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) {}
      /** \brief Destructor. */
      virtual ~DistanceMap () = default;
 
      /** \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_.data());
      }
 
      /** \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_{0};
      /** \brief The height of the map. */
      std::size_t height_{0};
  };
 
}