Point Cloud Library (PCL) 1.13.0
Loading...
Searching...
No Matches
distance_map.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010-2011, Willow Garage, Inc.
6 *
7 * All rights reserved.
8 *
9 * Redistribution and use in source and binary forms, with or without
10 * modification, are permitted provided that the following conditions
11 * are met:
12 *
13 * * Redistributions of source code must retain the above copyright
14 * notice, this list of conditions and the following disclaimer.
15 * * Redistributions in binary form must reproduce the above
16 * copyright notice, this list of conditions and the following
17 * disclaimer in the documentation and/or other materials provided
18 * with the distribution.
19 * * Neither the name of Willow Garage, Inc. nor the names of its
20 * contributors may be used to endorse or promote products derived
21 * from this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34 * POSSIBILITY OF SUCH DAMAGE.
35 *
36 */
37
38#pragma once
39
40namespace pcl
41{
42
43 /** \brief Represents a distance map obtained from a distance transformation.
44 * \author Stefan Holzer
45 */
47 {
48 public:
49 /** \brief Constructor. */
50 DistanceMap () : data_ (0), width_ (0), height_ (0) {}
51 /** \brief Destructor. */
52 virtual ~DistanceMap () = default;
53
54 /** \brief Returns the width of the map. */
55 inline std::size_t
56 getWidth () const
57 {
58 return (width_);
59 }
60
61 /** \brief Returns the height of the map. */
62 inline std::size_t
63 getHeight () const
64 {
65 return (height_);
66 }
67
68 /** \brief Returns a pointer to the beginning of map. */
69 inline float *
71 {
72 return (&data_[0]);
73 }
74
75 /** \brief Resizes the map to the specified size.
76 * \param[in] width the new width of the map.
77 * \param[in] height the new height of the map.
78 */
79 void
80 resize (const std::size_t width, const std::size_t height)
81 {
82 data_.resize (width*height);
83 width_ = width;
84 height_ = height;
85 }
86
87 /** \brief Operator to access an element of the map.
88 * \param[in] col_index the column index of the element to access.
89 * \param[in] row_index the row index of the element to access.
90 */
91 inline float &
92 operator() (const std::size_t col_index, const std::size_t row_index)
93 {
94 return (data_[row_index*width_ + col_index]);
95 }
96
97 /** \brief Operator to access an element of the map.
98 * \param[in] col_index the column index of the element to access.
99 * \param[in] row_index the row index of the element to access.
100 */
101 inline const float &
102 operator() (const std::size_t col_index, const std::size_t row_index) const
103 {
104 return (data_[row_index*width_ + col_index]);
105 }
106
107 protected:
108 /** \brief The storage for the distance map data. */
109 std::vector<float> data_;
110 /** \brief The width of the map. */
111 std::size_t width_;
112 /** \brief The height of the map. */
113 std::size_t height_;
114 };
115
116}
Represents a distance map obtained from a distance transformation.
std::size_t getWidth() const
Returns the width of the map.
DistanceMap()
Constructor.
float & operator()(const std::size_t col_index, const std::size_t row_index)
Operator to access an element of the map.
std::size_t getHeight() const
Returns the height of the map.
std::size_t height_
The height of the map.
virtual ~DistanceMap()=default
Destructor.
void resize(const std::size_t width, const std::size_t height)
Resizes the map to the specified size.
std::size_t width_
The width of the map.
float * getData()
Returns a pointer to the beginning of map.
std::vector< float > data_
The storage for the distance map data.