00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 00030 #ifndef CObjectDetection_H 00031 #define CObjectDetection_H 00032 00033 #include <mrpt/detectors/CDetectableObject.h> 00034 #include <mrpt/utils/CConfigFile.h> 00035 #include <mrpt/utils/CImage.h> 00036 00037 namespace mrpt 00038 { 00039 namespace detectors 00040 { 00041 using namespace std; 00042 using namespace mrpt::slam; 00043 using namespace mrpt::utils; 00044 00045 typedef std::vector<CDetectableObjectPtr> vector_detectable_object; 00046 00047 class DETECTORS_IMPEXP CObjectDetection 00048 { 00049 public: 00050 //virtual ~CObjectDetection(); 00051 00052 /** Initialize the object with parameters loaded from the given config file. */ 00053 inline void init(const std::string &configFile) 00054 { 00055 mrpt::utils::CConfigFile cfg(configFile); 00056 init(cfg); 00057 } 00058 00059 /** Initialize the object with parameters loaded from the given config source. */ 00060 virtual void init(const mrpt::utils::CConfigFileBase &cfg )=0; 00061 00062 inline void detectObjects(const CObservationPtr obs, vector_detectable_object &detected) 00063 { 00064 detectObjects_Impl(obs.pointer(), detected); 00065 }; 00066 00067 inline void detectObjects( const CObservation *obs, vector_detectable_object &detected) 00068 { 00069 detectObjects_Impl( obs, detected ); 00070 }; 00071 00072 void detectObjects(const CImage *img, vector_detectable_object &detected); 00073 00074 protected: 00075 00076 virtual void detectObjects_Impl( const CObservation *obs, vector_detectable_object &detected) = 0; 00077 00078 }; // End of class 00079 } 00080 00081 } 00082 00083 #endif 00084 00085 00086 00087
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