Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
vpDetectorBase.h
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30  *
31  * Description:
32  * Base class for object detection.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef _vpDetectorBase_h_
40 #define _vpDetectorBase_h_
41 
42 #include <assert.h>
43 #include <string>
44 #include <utility>
45 #include <vector>
46 
47 #include <visp3/core/vpImage.h>
48 #include <visp3/core/vpImagePoint.h>
49 #include <visp3/core/vpRect.h>
50 
64 class VISP_EXPORT vpDetectorBase
65 {
66 protected:
67  std::vector<std::vector<vpImagePoint> > m_polygon;
68  std::vector<std::string> m_message;
69  size_t m_nb_objects;
70  unsigned long m_timeout_ms;
71 
72 public:
81  virtual ~vpDetectorBase() {}
82 
88  virtual bool detect(const vpImage<unsigned char> &I) = 0;
89 
92 
96  vpRect getBBox(size_t i) const;
97 
101  vpImagePoint getCog(size_t i) const;
102 
106  std::vector<std::string> &getMessage() { return m_message; }
107 
111  std::string &getMessage(size_t i);
112 
116  size_t getNbObjects() const { return m_nb_objects; }
117 
121  std::vector<std::vector<vpImagePoint> > &getPolygon() { return m_polygon; }
122 
126  std::vector<vpImagePoint> &getPolygon(size_t i);
127 
129  inline void setTimeout(unsigned long timeout_ms) { m_timeout_ms = timeout_ms; }
130 
132 };
133 
134 #endif
unsigned long m_timeout_ms
Detection timeout.
virtual ~vpDetectorBase()
size_t getNbObjects() const
void setTimeout(unsigned long timeout_ms)
size_t m_nb_objects
Number of detected objects.
std::vector< std::vector< vpImagePoint > > m_polygon
For each object, defines the polygon that contains the object.
Defines a rectangle in the plane.
Definition: vpRect.h:78
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
std::vector< std::string > & getMessage()
std::vector< std::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > & getPolygon()