84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
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#ifndef _STENCIL_H
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#define _STENCIL_H
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#include <vector>
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#include <memory>
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#include <user/stimFrame.h>
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#include <mentalEntity.h>
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namespace smo {
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namespace cologex {
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/**
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* Stencil represents range descriptions for sub-regions of sensor data frames.
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*
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* When a sensor yields frames with multiple values per frame, the Stencil class
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* allows the stimbufflib driver to describe the subset of the input data that
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* is relevant to SMO. For example:
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*
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* * A HSB format camera might treat brightness values above 128 as
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* negtrins, creating a Stencil that denotes all offsets in a
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* frame that exceed 128.
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*
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* * A lidar yielding XYZI[ntensity] might consider I values exceeding 128 to be
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* negtrins, creating a Stencil listing all values in the point
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* cloud that exceed 128.
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*
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* The Stencil internally represents offsets with ranges or other efficient
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* formats to describe offsets (e.g., by row). The internal format is opaque to
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* the stimbufflib, which describes relevant ranges by calling Stencil methods.
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*/
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class Stencil
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{
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public:
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/**
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* Constructor that takes a shared_ptr to StimFrame and produces a completed
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* Stencil. The Stencil scans the StimFrame and efficiently allocates
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* internal structures to describe the stencil ranges.
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*
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* @param frame Shared pointer to the StimFrame to analyze
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* @param threshold The threshold value for determining relevant data
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*/
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Stencil(
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const std::shared_ptr<stim_buff::StimFrame> &frame,
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const uint32_t threshold)
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: frame(frame), threshold(threshold)
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{}
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virtual ~Stencil() = default;
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/**
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* Pure virtual method for derived classes to implement their specific
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* threshold analysis logic. Returns true if there are values above threshold,
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* false otherwise.
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*/
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virtual bool analyzeFrame() = 0;
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/**
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* Stencil is constructed from a StimFrame. If the input StimFrame had no
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* values above threshold, then the Stencil will have no data.
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*/
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virtual bool hasData() const = 0;
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operator bool() const { return hasData(); }
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bool operator!() const { return !hasData(); }
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// Return the number of relevant ranges/offsets in this Stencil.
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virtual size_t getRelevantCount() const = 0;
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// Return true if the offset is relevant, false otherwise
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virtual bool isRelevant(size_t offset) const = 0;
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/**
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* Build internal stencil metadata from the shared_ptr member to describe
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* the range of StimFrame values that are relevant.
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*/
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virtual bool buildStencilMetadata() = 0;
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protected:
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uint32_t threshold;
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std::shared_ptr<stim_buff::StimFrame> frame;
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};
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} // namespace cologex
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} // namespace smo
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#endif // _STENCIL_H
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