Point Cloud Library (PCL) 1.13.0
quantized_map.h
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37
38#pragma once
39
40#include <vector>
41#include <pcl/pcl_macros.h>
42
43namespace pcl
44{
46 {
47 public:
48
50 QuantizedMap (std::size_t width, std::size_t height);
51 QuantizedMap (const QuantizedMap & copy_me);
52
53 virtual ~QuantizedMap ();
54
55 inline std::size_t
56 getWidth () const { return (width_); }
57
58 inline std::size_t
59 getHeight () const { return (height_); }
60
61 inline unsigned char*
62 getData () { return (&data_[0]); }
63
64 inline const unsigned char*
65 getData () const { return (&data_[0]); }
66
67 inline QuantizedMap
68 getSubMap (std::size_t x,
69 std::size_t y,
70 std::size_t width,
71 std::size_t height)
72 {
73 QuantizedMap subMap(width, height);
74
75 for (std::size_t row_index = 0; row_index < height; ++row_index)
76 {
77 for (std::size_t col_index = 0; col_index < width; ++col_index)
78 {
79 //const std::size_t index = (row_index+y)*width_ + (col_index+x);
80 //const unsigned char value = data_[index];
81 //subMap.data_[row_index*width + col_index] = value;//data_[(row_index+y)*width_ + (col_index+x)];
82 subMap (col_index, row_index) = (*this) (col_index + x, row_index + y);
83 }
84 }
85
86 return subMap;
87 }
88
89 void
90 resize (std::size_t width, std::size_t height);
91
92 inline unsigned char &
93 operator() (const std::size_t x, const std::size_t y)
94 {
95 return (data_[y*width_+x]);
96 }
97
98 inline const unsigned char &
99 operator() (const std::size_t x, const std::size_t y) const
100 {
101 return (data_[y*width_+x]);
102 }
103
104 static void
105 spreadQuantizedMap (const QuantizedMap & input_map, QuantizedMap & output_map, std::size_t spreading_size);
106
107 void
108 serialize (std::ostream & stream) const
109 {
110 const int width = static_cast<int> (width_);
111 const int height = static_cast<int> (height_);
112
113 stream.write (reinterpret_cast<const char*> (&width), sizeof (width));
114 stream.write (reinterpret_cast<const char*> (&height), sizeof (height));
115
116 const int num_of_elements = static_cast<int> (data_.size ());
117 stream.write (reinterpret_cast<const char*> (&num_of_elements), sizeof (num_of_elements));
118 for (int element_index = 0; element_index < num_of_elements; ++element_index)
119 {
120 stream.write (reinterpret_cast<const char*> (&(data_[element_index])), sizeof (data_[element_index]));
121 }
122 }
123
124 void
125 deserialize (std::istream & stream)
126 {
127 int width;
128 int height;
129
130 stream.read (reinterpret_cast<char*> (&width), sizeof (width));
131 stream.read (reinterpret_cast<char*> (&height), sizeof (height));
132
133 width_ = static_cast<std::size_t> (width);
134 height_ = static_cast<std::size_t> (height);
135
136 int num_of_elements;
137 stream.read (reinterpret_cast<char*> (&num_of_elements), sizeof (num_of_elements));
138 data_.resize (num_of_elements);
139 for (int element_index = 0; element_index < num_of_elements; ++element_index)
140 {
141 stream.read (reinterpret_cast<char*> (&(data_[element_index])), sizeof (data_[element_index]));
142 }
143 }
144
145
146 //private:
147 std::vector<unsigned char> data_;
148 std::size_t width_;
149 std::size_t height_;
150
151 };
152}
virtual ~QuantizedMap()
unsigned char * getData()
Definition: quantized_map.h:62
void resize(std::size_t width, std::size_t height)
std::size_t getHeight() const
Definition: quantized_map.h:59
void deserialize(std::istream &stream)
void serialize(std::ostream &stream) const
QuantizedMap(std::size_t width, std::size_t height)
const unsigned char * getData() const
Definition: quantized_map.h:65
QuantizedMap(const QuantizedMap &copy_me)
std::size_t getWidth() const
Definition: quantized_map.h:56
QuantizedMap getSubMap(std::size_t x, std::size_t y, std::size_t width, std::size_t height)
Definition: quantized_map.h:68
std::size_t width_
std::size_t height_
std::vector< unsigned char > data_
static void spreadQuantizedMap(const QuantizedMap &input_map, QuantizedMap &output_map, std::size_t spreading_size)
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323