Point Cloud Library (PCL) 1.14.0
Loading...
Searching...
No Matches
mask_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
40#include <pcl/pcl_macros.h>
41
42#include <vector>
43
44namespace pcl {
45class PCL_EXPORTS MaskMap {
46public:
47 MaskMap() = default;
48
49 MaskMap(std::size_t width, std::size_t height);
50
51 virtual ~MaskMap() = default;
52
53 void
54 resize(std::size_t width, std::size_t height);
55
56 inline std::size_t
57 getWidth() const
58 {
59 return (width_);
60 }
61
62 inline std::size_t
63 getHeight() const
64 {
65 return (height_);
66 }
67
68 inline unsigned char*
70 {
71 return (data_.data());
72 }
73
74 inline const unsigned char*
75 getData() const
76 {
77 return (data_.data());
78 }
79
81 static MaskMap
82 getDifferenceMask(const MaskMap& mask0, const MaskMap& mask1);
83
84 inline void
85 set(const std::size_t x, const std::size_t y)
86 {
87 data_[y * width_ + x] = 255;
88 }
89
90 inline void
91 unset(const std::size_t x, const std::size_t y)
92 {
93 data_[y * width_ + x] = 0;
94 }
95
96 inline bool
97 isSet(const std::size_t x, const std::size_t y) const
98 {
99 return (data_[y * width_ + x] != 0);
100 }
101
102 inline void
104 {
105 data_.assign(data_.size(), 0);
106 }
107
108 inline unsigned char&
109 operator()(const std::size_t x, const std::size_t y)
110 {
111 return (data_[y * width_ + x]);
112 }
113
114 inline const unsigned char&
115 operator()(const std::size_t x, const std::size_t y) const
116 {
117 return (data_[y * width_ + x]);
118 }
119
120 void
121 erode(MaskMap& eroded_mask) const;
122
123private:
124 std::vector<unsigned char> data_;
125 std::size_t width_ = 0;
126 std::size_t height_ = 0;
127};
128
129} // namespace pcl
std::size_t getWidth() const
Definition mask_map.h:57
void set(const std::size_t x, const std::size_t y)
Definition mask_map.h:85
void reset()
Definition mask_map.h:103
virtual ~MaskMap()=default
bool isSet(const std::size_t x, const std::size_t y) const
Definition mask_map.h:97
void resize(std::size_t width, std::size_t height)
unsigned char & operator()(const std::size_t x, const std::size_t y)
Definition mask_map.h:109
std::size_t getHeight() const
Definition mask_map.h:63
unsigned char * getData()
Definition mask_map.h:69
MaskMap()=default
MaskMap(std::size_t width, std::size_t height)
const unsigned char * getData() const
Definition mask_map.h:75
void erode(MaskMap &eroded_mask) const
static PCL_NODISCARD MaskMap getDifferenceMask(const MaskMap &mask0, const MaskMap &mask1)
const unsigned char & operator()(const std::size_t x, const std::size_t y) const
Definition mask_map.h:115
void unset(const std::size_t x, const std::size_t y)
Definition mask_map.h:91
Defines all the PCL and non-PCL macros used.
#define PCL_NODISCARD
Definition pcl_macros.h:443