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 #ifndef CCascadeClassifierDetection_H 00030 #define CCascadeClassifierDetection_H 00031 00032 #include <mrpt/detectors/CObjectDetection.h> 00033 00034 namespace mrpt 00035 { 00036 namespace detectors 00037 { 00038 class DETECTORS_IMPEXP CCascadeClassifierDetection: virtual public CObjectDetection 00039 { 00040 public: 00041 00042 CCascadeClassifierDetection( ); 00043 00044 virtual ~CCascadeClassifierDetection(); 00045 00046 /** Initialize cascade classifier detection */ 00047 virtual void init(const mrpt::utils::CConfigFileBase &cfg ); 00048 00049 protected: 00050 00051 /** Detect objects in a *CObservation 00052 * \return A vector with detected objects 00053 */ 00054 00055 virtual void detectObjects_Impl(const CObservation *obs, vector_detectable_object &detected); 00056 00057 void * m_cascade; //!< Cascade classifier object 00058 00059 struct TOptions 00060 { 00061 std::string cascadeFileName; 00062 double scaleFactor; 00063 int minNeighbors; 00064 int flags; 00065 int minSize; 00066 }m_options; //!< Cascade classifier options 00067 00068 }; // End of class 00069 } 00070 } 00071 00072 #endif
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