Point Cloud Library (PCL) 1.14.0
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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.
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23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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35 *
36 * $Id: point_types.hpp 6415 2012-07-16 20:11:47Z rusu $
37 *
38 */
39
40#pragma once
41
42#include <pcl/point_types.h>
43
44#ifdef _MSC_VER
45#include <Eigen/src/StlSupport/details.h>
46#endif
47
48namespace pcl
49{
50 /** Tests if the 3D components of a point are all finite
51 * param[in] pt point to be tested
52 * return true if finite, false otherwise
53 */
54 template <typename PointT> inline bool
55 isFinite (const PointT &pt)
56 {
57 return (std::isfinite (pt.x) && std::isfinite (pt.y) && std::isfinite (pt.z));
58 }
59
60#ifdef _MSC_VER
61 template <typename PointT> inline bool
62 isFinite (const Eigen::internal::workaround_msvc_stl_support<PointT> &pt)
63 {
64 return isFinite<PointT> (static_cast<const PointT&> (pt));
65 }
66#endif
67
68 template<> inline bool isFinite<pcl::Axis>(const pcl::Axis&) { return (true); }
69 template<> inline bool isFinite<pcl::BRISKSignature512>(const pcl::BRISKSignature512&) { return (true); }
70 template<> inline bool isFinite<pcl::BorderDescription>(const pcl::BorderDescription &) { return true; }
71 template<> inline bool isFinite<pcl::Boundary>(const pcl::Boundary&) { return (true); }
72 template<> inline bool isFinite<pcl::CPPFSignature>(const pcl::CPPFSignature&) { return (true); }
73 template<> inline bool isFinite<pcl::ESFSignature640>(const pcl::ESFSignature640&) { return (true); }
74 template<> inline bool isFinite<pcl::FPFHSignature33>(const pcl::FPFHSignature33&) { return (true); }
75 template<> inline bool isFinite<pcl::GASDSignature512>(const pcl::GASDSignature512&) { return (true); }
76 template<> inline bool isFinite<pcl::GASDSignature984>(const pcl::GASDSignature984&) { return (true); }
77 template<> inline bool isFinite<pcl::GASDSignature7992>(const pcl::GASDSignature7992&) { return (true); }
78 template<> inline bool isFinite<pcl::GRSDSignature21>(const pcl::GRSDSignature21&) { return (true); }
79 template<> inline bool isFinite<pcl::Intensity>(const pcl::Intensity&) { return (true); }
80 template<> inline bool isFinite<pcl::IntensityGradient>(const pcl::IntensityGradient&) { return (true); }
81 template<> inline bool isFinite<pcl::Label>(const pcl::Label&) { return (true); }
82 template<> inline bool isFinite<pcl::MomentInvariants>(const pcl::MomentInvariants&) { return (true); }
83 template<> inline bool isFinite<pcl::NormalBasedSignature12>(const pcl::NormalBasedSignature12&) { return (true); }
84 template<> inline bool isFinite<pcl::PFHRGBSignature250>(const pcl::PFHRGBSignature250&) { return (true); }
85 template<> inline bool isFinite<pcl::PFHSignature125>(const pcl::PFHSignature125&) { return (true); }
86 template<> inline bool isFinite<pcl::PPFRGBSignature>(const pcl::PPFRGBSignature&) { return (true); }
87
88 template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature& pt)
89 {
90 return std::isfinite(pt.f1) && std::isfinite(pt.f2) && std::isfinite(pt.f3) && std::isfinite(pt.f4) && std::isfinite(pt.alpha_m);
91 }
92
93 template<> inline bool isFinite<pcl::PrincipalCurvatures>(const pcl::PrincipalCurvatures&) { return (true); }
94 template<> inline bool isFinite<pcl::PrincipalRadiiRSD>(const pcl::PrincipalRadiiRSD&) { return (true); }
95 template<> inline bool isFinite<pcl::RGB>(const pcl::RGB&) { return (true); }
96 template<> inline bool isFinite<pcl::ReferenceFrame>(const pcl::ReferenceFrame&) { return (true); }
