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quantized_map.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
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* All rights reserved.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#pragma once
#include <vector>
#include <pcl/pcl_macros.h>
namespace pcl
{
class PCL_EXPORTS QuantizedMap
{
public:
QuantizedMap ();
QuantizedMap (std::size_t width, std::size_t height);
QuantizedMap (const QuantizedMap & copy_me);
virtual ~QuantizedMap ();
inline std::size_t
getWidth () const { return (width_); }
inline std::size_t
getHeight () const { return (height_); }
inline unsigned char*
getData () { return (data_.data()); }
inline const unsigned char*
getData () const { return (data_.data()); }
inline QuantizedMap
getSubMap (std::size_t x,
std::size_t y,
std::size_t width,
std::size_t height)
{
QuantizedMap subMap(width, height);
for (std::size_t row_index = 0; row_index < height; ++row_index)
{
for (std::size_t col_index = 0; col_index < width; ++col_index)
{
//const std::size_t index = (row_index+y)*width_ + (col_index+x);
//const unsigned char value = data_[index];
//subMap.data_[row_index*width + col_index] = value;//data_[(row_index+y)*width_ + (col_index+x)];
subMap (col_index, row_index) = (*this) (col_index + x, row_index + y);
}
}
return subMap;
}
void
resize (std::size_t width, std::size_t height);
inline unsigned char &
operator() (const std::size_t x, const std::size_t y)
{
return (data_[y*width_+x]);
}
inline const unsigned char &
operator() (const std::size_t x, const std::size_t y) const
{
return (data_[y*width_+x]);
}
static void
spreadQuantizedMap (const QuantizedMap & input_map, QuantizedMap & output_map, std::size_t spreading_size);
void
serialize (std::ostream & stream) const
{
const int width = static_cast<int> (width_);
const int height = static_cast<int> (height_);
stream.write (reinterpret_cast<const char*> (&width), sizeof (width));
stream.write (reinterpret_cast<const char*> (&height), sizeof (height));
const int num_of_elements = static_cast<int> (data_.size ());
stream.write (reinterpret_cast<const char*> (&num_of_elements), sizeof (num_of_elements));
for (int element_index = 0; element_index < num_of_elements; ++element_index)
{
stream.write (reinterpret_cast<const char*> (&(data_[element_index])), sizeof (data_[element_index]));
}
}
void
deserialize (std::istream & stream)
{
int width;
int height;
stream.read (reinterpret_cast<char*> (&width), sizeof (width));
stream.read (reinterpret_cast<char*> (&height), sizeof (height));
width_ = static_cast<std::size_t> (width);
height_ = static_cast<std::size_t> (height);
int num_of_elements;
stream.read (reinterpret_cast<char*> (&num_of_elements), sizeof (num_of_elements));
data_.resize (num_of_elements);
for (int element_index = 0; element_index < num_of_elements; ++element_index)
{
stream.read (reinterpret_cast<char*> (&(data_[element_index])), sizeof (data_[element_index]));
}
}
//private:
std::vector<unsigned char> data_;
std::size_t width_;
std::size_t height_;
};
}
pcl::QuantizedMap
Definition quantized_map.h:46
pcl::QuantizedMap::~QuantizedMap
virtual ~QuantizedMap()
pcl::QuantizedMap::getData
unsigned char * getData()
Definition quantized_map.h:62
pcl::QuantizedMap::resize
void resize(std::size_t width, std::size_t height)
pcl::QuantizedMap::getHeight
std::size_t getHeight() const
Definition quantized_map.h:59
pcl::QuantizedMap::deserialize
void deserialize(std::istream &stream)
Definition quantized_map.h:125
pcl::QuantizedMap::serialize
void serialize(std::ostream &stream) const
Definition quantized_map.h:108
pcl::QuantizedMap::QuantizedMap
QuantizedMap(std::size_t width, std::size_t height)
pcl::QuantizedMap::getData
const unsigned char * getData() const
Definition quantized_map.h:65
pcl::QuantizedMap::QuantizedMap
QuantizedMap(const QuantizedMap &copy_me)
pcl::QuantizedMap::getWidth
std::size_t getWidth() const
Definition quantized_map.h:56
pcl::QuantizedMap::getSubMap
QuantizedMap getSubMap(std::size_t x, std::size_t y, std::size_t width, std::size_t height)
Definition quantized_map.h:68
pcl::QuantizedMap::QuantizedMap
QuantizedMap()
pcl::QuantizedMap::width_
std::size_t width_
Definition quantized_map.h:148
pcl::QuantizedMap::height_
std::size_t height_
Definition quantized_map.h:149
pcl::QuantizedMap::data_
std::vector< unsigned char > data_
Definition quantized_map.h:147
pcl::QuantizedMap::spreadQuantizedMap
static void spreadQuantizedMap(const QuantizedMap &input_map, QuantizedMap &output_map, std::size_t spreading_size)
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.