organized_index_iterator.h

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#pragma once
 
namespace pcl
{
/** \brief base class for iterators on 2-dimensional maps like images/organized clouds etc.
  * \author Suat Gedikli <gedikli@willowgarage.com>
  * \ingroup  geometry
  */
class OrganizedIndexIterator
{
  public:
    /** \brief constructor
     *  \param[in] width the width of the image/organized cloud
     */
    OrganizedIndexIterator (unsigned width);
    
    /** \brief virtual destructor*/
    virtual ~OrganizedIndexIterator ();
    
    /** \brief go to next pixel/point in image/cloud*/
    virtual void operator ++ () = 0;
    
    /** \brief go to next pixel/point in image/cloud*/
    virtual void operator ++ (int);
    
    /** \brief returns the pixel/point index in the linearized memory of the image/cloud
      * \return the pixel/point index in the linearized memory of the image/cloud 
      */
    unsigned operator* () const;
    
    /** \brief returns the pixel/point index in the linearized memory of the image/cloud 
      * \return the pixel/point index in the linearized memory of the image/cloud 
      */
    virtual unsigned getIndex () const;
 
    /** \brief returns the row index (y-coordinate) of the current pixel/point
      * \return  the row index (y-coordinate) of the current pixel/point
      */
    virtual unsigned getRowIndex () const;
 
    /** \brief returns the col index (x-coordinate) of the current pixel/point
      * \return  the col index (x-coordinate) of the current pixel/point
      */
    virtual unsigned getColumnIndex () const;
 
    /** \brief return whether the current visited pixel/point is valid or not.
      * \return true if the current pixel/point is within the points to be iterated over, false otherwise
      */
    virtual bool isValid () const = 0;
 
    /** \brief resets the iterator to the beginning of the line
      */
    virtual void reset () = 0;
    
  protected:
    /** \brief the width of the image/cloud*/
    unsigned width_;
    
    /** \brief the index of the current pixel/point*/
    unsigned index_;
};
 
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
 
////////////////////////////////////////////////////////////////////////////////
inline OrganizedIndexIterator::OrganizedIndexIterator (unsigned width)
: width_ (width)
, index_ (0)
{  
}
 
////////////////////////////////////////////////////////////////////////////////
inline OrganizedIndexIterator::~OrganizedIndexIterator ()
{  
}
 
////////////////////////////////////////////////////////////////////////////////
inline void
OrganizedIndexIterator::operator++ (int)
{
  return operator ++();
}
 
////////////////////////////////////////////////////////////////////////////////
inline unsigned
pcl::OrganizedIndexIterator::operator * () const
{
  return index_;
}
 
////////////////////////////////////////////////////////////////////////////////
inline unsigned
pcl::OrganizedIndexIterator::getIndex () const
{
  return index_;
}
 
////////////////////////////////////////////////////////////////////////////////
/** \brief default implementation. Should be overloaded 
 */
inline unsigned
pcl::OrganizedIndexIterator::getRowIndex () const
{
  return index_ / width_;
}
 
////////////////////////////////////////////////////////////////////////////////
inline unsigned
pcl::OrganizedIndexIterator::getColumnIndex () const
{
  return index_ % width_;
}
} // namespace pcl