Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012-, Open Perception, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id: point_types.hpp 6415 2012-07-16 20:11:47Z rusu $ 00037 * 00038 */ 00039 00040 #ifndef PCL_COMMON_POINT_TESTS_H_ 00041 #define PCL_COMMON_POINT_TESTS_H_ 00042 00043 #ifdef _MSC_VER 00044 #include <Eigen/src/StlSupport/details.h> 00045 #endif 00046 00047 namespace pcl 00048 { 00049 /** Tests if the 3D components of a point are all finite 00050 * param[in] pt point to be tested 00051 */ 00052 template <typename PointT> inline bool 00053 isFinite (const PointT &pt) 00054 { 00055 return (pcl_isfinite (pt.x) && pcl_isfinite (pt.y) && pcl_isfinite (pt.z)); 00056 } 00057 00058 #ifdef _MSC_VER 00059 template <typename PointT> inline bool 00060 isFinite (const Eigen::internal::workaround_msvc_stl_support<PointT> &pt) 00061 { 00062 return isFinite<PointT> (static_cast<const PointT&> (pt)); 00063 } 00064 #endif 00065 00066 template<> inline bool isFinite<pcl::RGB> (const pcl::RGB&) { return (true); } 00067 template<> inline bool isFinite<pcl::Label> (const pcl::Label&) { return (true); } 00068 template<> inline bool isFinite<pcl::Axis> (const pcl::Axis&) { return (true); } 00069 template<> inline bool isFinite<pcl::MomentInvariants> (const pcl::MomentInvariants&) { return (true); } 00070 template<> inline bool isFinite<pcl::PrincipalRadiiRSD> (const pcl::PrincipalRadiiRSD&) { return (true); } 00071 template<> inline bool isFinite<pcl::Boundary> (const pcl::Boundary&) { return (true); } 00072 template<> inline bool isFinite<pcl::PrincipalCurvatures> (const pcl::PrincipalCurvatures&) { return (true); } 00073 template<> inline bool isFinite<pcl::SHOT352> (const pcl::SHOT352&) { return (true); } 00074 template<> inline bool isFinite<pcl::SHOT1344> (const pcl::SHOT1344&) { return (true); } 00075 template<> inline bool isFinite<pcl::ReferenceFrame> (const pcl::ReferenceFrame&) { return (true); } 00076 template<> inline bool isFinite<pcl::ShapeContext1980> (const pcl::ShapeContext1980&) { return (true); } 00077 template<> inline bool isFinite<pcl::PFHSignature125> (const pcl::PFHSignature125&) { return (true); } 00078 template<> inline bool isFinite<pcl::PFHRGBSignature250> (const pcl::PFHRGBSignature250&) { return (true); } 00079 template<> inline bool isFinite<pcl::PPFSignature> (const pcl::PPFSignature&) { return (true); } 00080 template<> inline bool isFinite<pcl::PPFRGBSignature> (const pcl::PPFRGBSignature&) { return (true); } 00081 template<> inline bool isFinite<pcl::NormalBasedSignature12> (const pcl::NormalBasedSignature12&) { return (true); } 00082 template<> inline bool isFinite<pcl::FPFHSignature33> (const pcl::FPFHSignature33&) { return (true); } 00083 template<> inline bool isFinite<pcl::VFHSignature308> (const pcl::VFHSignature308&) { return (true); } 00084 template<> inline bool isFinite<pcl::ESFSignature640> (const pcl::ESFSignature640&) { return (true); } 00085 template<> inline bool isFinite<pcl::IntensityGradient> (const pcl::IntensityGradient&) { return (true); } 00086 00087 // specification for pcl::PointXY 00088 template <> inline bool 00089 isFinite<pcl::PointXY> (const pcl::PointXY &p) 00090 { 00091 return (pcl_isfinite (p.x) && pcl_isfinite (p.y)); 00092 } 00093 00094 // specification for pcl::BorderDescription 00095 template <> inline bool 00096 isFinite<pcl::BorderDescription> (const pcl::BorderDescription &p) 00097 { 00098 return (pcl_isfinite (p.x) && pcl_isfinite (p.y)); 00099 } 00100 00101 // specification for pcl::Normal 00102 template <> inline bool 00103 isFinite<pcl::Normal> (const pcl::Normal &n) 00104 { 00105 return (pcl_isfinite (n.normal_x) && pcl_isfinite (n.normal_y) && pcl_isfinite (n.normal_z)); 00106 } 00107 } 00108 00109 #endif // PCL_COMMON_POINT_TESTS_H_ 00110