CObjectDetection.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */


#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
        {
                using namespace std;
                using namespace mrpt::slam;
                using namespace mrpt::utils;

                typedef std::vector<CDetectableObjectPtr> vector_detectable_object;

                /** \ingroup mrpt_detectors_grp */
                class DETECTORS_IMPEXP CObjectDetection 
                {
                public:
                        //virtual ~CObjectDetection();

                        /** 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 CObservationPtr obs, vector_detectable_object &detected) 
                        { 
                                detectObjects_Impl(obs.pointer(), detected); 
                        };

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

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

                protected:

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

                }; // End of class
        }

}

#endif