dense_quantized_multi_mod_template.h

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#pragma once
 
#include <vector>
 
#include <pcl/recognition/region_xy.h>
 
namespace pcl
{
 
  struct DenseQuantizedSingleModTemplate
  {
    std::vector<unsigned char> features;
 
    void 
    serialize (std::ostream & stream) const
    {
      const auto num_of_features = static_cast<std::size_t> (features.size ());
      write (stream, num_of_features);
      for (std::size_t feature_index = 0; feature_index < num_of_features; ++feature_index)
      {
        write (stream, features[feature_index]);
      }
    }
 
    void 
    deserialize (std::istream & stream)
    {
      features.clear ();
 
      std::size_t num_of_features;
      read (stream, num_of_features);
      features.resize (num_of_features);
      for (std::size_t feature_index = 0; feature_index < num_of_features; ++feature_index)
      {
        read (stream, features[feature_index]);
      }
    }
  };
 
  struct DenseQuantizedMultiModTemplate
  {
    std::vector<DenseQuantizedSingleModTemplate> modalities;
    float response_factor;
 
    RegionXY region;
 
    void 
    serialize (std::ostream & stream) const
    {
      const auto num_of_modalities = static_cast<std::size_t> (modalities.size ());
      write (stream, num_of_modalities);
      for (std::size_t modality_index = 0; modality_index < num_of_modalities; ++modality_index)
      {
        modalities[modality_index].serialize (stream);
      }
 
      region.serialize (stream);
    }
 
    void 
    deserialize (std::istream & stream)
    {
      modalities.clear ();
 
      std::size_t num_of_modalities;
      read (stream, num_of_modalities);
      modalities.resize (num_of_modalities);
      for (std::size_t modality_index = 0; modality_index < num_of_modalities; ++modality_index)
      {
        modalities[modality_index].deserialize (stream);
      }
 
      region.deserialize (stream);
    }
  };
 
}