feature_handler.h

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 *  Point Cloud Library (PCL) - www.pointclouds.org
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#pragma once
 
#include <pcl/common/common.h>
 
#include <ostream>
#include <vector>
 
namespace pcl {
 
/** Utility class interface which is used for creating and evaluating features. */
template <class FeatureType, class DataSet, class ExampleIndex>
class PCL_EXPORTS FeatureHandler {
public:
  /** Destructor. */
  virtual ~FeatureHandler() = default;
 
  /** Creates random features.
   *
   * \param[in] num_of_features the number of random features to create
   * \param[out] features the destination for the created features
   */
  virtual void
  createRandomFeatures(const std::size_t num_of_features,
                       std::vector<FeatureType>& features) = 0;
 
  /** Evaluates a feature on the specified data.
   *
   * \param[in] feature the features to evaluate
   * \param[in] data_set the data set on which the feature is evaluated
   * \param[in] examples the examples which specify on which parts of the data set the
   *            feature is evaluated
   * \param[out] results the destination for the results of the feature evaluation
   * \param[out] flags flags that are supplied together with the
   *             results
   */
  virtual void
  evaluateFeature(const FeatureType& feature,
                  DataSet& data_set,
                  std::vector<ExampleIndex>& examples,
                  std::vector<float>& results,
                  std::vector<unsigned char>& flags) const = 0;
 
  /** Evaluates a feature on the specified data.
   *
   * \param[in] feature the features to evaluate
   * \param[in] data_set the data set on which the feature is evaluated
   * \param[in] example the examples which specify on which parts of the data set the
   *            feature is evaluated
   * \param[out] result the destination for the results of the feature evaluation
   * \param[out] flag flags that are supplied together with the results
   */
  virtual void
  evaluateFeature(const FeatureType& feature,
                  DataSet& data_set,
                  const ExampleIndex& example,
                  float& result,
                  unsigned char& flag) const = 0;
 
  /** Generates evaluation code for the specified feature and writes it to the specified
   *  stream
   *
   * \param[in] feature the feature for which code is generated
   * \param[out] stream the destination for the code
   */
  virtual void
  generateCodeForEvaluation(const FeatureType& feature,
                            ::std::ostream& stream) const = 0;
};
 
} // namespace pcl