97 template<> inline bool isFinite<pcl::SHOT1344>(const pcl::SHOT1344&) { return (true); }
98 template<> inline bool isFinite<pcl::SHOT352>(const pcl::SHOT352&) { return (true); }
99 template<> inline bool isFinite<pcl::ShapeContext1980>(const pcl::ShapeContext1980&) { return (true); }
100 template<> inline bool isFinite<pcl::UniqueShapeContext1960>(const pcl::UniqueShapeContext1960&) { return (true); }
101 template<> inline bool isFinite<pcl::VFHSignature308>(const pcl::VFHSignature308&) { return (true); }
102
103 // specification for pcl::PointXY
104 template <> inline bool
106 {
107 return (std::isfinite (p.x) && std::isfinite (p.y));
108 }
109
110 // specification for pcl::Normal
111 template <> inline bool
113 {
114 return (std::isfinite (n.normal_x) && std::isfinite (n.normal_y) && std::isfinite (n.normal_z));
115 }
116
117 // generic fallback cases
118 template <typename PointT, traits::HasNoXY<PointT> = true> constexpr inline bool
119 isXYFinite (const PointT&) noexcept
120 {
121 return true;
122 }
123
124 template <typename PointT, traits::HasNoXYZ<PointT> = true> constexpr inline bool
125 isXYZFinite (const PointT&) noexcept
126 {
127 return true;
128 }
129
130 template <typename PointT, traits::HasNoNormal<PointT> = true> constexpr inline bool
131 isNormalFinite (const PointT&) noexcept
132 {
133 return true;
134 }
135
136 // special cases for checks
137 template <typename PointT, traits::HasXY<PointT> = true> inline bool
138 isXYFinite (const PointT& pt) noexcept
139 {
140 return std::isfinite(pt.x) && std::isfinite(pt.y);
141 }
142
143 template <typename PointT, traits::HasXYZ<PointT> = true> inline bool
144 isXYZFinite (const PointT& pt) noexcept
145 {
146 return std::isfinite(pt.x) && std::isfinite(pt.y) && std::isfinite(pt.z);
147 }
148
149 template <typename PointT, traits::HasNormal<PointT> = true> inline bool
150 isNormalFinite (const PointT& pt) noexcept
151 {
152 return std::isfinite(pt.normal_x) && std::isfinite(pt.normal_y) && std::isfinite(pt.normal_z);
153 }
154}
Defines all the PCL implemented PointT point type structures.
bool isFinite< pcl::FPFHSignature33 >(const pcl::FPFHSignature33 &)
Definition point_tests.h:74
bool isFinite< pcl::PPFRGBSignature >(const pcl::PPFRGBSignature &)
Definition point_tests.h:86
bool isFinite< pcl::Normal >(const pcl::Normal &n)
bool isFinite< pcl::PFHRGBSignature250 >(const pcl::PFHRGBSignature250 &)
Definition point_tests.h:84
bool isFinite< pcl::Boundary >(const pcl::Boundary &)
Definition point_tests.h:71
bool isFinite< pcl::MomentInvariants >(const pcl::MomentInvariants &)
Definition point_tests.h:82
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition point_tests.h:55
bool isFinite< pcl::ReferenceFrame >(const pcl::ReferenceFrame &)
Definition point_tests.h:96
bool isFinite< pcl::GRSDSignature21 >(const pcl::GRSDSignature21 &)
Definition point_tests.h:78
bool isFinite< pcl::BRISKSignature512 >(const pcl::BRISKSignature512 &)
Definition point_tests.h:69
bool isFinite< pcl::PrincipalRadiiRSD >(const pcl::PrincipalRadiiRSD &)
Definition point_tests.h:94
bool isFinite< pcl::SHOT1344 >(const pcl::SHOT1344 &)
Definition point_tests.h:97
bool isFinite< pcl::GASDSignature512 >(const pcl::GASDSignature512 &)
Definition point_tests.h:75
bool isFinite< pcl::NormalBasedSignature12 >(const pcl::NormalBasedSignature12 &)
Definition point_tests.h:83
bool isFinite< pcl::PrincipalCurvatures >(const pcl::PrincipalCurvatures &)
Definition point_tests.h:93
bool isFinite< pcl::Intensity >(const pcl::Intensity &)
Definition point_tests.h:79
bool isFinite< pcl::UniqueShapeContext1960 >(const pcl::UniqueShapeContext1960 &)
bool isFinite< pcl::Axis >(const pcl::Axis &)
Definition point_tests.h:68
