Point Cloud Library (PCL)  1.7.1
distance_map.h
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37 
38 #ifndef PCL_RECOGNITION_DISTANCE_MAP
39 #define PCL_RECOGNITION_DISTANCE_MAP
40 
41 namespace pcl
42 {
43 
44  /** \brief Represents a distance map obtained from a distance transformation.
45  * \author Stefan Holzer
46  */
48  {
49  public:
50  /** \brief Constructor. */
51  DistanceMap () : data_ (0), width_ (0), height_ (0) {}
52  /** \brief Destructor. */
53  virtual ~DistanceMap () {}
54 
55  /** \brief Returns the width of the map. */
56  inline size_t
57  getWidth () const
58  {
59  return (width_);
60  }
61 
62  /** \brief Returns the height of the map. */
63  inline size_t
64  getHeight () const
65  {
66  return (height_);
67  }
68 
69  /** \brief Returns a pointer to the beginning of map. */
70  inline float *
71  getData ()
72  {
73  return (&data_[0]);
74  }
75 
76  /** \brief Resizes the map to the specified size.
77  * \param[in] width the new width of the map.
78  * \param[in] height the new height of the map.
79  */
80  void
81  resize (const size_t width, const size_t height)
82  {
83  data_.resize (width*height);
84  width_ = width;
85  height_ = height;
86  }
87 
88  /** \brief Operator to access an element of the map.
89  * \param[in] col_index the column index of the element to access.
90  * \param[in] row_index the row index of the element to access.
91  */
92  inline float &
93  operator() (const size_t col_index, const size_t row_index)
94  {
95  return (data_[row_index*width_ + col_index]);
96  }
97 
98  /** \brief Operator to access an element of the map.
99  * \param[in] col_index the column index of the element to access.
100  * \param[in] row_index the row index of the element to access.
101  */
102  inline const float &
103  operator() (const size_t col_index, const size_t row_index) const
104  {
105  return (data_[row_index*width_ + col_index]);
106  }
107 
108  protected:
109  /** \brief The storage for the distance map data. */
110  std::vector<float> data_;
111  /** \brief The width of the map. */
112  size_t width_;
113  /** \brief The height of the map. */
114  size_t height_;
115  };
116 
117 }
118 
119 
120 #endif
DistanceMap()
Constructor.
Definition: distance_map.h:51
size_t getHeight() const
Returns the height of the map.
Definition: distance_map.h:64
Represents a distance map obtained from a distance transformation.
Definition: distance_map.h:47
float & operator()(const size_t col_index, const size_t row_index)
Operator to access an element of the map.
Definition: distance_map.h:93
void resize(const size_t width, const size_t height)
Resizes the map to the specified size.
Definition: distance_map.h:81
size_t width_
The width of the map.
Definition: distance_map.h:112
size_t getWidth() const
Returns the width of the map.
Definition: distance_map.h:57
size_t height_
The height of the map.
Definition: distance_map.h:114
float * getData()
Returns a pointer to the beginning of map.
Definition: distance_map.h:71
virtual ~DistanceMap()
Destructor.
Definition: distance_map.h:53
std::vector< float > data_
The storage for the distance map data.
Definition: distance_map.h:110