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Migrate from boost::math::isnan to std::isnan #2819

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Merged
merged 2 commits into from
Feb 3, 2019
Merged

Migrate from boost::math::isnan to std::isnan #2819

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3c80e39
Replace boost::math::isnan by std::isnan
Feb 1, 2019
e210e1b
Replace boost::math::isnan(NormalVector4fMap) by NormalVector4fMap.ha…
Feb 2, 2019
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2 changes: 1 addition & 1 deletion apps/in_hand_scanner/src/icp.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -407,7 +407,7 @@ pcl::ihs::ICP::selectDataPoints (const CloudXYZRGBNormalConstPtr& cloud_data) co
CloudXYZRGBNormal::const_iterator it_in = cloud_data->begin ();
for (; it_in!=cloud_data->end (); ++it_in)
{
if (!boost::math::isnan (it_in->x))
if (!std::isnan (it_in->x))
{
PointNormal pt;
pt.getVector4fMap () = it_in->getVector4fMap ();
Expand Down
4 changes: 2 additions & 2 deletions apps/in_hand_scanner/src/input_data_processing.cpp
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Expand Up @@ -126,7 +126,7 @@ pcl::ihs::InputDataProcessing::segment (const CloudXYZRGBAConstPtr& cloud_in,

xyz_mask (r, c) = hsv_mask (r, c) = false;

if (!boost::math::isnan (xyzrgb.x) && !boost::math::isnan (normal.normal_x) &&
if (!std::isnan (xyzrgb.x) && !std::isnan (normal.normal_x) &&
xyzrgb.x >= x_min && xyzrgb.x <= x_max &&
xyzrgb.y >= y_min && xyzrgb.y <= y_max &&
xyzrgb.z >= z_min && xyzrgb.z <= z_max)
Expand Down Expand Up @@ -246,7 +246,7 @@ pcl::ihs::InputDataProcessing::calculateNormals (const CloudXYZRGBAConstPtr& clo

for (; it_in!=cloud_in->end (); ++it_in, ++it_n, ++it_out)
{
if (!boost::math::isnan (it_n->getNormalVector4fMap ()))
if (!it_n->getNormalVector4fMap (). hasNaN ())
{
// m -> cm
it_out->getVector4fMap () = 100.f * it_in->getVector4fMap ();
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20 changes: 10 additions & 10 deletions apps/in_hand_scanner/src/integration.cpp
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Expand Up @@ -101,7 +101,7 @@ pcl::ihs::Integration::reconstructMesh (const CloudXYZRGBNormalConstPtr& cloud_d
const PointXYZRGBNormal& pt_d = cloud_data->operator [] (c);
const float weight = -pt_d.normal_z; // weight = -dot (normal, [0; 0; 1])

if (!boost::math::isnan (pt_d.x) && weight > min_weight_)
if (!std::isnan (pt_d.x) && weight > min_weight_)
{
cloud_model->operator [] (c) = PointIHS (pt_d, weight);
}
Expand All @@ -113,7 +113,7 @@ pcl::ihs::Integration::reconstructMesh (const CloudXYZRGBNormalConstPtr& cloud_d
const PointXYZRGBNormal& pt_d = cloud_data->operator [] (r*width + c);
const float weight = -pt_d.normal_z; // weight = -dot (normal, [0; 0; 1])

if (!boost::math::isnan (pt_d.x) && weight > min_weight_)
if (!std::isnan (pt_d.x) && weight > min_weight_)
{
cloud_model->operator [] (r*width + c) = PointIHS (pt_d, weight);
}
Expand Down Expand Up @@ -163,7 +163,7 @@ pcl::ihs::Integration::reconstructMesh (const CloudXYZRGBNormalConstPtr& cloud_d

const float weight = -pt_d_0.normal_z; // weight = -dot (normal, [0; 0; 1])

if (!boost::math::isnan (pt_d_0.x) && weight > min_weight_)
if (!std::isnan (pt_d_0.x) && weight > min_weight_)
{
pt_m_0 = PointIHS (pt_d_0, weight);
}
Expand Down Expand Up @@ -242,7 +242,7 @@ pcl::ihs::Integration::merge (const CloudXYZRGBNormalConstPtr& cloud_data,
const PointXYZRGBNormal& pt_d = cloud_data->operator [] (c);
const float weight = -pt_d.normal_z; // weight = -dot (normal, [0; 0; 1])

