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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __ARUCO_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __ARUCO_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/dev/DeviceDriver.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <opencv2/objdetect/aruco_detector.hpp></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> {</div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="classroboticslab_1_1ArucoDetector.html"> 21</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1ArucoDetector.html">ArucoDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> {</div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">bool</span> open(yarp::os::Searchable& config) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  cv::aruco::DetectorParameters detectorParams;</div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  cv::aruco::Dictionary dictionary;</div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> };</div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> }</div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div> | ||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="preprocessor">#endif </span><span class="comment">// __ARUCO_DETECTOR_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1ArucoDetector_html"><div class="ttname"><a href="classroboticslab_1_1ArucoDetector.html">roboticslab::ArucoDetector</a></div><div class="ttdef"><b>Definition:</b> ArucoDetector.hpp:23</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __COLOR_REGION_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __COLOR_REGION_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/dev/DeviceDriver.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> {</div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classroboticslab_1_1ColorRegionDetector.html"> 18</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1ColorRegionDetector.html">ColorRegionDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> {</div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordtype">bool</span> open(yarp::os::Searchable& config) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::string algorithm;</div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">double</span> morphClosing;</div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">int</span> threshold;</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordtype">int</span> maxNumBlobs;</div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> };</div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#endif </span><span class="comment">// __COLOR_REGION_DETECTOR_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1ColorRegionDetector_html"><div class="ttname"><a href="classroboticslab_1_1ColorRegionDetector.html">roboticslab::ColorRegionDetector</a></div><div class="ttdef"><b>Definition:</b> ColorRegionDetector.hpp:20</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="title">DnnDetector.hpp</div> </div> | ||
</div><!--header--> | ||
<div class="contents"> | ||
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __DNN_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __DNN_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/dev/DeviceDriver.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <opencv2/dnn.hpp></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> {</div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classroboticslab_1_1DnnDetector.html"> 20</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1DnnDetector.html">DnnDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> {</div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordtype">bool</span> open(yarp::os::Searchable & config) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image & inYarpImg, yarp::os::Bottle & detectedObjects) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  cv::dnn::Net net;</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  std::vector<std::string> classes;</div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  std::vector<std::string> outNames;</div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">float</span> confThreshold; <span class="comment">// Confidence threshold</span></div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">float</span> nmsThreshold; <span class="comment">// Non-max supression threshold</span></div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">float</span> scale;</div> | ||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  cv::Scalar mean;</div> | ||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div> | ||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordtype">void</span> preprocess(<span class="keyword">const</span> cv::Mat & frame);</div> | ||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordtype">void</span> postprocess(<span class="keyword">const</span> cv::Size & size, <span class="keyword">const</span> std::vector<cv::Mat> & outs, yarp::os::Bottle & detectedObjects);</div> | ||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> };</div> | ||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> | ||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div> | ||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#endif </span><span class="comment">// __DNN_DETECTOR_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1DnnDetector_html"><div class="ttname"><a href="classroboticslab_1_1DnnDetector.html">roboticslab::DnnDetector</a></div><div class="ttdef"><b>Definition:</b> DnnDetector.hpp:22</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __HAAR_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __HAAR_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/dev/DeviceDriver.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <opencv2/objdetect.hpp></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#ifdef HAVE_CV_FACE</span></div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor"># include <opencv2/face/facemark.hpp></span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#endif</span></div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> | ||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> {</div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classroboticslab_1_1HaarDetector.html"> 23</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1HaarDetector.html">HaarDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> {</div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordtype">bool</span> open(yarp::os::Searchable& config) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  cv::CascadeClassifier object_cascade;</div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#ifdef HAVE_CV_FACE</span></div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  cv::Ptr<cv::face::Facemark> facemark;</div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#endif</span></div> | ||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> };</div> | ||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div> | ||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div> | ||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#endif </span><span class="comment">// __HAAR_DETECTOR_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1HaarDetector_html"><div class="ttname"><a href="classroboticslab_1_1HaarDetector.html">roboticslab::HaarDetector</a></div><div class="ttdef"><b>Definition:</b> HaarDetector.hpp:25</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/os/Bottle.