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_RECOGNITION_DISTANCE_MAP 00039 #define PCL_RECOGNITION_DISTANCE_MAP 00040 00041 namespace pcl 00042 { 00043 00044 /** \brief Represents a distance map obtained from a distance transformation. 00045 * \author Stefan Holzer 00046 */ 00047 class DistanceMap 00048 { 00049 public: 00050 /** \brief Constructor. */ 00051 DistanceMap () : data_ (0), width_ (0), height_ (0) {} 00052 /** \brief Destructor. */ 00053 virtual ~DistanceMap () {} 00054 00055 /** \brief Returns the width of the map. */ 00056 inline size_t 00057 getWidth () const 00058 { 00059 return (width_); 00060 } 00061 00062 /** \brief Returns the height of the map. */ 00063 inline size_t 00064 getHeight () const 00065 { 00066 return (height_); 00067 } 00068 00069 /** \brief Returns a pointer to the beginning of map. */ 00070 inline float * 00071 getData () 00072 { 00073 return (&data_[0]); 00074 } 00075 00076 /** \brief Resizes the map to the specified size. 00077 * \param[in] width the new width of the map. 00078 * \param[in] height the new height of the map. 00079 */ 00080 void 00081 resize (const size_t width, const size_t height) 00082 { 00083 data_.resize (width*height); 00084 width_ = width; 00085 height_ = height; 00086 } 00087 00088 /** \brief Operator to access an element of the map. 00089 * \param[in] col_index the column index of the element to access. 00090 * \param[in] row_index the row index of the element to access. 00091 */ 00092 inline float & 00093 operator() (const size_t col_index, const size_t row_index) 00094 { 00095 return (data_[row_index*width_ + col_index]); 00096 } 00097 00098 /** \brief Operator to access an element of the map. 00099 * \param[in] col_index the column index of the element to access. 00100 * \param[in] row_index the row index of the element to access. 00101 */ 00102 inline const float & 00103 operator() (const size_t col_index, const size_t row_index) const 00104 { 00105 return (data_[row_index*width_ + col_index]); 00106 } 00107 00108 protected: 00109 /** \brief The storage for the distance map data. */ 00110 std::vector<float> data_; 00111 /** \brief The width of the map. */ 00112 size_t width_; 00113 /** \brief The height of the map. */ 00114 size_t height_; 00115 }; 00116 00117 } 00118 00119 00120 #endif