Point Cloud Library (PCL)  1.9.1-dev
sparse_quantized_multi_mod_template.h
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37 
38 #pragma once
39 
40 #include <vector>
41 
42 #include <pcl/recognition/region_xy.h>
43 
44 namespace pcl
45 {
46 
47  /** \brief Feature that defines a position and quantized value in a specific modality.
48  * \author Stefan Holzer
49  */
51  {
52  /** \brief Constructor. */
54 
55  /** \brief x-position. */
56  int x;
57  /** \brief y-position. */
58  int y;
59  /** \brief the index of the corresponding modality. */
60  std::size_t modality_index;
61  /** \brief the quantized value attached to the feature. */
62  unsigned char quantized_value;
63 
64  /** \brief Compares whether two features are the same.
65  * \param[in] base the feature to compare to.
66  */
67  bool
69  {
70  if (base.x != x)
71  return false;
72  if (base.y != y)
73  return false;
74  if (base.modality_index != modality_index)
75  return false;
76  if (base.quantized_value != quantized_value)
77  return false;
78 
79  return true;
80  }
81 
82  /** \brief Serializes the object to the specified stream.
83  * \param[out] stream the stream the object will be serialized to. */
84  void
85  serialize (std::ostream & stream) const
86  {
87  write (stream, x);
88  write (stream, y);
89  write (stream, modality_index);
90  write (stream, quantized_value);
91  }
92 
93  /** \brief Deserializes the object from the specified stream.
94  * \param[in] stream the stream the object will be deserialized from. */
95  void
96  deserialize (std::istream & stream)
97  {
98  read (stream, x);
99  read (stream, y);
100  read (stream, modality_index);
101  read (stream, quantized_value);
102  }
103  };
104 
105  /** \brief A multi-modality template constructed from a set of quantized multi-modality features.
106  * \author Stefan Holzer
107  */
109  {
110  /** \brief Constructor. */
112 
113  /** \brief The storage for the multi-modality features. */
114  std::vector<QuantizedMultiModFeature> features;
115 
116  /** \brief The region assigned to the template. */
118 
119  /** \brief Serializes the object to the specified stream.
120  * \param[out] stream the stream the object will be serialized to. */
121  void
122  serialize (std::ostream & stream) const
123  {
124  const int num_of_features = static_cast<int> (features.size ());
125  write (stream, num_of_features);
126  for (int feature_index = 0; feature_index < num_of_features; ++feature_index)
127  {
128  features[feature_index].serialize (stream);
129  }
130 
131  region.serialize (stream);
132  }
133 
134  /** \brief Deserializes the object from the specified stream.
135  * \param[in] stream the stream the object will be deserialized from. */
136  void
137  deserialize (std::istream & stream)
138  {
139  features.clear ();
140 
141  int num_of_features;
142  read (stream, num_of_features);
143  features.resize (num_of_features);
144  for (int feature_index = 0; feature_index < num_of_features; ++feature_index)
145  {
146  features[feature_index].deserialize (stream);
147  }
148 
149  region.deserialize (stream);
150  }
151  };
152 
153 }
void deserialize(std::istream &stream)
Deserializes the object from the specified stream.
std::vector< QuantizedMultiModFeature > features
The storage for the multi-modality features.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
Feature that defines a position and quantized value in a specific modality.
void serialize(std::ostream &stream) const
Serializes the object to the specified stream.
void read(std::istream &stream, Type &value)
Function for reading data from a stream.
Definition: region_xy.h:46
Defines a region in XY-space.
Definition: region_xy.h:81
std::size_t modality_index
the index of the corresponding modality.
A multi-modality template constructed from a set of quantized multi-modality features.
unsigned char quantized_value
the quantized value attached to the feature.
void deserialize(::std::istream &stream)
Deserializes the object from the specified stream.
Definition: region_xy.h:109
void deserialize(std::istream &stream)
Deserializes the object from the specified stream.
void serialize(std::ostream &stream) const
Serializes the object to the specified stream.
bool compareForEquality(const QuantizedMultiModFeature &base)
Compares whether two features are the same.
RegionXY region
The region assigned to the template.
void serialize(std::ostream &stream) const
Serializes the object to the specified stream.
Definition: region_xy.h:98
void write(std::ostream &stream, Type value)
Function for writing data to a stream.
Definition: region_xy.h:63