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <yarp/sig/Image.h></span></div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> {</div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="classroboticslab_1_1IDetector.html"> 16</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> {</div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">virtual</span> ~<a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a>() {}</div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) = 0;</div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> };</div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#endif </span><span class="comment">// __DETECTOR_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __KINECT_FUSION_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __KINECT_FUSION_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <memory></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <yarp/os/Searchable.h></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <yarp/sig/Image.h></span></div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <yarp/sig/IntrinsicParams.h></span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <yarp/sig/Matrix.h></span></div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <yarp/sig/PointCloud.h></span></div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> {</div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="classroboticslab_1_1KinectFusion.html"> 17</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1KinectFusion.html">KinectFusion</a></div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> {</div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">virtual</span> ~<a class="code" href="classroboticslab_1_1KinectFusion.html">KinectFusion</a>() = <span class="keywordflow">default</span>;</div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> getCloud(yarp::sig::PointCloudXYZNormalRGBA & cloudWithNormals) <span class="keyword">const</span> = 0;</div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> getPoints(yarp::sig::PointCloudXYZ & cloud) <span class="keyword">const</span> = 0;</div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> getPose(yarp::sig::Matrix & pose) <span class="keyword">const</span> = 0;</div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> update(<span class="keyword">const</span> yarp::sig::ImageOf<yarp::sig::PixelFloat> & depthFrame, <span class="keyword">const</span> yarp::sig::FlexImage & colorFrame = {}) = 0;</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> reset() = 0;</div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> render(yarp::sig::FlexImage & image) <span class="keyword">const</span> = 0;</div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> };</div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div> | ||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> std::unique_ptr<KinectFusion> makeKinFu(<span class="keyword">const</span> yarp::os::Searchable & config,</div> | ||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">const</span> yarp::sig::IntrinsicParams & intrinsic,</div> | ||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div> | ||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div> | ||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#ifdef HAVE_DYNAFU</span></div> | ||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> std::unique_ptr<KinectFusion> makeDynaFu(<span class="keyword">const</span> yarp::os::Searchable & config,</div> | ||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">const</span> yarp::sig::IntrinsicParams & intrinsic,</div> | ||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div> | ||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#endif</span></div> | ||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div> | ||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#ifdef HAVE_KINFU_LS</span></div> | ||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> std::unique_ptr<KinectFusion> makeKinFuLargeScale(<span class="keyword">const</span> yarp::os::Searchable & config,</div> | ||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keyword">const</span> yarp::sig::IntrinsicParams & intrinsic,</div> | ||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordtype">int</span> width, <span class="keywordtype">int</span> height);</div> | ||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#endif</span></div> | ||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div> | ||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="preprocessor">#ifdef HAVE_COLORED_KINFU</span></div> | ||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> std::unique_ptr<KinectFusion> makeColoredKinFu(<span class="keyword">const</span> yarp::os::Searchable & config,</div> | ||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> yarp::sig::IntrinsicParams & depthIntrinsic,</div> | ||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">const</span> yarp::sig::IntrinsicParams & colorIntrinsic,</div> | ||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordtype">int</span> depthWidth, <span class="keywordtype">int</span> depthHeight,</div> | ||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">int</span> colorWidth, <span class="keywordtype">int</span> colorHeight);</div> | ||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> <span class="preprocessor">#endif</span></div> | ||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div> | ||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div> | ||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> <span class="preprocessor">#endif </span><span class="comment">// __KINECT_FUSION_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1KinectFusion_html"><div class="ttname"><a href="classroboticslab_1_1KinectFusion.html">roboticslab::KinectFusion</a></div><div class="ttdef"><b>Definition:</b> KinectFusion.hpp:18</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __LINE_CALLBACK_PORT_HPP__</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define __LINE_CALLBACK_PORT_HPP__</span></div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <yarp/os/BufferedPort.h></span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include "SharedArea.hpp"</span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a> {</div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classroboticslab_1_1LineCallbackPort.html"> 10</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1LineCallbackPort.html">LineCallbackPort</a> : <span class="keyword">public</span> yarp::os::BufferedPort<yarp::os::Bottle> {</div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  <span class="keyword">protected</span>:</div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  <span class="keywordtype">void</span> onRead(yarp::os::Bottle& b);</div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <a class="code" href="classroboticslab_1_1SharedArea.html">SharedArea</a>* sharedArea;</div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> | ||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordtype">void</span> setSharedArea(<a class="code" href="classroboticslab_1_1SharedArea.html">SharedArea</a>* _sharedArea);</div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> };</div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#endif </span><span class="comment">// __LINE_CALLBACK_PORT_HPP__</span></div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div> | ||
