vpDetectorBase Class Reference

#include <visp3/detection/vpDetectorBase.h>

Inheritance diagram for vpDetectorBase:

Public Member Functions
	vpDetectorBase ()
	vpDetectorBase (const vpDetectorBase &o)
virtual	~vpDetectorBase ()
virtual bool	detect (const vpImage< unsigned char > &I)=0
Inherited functionalities from vpDetectorBase
vpRect	getBBox (size_t i) const
vpImagePoint	getCog (size_t i) const
std::vector< std::string > &	getMessage ()
std::string &	getMessage (size_t i)
size_t	getNbObjects () const
std::vector< std::vector< vpImagePoint > > &	getPolygon ()
std::vector< vpImagePoint > &	getPolygon (size_t i)
void	setTimeout (unsigned long timeout_ms)

Protected Attributes
std::vector< std::vector< vpImagePoint > >	m_polygon
std::vector< std::string >	m_message
size_t	m_nb_objects
unsigned long	m_timeout_ms

Detailed Description

Base class for object detection.

This class is a generic class that can be used to detect:

• bar codes like QRcodes of Data matrices using vpDetectorQRCode and vpDetectorDataMatrixCode classes respectively. The example given in tutorial-barcode-detector.cpp shows how to detect one or more bar codes in an image. In tutorial-barcode-detector-live.cpp you will find an other example that shows how to use this class to detect bar codes in images acquired by a camera.
• AprilTags using vpDetectorAprilTag class
• faces using vpDetectorFace. An example is provided in tutorial-face-detector-live.cpp.

Examples

testAprilTag.cpp, tutorial-barcode-detector-live.cpp, and tutorial-barcode-detector.cpp.

Definition at line 62 of file vpDetectorBase.h.

Constructor & Destructor Documentation

vpDetectorBase() [1/2]

vpDetectorBase::vpDetectorBase

(

)

Default constructor.

Definition at line 42 of file vpDetectorBase.cpp.

vpDetectorBase() [2/2]

vpDetectorBase::vpDetectorBase

(

const vpDetectorBase &

o

)

Definition at line 44 of file vpDetectorBase.cpp.

~vpDetectorBase()

virtual vpDetectorBase::~vpDetectorBase ( )

inlinevirtual

Default destructor.

Definition at line 79 of file vpDetectorBase.h.

Member Function Documentation

detect()

virtual bool vpDetectorBase::detect ( const vpImage< unsigned char > &  I )

pure virtual

Detect objects in an image.

Parameters

I	: Image where to detect objects.

Returns

true if one or multiple objects are detected, false otherwise.

Implemented in vpDetectorQRCode, vpDetectorFace, vpDetectorDataMatrixCode, and vpDetectorAprilTag.

Examples

tutorial-barcode-detector-live.cpp, and tutorial-barcode-detector.cpp.

getBBox()

vpRect vpDetectorBase::getBBox

(

size_t

i

)

const

Return the bounding box of the ith object.

Examples

tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-face-detector-live-threaded.cpp, tutorial-face-detector-live.cpp, and tutorial-face-detector.cpp.

Definition at line 93 of file vpDetectorBase.cpp.

References m_polygon.

getCog()

vpImagePoint vpDetectorBase::getCog

(

size_t

i

)

const

Return the center of gravity location of the ith object.

Examples

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, servoBiclopsPoint2DArtVelocity.cpp, servoPololuPtuPoint2DJointVelocity.cpp, and tutorial-flir-ptu-ibvs.cpp.

Definition at line 79 of file vpDetectorBase.cpp.

References m_polygon.

getMessage() [1/2]

std::vector<std::string>& vpDetectorBase::getMessage ( )

inline

Returns the contained message of the ith object if there is one.

Examples

testAprilTag.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-face-detector-live.cpp, and tutorial-face-detector.cpp.

Definition at line 104 of file vpDetectorBase.h.

getMessage() [2/2]

std::string & vpDetectorBase::getMessage

(

size_t

i

)

Returns the contained message of the ith object if there is one.

Definition at line 65 of file vpDetectorBase.cpp.

References vpException::badValue, m_message, and m_polygon.

getNbObjects()

size_t vpDetectorBase::getNbObjects ( ) const

inline

Return the number of objects that are detected.

Examples

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, mbot-apriltag-pbvs.cpp, testAprilTag.cpp, tutorial-apriltag-detector-live-T265-realsense.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-apriltag-detector-live.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, tutorial-face-detector-live.cpp, tutorial-face-detector.cpp, tutorial-flir-ptu-ibvs.cpp, tutorial-mb-generic-tracker-apriltag-rs2.cpp, tutorial-mb-generic-tracker-apriltag-webcam.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 114 of file vpDetectorBase.h.

getPolygon() [1/2]

std::vector<std::vector<vpImagePoint> >& vpDetectorBase::getPolygon ( )

inline

Returns object container box as a vector of points.

Examples

mbot-apriltag-2D-half-vs.cpp, mbot-apriltag-ibvs.cpp, testAprilTag.cpp, tutorial-apriltag-detector-live-rgbd-realsense.cpp, tutorial-apriltag-detector-live-rgbd-structure-core.cpp, tutorial-apriltag-detector.cpp, tutorial-barcode-detector-live.cpp, tutorial-barcode-detector.cpp, and tutorial-pose-from-qrcode-image.cpp.

Definition at line 119 of file vpDetectorBase.h.

getPolygon() [2/2]

std::vector< vpImagePoint > & vpDetectorBase::getPolygon

(

size_t

i

)

Returns ith object container box as a vector of points.

Definition at line 51 of file vpDetectorBase.cpp.

References vpException::badValue, and m_polygon.

setTimeout()

void vpDetectorBase::setTimeout ( unsigned long  timeout_ms )

inline

Set detector timeout in milli-seconds. When set to 0, there is no timeout.

Definition at line 129 of file vpDetectorBase.h.

Referenced by vpDetectorDataMatrixCode::vpDetectorDataMatrixCode().

Member Data Documentation

m_message

std::vector<std::string> vpDetectorBase::m_message

protected

Message attached to each object.

Definition at line 66 of file vpDetectorBase.h.

Referenced by vpDetectorFace::detect(), vpDetectorAprilTag::detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), and getMessage().

m_nb_objects

size_t vpDetectorBase::m_nb_objects

protected

Number of detected objects.

Definition at line 67 of file vpDetectorBase.h.

Referenced by vpDetectorFace::detect(), vpDetectorAprilTag::detect(), vpDetectorDataMatrixCode::detect(), and vpDetectorQRCode::detect().

m_polygon

std::vector<std::vector<vpImagePoint> > vpDetectorBase::m_polygon

protected

For each object, defines the polygon that contains the object.

Definition at line 65 of file vpDetectorBase.h.

Referenced by vpDetectorFace::detect(), vpDetectorAprilTag::detect(), vpDetectorDataMatrixCode::detect(), vpDetectorQRCode::detect(), getBBox(), getCog(), getMessage(), getPolygon(), and vpDetectorAprilTag::getTagsCorners().

m_timeout_ms

unsigned long vpDetectorBase::m_timeout_ms

protected

Detection timeout.

Definition at line 68 of file vpDetectorBase.h.

Referenced by vpDetectorDataMatrixCode::detect().