Point Cloud Library (PCL)  1.9.1-dev
quantized_map.h
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37 
38 #pragma once
39 
40 #include <vector>
41 #include <pcl/pcl_macros.h>
42 
43 namespace pcl
44 {
45  class PCL_EXPORTS QuantizedMap
46  {
47  public:
48 
49  QuantizedMap ();
50  QuantizedMap (size_t width, size_t height);
51  QuantizedMap (const QuantizedMap & copy_me);
52 
53  virtual ~QuantizedMap ();
54 
55  inline size_t
56  getWidth () const { return (width_); }
57 
58  inline size_t
59  getHeight () const { return (height_); }
60 
61  inline unsigned char*
62  getData () { return (&data_[0]); }
63 
64  inline const unsigned char*
65  getData () const { return (&data_[0]); }
66 
67  inline QuantizedMap
68  getSubMap (size_t x,
69  size_t y,
70  size_t width,
71  size_t height)
72  {
73  QuantizedMap subMap(width, height);
74 
75  for (size_t row_index = 0; row_index < height; ++row_index)
76  {
77  for (size_t col_index = 0; col_index < width; ++col_index)
78  {
79  //const size_t index = (row_index+y)*width_ + (col_index+x);
80  //const unsigned char value = data_[index];
81  //subMap.data_[row_index*width + col_index] = value;//data_[(row_index+y)*width_ + (col_index+x)];
82  subMap (col_index, row_index) = (*this) (col_index + x, row_index + y);
83  }
84  }
85 
86  return subMap;
87  }
88 
89  void
90  resize (size_t width, size_t height);
91 
92  inline unsigned char &
93  operator() (const size_t x, const size_t y)
94  {
95  return (data_[y*width_+x]);
96  }
97 
98  inline const unsigned char &
99  operator() (const size_t x, const size_t y) const
100  {
101  return (data_[y*width_+x]);
102  }
103 
104  static void
105  spreadQuantizedMap (const QuantizedMap & input_map, QuantizedMap & output_map, size_t spreading_size);
106 
107  void
108  serialize (std::ostream & stream) const
109  {
110  const int width = static_cast<int> (width_);
111  const int height = static_cast<int> (height_);
112 
113  stream.write (reinterpret_cast<const char*> (&width), sizeof (width));
114  stream.write (reinterpret_cast<const char*> (&height), sizeof (height));
115 
116  const int num_of_elements = static_cast<int> (data_.size ());
117  stream.write (reinterpret_cast<const char*> (&num_of_elements), sizeof (num_of_elements));
118  for (int element_index = 0; element_index < num_of_elements; ++element_index)
119  {
120  stream.write (reinterpret_cast<const char*> (&(data_[element_index])), sizeof (data_[element_index]));
121  }
122  }
123 
124  void
125  deserialize (std::istream & stream)
126  {
127  int width;
128  int height;
129 
130  stream.read (reinterpret_cast<char*> (&width), sizeof (width));
131  stream.read (reinterpret_cast<char*> (&height), sizeof (height));
132 
133  width_ = static_cast<size_t> (width);
134  height_ = static_cast<size_t> (height);
135 
136  int num_of_elements;
137  stream.read (reinterpret_cast<char*> (&num_of_elements), sizeof (num_of_elements));
138  data_.resize (num_of_elements);
139  for (int element_index = 0; element_index < num_of_elements; ++element_index)
140  {
141  stream.read (reinterpret_cast<char*> (&(data_[element_index])), sizeof (data_[element_index]));
142  }
143  }
144 
145 
146  //private:
147  std::vector<unsigned char> data_;
148  size_t width_;
149  size_t height_;
150 
151  };
152 }
size_t getHeight() const
Definition: quantized_map.h:59
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:44
size_t getWidth() const
Definition: quantized_map.h:56
void deserialize(std::istream &stream)
QuantizedMap getSubMap(size_t x, size_t y, size_t width, size_t height)
Definition: quantized_map.h:68
unsigned char * getData()
Definition: quantized_map.h:62
std::vector< unsigned char > data_
void serialize(std::ostream &stream) const
const unsigned char * getData() const
Definition: quantized_map.h:65