Visual Servoing Platform  version 3.6.0 under development (2023-09-25)
vpDetectorBase.h
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31  * Description:
32  * Base class for object detection.
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35 
36 #ifndef _vpDetectorBase_h_
37 #define _vpDetectorBase_h_
38 
39 #include <assert.h>
40 #include <string>
41 #include <utility>
42 #include <vector>
43 
44 #include <visp3/core/vpImage.h>
45 #include <visp3/core/vpImagePoint.h>
46 #include <visp3/core/vpRect.h>
47 
61 class VISP_EXPORT vpDetectorBase
62 {
63 protected:
64  std::vector<std::vector<vpImagePoint> > m_polygon;
65  std::vector<std::string> m_message;
66  size_t m_nb_objects;
67  unsigned long m_timeout_ms;
68 
69 public:
78  virtual ~vpDetectorBase() {}
79 
85  virtual bool detect(const vpImage<unsigned char> &I) = 0;
86 
89 
93  vpRect getBBox(size_t i) const;
94 
98  vpImagePoint getCog(size_t i) const;
99 
103  std::vector<std::string> &getMessage() { return m_message; }
104 
108  std::string &getMessage(size_t i);
109 
113  size_t getNbObjects() const { return m_nb_objects; }
114 
118  std::vector<std::vector<vpImagePoint> > &getPolygon() { return m_polygon; }
119 
123  std::vector<vpImagePoint> &getPolygon(size_t i);
124 
126  inline void setTimeout(unsigned long timeout_ms) { m_timeout_ms = timeout_ms; }
127 
129 };
130 
131 #endif
std::vector< std::vector< vpImagePoint > > & getPolygon()
std::vector< std::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > m_polygon
For each object, defines the polygon that contains the object.
void setTimeout(unsigned long timeout_ms)
size_t m_nb_objects
Number of detected objects.
unsigned long m_timeout_ms
Detection timeout.
size_t getNbObjects() const
virtual ~vpDetectorBase()
std::vector< std::string > & getMessage()
virtual bool detect(const vpImage< unsigned char > &I)=0
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
Defines a rectangle in the plane.
Definition: vpRect.h:76