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