.. _program_listing_file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_image.hpp:

Program Listing for File image.hpp
==================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_grid_map_grid_map_sdf_include_grid_map_sdf_distance_transform_image.hpp>` (``/tmp/ws/src/grid_map/grid_map_sdf/include/grid_map_sdf/distance_transform/image.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
   Copyright (C) 2006 Pedro Felzenszwalb
   
   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2 of the License, or
   (at your option) any later version.
   
   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.
   
   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
   */
   
   /* a simple image class */
   
   #ifndef GRID_MAP_SDF__DISTANCE_TRANSFORM__IMAGE_HPP_
   #define GRID_MAP_SDF__DISTANCE_TRANSFORM__IMAGE_HPP_
   
   #include <cstring>
   
   namespace distance_transform
   {
   
   template<class T>
   class image    // NOLINT
   {
   public:
     /* create an image */
     image(const int width, const int height, const bool init = true);
   
     /* delete an image */
     ~image();
   
     /* init an image */
     void init(const T & val);
   
     /* copy an image */
     image<T> * copy() const;
   
     /* get the width of an image. */
     int width() const {return w;}
   
     /* get the height of an image. */
     int height() const {return h;}
   
     /* image data. */
     T * data;
   
     /* row pointers. */
     T ** access;
   
   private:
     int w, h;
   };
   
   /* use imRef to access image data. */
   #define imRef(im, x, y) (im->access[y][x])
   
   /* use imPtr to get pointer to image data. */
   #define imPtr(im, x, y) & (im->access[y][x])
   
   template<class T>
   image<T>::image(const int width, const int height, const bool init)
   {
     w = width;
     h = height;
     data = new T[w * h];  // allocate space for image data
     access = new T *[h];   // allocate space for row pointers
   
     // initialize row pointers
     for (int i = 0; i < h; i++) {
       access[i] = data + (i * w);
     }
   
     if (init) {
       memset(data, 0, w * h * sizeof(T));
     }
   }
   
   template<class T>
   image<T>::~image()
   {
     delete[] data;
     delete[] access;
   }
   
   template<class T>
   void image<T>::init(const T & val)
   {
     T * ptr = imPtr(this, 0, 0);
     T * end = imPtr(this, w - 1, h - 1);
     while (ptr <= end) {
       *ptr++ = val;
     }
   }
   
   template<class T>
   image<T> * image<T>::copy() const
   {
     image<T> * im = new image<T>(w, h, false);
     memcpy(im->data, data, w * h * sizeof(T));
     return im;
   }
   
   }  // namespace distance_transform
   
   #endif  // GRID_MAP_SDF__DISTANCE_TRANSFORM__IMAGE_HPP_