implementation of * operator for Affine3f and point3d, initial implementation of isNaN

modules/viz/include/opencv2/viz/types.hpp

 #pragma once
 
 #include <vector>
+#include <boost/concept_check.hpp>
 #include <opencv2/core/cvdef.h>
 #include <opencv2/core.hpp>
 #include <opencv2/core/affine.hpp>
@@ -84,4 +85,19 @@ namespace temp_viz
     inline Vec3d vtkpoint(const Point3f& point) { return Vec3d(point.x, point.y, point.z); }
 
     template<typename _Tp> inline _Tp normalized(const _Tp& v) { return v * 1/cv::norm(v); }
+    
+    Point3d operator*(const Affine3f& affine, const Point3d& point);
+    
+    inline bool isNaN( float x )
+    {
+	union { float f; unsigned int u; } v = { x };
+	return ((v.u & 0x7f800000) == 0x7f800000) && (v.u & 0x007fffff);
+    }
+    
+    inline bool isNaN( double x )
+    {
+	union { double d; unsigned int u[2]; } v = { x };
+	return (v.u[1] & 0x7ff00000) == 0x7ff00000 && 
+	(v.u[0] != 0 || (v.u[1] & 0x000fffff) != 0);
+    }
 }

modules/viz/src/types.cpp

@@ -22,3 +22,12 @@ temp_viz::Color temp_viz::Color::white()   { return Color(255, 255, 255); }
 
 temp_viz::Color temp_viz::Color::gray()    { return Color(128, 128, 128); }
 
+temp_viz::Point3d temp_viz::operator*(const temp_viz::Affine3f& affine, const temp_viz::Point3d& point)
+{
+    const temp_viz::Matx44f& m = affine.matrix;
+    temp_viz::Point3d result;
+    result.x = m.val[0] * point.x + m.val[1] * point.y + m.val[ 2] * point.z + m.val[ 3];
+    result.y = m.val[4] * point.x + m.val[5] * point.y + m.val[ 6] * point.z + m.val[ 7];
+    result.z = m.val[8] * point.x + m.val[9] * point.y + m.val[10] * point.z + m.val[11];
+    return result;
+}
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