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CObjectDetection.h

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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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