if (!boost::math::isnan (pt_d.x) && weight > min_weight_)
if (!std::isnan (pt_d.x) && weight > min_weight_)
{
PointIHS& pt_d_t = cloud_data_transformed->operator [] (c);
pt_d_t = PointIHS (pt_d, weight);
Expand All @@ -257,7 +257,7 @@ pcl::ihs::Integration::merge (const CloudXYZRGBNormalConstPtr& cloud_data,
const PointXYZRGBNormal& pt_d = cloud_data->operator [] (r*width + c);
const float weight = -pt_d.normal_z; // weight = -dot (normal, [0; 0; 1])

if (!boost::math::isnan (pt_d.x) && weight > min_weight_)
if (!std::isnan (pt_d.x) && weight > min_weight_)
{
PointIHS& pt_d_t = cloud_data_transformed->operator [] (r*width + c);
pt_d_t = PointIHS (pt_d, weight);
Expand Down Expand Up @@ -312,7 +312,7 @@ pcl::ihs::Integration::merge (const CloudXYZRGBNormalConstPtr& cloud_data,

const float weight = -pt_d_0.normal_z; // weight = -dot (normal, [0; 0; 1])

if (!boost::math::isnan (pt_d_0.x) && weight > min_weight_)
if (!std::isnan (pt_d_0.x) && weight > min_weight_)
{
pt_d_t_0 = PointIHS (pt_d_0, weight);
pt_d_t_0.getVector4fMap () = T * pt_d_t_0.getVector4fMap ();
Expand Down Expand Up @@ -519,10 +519,10 @@ pcl::ihs::Integration::addToMesh (const PointIHS& pt_0,
// | |
// 3 - 0
const unsigned char is_finite = static_cast <unsigned char> (
(1 * !boost::math::isnan (pt_0.x)) |
(2 * !boost::math::isnan (pt_1.x)) |
(4 * !boost::math::isnan (pt_2.x)) |
(8 * !boost::math::isnan (pt_3.x)));
(1 * !std::isnan (pt_0.x)) |
(2 * !std::isnan (pt_1.x)) |
(4 * !std::isnan (pt_2.x)) |
(8 * !std::isnan (pt_3.x)));

switch (is_finite)
{
Expand Down
6 changes: 3 additions & 3 deletions apps/in_hand_scanner/src/opengl_viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -537,9 +537,9 @@ pcl::ihs::OpenGLViewer::addMesh (const CloudXYZRGBNormalConstPtr& cloud, const s
const PointXYZRGBNormal& pt_2 = cloud->operator [] (ind_o_2);
const PointXYZRGBNormal& pt_3 = cloud->operator [] (ind_o_3);

if (!boost::math::isnan (pt_1.x) && !boost::math::isnan (pt_3.x))
if (!std::isnan (pt_1.x) && !std::isnan (pt_3.x))
{
if (!boost::math::isnan (pt_2.x)) // 1-2-3 is valid
if (!std::isnan (pt_2.x)) // 1-2-3 is valid
{
if (std::abs (pt_1.z - pt_2.z) < 1 &&
std::abs (pt_1.z - pt_3.z) < 1 &&
Expand All @@ -552,7 +552,7 @@ pcl::ihs::OpenGLViewer::addMesh (const CloudXYZRGBNormalConstPtr& cloud, const s
triangles.emplace_back(ind_v_1, ind_v_2, ind_v_3);
}
}
if (!boost::math::isnan (pt_0.x)) // 0-1-3 is valid
if (!std::isnan (pt_0.x)) // 0-1-3 is valid
{
if (std::abs (pt_0.z - pt_1.z) < 1 &&
std::abs (pt_0.z - pt_3.z) < 1 &&
Expand Down
1 change: 0 additions & 1 deletion common/include/pcl/pcl_macros.h
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,6 @@ namespace pcl
#endif
#include <cmath>

// MSCV doesn't have std::{isnan,isfinite}
#if defined _WIN32 && defined _MSC_VER

// If M_PI is not defined, then probably all of them are undefined
Expand Down