Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef PCL_FEATURES_MASK_MAP 00039 #define PCL_FEATURES_MASK_MAP 00040 00041 #include <vector> 00042 #include <pcl/pcl_macros.h> 00043 #include <cstring> 00044 00045 namespace pcl 00046 { 00047 class PCL_EXPORTS MaskMap 00048 { 00049 public: 00050 MaskMap (); 00051 MaskMap (size_t width, size_t height); 00052 virtual ~MaskMap (); 00053 00054 void 00055 resize (size_t width, size_t height); 00056 00057 inline size_t 00058 getWidth () const { return (width_); } 00059 00060 inline size_t 00061 getHeight () const { return (height_); } 00062 00063 inline unsigned char* 00064 getData () { return (&data_[0]); } 00065 00066 inline const unsigned char* 00067 getData () const { return (&data_[0]); } 00068 00069 static void 00070 getDifferenceMask (const MaskMap & mask0, 00071 const MaskMap & mask1, 00072 MaskMap & diff_mask); 00073 00074 inline void 00075 set (const size_t x, const size_t y) 00076 { 00077 data_[y*width_+x] = 255; 00078 } 00079 00080 inline void 00081 unset (const size_t x, const size_t y) 00082 { 00083 data_[y*width_+x] = 0; 00084 } 00085 00086 inline bool 00087 isSet (const size_t x, const size_t y) const 00088 { 00089 return (data_[y*width_+x] != 0); 00090 } 00091 00092 inline void 00093 reset () 00094 { 00095 memset (&data_[0], 0, width_*height_); 00096 } 00097 00098 inline unsigned char & 00099 operator() (const size_t x, const size_t y) 00100 { 00101 return (data_[y*width_+x]); 00102 } 00103 00104 inline const unsigned char & 00105 operator() (const size_t x, const size_t y) const 00106 { 00107 return (data_[y*width_+x]); 00108 } 00109 00110 void 00111 erode (MaskMap & eroded_mask) const; 00112 00113 private: 00114 //unsigned char * data_; 00115 std::vector<unsigned char> data_; 00116 size_t width_; 00117 size_t height_; 00118 }; 00119 00120 } 00121 00122 #endif