thirdParty/PCL 1.12.0/include/pcl-1.12/pcl/recognition/distance_map.h

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#pragma once

namespace pcl
{

  /** \brief Represents a distance map obtained from a distance transformation. 
    * \author Stefan Holzer
    */
  class DistanceMap
  {
    public:
      /** \brief Constructor. */
      DistanceMap () : data_ (0), width_ (0), height_ (0) {}
      /** \brief Destructor. */
      virtual ~DistanceMap () {}

      /** \brief Returns the width of the map. */
      inline std::size_t 
      getWidth () const
      {
        return (width_); 
      }

      /** \brief Returns the height of the map. */
      inline std::size_t 
      getHeight () const
      { 
        return (height_); 
      }
    
      /** \brief Returns a pointer to the beginning of map. */
      inline float * 
      getData () 
      { 
        return (&data_[0]); 
      }

      /** \brief Resizes the map to the specified size.
        * \param[in] width the new width of the map.
        * \param[in] height the new height of the map.
        */
      void 
      resize (const std::size_t width, const std::size_t height)
      {
        data_.resize (width*height);
        width_ = width;
        height_ = height;
      }

      /** \brief Operator to access an element of the map.
        * \param[in] col_index the column index of the element to access.
        * \param[in] row_index the row index of the element to access.
        */
      inline float & 
      operator() (const std::size_t col_index, const std::size_t row_index)
      {
        return (data_[row_index*width_ + col_index]);
      }

      /** \brief Operator to access an element of the map.
        * \param[in] col_index the column index of the element to access.
        * \param[in] row_index the row index of the element to access.
        */
      inline const float & 
      operator() (const std::size_t col_index, const std::size_t row_index) const
      {
        return (data_[row_index*width_ + col_index]);
      }

    protected:
      /** \brief The storage for the distance map data. */
      std::vector<float> data_;
      /** \brief The width of the map. */
      std::size_t width_;
      /** \brief The height of the map. */
      std::size_t height_;
  };

}