Point Cloud Library (PCL)  1.11.1-dev
mask_map.h
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37 
38 #pragma once
39 
40 #include <pcl/pcl_macros.h>
41 
42 #include <vector>
43 
44 namespace pcl {
46 public:
47  MaskMap() = default;
48 
49  MaskMap(std::size_t width, std::size_t height);
50 
51  virtual ~MaskMap() = default;
52 
53  void
54  resize(std::size_t width, std::size_t height);
55 
56  inline std::size_t
57  getWidth() const
58  {
59  return (width_);
60  }
61 
62  inline std::size_t
63  getHeight() const
64  {
65  return (height_);
66  }
67 
68  inline unsigned char*
70  {
71  return (data_.data());
72  }
73 
74  inline const unsigned char*
75  getData() const
76  {
77  return (data_.data());
78  }
79 
81  static MaskMap
82  getDifferenceMask(const MaskMap& mask0, const MaskMap& mask1);
83 
84  inline void
85  set(const std::size_t x, const std::size_t y)
86  {
87  data_[y * width_ + x] = 255;
88  }
89 
90  inline void
91  unset(const std::size_t x, const std::size_t y)
92  {
93  data_[y * width_ + x] = 0;
94  }
95 
96  inline bool
97  isSet(const std::size_t x, const std::size_t y) const
98  {
99  return (data_[y * width_ + x] != 0);
100  }
101 
102  inline void
104  {
105  data_.assign(data_.size(), 0);
106  }
107 
108  inline unsigned char&
109  operator()(const std::size_t x, const std::size_t y)
110  {
111  return (data_[y * width_ + x]);
112  }
113 
114  inline const unsigned char&
115  operator()(const std::size_t x, const std::size_t y) const
116  {
117  return (data_[y * width_ + x]);
118  }
119 
120  void
121  erode(MaskMap& eroded_mask) const;
122 
123 private:
124  std::vector<unsigned char> data_;
125  std::size_t width_ = 0;
126  std::size_t height_ = 0;
127 };
128 
129 } // namespace pcl
pcl::MaskMap::isSet
bool isSet(const std::size_t x, const std::size_t y) const
Definition: mask_map.h:97
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::MaskMap::getWidth
std::size_t getWidth() const
Definition: mask_map.h:57
pcl::MaskMap::unset
void unset(const std::size_t x, const std::size_t y)
Definition: mask_map.h:91
PCL_NODISCARD
#define PCL_NODISCARD
Definition: pcl_macros.h:439
pcl::MaskMap::reset
void reset()
Definition: mask_map.h:103
pcl::MaskMap::getHeight
std::size_t getHeight() const
Definition: mask_map.h:63
pcl::MaskMap::set
void set(const std::size_t x, const std::size_t y)
Definition: mask_map.h:85
pcl::MaskMap::getData
const unsigned char * getData() const
Definition: mask_map.h:75
pcl::MaskMap::getData
unsigned char * getData()
Definition: mask_map.h:69
pcl::MaskMap
Definition: mask_map.h:45
pcl::MaskMap::operator()
const unsigned char & operator()(const std::size_t x, const std::size_t y) const
Definition: mask_map.h:115
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323
pcl::MaskMap::operator()
unsigned char & operator()(const std::size_t x, const std::size_t y)
Definition: mask_map.h:109