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mask_map.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2010-2011, Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
#include <pcl/pcl_macros.h>
#include <vector>
namespace pcl {
class PCL_EXPORTS MaskMap {
public:
MaskMap() = default;
MaskMap(std::size_t width, std::size_t height);
virtual ~MaskMap() = default;
void
resize(std::size_t width, std::size_t height);
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());
}
PCL_NODISCARD
static MaskMap
getDifferenceMask(const MaskMap& mask0, const MaskMap& mask1);
inline void
set(const std::size_t x, const std::size_t y)
{
data_[y * width_ + x] = 255;
}
inline void
unset(const std::size_t x, const std::size_t y)
{
data_[y * width_ + x] = 0;
}
inline bool
isSet(const std::size_t x, const std::size_t y) const
{
return (data_[y * width_ + x] != 0);
}
inline void
reset()
{
data_.assign(data_.size(), 0);
}
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]);
}
void
erode(MaskMap& eroded_mask) const;
private:
std::vector<unsigned char> data_;
std::size_t width_ = 0;
std::size_t height_ = 0;
};
} // namespace pcl
pcl::MaskMap
Definition mask_map.h:45
pcl::MaskMap::getWidth
std::size_t getWidth() const
Definition mask_map.h:57
pcl::MaskMap::set
void set(const std::size_t x, const std::size_t y)
Definition mask_map.h:85
pcl::MaskMap::reset
void reset()
Definition mask_map.h:103
pcl::MaskMap::~MaskMap
virtual ~MaskMap()=default
pcl::MaskMap::isSet
bool isSet(const std::size_t x, const std::size_t y) const
Definition mask_map.h:97
pcl::MaskMap::resize
void resize(std::size_t width, std::size_t height)
pcl::MaskMap::operator()
unsigned char & operator()(const std::size_t x, const std::size_t y)
Definition mask_map.h:109
pcl::MaskMap::getHeight
std::size_t getHeight() const
Definition mask_map.h:63
pcl::MaskMap::getData
unsigned char * getData()
Definition mask_map.h:69
pcl::MaskMap::MaskMap
MaskMap()=default
pcl::MaskMap::MaskMap
MaskMap(std::size_t width, std::size_t height)
pcl::MaskMap::getData
const unsigned char * getData() const
Definition mask_map.h:75
pcl::MaskMap::erode
void erode(MaskMap &eroded_mask) const
pcl::MaskMap::getDifferenceMask
static PCL_NODISCARD MaskMap getDifferenceMask(const MaskMap &mask0, const MaskMap &mask1)
pcl::MaskMap::operator()
const unsigned char & operator()(const std::size_t x, const std::size_t y) const
Definition mask_map.h:115
pcl::MaskMap::unset
void unset(const std::size_t x, const std::size_t y)
Definition mask_map.h:91
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.
PCL_NODISCARD
#define PCL_NODISCARD
Definition pcl_macros.h:448