Point Cloud Library (PCL)
1.7.0
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include
pcl
recognition
mask_map.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef PCL_FEATURES_MASK_MAP
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#define PCL_FEATURES_MASK_MAP
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#include <vector>
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#include <pcl/pcl_macros.h>
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#include <cstring>
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namespace
pcl
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{
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class
PCL_EXPORTS
MaskMap
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{
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public
:
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MaskMap
();
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MaskMap
(
size_t
width,
size_t
height);
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virtual
~
MaskMap
();
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void
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resize (
size_t
width,
size_t
height);
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inline
size_t
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getWidth
()
const
{
return
(width_); }
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inline
size_t
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getHeight
()
const
{
return
(height_); }
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inline
unsigned
char
*
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getData
() {
return
(&data_[0]); }
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inline
const
unsigned
char
*
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getData
()
const
{
return
(&data_[0]); }
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static
void
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getDifferenceMask (
const
MaskMap
& mask0,
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const
MaskMap
& mask1,
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MaskMap
& diff_mask);
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inline
void
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set
(
const
size_t
x,
const
size_t
y)
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{
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data_[y*width_+x] = 255;
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}
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inline
void
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unset (
const
size_t
x,
const
size_t
y)
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{
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data_[y*width_+x] = 0;
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}
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inline
bool
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isSet (
const
size_t
x,
const
size_t
y)
const
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{
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return
(data_[y*width_+x] != 0);
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}
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inline
void
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reset ()
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{
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memset (&data_[0], 0, width_*height_);
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}
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inline
unsigned
char
&
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operator() (
const
size_t
x,
const
size_t
y)
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{
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return
(data_[y*width_+x]);
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}
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inline
const
unsigned
char
&
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operator() (
const
size_t
x,
const
size_t
y)
const
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{
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return
(data_[y*width_+x]);
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}
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void
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erode (
MaskMap
& eroded_mask)
const
;
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private
:
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//unsigned char * data_;
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std::vector<unsigned char> data_;
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size_t
width_;
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size_t
height_;
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};
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}
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#endif