Point Cloud Library (PCL)  1.13.0-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  * \ingroup recognition
52  */
54  {
55  public:
56  /** \brief Constructor. */
58  /** \brief Destructor. */
60 
61  /** \brief Returns a reference to the internally computed quantized map. */
62  virtual QuantizedMap &
64 
65  /** \brief Returns a reference to the internally computed spread quantized map. */
66  virtual QuantizedMap &
68 
69  /** \brief Extracts features from this modality within the specified mask.
70  * \param[in] mask defines the areas where features are searched in.
71  * \param[in] nr_features defines the number of features to be extracted
72  * (might be less if not sufficient information is present in the modality).
73  * \param[in] modality_index the index which is stored in the extracted features.
74  * \param[out] features the destination for the extracted features.
75  */
76  virtual void
77  extractFeatures (const MaskMap & mask, std::size_t nr_features, std::size_t modality_index,
78  std::vector<QuantizedMultiModFeature> & features) const = 0;
79 
80  /** \brief Extracts all possible features from the modality within the specified mask.
81  * \param[in] mask defines the areas where features are searched in.
82  * \param[in] nr_features IGNORED (TODO: remove this parameter).
83  * \param[in] modality_index the index which is stored in the extracted features.
84  * \param[out] features the destination for the extracted features.
85  */
86  virtual void
87  extractAllFeatures (const MaskMap & mask, std::size_t nr_features, std::size_t modality_index,
88  std::vector<QuantizedMultiModFeature> & features) const = 0;
89  };
90 }
Interface for a quantizable modality.
virtual void extractAllFeatures(const MaskMap &mask, std::size_t nr_features, std::size_t modality_index, std::vector< QuantizedMultiModFeature > &features) const =0
Extracts all possible features from the modality within the specified mask.
virtual void extractFeatures(const MaskMap &mask, std::size_t nr_features, std::size_t modality_index, std::vector< QuantizedMultiModFeature > &features) const =0
Extracts features from this modality within the specified mask.
virtual QuantizedMap & getQuantizedMap()=0
Returns a reference to the internally computed quantized map.
QuantizableModality()
Constructor.
virtual ~QuantizableModality()
Destructor.
virtual QuantizedMap & getSpreadedQuantizedMap()=0
Returns a reference to the internally computed spread quantized map.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323