hayodea
0116523a66
We directly use an instance of RangeDescriptor to avoid incurring the memory cost of using a StagingBuffer here. It's unnecessary since these stencils will always be 32bits large.
82 lines
2.5 KiB
C++
82 lines
2.5 KiB
C++
#ifndef _STENCIL_H
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#define _STENCIL_H
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#include <cstddef>
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#include <cstdint>
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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 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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* * A lidar that extracts ambience might consider ambience counts below a
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* threshold to be postrins -- i.e, it incentivizes the agent to prefer
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* darker environments.
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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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/** EXPLANATION:
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* This is used by smo and stimbufflibs to describe the range of bodyspot
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* descriptors in a stencil. Each descriptor describes a contiguous range of
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* body spots whose values exceed the intrin threshold for the intrin being
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* reported. Or in the case of a stored cologex/idea, it describes
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* contiguous body spots in the perceptual reference data, which may
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* eventually be whittled/collapsed down from implicative data into
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* structural data.
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*/
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struct RangeDescriptor
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{
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uint32_t bodySpot;
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size_t nContiguousSpots;
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};
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Stencil() = default;
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virtual ~Stencil() = default;
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// Non-copyable, non-movable (stencils are constructed in place)
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Stencil(const Stencil&) = delete;
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Stencil& operator=(const Stencil&) = delete;
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Stencil(Stencil&&) = delete;
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Stencil& operator=(Stencil&&) = delete;
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/**
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* Returns true if the Stencil has data, false otherwise.
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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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virtual size_t getNRangeDescriptors() const = 0;
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/**
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* Build internal stencil metadata to describe the range of values that
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* are relevant.
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*/
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virtual bool buildStencilMetadata() = 0;
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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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