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Replace pcl_isnan, pcl_isfinite and pcl_isinf by C++11 methods #2798

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merged 5 commits into from
Jan 30, 2019
Merged

Replace pcl_isnan, pcl_isfinite and pcl_isinf by C++11 methods #2798

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97c3ef2
Replace pcl_isinf by std::isinf
Jan 21, 2019
18011ea
Replace pcl_isfinite by std::isfinite
Jan 21, 2019
8cf61ed
Replace pcl_isnan by std::isnan
Jan 21, 2019
2c6b624
Remove defines: pcl_isnan, pcl_isfinite, pcl_isinf
Jan 21, 2019
21df03e
Remove unnecessary calls to std::isnan and std::isfinite. This fix MS…
Jan 22, 2019
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2 changes: 1 addition & 1 deletion ...d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/local_estimator.h
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Expand Up @@ -122,7 +122,7 @@ namespace pcl
pcl::eigen33 (covariance_matrix, eigenVectors, eigenValues);

float eigsum = eigenValues.sum ();
if (!pcl_isfinite(eigsum))
if (!std::isfinite(eigsum))
{
PCL_ERROR("Eigen sum is not finite\n");
}
Expand Down
2 changes: 1 addition & 1 deletion ...mework/include/pcl/apps/3d_rec_framework/feature_wrapper/local/shot_local_estimator_omp.h
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Expand Up @@ -126,7 +126,7 @@ namespace pcl
int NaNs = 0;
for (int i = 0; i < size_feat; i++)
{
if (!pcl_isfinite(shots->points[k].descriptor[i]))
if (!std::isfinite(shots->points[k].descriptor[i]))
NaNs++;
}

Expand Down
10 changes: 5 additions & 5 deletions apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/feature_wrapper/normal_estimator.h
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Expand Up @@ -206,7 +206,7 @@ namespace pcl
int j = 0;
for (size_t i = 0; i < out->points.size (); ++i)
{
if (!pcl_isfinite (out->points[i].x) || !pcl_isfinite (out->points[i].y) || !pcl_isfinite (out->points[i].z))
if (!std::isfinite (out->points[i].x) || !std::isfinite (out->points[i].y) || !std::isfinite (out->points[i].z))
continue;

out->points[j] = out->points[i];
Expand Down Expand Up @@ -243,8 +243,8 @@ namespace pcl
int j = 0;
for (size_t i = 0; i < normals->points.size (); ++i)
{
if (!pcl_isfinite (normals->points[i].normal_x) || !pcl_isfinite (normals->points[i].normal_y)
|| !pcl_isfinite (normals->points[i].normal_z))
if (!std::isfinite (normals->points[i].normal_x) || !std::isfinite (normals->points[i].normal_y)
|| !std::isfinite (normals->points[i].normal_z))
continue;

normals->points[j] = normals->points[i];
Expand All @@ -267,8 +267,8 @@ namespace pcl
bool NaNs = false;
for (size_t i = 0; i < normals->points.size (); ++i)
{
if (pcl_isfinite (normals->points[i].normal_x) && pcl_isfinite (normals->points[i].normal_y)
&& pcl_isfinite (normals->points[i].normal_z))
if (std::isfinite (normals->points[i].normal_x) && std::isfinite (normals->points[i].normal_y)
&& std::isfinite (normals->points[i].normal_z))
continue;

NaNs = true;
Expand Down
2 changes: 1 addition & 1 deletion apps/src/ni_agast.cpp
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Expand Up @@ -221,7 +221,7 @@ class AGASTDemo
{
const PointT &pt = (*cloud)(static_cast<long unsigned int> (keypoints->points[i].u),
static_cast<long unsigned int> (keypoints->points[i].v));
if (!pcl_isfinite (pt.x) || !pcl_isfinite (pt.y) || !pcl_isfinite (pt.z))
if (!std::isfinite (pt.x) || !std::isfinite (pt.y) || !std::isfinite (pt.z))
continue;

keypoints3d.points[j].x = pt.x;
Expand Down
6 changes: 3 additions & 3 deletions apps/src/openni_mobile_server.cpp
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Expand Up @@ -73,9 +73,9 @@ CopyPointCloudToBuffers (pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud, Poi

const pcl::PointXYZRGBA& point = cloud->points[i];

if (!pcl_isfinite (point.x) ||
!pcl_isfinite (point.y) ||
!pcl_isfinite (point.z))
if (!std::isfinite (point.x) ||
!std::isfinite (point.y) ||
!std::isfinite (point.z))
continue;

if (point.x < bounds_min.x ||
Expand Down
6 changes: 3 additions & 3 deletions apps/src/openni_tracking.cpp
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Expand Up @@ -497,9 +497,9 @@ class OpenNISegmentTracking
if (!(fabs(point.x) < 0.01 &&
fabs(point.y) < 0.01 &&
fabs(point.z) < 0.01) &&
!pcl_isnan(point.x) &&
!pcl_isnan(point.y) &&
!pcl_isnan(point.z))
!std::isnan(point.x) &&
!std::isnan(point.y) &&
!std::isnan(point.z))
result.points.push_back(point);
}

