CObjectDetection.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, 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
        {
                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