Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/geometry/include/pcl/geometry/organized_index_iterator.h
00001 /*
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00035 
00036 #ifndef __PCL_ORGANIZED_INDEX_ITERATOR__
00037 #define __PCL_ORGANIZED_INDEX_ITERATOR__
00038 
00039 namespace pcl
00040 {
00041 /** \brief base class for iterators on 2-dimensional maps like images/organized clouds etc.
00042   * \author Suat Gedikli <gedikli@willowgarage.com>
00043   * \ingroup  geometry
00044   */
00045 class OrganizedIndexIterator
00046 {
00047   public:
00048     /** \brief constructor
00049      *  \param[in] width the width of the image/organized cloud
00050      */
00051     OrganizedIndexIterator (unsigned width);
00052     
00053     /** \brief virtual destructor*/
00054     virtual ~OrganizedIndexIterator ();
00055     
00056     /** \brief go to next pixel/point in image/cloud*/
00057     virtual void operator ++ () = 0;
00058     
00059     /** \brief go to next pixel/point in image/cloud*/
00060     virtual void operator ++ (int);
00061     
00062     /** \brief returns the pixel/point index in the linearized memory of the image/cloud
00063       * \return the pixel/point index in the linearized memory of the image/cloud 
00064       */
00065     unsigned operator* () const;
00066     
00067     /** \brief returns the pixel/point index in the linearized memory of the image/cloud 
00068       * \return the pixel/point index in the linearized memory of the image/cloud 
00069       */
00070     virtual unsigned getIndex () const;
00071 
00072     /** \brief returns the row index (y-coordinate) of the current pixel/point
00073       * \return  the row index (y-coordinate) of the current pixel/point
00074       */
00075     virtual unsigned getRowIndex () const;
00076 
00077     /** \brief returns the col index (x-coordinate) of the current pixel/point
00078       * \return  the col index (x-coordinate) of the current pixel/point
00079       */
00080     virtual unsigned getColumnIndex () const;
00081 
00082     /** \brief return whether the current visited pixel/point is valid or not.
00083       * \return true if the current pixel/point is within the points to be iterated over, false otherwise
00084       */
00085     virtual bool isValid () const = 0;
00086 
00087     /** \brief resets the iterator to the beginning of the line
00088       */
00089     virtual void reset () = 0;
00090     
00091   protected:
00092     /** \brief the width of the image/cloud*/
00093     unsigned width_;
00094     
00095     /** \brief the index of the current pixel/point*/
00096     unsigned index_;
00097 };
00098 
00099 ////////////////////////////////////////////////////////////////////////////////
00100 ////////////////////////////////////////////////////////////////////////////////
00101 ////////////////////////////////////////////////////////////////////////////////
00102 
00103 ////////////////////////////////////////////////////////////////////////////////
00104 inline OrganizedIndexIterator::OrganizedIndexIterator (unsigned width)
00105 : width_ (width)
00106 , index_ (0)
00107 {  
00108 }
00109 
00110 ////////////////////////////////////////////////////////////////////////////////
00111 inline OrganizedIndexIterator::~OrganizedIndexIterator ()
00112 {  
00113 }
00114 
00115 ////////////////////////////////////////////////////////////////////////////////
00116 inline void
00117 OrganizedIndexIterator::operator++ (int)
00118 {
00119   return operator ++();
00120 }
00121 
00122 ////////////////////////////////////////////////////////////////////////////////
00123 inline unsigned
00124 pcl::OrganizedIndexIterator::operator * () const
00125 {
00126   return index_;
00127 }
00128 
00129 ////////////////////////////////////////////////////////////////////////////////
00130 inline unsigned
00131 pcl::OrganizedIndexIterator::getIndex () const
00132 {
00133   return index_;
00134 }
00135 
00136 ////////////////////////////////////////////////////////////////////////////////
00137 /** \brief default implementation. Should be overloaded 
00138  */
00139 inline unsigned
00140 pcl::OrganizedIndexIterator::getRowIndex () const
00141 {
00142   return index_ / width_;
00143 }
00144 
00145 ////////////////////////////////////////////////////////////////////////////////
00146 inline unsigned
00147 pcl::OrganizedIndexIterator::getColumnIndex () const
00148 {
00149   return index_ % width_;
00150 }
00151 } // namespace pcl
00152 
00153 #endif // __PCL_ORGANIZED_INDEX_ITERATOR__