Visual Servoing Platform version 3.6.0
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vpDetectorBase.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Base class for object detection.
33 *
34*****************************************************************************/
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
61class VISP_EXPORT vpDetectorBase
62{
63protected:
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
69public:
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::string > m_message
Message attached to each object.
std::vector< std::vector< vpImagePoint > > & getPolygon()
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.
std::vector< std::string > & getMessage()
size_t getNbObjects() const
virtual ~vpDetectorBase()
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 of the vpImage class member functions.
Definition vpImage.h:135
Defines a rectangle in the plane.
Definition vpRect.h:76