Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/recognition/include/pcl/recognition/quantizable_modality.h
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00037 
00038 #ifndef PCL_FEATURES_QUANTIZABLE_MODALITY
00039 #define PCL_FEATURES_QUANTIZABLE_MODALITY
00040 
00041 #include <vector>
00042 #include <pcl/pcl_macros.h>
00043 #include <pcl/recognition/mask_map.h>
00044 #include <pcl/recognition/quantized_map.h>
00045 #include <pcl/recognition/region_xy.h>
00046 #include <pcl/recognition/sparse_quantized_multi_mod_template.h>
00047 
00048 namespace pcl
00049 {
00050   /** \brief Interface for a quantizable modality. 
00051     * \author Stefan Holzer
00052     */
00053   class PCL_EXPORTS QuantizableModality
00054   {
00055     public:
00056       /** \brief Constructor. */
00057       QuantizableModality ();
00058       /** \brief Destructor. */
00059       virtual ~QuantizableModality ();
00060 
00061       /** \brief Returns a reference to the internally computed quantized map. */
00062       virtual QuantizedMap &
00063       getQuantizedMap () = 0;
00064 
00065       /** \brief Returns a reference to the internally computed spreaded quantized map. */
00066       virtual QuantizedMap &
00067       getSpreadedQuantizedMap () = 0;
00068 
00069       /** \brief Extracts features from this modality within the specified mask.
00070         * \param[in] mask defines the areas where features are searched in. 
00071         * \param[in] nr_features defines the number of features to be extracted 
00072         *            (might be less if not sufficient information is present in the modality).
00073         * \param[in] modality_index the index which is stored in the extracted features.
00074         * \param[out] features the destination for the extracted features.
00075         */
00076       virtual void 
00077       extractFeatures (const MaskMap & mask, size_t nr_features, size_t modality_index, 
00078                        std::vector<QuantizedMultiModFeature> & features) const = 0;
00079 
00080       /** \brief Extracts all possible features from the modality within the specified mask.
00081         * \param[in] mask defines the areas where features are searched in. 
00082         * \param[in] nr_features IGNORED (TODO: remove this parameter).
00083         * \param[in] modality_index the index which is stored in the extracted features.
00084         * \param[out] features the destination for the extracted features.
00085         */
00086       virtual void 
00087       extractAllFeatures (const MaskMap & mask, size_t nr_features, size_t modality_index, 
00088                        std::vector<QuantizedMultiModFeature> & features) const = 0;
00089   };
00090 }
00091 
00092 #endif