Visual Servoing Platform  version 3.3.1 under development (2020-08-12)
vpDetectorBase.cpp
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30  *
31  * Description:
32  * Base class for object detection.
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 #include <visp3/core/vpConfig.h>
39 
40 #include <visp3/detection/vpDetectorBase.h>
41 
45 vpDetectorBase::vpDetectorBase() : m_polygon(), m_message(), m_nb_objects(0), m_timeout_ms(0) {}
46 
49 {
50 }
51 
55 std::vector<vpImagePoint> &vpDetectorBase::getPolygon(size_t i)
56 {
57  if (i < m_polygon.size())
58  return m_polygon[i];
59  else
60  throw(vpException(vpException::badValue, "Bad index to retrieve object %d. Only %d objects are detected.", i,
61  m_polygon.size()));
62 }
63 
67 std::string &vpDetectorBase::getMessage(size_t i)
68 {
69  if (i < m_polygon.size())
70  return m_message[i];
71  else
72  throw(vpException(vpException::badValue, "Bad index to retrieve object %d . Only %d objects are detected.", i,
73  m_polygon.size()));
74 }
75 
80 {
81  vpImagePoint cog(0, 0);
82  for (size_t j = 0; j < m_polygon[i].size(); j++) {
83  cog += m_polygon[i][j];
84  }
85  cog /= (double)m_polygon[i].size();
86  return cog;
87 }
88 
93 {
94  assert(m_polygon[i].size() > 2);
95 
96  double left, right;
97  double top, bottom;
98  left = right = m_polygon[i][0].get_u();
99  top = bottom = m_polygon[i][0].get_v();
100  for (size_t j = 0; j < m_polygon[i].size(); j++) {
101  double u = m_polygon[i][j].get_u();
102  double v = m_polygon[i][j].get_v();
103  if (u < left)
104  left = u;
105  if (u > right)
106  right = u;
107  if (v < top)
108  top = v;
109  if (v > bottom)
110  bottom = v;
111  }
112  vpRect roi(vpImagePoint(top, left), vpImagePoint(bottom, right));
113  return roi;
114 }
Used to indicate that a value is not in the allowed range.
Definition: vpException.h:97
unsigned long m_timeout_ms
Detection timeout.
vpRect getBBox(size_t i) const
error that can be emited by ViSP classes.
Definition: vpException.h:71
size_t m_nb_objects
Number of detected objects.
vpImagePoint getCog(size_t i) const
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:79
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:87
std::vector< std::string > & getMessage()
std::vector< std::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > & getPolygon()