hayodea
8eb7eaba3d
These two classes represent our first foray into stencil construction. One of them standardizes PcloudAmbience stencils across all stimbuffs, and the other specifies the internal memory constraints and requirements for a LivoxGen1 device's stencils.
73 lines
2.2 KiB
C++
73 lines
2.2 KiB
C++
#ifndef _STENCIL_H
|
|
#define _STENCIL_H
|
|
|
|
#include <cstddef>
|
|
#include <mentalEntity.h>
|
|
|
|
namespace smo {
|
|
namespace cologex {
|
|
|
|
/**
|
|
* Stencil represents range descriptions for sub-regions of sensor data frames.
|
|
*
|
|
* When a sensor yields frames with multiple values per frame, the Stencil class
|
|
* allows the stimbufflib driver to describe the subset of the input data that
|
|
* is relevant to SMO. For example:
|
|
*
|
|
* * A lidar yielding XYZI[ntensity] might consider I values exceeding 128 to be
|
|
* negtrins, creating a Stencil listing all values in the point
|
|
* cloud that exceed 128.
|
|
*
|
|
* * A lidar that extracts ambience might consider ambience counts below a
|
|
* threshold to be postrins -- i.e, it incentivizes the agent to prefer
|
|
* darker environments.
|
|
*
|
|
* The Stencil internally represents offsets with ranges or other efficient
|
|
* formats to describe offsets (e.g., by row). The internal format is opaque to
|
|
* the stimbufflib, which describes relevant ranges by calling Stencil methods.
|
|
*/
|
|
class Stencil
|
|
{
|
|
public:
|
|
/** EXPLANATION:
|
|
* This is used by smo and stimbufflibs to describe the range of bodyspot
|
|
* descriptors in a stencil. Each descriptor describes a contiguous range of
|
|
* body spots whose values exceed the intrin threshold for the intrin being
|
|
* reported. Or in the case of a stored cologex/idea, it describes
|
|
* contiguous body spots in the perceptual reference data, which may
|
|
* eventually be whittled/collapsed down from implicative data into
|
|
* structural data.
|
|
*/
|
|
struct RangeDescriptor
|
|
{
|
|
};
|
|
|
|
Stencil() = default;
|
|
virtual ~Stencil() = default;
|
|
|
|
/**
|
|
* Returns true if the Stencil has data, false otherwise.
|
|
*/
|
|
virtual bool hasData() const = 0;
|
|
operator bool() const { return hasData(); }
|
|
bool operator!() const { return !hasData(); }
|
|
|
|
// Return the number of relevant ranges/offsets in this Stencil.
|
|
virtual size_t getRelevantCount() const = 0;
|
|
// Return true if the offset is relevant, false otherwise
|
|
virtual bool isRelevant(size_t offset) const = 0;
|
|
|
|
virtual size_t getNRangeDescriptors() const = 0;
|
|
|
|
/**
|
|
* Build internal stencil metadata to describe the range of values that
|
|
* are relevant.
|
|
*/
|
|
virtual bool buildStencilMetadata() = 0;
|
|
};
|
|
|
|
} // namespace cologex
|
|
} // namespace smo
|
|
|
|
#endif // _STENCIL_H
|