CObjectDetection.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef CObjectDetection_H
#define CObjectDetection_H

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

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

/** \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::utils::CConfigFile cfg(configFile);
                init(cfg);
        }

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

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

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

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

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

};  // End of class
}
}

#endif