Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 00037 00038 #ifndef PCL_FEATURES_DENSE_QUANTIZED_MULTI_MOD_TEMPLATE 00039 #define PCL_FEATURES_DENSE_QUANTIZED_MULTI_MOD_TEMPLATE 00040 00041 #include <vector> 00042 00043 #include <pcl/recognition/region_xy.h> 00044 00045 namespace pcl 00046 { 00047 00048 struct DenseQuantizedSingleModTemplate 00049 { 00050 std::vector<unsigned char> features; 00051 00052 void 00053 serialize (std::ostream & stream) const 00054 { 00055 const size_t num_of_features = static_cast<size_t> (features.size ()); 00056 write (stream, num_of_features); 00057 for (size_t feature_index = 0; feature_index < num_of_features; ++feature_index) 00058 { 00059 write (stream, features[feature_index]); 00060 } 00061 } 00062 00063 void 00064 deserialize (std::istream & stream) 00065 { 00066 features.clear (); 00067 00068 size_t num_of_features; 00069 read (stream, num_of_features); 00070 features.resize (num_of_features); 00071 for (size_t feature_index = 0; feature_index < num_of_features; ++feature_index) 00072 { 00073 read (stream, features[feature_index]); 00074 } 00075 } 00076 }; 00077 00078 struct DenseQuantizedMultiModTemplate 00079 { 00080 std::vector<DenseQuantizedSingleModTemplate> modalities; 00081 float response_factor; 00082 00083 RegionXY region; 00084 00085 void 00086 serialize (std::ostream & stream) const 00087 { 00088 const size_t num_of_modalities = static_cast<size_t> (modalities.size ()); 00089 write (stream, num_of_modalities); 00090 for (size_t modality_index = 0; modality_index < num_of_modalities; ++modality_index) 00091 { 00092 modalities[modality_index].serialize (stream); 00093 } 00094 00095 region.serialize (stream); 00096 } 00097 00098 void 00099 deserialize (std::istream & stream) 00100 { 00101 modalities.clear (); 00102 00103 size_t num_of_modalities; 00104 read (stream, num_of_modalities); 00105 modalities.resize (num_of_modalities); 00106 for (size_t modality_index = 0; modality_index < num_of_modalities; ++modality_index) 00107 { 00108 modalities[modality_index].deserialize (stream); 00109 } 00110 00111 region.deserialize (stream); 00112 } 00113 }; 00114 00115 } 00116 00117 #endif