Expand Down
2 changes: 1 addition & 1 deletion common/include/pcl/common/centroid.h
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Expand Up @@ -853,7 +853,7 @@ namespace pcl
const T* data_ptr = reinterpret_cast<const T*>(raw_ptr);

// Check if the value is invalid
if (!pcl_isfinite (*data_ptr))
if (!std::isfinite (*data_ptr))
{
f_idx_++;
return;
Expand Down
2 changes: 1 addition & 1 deletion common/include/pcl/common/impl/bivariate_polynomial.hpp
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Expand Up @@ -202,7 +202,7 @@ pcl::BivariatePolynomialT<real>::findCriticalPoints (std::vector<real>& x_values
(parameters[1]*parameters[1] - real(4)*parameters[0]*parameters[3]),
y = (real(-2)*parameters[0]*x - parameters[2]) / parameters[1];

if (!pcl_isfinite(x) || !pcl_isfinite(y))
if (!std::isfinite(x) || !std::isfinite(y))
return;

int type = 2;
Expand Down
36 changes: 18 additions & 18 deletions common/include/pcl/common/impl/common.hpp
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Expand Up @@ -124,9 +124,9 @@ pcl::getPointsInBox (const pcl::PointCloud<PointT> &cloud,
for (size_t i = 0; i < cloud.points.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[i].x) ||
!pcl_isfinite (cloud.points[i].y) ||
!pcl_isfinite (cloud.points[i].z))
if (!std::isfinite (cloud.points[i].x) ||
!std::isfinite (cloud.points[i].y) ||
!std::isfinite (cloud.points[i].z))
continue;
// Check if the point is inside bounds
if (cloud.points[i].x < min_pt[0] || cloud.points[i].y < min_pt[1] || cloud.points[i].z < min_pt[2])
Expand Down Expand Up @@ -168,7 +168,7 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f
for (size_t i = 0; i < cloud.points.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[i].x) || !pcl_isfinite (cloud.points[i].y) || !pcl_isfinite (cloud.points[i].z))
if (!std::isfinite (cloud.points[i].x) || !std::isfinite (cloud.points[i].y) || !std::isfinite (cloud.points[i].z))
continue;
pcl::Vector3fMapConst pt = cloud.points[i].getVector3fMap ();
dist = (pivot_pt3 - pt).norm ();
Expand Down Expand Up @@ -216,9 +216,9 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int
for (size_t i = 0; i < indices.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[indices[i]].x) || !pcl_isfinite (cloud.points[indices[i]].y)
if (!std::isfinite (cloud.points[indices[i]].x) || !std::isfinite (cloud.points[indices[i]].y)
||
!pcl_isfinite (cloud.points[indices[i]].z))
!std::isfinite (cloud.points[indices[i]].z))
continue;

