sparse_quantized_multi_mod_template.h

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#ifndef PCL_FEATURES_SPARSE_QUANTIZED_MULTI_MOD_TEMPLATE
#define PCL_FEATURES_SPARSE_QUANTIZED_MULTI_MOD_TEMPLATE

#include <vector>

#include <pcl/recognition/region_xy.h>

namespace pcl
{

  struct QuantizedMultiModFeature
  {
    QuantizedMultiModFeature () : x (0), y (0), modality_index (0), quantized_value (0) {}

    int x;
    int y;
    size_t modality_index;
    unsigned char quantized_value;

    bool
    compareForEquality (const QuantizedMultiModFeature & base)
    {
      if (base.x != x)
        return false;
      if (base.y != y)
        return false;
      if (base.modality_index != modality_index)
        return false;
      if (base.quantized_value != quantized_value)
        return false;

      return true;
    }

    void 
    serialize (std::ostream & stream) const
    {
      write (stream, x);
      write (stream, y);
      write (stream, modality_index);
      write (stream, quantized_value);
    }

    void 
    deserialize (std::istream & stream)
    {
      read (stream, x);
      read (stream, y);
      read (stream, modality_index);
      read (stream, quantized_value);
    }
  };

  struct SparseQuantizedMultiModTemplate
  {
    SparseQuantizedMultiModTemplate () : features (), region () {}

    std::vector<QuantizedMultiModFeature> features;

    RegionXY region;

    void 
    serialize (std::ostream & stream) const
    {
      const int num_of_features = static_cast<int> (features.size ());
      write (stream, num_of_features);
      for (int feature_index = 0; feature_index < num_of_features; ++feature_index)
      {
        features[feature_index].serialize (stream);
      }

      region.serialize (stream);
    }

    void 
    deserialize (std::istream & stream)
    {
      features.clear ();

      int num_of_features;
      read (stream, num_of_features);
      features.resize (num_of_features);
      for (int feature_index = 0; feature_index < num_of_features; ++feature_index)
      {
        features[feature_index].deserialize (stream);
      }

      region.deserialize (stream);
    }
  };

}

#endif