90 lines
3.8 KiB
C++
90 lines
3.8 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2010-2011, Willow Garage, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#include <vector>
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#include <pcl/pcl_macros.h>
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#include <pcl/recognition/mask_map.h>
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#include <pcl/recognition/quantized_map.h>
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#include <pcl/recognition/region_xy.h>
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#include <pcl/recognition/sparse_quantized_multi_mod_template.h>
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namespace pcl
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{
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/** \brief Interface for a quantizable modality.
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* \author Stefan Holzer
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*/
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class PCL_EXPORTS QuantizableModality
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{
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public:
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/** \brief Constructor. */
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QuantizableModality ();
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/** \brief Destructor. */
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virtual ~QuantizableModality ();
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/** \brief Returns a reference to the internally computed quantized map. */
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virtual QuantizedMap &
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getQuantizedMap () = 0;
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/** \brief Returns a reference to the internally computed spread quantized map. */
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virtual QuantizedMap &
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getSpreadedQuantizedMap () = 0;
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/** \brief Extracts features from this modality within the specified mask.
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* \param[in] mask defines the areas where features are searched in.
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* \param[in] nr_features defines the number of features to be extracted
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* (might be less if not sufficient information is present in the modality).
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* \param[in] modality_index the index which is stored in the extracted features.
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* \param[out] features the destination for the extracted features.
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*/
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virtual void
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extractFeatures (const MaskMap & mask, std::size_t nr_features, std::size_t modality_index,
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std::vector<QuantizedMultiModFeature> & features) const = 0;
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/** \brief Extracts all possible features from the modality within the specified mask.
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* \param[in] mask defines the areas where features are searched in.
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* \param[in] nr_features IGNORED (TODO: remove this parameter).
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* \param[in] modality_index the index which is stored in the extracted features.
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* \param[out] features the destination for the extracted features.
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*/
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virtual void
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extractAllFeatures (const MaskMap & mask, std::size_t nr_features, std::size_t modality_index,
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std::vector<QuantizedMultiModFeature> & features) const = 0;
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};
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}
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