pcl::Vector3fMapConst pt = cloud.points[indices[i]].getVector3fMap ();
Expand Down Expand Up @@ -261,9 +261,9 @@ pcl::getMinMax3D (const pcl::PointCloud<PointT> &cloud, PointT &min_pt, PointT &
for (size_t i = 0; i < cloud.points.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[i].x) ||
!pcl_isfinite (cloud.points[i].y) ||
!pcl_isfinite (cloud.points[i].z))
if (!std::isfinite (cloud.points[i].x) ||
!std::isfinite (cloud.points[i].y) ||
!std::isfinite (cloud.points[i].z))
continue;
pcl::Array4fMapConst pt = cloud.points[i].getArray4fMap ();
min_p = min_p.min (pt);
Expand Down Expand Up @@ -298,9 +298,9 @@ pcl::getMinMax3D (const pcl::PointCloud<PointT> &cloud, Eigen::Vector4f &min_pt,
for (size_t i = 0; i < cloud.points.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[i].x) ||
!pcl_isfinite (cloud.points[i].y) ||
!pcl_isfinite (cloud.points[i].z))
if (!std::isfinite (cloud.points[i].x) ||
!std::isfinite (cloud.points[i].y) ||
!std::isfinite (cloud.points[i].z))
continue;
pcl::Array4fMapConst pt = cloud.points[i].getArray4fMap ();
min_p = min_p.min (pt);
Expand Down Expand Up @@ -337,9 +337,9 @@ pcl::getMinMax3D (const pcl::PointCloud<PointT> &cloud, const pcl::PointIndices
for (size_t i = 0; i < indices.indices.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[indices.indices[i]].x) ||
!pcl_isfinite (cloud.points[indices.indices[i]].y) ||
!pcl_isfinite (cloud.points[indices.indices[i]].z))
if (!std::isfinite (cloud.points[indices.indices[i]].x) ||
!std::isfinite (cloud.points[indices.indices[i]].y) ||
!std::isfinite (cloud.points[indices.indices[i]].z))
continue;
pcl::Array4fMapConst pt = cloud.points[indices.indices[i]].getArray4fMap ();
min_p = min_p.min (pt);
Expand Down Expand Up @@ -374,9 +374,9 @@ pcl::getMinMax3D (const pcl::PointCloud<PointT> &cloud, const std::vector<int> &
for (size_t i = 0; i < indices.size (); ++i)
{
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[indices[i]].x) ||
!pcl_isfinite (cloud.points[indices[i]].y) ||
!pcl_isfinite (cloud.points[indices[i]].z))
if (!std::isfinite (cloud.points[indices[i]].x) ||
!std::isfinite (cloud.points[indices[i]].y) ||
!std::isfinite (cloud.points[indices[i]].z))
continue;
pcl::Array4fMapConst pt = cloud.points[indices[i]].getArray4fMap ();
min_pt = min_pt.array ().min (pt);
Expand Down
12 changes: 6 additions & 6 deletions common/include/pcl/common/impl/pca.hpp
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Expand Up @@ -186,9 +186,9 @@ pcl::PCA<PointT>::project (const PointCloud& input, PointCloud& projection)
PointT p;
for (size_t i = 0; i < input.size (); ++i)
{
if (!pcl_isfinite (input[i].x) ||
!pcl_isfinite (input[i].y) ||
!pcl_isfinite (input[i].z))
if (!std::isfinite (input[i].x) ||
!std::isfinite (input[i].y) ||
!std::isfinite (input[i].z))
continue;
project (input[i], p);
projection.push_back (p);
Expand Down Expand Up @@ -228,9 +228,9 @@ pcl::PCA<PointT>::reconstruct (const PointCloud& projection, PointCloud& input)
PointT p;
for (size_t i = 0; i < input.size (); ++i)
{
if (!pcl_isfinite (input[i].x) ||
!pcl_isfinite (input[i].y) ||
!pcl_isfinite (input[i].z))
if (!std::isfinite (input[i].x) ||
!std::isfinite (input[i].y) ||
!std::isfinite (input[i].z))
continue;
reconstruct (projection[i], p);
input.push_back (p);
Expand Down
2 changes: 1 addition & 1 deletion common/include/pcl/common/impl/projection_matrix.hpp
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Expand Up @@ -102,7 +102,7 @@ pcl::estimateProjectionMatrix (
unsigned xIdx = pointIt.getCurrentPointIndex () % cloud->width;

