Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/recognition/include/pcl/recognition/distance_map.h
00001 /*
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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