155 lines
6.9 KiB
C++
155 lines
6.9 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: point_types.hpp 6415 2012-07-16 20:11:47Z rusu $
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*
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*/
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#pragma once
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#include <pcl/point_types.h>
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#ifdef _MSC_VER
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#include <Eigen/src/StlSupport/details.h>
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#endif
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namespace pcl
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{
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/** Tests if the 3D components of a point are all finite
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* param[in] pt point to be tested
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* return true if finite, false otherwise
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*/
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template <typename PointT> inline bool
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isFinite (const PointT &pt)
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{
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return (std::isfinite (pt.x) && std::isfinite (pt.y) && std::isfinite (pt.z));
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}
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#ifdef _MSC_VER
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template <typename PointT> inline bool
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isFinite (const Eigen::internal::workaround_msvc_stl_support<PointT> &pt)
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{
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return isFinite<PointT> (static_cast<const PointT&> (pt));
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}
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#endif
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template<> inline bool isFinite<pcl::Axis>(const pcl::Axis&) { return (true); }
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template<> inline bool isFinite<pcl::BRISKSignature512>(const pcl::BRISKSignature512&) { return (true); }
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template<> inline bool isFinite<pcl::BorderDescription>(const pcl::BorderDescription &) { return true; }
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template<> inline bool isFinite<pcl::Boundary>(const pcl::Boundary&) { return (true); }
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template<> inline bool isFinite<pcl::CPPFSignature>(const pcl::CPPFSignature&) { return (true); }
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template<> inline bool isFinite<pcl::ESFSignature640>(const pcl::ESFSignature640&) { return (true); }
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template<> inline bool isFinite<pcl::FPFHSignature33>(const pcl::FPFHSignature33&) { return (true); }
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template<> inline bool isFinite<pcl::GASDSignature512>(const pcl::GASDSignature512&) { return (true); }
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template<> inline bool isFinite<pcl::GASDSignature984>(const pcl::GASDSignature984&) { return (true); }
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template<> inline bool isFinite<pcl::GASDSignature7992>(const pcl::GASDSignature7992&) { return (true); }
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template<> inline bool isFinite<pcl::GRSDSignature21>(const pcl::GRSDSignature21&) { return (true); }
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template<> inline bool isFinite<pcl::Intensity>(const pcl::Intensity&) { return (true); }
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template<> inline bool isFinite<pcl::IntensityGradient>(const pcl::IntensityGradient&) { return (true); }
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template<> inline bool isFinite<pcl::Label>(const pcl::Label&) { return (true); }
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template<> inline bool isFinite<pcl::MomentInvariants>(const pcl::MomentInvariants&) { return (true); }
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template<> inline bool isFinite<pcl::NormalBasedSignature12>(const pcl::NormalBasedSignature12&) { return (true); }
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template<> inline bool isFinite<pcl::PFHRGBSignature250>(const pcl::PFHRGBSignature250&) { return (true); }
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template<> inline bool isFinite<pcl::PFHSignature125>(const pcl::PFHSignature125&) { return (true); }
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template<> inline bool isFinite<pcl::PPFRGBSignature>(const pcl::PPFRGBSignature&) { return (true); }
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template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature& pt)
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{
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return std::isfinite(pt.f1) && std::isfinite(pt.f2) && std::isfinite(pt.f3) && std::isfinite(pt.f4) && std::isfinite(pt.alpha_m);
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}
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template<> inline bool isFinite<pcl::PrincipalCurvatures>(const pcl::PrincipalCurvatures&) { return (true); }
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template<> inline bool isFinite<pcl::PrincipalRadiiRSD>(const pcl::PrincipalRadiiRSD&) { return (true); }
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template<> inline bool isFinite<pcl::RGB>(const pcl::RGB&) { return (true); }
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template<> inline bool isFinite<pcl::ReferenceFrame>(const pcl::ReferenceFrame&) { return (true); }
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template<> inline bool isFinite<pcl::SHOT1344>(const pcl::SHOT1344&) { return (true); }
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template<> inline bool isFinite<pcl::SHOT352>(const pcl::SHOT352&) { return (true); }
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template<> inline bool isFinite<pcl::ShapeContext1980>(const pcl::ShapeContext1980&) { return (true); }
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template<> inline bool isFinite<pcl::UniqueShapeContext1960>(const pcl::UniqueShapeContext1960&) { return (true); }
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template<> inline bool isFinite<pcl::VFHSignature308>(const pcl::VFHSignature308&) { return (true); }
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// specification for pcl::PointXY
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template <> inline bool
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isFinite<pcl::PointXY> (const pcl::PointXY &p)
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{
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return (std::isfinite (p.x) && std::isfinite (p.y));
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}
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// specification for pcl::Normal
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template <> inline bool
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isFinite<pcl::Normal> (const pcl::Normal &n)
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{
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return (std::isfinite (n.normal_x) && std::isfinite (n.normal_y) && std::isfinite (n.normal_z));
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}
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// generic fallback cases
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template <typename PointT, traits::HasNoXY<PointT> = true> constexpr inline bool
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isXYFinite (const PointT&) noexcept
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{
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return true;
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}
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template <typename PointT, traits::HasNoXYZ<PointT> = true> constexpr inline bool
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isXYZFinite (const PointT&) noexcept
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{
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return true;
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}
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template <typename PointT, traits::HasNoNormal<PointT> = true> constexpr inline bool
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isNormalFinite (const PointT&) noexcept
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{
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return true;
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}
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// special cases for checks
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template <typename PointT, traits::HasXY<PointT> = true> inline bool
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isXYFinite (const PointT& pt) noexcept
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{
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return std::isfinite(pt.x) && std::isfinite(pt.y);
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}
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template <typename PointT, traits::HasXYZ<PointT> = true> inline bool
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isXYZFinite (const PointT& pt) noexcept
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{
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return std::isfinite(pt.x) && std::isfinite(pt.y) && std::isfinite(pt.z);
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}
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template <typename PointT, traits::HasNormal<PointT> = true> inline bool
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isNormalFinite (const PointT& pt) noexcept
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{
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return std::isfinite(pt.normal_x) && std::isfinite(pt.normal_y) && std::isfinite(pt.normal_z);
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}
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}
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