const PointT& point = *pointIt;
if (pcl_isfinite (point.x))
if (std::isfinite (point.x))
{
Scalar xx = point.x * point.x;
Scalar xy = point.x * point.y;
Expand Down
24 changes: 12 additions & 12 deletions common/include/pcl/common/impl/transforms.hpp
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Expand Up @@ -245,9 +245,9 @@ pcl::transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
// otherwise we get errors during the multiplication (?)
for (size_t i = 0; i < cloud_out.points.size (); ++i)
{
if (!pcl_isfinite (cloud_in.points[i].x) ||
!pcl_isfinite (cloud_in.points[i].y) ||
!pcl_isfinite (cloud_in.points[i].z))
if (!std::isfinite (cloud_in.points[i].x) ||
!std::isfinite (cloud_in.points[i].y) ||
!std::isfinite (cloud_in.points[i].z))
continue;
tf.se3 (cloud_in[i].data, cloud_out[i].data);
}
Expand Down Expand Up @@ -292,9 +292,9 @@ pcl::transformPointCloud (const pcl::PointCloud<PointT> &cloud_in,
{
if (copy_all_fields)
cloud_out.points[i] = cloud_in.points[indices[i]];
if (!pcl_isfinite (cloud_in.points[indices[i]].x) ||
!pcl_isfinite (cloud_in.points[indices[i]].y) ||
!pcl_isfinite (cloud_in.points[indices[i]].z))
if (!std::isfinite (cloud_in.points[indices[i]].x) ||
!std::isfinite (cloud_in.points[indices[i]].y) ||
!std::isfinite (cloud_in.points[indices[i]].z))
continue;
tf.se3 (cloud_in[indices[i]].data, cloud_out[i].data);
}
Expand Down Expand Up @@ -339,9 +339,9 @@ pcl::transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
{
for (size_t i = 0; i < cloud_out.points.size (); ++i)
{
if (!pcl_isfinite (cloud_in.points[i].x) ||
!pcl_isfinite (cloud_in.points[i].y) ||
!pcl_isfinite (cloud_in.points[i].z))
if (!std::isfinite (cloud_in.points[i].x) ||
!std::isfinite (cloud_in.points[i].y) ||
!std::isfinite (cloud_in.points[i].z))
continue;
tf.se3 (cloud_in[i].data, cloud_out[i].data);
tf.so3 (cloud_in[i].data_n, cloud_out[i].data_n);
Expand Down Expand Up @@ -389,9 +389,9 @@ pcl::transformPointCloudWithNormals (const pcl::PointCloud<PointT> &cloud_in,
if (copy_all_fields)
cloud_out.points[i] = cloud_in.points[indices[i]];

if (!pcl_isfinite (cloud_in.points[indices[i]].x) ||
!pcl_isfinite (cloud_in.points[indices[i]].y) ||
!pcl_isfinite (cloud_in.points[indices[i]].z))
if (!std::isfinite (cloud_in.points[indices[i]].x) ||
!std::isfinite (cloud_in.points[indices[i]].y) ||
!std::isfinite (cloud_in.points[indices[i]].z))
continue;

tf.se3 (cloud_in[indices[i]].data, cloud_out[i].data);
Expand Down
2 changes: 1 addition & 1 deletion common/include/pcl/common/impl/vector_average.hpp
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Expand Up @@ -72,7 +72,7 @@ namespace pcl

mean_ += (diff)*alpha;

//if (pcl_isnan(covariance_(0,0)))
//if (std::isnan(covariance_(0,0)))
//{
//cout << PVARN(weight);
//exit(0);
Expand Down
60 changes: 27 additions & 33 deletions common/include/pcl/common/point_tests.h
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Expand Up @@ -52,7 +52,7 @@ namespace pcl
template <typename PointT> inline bool
isFinite (const PointT &pt)
{
return (pcl_isfinite (pt.x) && pcl_isfinite (pt.y) && pcl_isfinite (pt.z));
return (std::isfinite (pt.x) && std::isfinite (pt.y) && std::isfinite (pt.z));
}

