hfl_frame.h

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// Copyright 2020 Continental AG
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//
// Software License Agreement (BSD 2-Clause Simplified License)
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#ifndef HFL_FRAME_H_
#define HFL_FRAME_H_
#include <hfl_pixel.h>
 
#include <string>
#include <vector>
 
namespace hfl
{
using Row = uint16_t;
 
using Col = uint16_t;
 
class Frame
{
public:
  std::string id_;
 
  uint16_t intensity_bits_;
 
  uint16_t range_bits_;
 
  uint16_t range_precision_bits_;
 
  uint16_t intensity_publish_bits_;
 
  Frame(uint16_t height, uint16_t width, uint16_t returns_size, uint16_t slices_size);
 
  Pixel& atPixel(Col x, Row y);
 
  size_t getHeight() const
  {
    return height_;
  }
 
  size_t getWidth() const
  {
    return width_;
  }
 
  size_t getSize() const
  {
    return height_ * width_;
  }
 
  size_t getSlicesSize() const
  {
    return slices_size_;
  }
 
private:
  size_t height_;
 
  size_t width_;
 
  size_t returns_size_;
 
  size_t slices_size_;
 
  std::vector<std::vector<Pixel>> pixels;
};
 
}  // namespace hfl
#endif  // HFL_FRAME_H_