bool isFinite< pcl::CPPFSignature >(const pcl::CPPFSignature &)
Definition point_tests.h:72
bool isFinite< pcl::BorderDescription >(const pcl::BorderDescription &)
Definition point_tests.h:70
bool isFinite< pcl::PFHSignature125 >(const pcl::PFHSignature125 &)
Definition point_tests.h:85
bool isFinite< pcl::ShapeContext1980 >(const pcl::ShapeContext1980 &)
Definition point_tests.h:99
bool isFinite< pcl::IntensityGradient >(const pcl::IntensityGradient &)
Definition point_tests.h:80
bool isFinite< pcl::GASDSignature7992 >(const pcl::GASDSignature7992 &)
Definition point_tests.h:77
bool isFinite< pcl::PPFSignature >(const pcl::PPFSignature &pt)
Definition point_tests.h:88
constexpr bool isXYFinite(const PointT &) noexcept
bool isFinite< pcl::SHOT352 >(const pcl::SHOT352 &)
Definition point_tests.h:98
bool isFinite< pcl::Label >(const pcl::Label &)
Definition point_tests.h:81
constexpr bool isNormalFinite(const PointT &) noexcept
bool isFinite< pcl::ESFSignature640 >(const pcl::ESFSignature640 &)
Definition point_tests.h:73
bool isFinite< pcl::VFHSignature308 >(const pcl::VFHSignature308 &)
bool isFinite< pcl::PointXY >(const pcl::PointXY &p)
constexpr bool isXYZFinite(const PointT &) noexcept
bool isFinite< pcl::RGB >(const pcl::RGB &)
Definition point_tests.h:95
bool isFinite< pcl::GASDSignature984 >(const pcl::GASDSignature984 &)
Definition point_tests.h:76
A point structure representing an Axis using its normal coordinates.
A point structure representing the Binary Robust Invariant Scalable Keypoints (BRISK).
A structure to store if a point in a range image lies on a border between an obstacle and the backgro...
A point structure representing a description of whether a point is lying on a surface boundary or not...
A point structure for storing the Point Pair Feature (CPPF) values.
A point structure representing the Ensemble of Shape Functions (ESF).
A point structure representing the Fast Point Feature Histogram (FPFH).
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape descriptor.
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descr...
A point structure representing the Globally Aligned Spatial Distribution (GASD) shape and color descr...
A point structure representing the Global Radius-based Surface Descriptor (GRSD).
A point structure representing the intensity gradient of an XYZI point cloud.
A point structure representing the grayscale intensity in single-channel images.
A point structure representing the three moment invariants.
A point structure representing the Normal Based Signature for a feature matrix of 4-by-3.
A point structure representing normal coordinates and the surface curvature estimate.
A point structure representing the Point Feature Histogram with colors (PFHRGB).
A point structure representing the Point Feature Histogram (PFH).
A point structure for storing the Point Pair Color Feature (PPFRGB) values.
A point structure for storing the Point Pair Feature (PPF) values.
A 2D point structure representing Euclidean xy coordinates.
A point structure representing Euclidean xyz coordinates, and the RGB color.
A point structure representing the principal curvatures and their magnitudes.
A point structure representing the minimum and maximum surface radii (in meters) computed using RSD.
A structure representing RGB color information.
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape+col...
A point structure representing the generic Signature of Histograms of OrienTations (SHOT) - shape onl...
A point structure representing a Shape Context.
A point structure representing a Unique Shape Context.
A point structure representing the Viewpoint Feature Histogram (VFH).