<div class="ttc" id="aclassroboticslab_1_1LineCallbackPort_html"><div class="ttname"><a href="classroboticslab_1_1LineCallbackPort.html">roboticslab::LineCallbackPort</a></div><div class="ttdef"><b>Definition:</b> LineCallbackPort.hpp:10</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1SharedArea_html"><div class="ttname"><a href="classroboticslab_1_1SharedArea.html">roboticslab::SharedArea</a></div><div class="ttdef"><b>Definition:</b> SharedArea.hpp:12</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __POINT_AT_OBJECT_SERVER_HPP__</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define __POINT_AT_OBJECT_SERVER_HPP__</span></div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <vtkActor.h></span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <vtkActorCollection.h></span></div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <vtkAxesActor.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <vtkCubeSource.h></span></div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <vtkCylinderSource.h></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <vtkCellArray.h></span></div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <vtkCommand.h></span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <vtkImageGridSource.h></span></div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <vtkLine.h></span></div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <vtkLineSource.h></span></div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <vtkOBBTree.h></span></div> | ||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <vtkPoints.h></span></div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <vtkPointData.h></span></div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <vtkPolyData.h></span></div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <vtkPolyDataMapper.h></span></div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <vtkPolygon.h></span></div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include <vtkProperty.h></span></div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <vtkRenderer.h></span></div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <vtkRenderWindow.h></span></div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <vtkRenderWindowInteractor.h></span></div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <vtkSmartPointer.h></span></div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <vtkSphereSource.h></span></div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include <vtkTransform.h></span></div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <vtkVersion.h></span></div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "SharedArea.hpp"</span></div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#include "LineCallbackPort.hpp"</span></div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="preprocessor">#include "vtkTimerCallback.hpp"</span></div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a> {</div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div> | ||
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classroboticslab_1_1PointAtObjectServer.html"> 47</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1PointAtObjectServer.html">PointAtObjectServer</a> {</div> | ||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">protected</span>:</div> | ||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classroboticslab_1_1LineCallbackPort.html">LineCallbackPort</a> lineCallbackPort;</div> | ||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  vtkSmartPointer<vtkTimerCallback> timerCallback;</div> | ||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="classroboticslab_1_1SharedArea.html">SharedArea</a> sharedArea;</div> | ||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div> | ||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordtype">void</span> makeFloorActor(vtkActor* _floorActor);</div> | ||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div> | ||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="classroboticslab_1_1PointAtObjectServer.html">PointAtObjectServer</a>() { }</div> | ||
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">bool</span> init();</div> | ||
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordtype">bool</span> close();</div> | ||
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> };</div> | ||
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div> | ||
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div> | ||
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span> <span class="preprocessor">#endif </span><span class="comment">// __POINT_AT_OBJECT_SERVER_HPP__</span></div> | ||
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div> | ||
<div class="ttc" id="aclassroboticslab_1_1LineCallbackPort_html"><div class="ttname"><a href="classroboticslab_1_1LineCallbackPort.html">roboticslab::LineCallbackPort</a></div><div class="ttdef"><b>Definition:</b> LineCallbackPort.hpp:10</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1PointAtObjectServer_html"><div class="ttname"><a href="classroboticslab_1_1PointAtObjectServer.html">roboticslab::PointAtObjectServer</a></div><div class="ttdef"><b>Definition:</b> PointAtObjectServer.hpp:47</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1SharedArea_html"><div class="ttname"><a href="classroboticslab_1_1SharedArea.html">roboticslab::SharedArea</a></div><div class="ttdef"><b>Definition:</b> SharedArea.hpp:12</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __QR_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __QR_DETECTOR_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/dev/DeviceDriver.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <opencv2/objdetect.hpp></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> {</div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="classroboticslab_1_1QrDetector.html"> 20</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1QrDetector.html">QrDetector</a> : <span class="keyword">public</span> yarp::dev::DeviceDriver,</div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">public</span> <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a></div> | ||
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> {</div> | ||
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordtype">bool</span> open(yarp::os::Searchable& config) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">bool</span> detect(<span class="keyword">const</span> yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  cv::QRCodeDetector qrcode;</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> };</div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> }</div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  </div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#endif </span><span class="comment">// __QR_DETECTOR_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1QrDetector_html"><div class="ttname"><a href="classroboticslab_1_1QrDetector.html">roboticslab::QrDetector</a></div><div class="ttdef"><b>Definition:</b> QrDetector.hpp:22</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="title">RgbDetection.hpp</div> </div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __RGB_DETECTION_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __RGB_DETECTION_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/os/Bottle.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <yarp/os/BufferedPort.h></span></div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <yarp/os/RFModule.h></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <yarp/dev/PolyDriver.h></span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <yarp/dev/IFrameGrabberImage.h></span></div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <yarp/sig/Image.h></span></div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div> | ||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "YarpCropCallback.hpp"</span></div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> {</div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div> | ||
