Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/recognition/include/pcl/recognition/sparse_quantized_multi_mod_template.h
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00037 
00038 #ifndef PCL_FEATURES_SPARSE_QUANTIZED_MULTI_MOD_TEMPLATE
00039 #define PCL_FEATURES_SPARSE_QUANTIZED_MULTI_MOD_TEMPLATE
00040 
00041 #include <vector>
00042 
00043 #include <pcl/recognition/region_xy.h>
00044 
00045 namespace pcl
00046 {
00047 
00048   /** \brief Feature that defines a position and quantized value in a specific modality. 
00049     * \author Stefan Holzer
00050     */
00051   struct QuantizedMultiModFeature
00052   {
00053     /** \brief Constructor. */
00054     QuantizedMultiModFeature () : x (0), y (0), modality_index (0), quantized_value (0) {}
00055 
00056     /** \brief x-position. */
00057     int x;
00058     /** \brief y-position. */
00059     int y;
00060     /** \brief the index of the corresponding modality. */
00061     size_t modality_index;
00062     /** \brief the quantized value attached to the feature. */
00063     unsigned char quantized_value;
00064 
00065     /** \brief Compares whether two features are the same. 
00066       * \param[in] base the feature to compare to.
00067       */
00068     bool
00069     compareForEquality (const QuantizedMultiModFeature & base)
00070     {
00071       if (base.x != x)
00072         return false;
00073       if (base.y != y)
00074         return false;
00075       if (base.modality_index != modality_index)
00076         return false;
00077       if (base.quantized_value != quantized_value)
00078         return false;
00079 
00080       return true;
00081     }
00082 
00083     /** \brief Serializes the object to the specified stream.
00084       * \param[out] stream the stream the object will be serialized to. */
00085     void 
00086     serialize (std::ostream & stream) const
00087     {
00088       write (stream, x);
00089       write (stream, y);
00090       write (stream, modality_index);
00091       write (stream, quantized_value);
00092     }
00093 
00094     /** \brief Deserializes the object from the specified stream.
00095       * \param[in] stream the stream the object will be deserialized from. */
00096     void 
00097     deserialize (std::istream & stream)
00098     {
00099       read (stream, x);
00100       read (stream, y);
00101       read (stream, modality_index);
00102       read (stream, quantized_value);
00103     }
00104   };
00105 
00106   /** \brief A multi-modality template constructed from a set of quantized multi-modality features.
00107     * \author Stefan Holzer 
00108     */
00109   struct SparseQuantizedMultiModTemplate
00110   {
00111     /** \brief Constructor. */
00112     SparseQuantizedMultiModTemplate () : features (), region () {}
00113 
00114     /** \brief The storage for the multi-modality features. */
00115     std::vector<QuantizedMultiModFeature> features;
00116 
00117     /** \brief The region assigned to the template. */
00118     RegionXY region;
00119 
00120     /** \brief Serializes the object to the specified stream.
00121       * \param[out] stream the stream the object will be serialized to. */
00122     void 
00123     serialize (std::ostream & stream) const
00124     {
00125       const int num_of_features = static_cast<int> (features.size ());
00126       write (stream, num_of_features);
00127       for (int feature_index = 0; feature_index < num_of_features; ++feature_index)
00128       {
00129         features[feature_index].serialize (stream);
00130       }
00131 
00132       region.serialize (stream);
00133     }
00134 
00135     /** \brief Deserializes the object from the specified stream.
00136       * \param[in] stream the stream the object will be deserialized from. */
00137     void 
00138     deserialize (std::istream & stream)
00139     {
00140       features.clear ();
00141 
00142       int num_of_features;
00143       read (stream, num_of_features);
00144       features.resize (num_of_features);
00145       for (int feature_index = 0; feature_index < num_of_features; ++feature_index)
00146       {
00147         features[feature_index].deserialize (stream);
00148       }
00149 
00150       region.deserialize (stream);
00151     }
00152   };
00153 
00154 }
00155 
00156 #endif