Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 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__