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

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 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2011, Willow Garage, Inc.
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#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