Point Cloud Library (PCL)  1.9.1-dev
quantizable_modality.h
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37 
38 #pragma once
39 
40 #include <vector>
41 #include <pcl/pcl_macros.h>
42 #include <pcl/recognition/mask_map.h>
43 #include <pcl/recognition/quantized_map.h>
44 #include <pcl/recognition/region_xy.h>
45 #include <pcl/recognition/sparse_quantized_multi_mod_template.h>
46 
47 namespace pcl
48 {
49  /** \brief Interface for a quantizable modality.
50  * \author Stefan Holzer
51  */
52  class PCL_EXPORTS QuantizableModality
53  {
54  public:
55  /** \brief Constructor. */
57  /** \brief Destructor. */
58  virtual ~QuantizableModality ();
59 
60  /** \brief Returns a reference to the internally computed quantized map. */
61  virtual QuantizedMap &
62  getQuantizedMap () = 0;
63 
64  /** \brief Returns a reference to the internally computed spread quantized map. */
65  virtual QuantizedMap &
66  getSpreadedQuantizedMap () = 0;
67 
68  /** \brief Extracts features from this modality within the specified mask.
69  * \param[in] mask defines the areas where features are searched in.
70  * \param[in] nr_features defines the number of features to be extracted
71  * (might be less if not sufficient information is present in the modality).
72  * \param[in] modality_index the index which is stored in the extracted features.
73  * \param[out] features the destination for the extracted features.
74  */
75  virtual void
76  extractFeatures (const MaskMap & mask, size_t nr_features, size_t modality_index,
77  std::vector<QuantizedMultiModFeature> & features) const = 0;
78 
79  /** \brief Extracts all possible features from the modality within the specified mask.
80  * \param[in] mask defines the areas where features are searched in.
81  * \param[in] nr_features IGNORED (TODO: remove this parameter).
82  * \param[in] modality_index the index which is stored in the extracted features.
83  * \param[out] features the destination for the extracted features.
84  */
85  virtual void
86  extractAllFeatures (const MaskMap & mask, size_t nr_features, size_t modality_index,
87  std::vector<QuantizedMultiModFeature> & features) const = 0;
88  };
89 }
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Interface for a quantizable modality.