CObjectDetection.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/config/CConfigFile.h>
#include <mrpt/img/CImage.h>
 
namespace mrpt
{
namespace 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.get(), 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
}
}
 
#endif