Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
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 
62 class VISP_EXPORT vpDetectorBase
63 {
64 protected:
65  std::vector<std::vector<vpImagePoint> > m_polygon;
66  std::vector<std::string> m_message;
67  size_t m_nb_objects;
68  unsigned long m_timeout_ms;
69 
70 public:
79  virtual ~vpDetectorBase() { }
80 
86  virtual bool detect(const vpImage<unsigned char> &I) = 0;
87 
90 
94  vpRect getBBox(size_t i) const;
95 
99  vpImagePoint getCog(size_t i) const;
100 
104  std::vector<std::string> &getMessage() { return m_message; }
105 
109  std::string &getMessage(size_t i);
110 
114  size_t getNbObjects() const { return m_nb_objects; }
115 
119  std::vector<std::vector<vpImagePoint> > &getPolygon() { return m_polygon; }
120 
124  std::vector<vpImagePoint> &getPolygon(size_t i);
125 
129  inline void setTimeout(unsigned long timeout_ms) { m_timeout_ms = timeout_ms; }
130 
132 };
133 
134 #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