Point Cloud Library (PCL) 1.13.0
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
47namespace 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 QuantizedMap & getQuantizedMap()=0
Returns a reference to the internally computed quantized map.
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 & getSpreadedQuantizedMap()=0
Returns a reference to the internally computed spread quantized map.
QuantizableModality()
Constructor.
virtual ~QuantizableModality()
Destructor.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323