Visual Servoing Platform  version 3.2.1 under development (2019-08-22) under development (2019-08-22)

#include <visp3/detection/vpDetectorBase.h>

+ Inheritance diagram for vpDetectorBase:

Public Member Functions

 vpDetectorBase ()
 
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:

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

Definition at line 64 of file vpDetectorBase.h.

Constructor & Destructor Documentation

◆ vpDetectorBase()

vpDetectorBase::vpDetectorBase ( )

Default constructor.

Definition at line 45 of file vpDetectorBase.cpp.

◆ ~vpDetectorBase()

virtual vpDetectorBase::~vpDetectorBase ( )
inlinevirtual

Default destructor.

Definition at line 80 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 vpDetectorAprilTag, vpDetectorQRCode, vpDetectorDataMatrixCode, vpDetectorFace, and vpDetectorDNN.

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

Referenced by vpDetectorDataMatrixCode::~vpDetectorDataMatrixCode(), vpDetectorFace::~vpDetectorFace(), and vpDetectorQRCode::~vpDetectorQRCode().

◆ getBBox()

◆ 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, and mbot-apriltag-ibvs.cpp.

Definition at line 74 of file vpDetectorBase.cpp.

References m_polygon.

◆ getMessage() [1/2]

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

◆ 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 62 of file vpDetectorBase.cpp.

References vpException::badValue, m_message, and m_polygon.

◆ getNbObjects()

◆ getPolygon() [1/2]

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

◆ getPolygon() [2/2]

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

Returns ith object container box as a vector of points.

Definition at line 50 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 128 of file vpDetectorBase.h.

Referenced by vpDetectorDataMatrixCode::vpDetectorDataMatrixCode().

Member Data Documentation

◆ m_message

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

◆ m_nb_objects

size_t vpDetectorBase::m_nb_objects
protected

◆ m_polygon

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

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

Definition at line 67 of file vpDetectorBase.h.

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

◆ m_timeout_ms

unsigned long vpDetectorBase::m_timeout_ms
protected

Detection timeout.

Definition at line 70 of file vpDetectorBase.h.

Referenced by vpDetectorDataMatrixCode::detect().