Point Cloud Library (PCL)  1.7.1
point_tests.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2012-, Open Perception, Inc.
6  *
7  * All rights reserved.
8  *
9  * Redistribution and use in source and binary forms, with or without
10  * modification, are permitted provided that the following conditions
11  * are met:
12  *
13  * * Redistributions of source code must retain the above copyright
14  * notice, this list of conditions and the following disclaimer.
15  * * Redistributions in binary form must reproduce the above
16  * copyright notice, this list of conditions and the following
17  * disclaimer in the documentation and/or other materials provided
18  * with the distribution.
19  * * Neither the name of the copyright holder(s) nor the names of its
20  * contributors may be used to endorse or promote products derived
21  * from this software without specific prior written permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *
36  * $Id: point_types.hpp 6415 2012-07-16 20:11:47Z rusu $
37  *
38  */
39 
40 #ifndef PCL_COMMON_POINT_TESTS_H_
41 #define PCL_COMMON_POINT_TESTS_H_
42 
43 #ifdef _MSC_VER
44 #include <Eigen/src/StlSupport/details.h>
45 #endif
46 
47 namespace pcl
48 {
49  /** Tests if the 3D components of a point are all finite
50  * param[in] pt point to be tested
51  */
52  template <typename PointT> inline bool
53  isFinite (const PointT &pt)
54  {
55  return (pcl_isfinite (pt.x) && pcl_isfinite (pt.y) && pcl_isfinite (pt.z));
56  }
57 
58 #ifdef _MSC_VER
59  template <typename PointT> inline bool
60  isFinite (const Eigen::internal::workaround_msvc_stl_support<PointT> &pt)
61  {
62  return isFinite<PointT> (static_cast<const PointT&> (pt));
63  }
64 #endif
65 
66  template<> inline bool isFinite<pcl::RGB> (const pcl::RGB&) { return (true); }
67  template<> inline bool isFinite<pcl::Label> (const pcl::Label&) { return (true); }
68  template<> inline bool isFinite<pcl::Axis> (const pcl::Axis&) { return (true); }
69  template<> inline bool isFinite<pcl::MomentInvariants> (const pcl::MomentInvariants&) { return (true); }
70  template<> inline bool isFinite<pcl::PrincipalRadiiRSD> (const pcl::PrincipalRadiiRSD&) { return (true); }
71  template<> inline bool isFinite<pcl::Boundary> (const pcl::Boundary&) { return (true); }
72  template<> inline bool isFinite<pcl::PrincipalCurvatures> (const pcl::PrincipalCurvatures&) { return (true); }
73  template<> inline bool isFinite<pcl::SHOT352> (const pcl::SHOT352&) { return (true); }
74  template<> inline bool isFinite<pcl::SHOT1344> (const pcl::SHOT1344&) { return (true); }
75  template<> inline bool isFinite<pcl::ReferenceFrame> (const pcl::ReferenceFrame&) { return (true); }
76  template<> inline bool isFinite<pcl::ShapeContext1980> (const pcl::ShapeContext1980&) { return (true); }
77  template<> inline bool isFinite<pcl::PFHSignature125> (const pcl::PFHSignature125&) { return (true); }
78  template<> inline bool isFinite<pcl::PFHRGBSignature250> (const pcl::PFHRGBSignature250&) { return (true); }
79  template<> inline bool isFinite<pcl::PPFSignature> (const pcl::PPFSignature&) { return (true); }
80  template<> inline bool isFinite<pcl::PPFRGBSignature> (const pcl::PPFRGBSignature&) { return (true); }
81  template<> inline bool isFinite<pcl::NormalBasedSignature12> (const pcl::NormalBasedSignature12&) { return (true); }
82  template<> inline bool isFinite<pcl::FPFHSignature33> (const pcl::FPFHSignature33&) { return (true); }
83  template<> inline bool isFinite<pcl::VFHSignature308> (const pcl::VFHSignature308&) { return (true); }
84  template<> inline bool isFinite<pcl::ESFSignature640> (const pcl::ESFSignature640&) { return (true); }
85  template<> inline bool isFinite<pcl::IntensityGradient> (const pcl::IntensityGradient&) { return (true); }
86 
87  // specification for pcl::PointXY
88  template <> inline bool
89  isFinite<pcl::PointXY> (const pcl::PointXY &p)
90  {
91  return (pcl_isfinite (p.x) && pcl_isfinite (p.y));
92  }
93 
94  // specification for pcl::BorderDescription
95  template <> inline bool
96  isFinite<pcl::BorderDescription> (const pcl::BorderDescription &p)
97  {
98  return (pcl_isfinite (p.x) && pcl_isfinite (p.y));
99  }
100 
101  // specification for pcl::Normal
102  template <> inline bool
103  isFinite<pcl::Normal> (const pcl::Normal &n)
104  {
105  return (pcl_isfinite (n.normal_x) && pcl_isfinite (n.normal_y) && pcl_isfinite (n.normal_z));
106  }
107 }
108 
109 #endif // PCL_COMMON_POINT_TESTS_H_
110