CObjectDetection.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/config/CConfigFile.h>
#include <mrpt/detectors/CDetectableObject.h>
#include <mrpt/img/CImage.h>

namespace mrpt::detectors
{
using vector_detectable_object = std::vector<CDetectableObject::Ptr>;

/** \ingroup mrpt_detectors_grp */
class CObjectDetection
{
   public:
    /** Initialize the object with parameters loaded from the given config file.
     */
    inline void init(const std::string& configFile)
    {
        mrpt::config::CConfigFile cfg(configFile);
        init(cfg);
    }

    /** Initialize the object with parameters loaded from the given config
     * source. */
    virtual void init(const mrpt::config::CConfigFileBase& cfg) = 0;

    inline void detectObjects(
        const mrpt::obs::CObservation::Ptr obs,
        vector_detectable_object& detected)
    {
        detectObjects_Impl(*obs, detected);
    };

    inline void detectObjects(
        const mrpt::obs::CObservation& obs, vector_detectable_object& detected)
    {
        detectObjects_Impl(obs, detected);
    };

    void detectObjects(
        const mrpt::img::CImage* img, vector_detectable_object& detected);

   protected:
    virtual void detectObjects_Impl(
        const mrpt::obs::CObservation& obs,
        vector_detectable_object& detected) = 0;

};  // End of class
}  // namespace mrpt::detectors