replace std::isfinate with pcl::isXYZFinite

PointCloudLibrary · Jun 17, 2024 · 0a8568a · 0a8568a
1 parent 9a4b24f
commit 0a8568a
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Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/filters/include/pcl/filters/impl/uniform_sampling.hpp b/filters/include/pcl/filters/impl/uniform_sampling.hpp
@@ -40,6 +40,7 @@
 
 #include <pcl/common/common.h>
 #include <pcl/filters/uniform_sampling.h>
+#include <pcl/common/point_tests.h>
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 template <typename PointT> void
@@ -79,9 +80,7 @@ pcl::UniformSampling<PointT>::applyFilter (Indices &indices)
     if (!input_->is_dense)
     {
       // Check if the point is invalid
-      if (!std::isfinite ((*input_)[cp].x) || 
-          !std::isfinite ((*input_)[cp].y) || 
-          !std::isfinite ((*input_)[cp].z))
+      if (!pcl::isXYZFinite ((*input_)[cp]))
       {
         if (extract_removed_indices_)
           (*removed_indices_)[rii++] = cp;

diff --git a/test/filters/test_uniform_sampling.cpp b/test/filters/test_uniform_sampling.cpp
@@ -66,15 +66,14 @@ TEST(UniformSampling, extractRemovedIndices)
   pcl::PointCloud<pcl::PointXYZ> output;
   pcl::Indices indices;
 
-  //empty input cloud
+  // Empty input cloud
   us_ptr->filter(output);
   us_ptr->filter(indices);
 
   us_ptr->setInputCloud(xyz);
-  //cloud
+  // Cloud
   us_ptr->filter(output);
-
-  //indices
+  // Indices
   us_ptr->filter(indices);
 
   for (const auto& outputIndex : indices)
@@ -109,7 +108,7 @@ TEST(UniformSampling, extractRemovedIndices)
   EXPECT_EQ (int (removed_indices->size ()), 1000);
   EXPECT_EQ (int (output.size ()), int (xyz->size() - 1000));
 
-  //Organized
+  // Organized
   us_ptr->setKeepOrganized (true);
   us_ptr->setNegative (false);
   us_ptr->filter(output);