130 lines
3.2 KiB
C++
130 lines
3.2 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <pcl/pcl_macros.h>
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#include <vector>
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namespace pcl {
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class PCL_EXPORTS MaskMap {
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public:
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MaskMap() = default;
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MaskMap(std::size_t width, std::size_t height);
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virtual ~MaskMap() = default;
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void
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resize(std::size_t width, std::size_t height);
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inline std::size_t
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getWidth() const
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{
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return (width_);
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}
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inline std::size_t
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getHeight() const
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{
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return (height_);
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}
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inline unsigned char*
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getData()
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{
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return (data_.data());
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}
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inline const unsigned char*
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getData() const
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{
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return (data_.data());
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}
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PCL_NODISCARD
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static MaskMap
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getDifferenceMask(const MaskMap& mask0, const MaskMap& mask1);
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inline void
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set(const std::size_t x, const std::size_t y)
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{
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data_[y * width_ + x] = 255;
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}
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inline void
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unset(const std::size_t x, const std::size_t y)
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{
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data_[y * width_ + x] = 0;
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}
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inline bool
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isSet(const std::size_t x, const std::size_t y) const
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{
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return (data_[y * width_ + x] != 0);
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}
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inline void
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reset()
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{
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data_.assign(data_.size(), 0);
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}
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inline unsigned char&
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operator()(const std::size_t x, const std::size_t y)
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{
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return (data_[y * width_ + x]);
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}
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inline const unsigned char&
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operator()(const std::size_t x, const std::size_t y) const
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{
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return (data_[y * width_ + x]);
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}
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void
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erode(MaskMap& eroded_mask) const;
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private:
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std::vector<unsigned char> data_;
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std::size_t width_ = 0;
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std::size_t height_ = 0;
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};
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} // namespace pcl
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