mask_map.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#ifndef PCL_FEATURES_MASK_MAP
#define PCL_FEATURES_MASK_MAP

#include <vector>
#include <pcl/pcl_macros.h>
#include <cstring>

namespace pcl
{
  class PCL_EXPORTS MaskMap
  {
    public:
      MaskMap ();
      MaskMap (size_t width, size_t height);
      virtual ~MaskMap ();

      void
      resize (size_t width, size_t height);

      inline size_t 
      getWidth () const { return (width_); }
      
      inline size_t
      getHeight () const { return (height_); }
      
      inline unsigned char* 
      getData () { return (&data_[0]); }

      inline const unsigned char* 
      getData () const { return (&data_[0]); }

      static void
      getDifferenceMask (const MaskMap & mask0,
                         const MaskMap & mask1,
                         MaskMap & diff_mask);

      inline void
      set (const size_t x, const size_t y)
      {
        data_[y*width_+x] = 255;
      }

      inline void
      unset (const size_t x, const size_t y)
      {
        data_[y*width_+x] = 0;
      }

      inline bool
      isSet (const size_t x, const size_t y) const
      {
        return (data_[y*width_+x] != 0);
      }

      inline void
      reset ()
      {
        memset (&data_[0], 0, width_*height_);
      }

      inline unsigned char & 
      operator() (const size_t x, const size_t y) 
      { 
        return (data_[y*width_+x]); 
      }

      inline const unsigned char & 
      operator() (const size_t x, const size_t y) const
      { 
        return (data_[y*width_+x]); 
      }

      void
      erode (MaskMap & eroded_mask) const;

    private:
      //unsigned char * data_;
      std::vector<unsigned char> data_;
      size_t width_;
      size_t height_;  
  };

}

#endif