Point Cloud Library (PCL)  1.9.1-dev
mask_map.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 
42 #include <cstring>
43 #include <vector>
44 
45 namespace pcl {
47 public:
48  MaskMap() = default;
49 
50  MaskMap(std::size_t width, std::size_t height);
51 
52  virtual ~MaskMap() = default;
53 
54  void
55  resize(std::size_t width, std::size_t height);
56 
57  inline std::size_t
58  getWidth() const
59  {
60  return (width_);
61  }
62 
63  inline std::size_t
64  getHeight() const
65  {
66  return (height_);
67  }
68 
69  inline unsigned char*
71  {
72  return (data_.data());
73  }
74 
75  inline const unsigned char*
76  getData() const
77  {
78  return (data_.data());
79  }
80 
81  [[deprecated("Use new version diff getDifferenceMask(mask0, mask1)")]]
82  static void
83  getDifferenceMask(const MaskMap& mask0, const MaskMap& mask1, MaskMap& diff_mask);
84 
86  static MaskMap
87  getDifferenceMask(const MaskMap& mask0, const MaskMap& mask1);
88 
89  inline void
90  set(const std::size_t x, const std::size_t y)
91  {
92  data_[y * width_ + x] = 255;
93  }
94 
95  inline void
96  unset(const std::size_t x, const std::size_t y)
97  {
98  data_[y * width_ + x] = 0;
99  }
100 
101  inline bool
102  isSet(const std::size_t x, const std::size_t y) const
103  {
104  return (data_[y * width_ + x] != 0);
105  }
106 
107  inline void
109  {
110  data_.assign(data_.size(), 0);
111  }
112 
113  inline unsigned char&
114  operator()(const std::size_t x, const std::size_t y)
115  {
116  return (data_[y * width_ + x]);
117  }
118 
119  inline const unsigned char&
120  operator()(const std::size_t x, const std::size_t y) const
121  {
122  return (data_[y * width_ + x]);
123  }
124 
125  void
126  erode(MaskMap& eroded_mask) const;
127 
128 private:
129  std::vector<unsigned char> data_;
130  std::size_t width_ = 0;
131  std::size_t height_ = 0;
132 };
133 
134 } // namespace pcl
#define PCL_NODISCARD
Definition: pcl_macros.h:385
std::size_t getHeight() const
Definition: mask_map.h:64
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void reset()
Definition: mask_map.h:108
const unsigned char * getData() const
Definition: mask_map.h:76
unsigned char * getData()
Definition: mask_map.h:70
unsigned char & operator()(const std::size_t x, const std::size_t y)
Definition: mask_map.h:114
std::size_t getWidth() const
Definition: mask_map.h:58
const unsigned char & operator()(const std::size_t x, const std::size_t y) const
Definition: mask_map.h:120
bool isSet(const std::size_t x, const std::size_t y) const
Definition: mask_map.h:102
#define PCL_EXPORTS
Definition: pcl_macros.h:241
Defines all the PCL and non-PCL macros used.
void unset(const std::size_t x, const std::size_t y)
Definition: mask_map.h:96