pcl/filters/filter.h

@@ -143,16 +143,15 @@ namespace pcl
       inline void
       filter(const Executor& exec, PointCloud& output)
       {
+        static_assert(pcl::is_invocable_v<
+                          decltype(&DerivedFilter::template applyFilter<Executor>),
+                          DerivedFilter&,
+                          Executor const&,
+                          PointCloud&>,
+                      "An executor overload for applyFilter doesn't exist.");
+
         auto filterCloud = [exec, this](PointCloud& output) {
-              static_assert(
-                  pcl::is_invocable_v<
-                      decltype(&DerivedFilter::template applyFilter<Executor>),
-                      DerivedFilter&,
-                      Executor const&,
-                      PointCloud&>,
-                  "An executor overload for applyFilter doesn't exist.");
-
-            static_cast<DerivedFilter&>(*this).applyFilter(exec, output);
+          static_cast<DerivedFilter&>(*this).applyFilter(exec, output);
         };
 
         filterImpl(filterCloud, output);

filters/include/pcl/filters/filter_indices.h

@@ -122,15 +122,14 @@ namespace pcl
       void
       filter (const Executor &exec, Indices &indices)
       {
+        static_assert(pcl::is_invocable_v<
+                          decltype(&DerivedFilter::template applyFilter<Executor>),
+                          DerivedFilter&,
+                          Executor const&,
+                          PointCloud&>,
+                      "An executor overload for applyFilter doesn't exist.");
 
         auto filterCloud = [exec, this](Indices& indices) {
-          static_assert(pcl::is_invocable_v<
-                            decltype(&DerivedFilter::template applyFilter<Executor>),
-                            DerivedFilter&,
-                            Executor const&,
-                            PointCloud&>,
-                        "An executor overload for applyFilter doesn't exist.");
-
           static_cast<DerivedFilter&>(*this).applyFilter(exec, indices);
         };
 

filters/include/pcl/filters/impl/filter_indices.hpp

@@ -88,14 +88,14 @@ template<typename PointT, typename DerivedFilter>
 template <typename Executor> void
 pcl::FilterIndices<PointT, DerivedFilter>::applyFilter (const Executor &exec, PointCloud &output)
 {
-  auto filterIndices = [this, exec](pcl::Indices& indices){
-    static_assert(
-        pcl::is_invocable_v<decltype(&DerivedFilter::template applyFilter<Executor>),
-            DerivedFilter&,
-            Executor const&,
-            pcl::Indices&>,
-        "An executor overload for applyFilter doesn't exist.");
-
+  static_assert(
+      pcl::is_invocable_v<decltype(&DerivedFilter::template applyFilter<Executor>),
+                          DerivedFilter&,
+                          Executor const&,
+                          pcl::Indices&>,
+      "An executor overload for applyFilter doesn't exist.");
+
+  auto filterIndices = [this, exec](pcl::Indices& indices) {
     static_cast<DerivedFilter&>(*this).applyFilter(exec, indices);
   };