Point Cloud Library (PCL)  1.9.1-dev
distance_map.h
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37 
38 #pragma once
39 
40 namespace 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 () {}
53 
54  /** \brief Returns the width of the map. */
55  inline size_t
56  getWidth () const
57  {
58  return (width_);
59  }
60 
61  /** \brief Returns the height of the map. */
62  inline size_t
63  getHeight () const
64  {
65  return (height_);
66  }
67 
68  /** \brief Returns a pointer to the beginning of map. */
69  inline float *
70  getData ()
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 size_t width, const 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 size_t col_index, const 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 size_t col_index, const 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  size_t width_;
112  /** \brief The height of the map. */
113  size_t height_;
114  };
115 
116 }
size_t getWidth() const
Returns the width of the map.
Definition: distance_map.h:56
DistanceMap()
Constructor.
Definition: distance_map.h:50
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
void resize(const size_t width, const size_t height)
Resizes the map to the specified size.
Definition: distance_map.h:80
Represents a distance map obtained from a distance transformation.
Definition: distance_map.h:46
size_t width_
The width of the map.
Definition: distance_map.h:111
std::vector< float > data_
The storage for the distance map data.
Definition: distance_map.h:109
virtual ~DistanceMap()
Destructor.
Definition: distance_map.h:52
size_t height_
The height of the map.
Definition: distance_map.h:113
size_t getHeight() const
Returns the height of the map.
Definition: distance_map.h:63
float * getData()
Returns a pointer to the beginning of map.
Definition: distance_map.h:70
float & operator()(const size_t col_index, const size_t row_index)
Operator to access an element of the map.
Definition: distance_map.h:92