#ifdef _MSC_VER
Expand All @@ -63,48 +63,42 @@ namespace pcl
}
#endif

template<> inline bool isFinite<pcl::RGB> (const pcl::RGB&) { return (true); }
template<> inline bool isFinite<pcl::Label> (const pcl::Label&) { return (true); }
template<> inline bool isFinite<pcl::Axis> (const pcl::Axis&) { return (true); }
template<> inline bool isFinite<pcl::Intensity> (const pcl::Intensity&) { return (true); }
template<> inline bool isFinite<pcl::MomentInvariants> (const pcl::MomentInvariants&) { return (true); }
template<> inline bool isFinite<pcl::PrincipalRadiiRSD> (const pcl::PrincipalRadiiRSD&) { return (true); }
template<> inline bool isFinite<pcl::Boundary> (const pcl::Boundary&) { return (true); }
template<> inline bool isFinite<pcl::PrincipalCurvatures> (const pcl::PrincipalCurvatures&) { return (true); }
template<> inline bool isFinite<pcl::SHOT352> (const pcl::SHOT352&) { return (true); }
template<> inline bool isFinite<pcl::SHOT1344> (const pcl::SHOT1344&) { return (true); }
template<> inline bool isFinite<pcl::ReferenceFrame> (const pcl::ReferenceFrame&) { return (true); }
template<> inline bool isFinite<pcl::ShapeContext1980> (const pcl::ShapeContext1980&) { return (true); }
template<> inline bool isFinite<pcl::UniqueShapeContext1960> (const pcl::UniqueShapeContext1960&) { return (true); }
template<> inline bool isFinite<pcl::PFHSignature125> (const pcl::PFHSignature125&) { return (true); }
template<> inline bool isFinite<pcl::PFHRGBSignature250> (const pcl::PFHRGBSignature250&) { return (true); }
template<> inline bool isFinite<pcl::PPFSignature> (const pcl::PPFSignature&) { return (true); }
template<> inline bool isFinite<pcl::PPFRGBSignature> (const pcl::PPFRGBSignature&) { return (true); }
template<> inline bool isFinite<pcl::NormalBasedSignature12> (const pcl::NormalBasedSignature12&) { return (true); }
template<> inline bool isFinite<pcl::FPFHSignature33> (const pcl::FPFHSignature33&) { return (true); }
template<> inline bool isFinite<pcl::VFHSignature308> (const pcl::VFHSignature308&) { return (true); }
template<> inline bool isFinite<pcl::ESFSignature640> (const pcl::ESFSignature640&) { return (true); }
template<> inline bool isFinite<pcl::IntensityGradient> (const pcl::IntensityGradient&) { return (true); }
template<> inline bool isFinite<pcl::BRISKSignature512> (const pcl::BRISKSignature512&) { return (true); }
template<> inline bool isFinite<pcl::Axis>(const pcl::Axis&) { return (true); }
template<> inline bool isFinite<pcl::BRISKSignature512>(const pcl::BRISKSignature512&) { return (true); }
template<> inline bool isFinite<pcl::BorderDescription>(const pcl::BorderDescription &p) { return true; }
template<> inline bool isFinite<pcl::Boundary>(const pcl::Boundary&) { return (true); }
template<> inline bool isFinite<pcl::ESFSignature640>(const pcl::ESFSignature640&) { return (true); }
template<> inline bool isFinite<pcl::FPFHSignature33>(const pcl::FPFHSignature33&) { return (true); }
template<> inline bool isFinite<pcl::Intensity>(const pcl::Intensity&) { return (true); }
template<> inline bool isFinite<pcl::IntensityGradient>(const pcl::IntensityGradient&) { return (true); }
template<> inline bool isFinite<pcl::Label>(const pcl::Label&) { return (true); }
template<> inline bool isFinite<pcl::MomentInvariants>(const pcl::MomentInvariants&) { return (true); }
template<> inline bool isFinite<pcl::NormalBasedSignature12>(const pcl::NormalBasedSignature12&) { return (true); }
template<> inline bool isFinite<pcl::PFHRGBSignature250>(const pcl::PFHRGBSignature250&) { return (true); }
template<> inline bool isFinite<pcl::PFHSignature125>(const pcl::PFHSignature125&) { return (true); }
template<> inline bool isFinite<pcl::PPFRGBSignature>(const pcl::PPFRGBSignature&) { return (true); }
template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature&) { return (true); }
template<> inline bool isFinite<pcl::PrincipalCurvatures>(const pcl::PrincipalCurvatures&) { return (true); }
template<> inline bool isFinite<pcl::PrincipalRadiiRSD>(const pcl::PrincipalRadiiRSD&) { return (true); }
template<> inline bool isFinite<pcl::RGB>(const pcl::RGB&) { return (true); }
template<> inline bool isFinite<pcl::ReferenceFrame>(const pcl::ReferenceFrame&) { return (true); }
template<> inline bool isFinite<pcl::SHOT1344>(const pcl::SHOT1344&) { return (true); }
template<> inline bool isFinite<pcl::SHOT352>(const pcl::SHOT352&) { return (true); }
template<> inline bool isFinite<pcl::ShapeContext1980>(const pcl::ShapeContext1980&) { return (true); }
template<> inline bool isFinite<pcl::UniqueShapeContext1960>(const pcl::UniqueShapeContext1960&) { return (true); }
template<> inline bool isFinite<pcl::VFHSignature308>(const pcl::VFHSignature308&) { return (true); }

// specification for pcl::PointXY
template <> inline bool
isFinite<pcl::PointXY> (const pcl::PointXY &p)
{
return (pcl_isfinite (p.x) && pcl_isfinite (p.y));
}

// specification for pcl::BorderDescription
template <> inline bool
isFinite<pcl::BorderDescription> (const pcl::BorderDescription &p)
{
return (pcl_isfinite (p.x) && pcl_isfinite (p.y));
return (std::isfinite (p.x) && std::isfinite (p.y));
}

// specification for pcl::Normal
template <> inline bool
isFinite<pcl::Normal> (const pcl::Normal &n)
{
return (pcl_isfinite (n.normal_x) && pcl_isfinite (n.normal_y) && pcl_isfinite (n.normal_z));
return (std::isfinite (n.normal_x) && std::isfinite (n.normal_y) && std::isfinite (n.normal_z));
}
}
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