Point Cloud Library (PCL)  1.12.1-dev
organized_index_iterator.h
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35 
36 #pragma once
37 
38 namespace pcl {
39 /** \brief base class for iterators on 2-dimensional maps like images/organized clouds
40  * etc.
41  * \author Suat Gedikli <gedikli@willowgarage.com>
42  * \ingroup geometry
43  */
45 public:
46  /**
47  * \brief constructor
48  * \param[in] width the width of the image/organized cloud
49  */
50  OrganizedIndexIterator(unsigned width);
51 
52  /** \brief virtual destructor*/
54 
55  /** \brief go to next pixel/point in image/cloud*/
56  virtual void
57  operator++() = 0;
58 
59  /** \brief go to next pixel/point in image/cloud*/
60  virtual void
61  operator++(int);
62 
63  /** \brief returns the pixel/point index in the linearized memory of the image/cloud
64  * \return the pixel/point index in the linearized memory of the image/cloud
65  */
66  unsigned
67  operator*() const;
68 
69  /** \brief returns the pixel/point index in the linearized memory of the image/cloud
70  * \return the pixel/point index in the linearized memory of the image/cloud
71  */
72  virtual unsigned
73  getIndex() const;
74 
75  /** \brief returns the row index (y-coordinate) of the current pixel/point
76  * \return the row index (y-coordinate) of the current pixel/point
77  */
78  virtual unsigned
79  getRowIndex() const;
80 
81  /** \brief returns the col index (x-coordinate) of the current pixel/point
82  * \return the col index (x-coordinate) of the current pixel/point
83  */
84  virtual unsigned
85  getColumnIndex() const;
86 
87  /** \brief return whether the current visited pixel/point is valid or not.
88  * \return true if the current pixel/point is within the points to be iterated over,
89  * false otherwise
90  */
91  virtual bool
92  isValid() const = 0;
93 
94  /** \brief resets the iterator to the beginning of the line
95  */
96  virtual void
97  reset() = 0;
98 
99 protected:
100  /** \brief the width of the image/cloud*/
101  unsigned width_;
102 
103  /** \brief the index of the current pixel/point*/
104  unsigned index_;
105 };
106 
107 ////////////////////////////////////////////////////////////////////////////////
108 ////////////////////////////////////////////////////////////////////////////////
109 ////////////////////////////////////////////////////////////////////////////////
110 
111 ////////////////////////////////////////////////////////////////////////////////
113 : width_(width), index_(0)
114 {}
115 
116 ////////////////////////////////////////////////////////////////////////////////
118 
119 ////////////////////////////////////////////////////////////////////////////////
120 inline void
122 {
123  return operator++();
124 }
125 
126 ////////////////////////////////////////////////////////////////////////////////
127 inline unsigned
129 {
130  return index_;
131 }
132 
133 ////////////////////////////////////////////////////////////////////////////////
134 inline unsigned
136 {
137  return index_;
138 }
139 
140 ////////////////////////////////////////////////////////////////////////////////
141 /** \brief default implementation. Should be overloaded
142  */
143 inline unsigned
145 {
146  return index_ / width_;
147 }
148 
149 ////////////////////////////////////////////////////////////////////////////////
150 inline unsigned
152 {
153  return index_ % width_;
154 }
155 } // namespace pcl
base class for iterators on 2-dimensional maps like images/organized clouds etc.
OrganizedIndexIterator(unsigned width)
constructor
virtual bool isValid() const =0
return whether the current visited pixel/point is valid or not.
virtual void reset()=0
resets the iterator to the beginning of the line
virtual unsigned getColumnIndex() const
returns the col index (x-coordinate) of the current pixel/point
virtual unsigned getRowIndex() const
returns the row index (y-coordinate) of the current pixel/point
unsigned width_
the width of the image/cloud
virtual void operator++()=0
go to next pixel/point in image/cloud
unsigned operator*() const
returns the pixel/point index in the linearized memory of the image/cloud
unsigned index_
the index of the current pixel/point
virtual ~OrganizedIndexIterator()
virtual destructor
virtual unsigned getIndex() const
returns the pixel/point index in the linearized memory of the image/cloud