multi_channel_2d_data_set.h

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#pragma once
 
#include <pcl/common/common.h>
 
#include <istream>
#include <ostream>
 
namespace pcl {
 
/** Holds two-dimensional multi-channel data. */
template <class DATA_TYPE, std::size_t NUM_OF_CHANNELS>
class PCL_EXPORTS MultiChannel2DData {
public:
  /** Constructor. */
  inline MultiChannel2DData() : data_(NULL), width_(0), height_(0) {}
 
  /** Destructor. */
  virtual ~MultiChannel2DData() {}
 
  /** Resizes the internal data storage.
   *
   * \param[in] width the width of the resized 2D data array
   * \param[in] height the height of the resized 2D data array
   */
  inline void
  resize(std::size_t width, std::size_t height)
  {
    data_.resize(NUM_OF_CHANNELS * width * height);
    width_ = width;
    height_ = height;
  }
 
  /** Clears the internal data storage and sets width and height to 0. */
  void
  clear()
  {
    width_ = 0;
    height_ = 0;
    data_.clear();
  }
 
  /** Returns a pointer to the internal data at the specified location.
   *
   * \param[in] col_index the column index
   * \param[in] row_index the row index
   */
  inline DATA_TYPE*
  operator()(const std::size_t col_index, const std::size_t row_index)
  {
    return &(data_[NUM_OF_CHANNELS * (row_index * width_ + col_index)]);
  };
 
  /** Returns a pointer to the internal data at the specified location.
   *
   * \param[in] col_index the column index
   * \param[in] row_index the row index
   */
  inline const DATA_TYPE*
  operator()(const std::size_t col_index, const std::size_t row_index) const
  {
    return &(data_[NUM_OF_CHANNELS * (row_index * width_ + col_index)]);
  };
 
  /** Returns a reference to the internal data at the specified location.
   *
   * \param[in] col_index the column index
   * \param[in] row_index the row index
   * \param[in] channel the channel index
   */
  inline DATA_TYPE&
  operator()(const std::size_t col_index,
             const std::size_t row_index,
             const std::size_t channel)
  {
    return data_[NUM_OF_CHANNELS * (row_index * width_ + col_index) + channel];
  };
 
  /** Returns a reference to the internal data at the specified location.
   *
   * \param[in] col_index the column index
   * \param[in] row_index the row index
   * \param[in] channel the channel index
   */
  inline const DATA_TYPE&
  operator()(const std::size_t col_index,
             const std::size_t row_index,
             const std::size_t channel) const
  {
    return data_[NUM_OF_CHANNELS * (row_index * width_ + col_index) + channel];
  };
 
private:
  /** The internal data storage. */
  std::vector<DATA_TYPE> data_;
  /** The width of the data storage. */
  std::size_t width_;
  /** The height of the data storage. */
  std::size_t height_;
};
 
/** Holds a set of two-dimensional multi-channel data. */
template <class DATA_TYPE, std::size_t NUM_OF_CHANNELS>
class PCL_EXPORTS MultiChannel2DDataSet {
public:
  /** Constructor. */
  inline MultiChannel2DDataSet() : data_set_() {}
 
  /** Destructor. */
  virtual ~MultiChannel2DDataSet() {}
 
  /** Adds a new two-dimensional data block to the data set.
   *
   * \param[in] width the width of the new data block
   * \param[in] height the height of the new data block
   */
  void
  addData(const std::size_t width, const std::size_t height)
  {
    MultiChannel2DData<DATA_TYPE, NUM_OF_CHANNELS>* data =
        new MultiChannel2DData<DATA_TYPE, NUM_OF_CHANNELS>();
    data->resize(width, height);
 
    data_set_.push_back(data);
  };
 
  /** Releases the data stored in the data set. */
  void
  releaseDataSet()
  {
    for (std::size_t data_set_index = 0; data_set_index < data_set_.size();
         ++data_set_index) {
      delete data_set_[data_set_index];
    }
  }
 
  /** Releases the data stored in the data set. */
  void
  clear()
  {
    releaseDataSet();
  }
 
  /** Returns a pointer to the specified data block at the specified location.
   *
   * \param[in] data_set_id the index of the data block
   * \param[in] col the column of the desired location
   * \param[in] row the row of the desired location
   */
  inline DATA_TYPE*
  operator()(const std::size_t data_set_id,
             const std::size_t col,
             const std::size_t row)
  {
    return (*data_set_[data_set_id])(col, row);
  };
 
  /** Returns a pointer to the specified data block at the specified location.
   *
   * \param[in] data_set_id the index of the data block
   * \param[in] col the column of the desired location
   * \param[in] row the row of the desired location
   */
  inline const DATA_TYPE*
  operator()(const std::size_t data_set_id,
             const std::size_t col,
             const std::size_t row) const
  {
    return (*data_set_[data_set_id])(col, row);
  };
 
  /** Returns a reference to the specified data block at the specified location.
   *
   * \param[in] data_set_id the index of the data block
   * \param[in] col the column of the desired location
   * \param[in] row the row of the desired location
   * \param[in] channel the channel index
   */
  inline DATA_TYPE&
  operator()(const std::size_t data_set_id,
             const std::size_t col,
             const std::size_t row,
             const std::size_t channel)
  {
    return (*data_set_[data_set_id])(col, row, channel);
  };
 
  /** Returns a reference to the specified data block at the specified location.
   *
   * \param[in] data_set_id the index of the data block
   * \param[in] col the column of the desired location
   * \param[in] row the row of the desired location
   * \param[in] channel the channel index
   */
  inline const DATA_TYPE&
  operator()(const std::size_t data_set_id,
             const std::size_t col,
             const std::size_t row,
             const std::size_t channel) const
  {
    return (*data_set_[data_set_id])(col, row, channel);
  };
 
private:
  /** The data set. */
  std::vector<MultiChannel2DData<DATA_TYPE, NUM_OF_CHANNELS>*> data_set_;
};
 
using Depth2DDataSet = MultiChannel2DDataSet<float, 1>;
using IntensityDepth2DDataSet = MultiChannel2DDataSet<float, 2>;
using RGB2DDataSet = MultiChannel2DDataSet<float, 3>;
using RGBD2DDataSet = MultiChannel2DDataSet<float, 4>;
 
} // namespace pcl