<div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="classroboticslab_1_1RgbDetection.html"> 25</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1RgbDetection.html">RgbDetection</a> : <span class="keyword">public</span> yarp::os::RFModule</div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> {</div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  ~<a class="code" href="classroboticslab_1_1RgbDetection.html">RgbDetection</a>()<span class="keyword"> override</span></div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword"> </span>{ close(); }</div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keywordtype">bool</span> configure(yarp::os::ResourceFinder & rf) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">double</span> getPeriod() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">bool</span> updateModule() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">bool</span> interruptModule() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">bool</span> close() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div> | ||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  yarp::dev::PolyDriver sensorDevice;</div> | ||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  yarp::dev::IFrameGrabberImage * frameGrabber;</div> | ||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div> | ||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  yarp::dev::PolyDriver detectorDevice;</div> | ||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a> * iDetector;</div> | ||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div> | ||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  yarp::os::BufferedPort<yarp::os::Bottle> statePort;</div> | ||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb>> imagePort;</div> | ||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div> | ||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  yarp::os::BufferedPort<yarp::os::Bottle> cropPort;</div> | ||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="classroboticslab_1_1YarpCropCallback.html">YarpCropCallback</a> cropCallback;</div> | ||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div> | ||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keywordtype">double</span> period;</div> | ||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> };</div> | ||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div> | ||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div> | ||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="preprocessor">#endif </span><span class="comment">// __RGB_DETECTION_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1RgbDetection_html"><div class="ttname"><a href="classroboticslab_1_1RgbDetection.html">roboticslab::RgbDetection</a></div><div class="ttdoc">2D detection.</div><div class="ttdef"><b>Definition:</b> RgbDetection.hpp:26</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1YarpCropCallback_html"><div class="ttname"><a href="classroboticslab_1_1YarpCropCallback.html">roboticslab::YarpCropCallback</a></div><div class="ttdef"><b>Definition:</b> YarpCropCallback.hpp:23</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-</span></div> | ||
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div> | ||
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#ifndef __RGBD_DETECTION_HPP__</span></div> | ||
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#define __RGBD_DETECTION_HPP__</span></div> | ||
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div> | ||
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <yarp/os/Bottle.h></span></div> | ||
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <yarp/os/BufferedPort.h></span></div> | ||
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <yarp/os/RFModule.h></span></div> | ||
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div> | ||
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <yarp/dev/PolyDriver.h></span></div> | ||
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <yarp/dev/IRGBDSensor.h></span></div> | ||
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div> | ||
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <yarp/sig/Image.h></span></div> | ||
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <yarp/sig/IntrinsicParams.h></span></div> | ||
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div> | ||
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include "IDetector.hpp"</span></div> | ||
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "YarpCropCallback.hpp"</span></div> | ||
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div> | ||
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keyword">namespace </span><a class="code" href="namespaceroboticslab.html">roboticslab</a></div> | ||
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> {</div> | ||
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div> | ||
<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="classroboticslab_1_1RgbdDetection.html"> 26</a></span> <span class="keyword">class </span><a class="code" href="classroboticslab_1_1RgbdDetection.html">RgbdDetection</a> : <span class="keyword">public</span> yarp::os::RFModule</div> | ||
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> {</div> | ||
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keyword">public</span>:</div> | ||
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  ~<a class="code" href="classroboticslab_1_1RgbdDetection.html">RgbdDetection</a>()<span class="keyword"> override</span></div> | ||
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword"> </span>{ close(); }</div> | ||
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div> | ||
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordtype">bool</span> configure(yarp::os::ResourceFinder &rf) <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">double</span> getPeriod() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordtype">bool</span> updateModule() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">bool</span> interruptModule() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">bool</span> close() <span class="keyword">override</span>;</div> | ||
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div> | ||
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">private</span>:</div> | ||
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  yarp::dev::PolyDriver sensorDevice;</div> | ||
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  yarp::dev::IRGBDSensor * iRGBDSensor;</div> | ||
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  yarp::sig::IntrinsicParams depthIntrinsicParams;</div> | ||
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  </div> | ||
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  yarp::dev::PolyDriver detectorDevice;</div> | ||
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classroboticslab_1_1IDetector.html">IDetector</a> * iDetector;</div> | ||
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div> | ||
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  yarp::os::BufferedPort<yarp::os::Bottle> statePort;</div> | ||
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  yarp::os::BufferedPort<yarp::sig::ImageOf<yarp::sig::PixelRgb>> imagePort;</div> | ||
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  yarp::os::BufferedPort<yarp::os::Bottle> cropPort;</div> | ||
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <a class="code" href="classroboticslab_1_1YarpCropCallback.html">YarpCropCallback</a> cropCallback;</div> | ||
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div> | ||
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">double</span> period;</div> | ||
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> };</div> | ||
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div> | ||
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> } <span class="comment">// namespace roboticslab</span></div> | ||
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div> | ||
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="preprocessor">#endif </span><span class="comment">// __RGBD_DETECTION_HPP__</span></div> | ||
<div class="ttc" id="aclassroboticslab_1_1IDetector_html"><div class="ttname"><a href="classroboticslab_1_1IDetector.html">roboticslab::IDetector</a></div><div class="ttdoc">Interface for object detection.</div><div class="ttdef"><b>Definition:</b> IDetector.hpp:17</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1RgbdDetection_html"><div class="ttname"><a href="classroboticslab_1_1RgbdDetection.html">roboticslab::RgbdDetection</a></div><div class="ttdoc">2.5D detection.</div><div class="ttdef"><b>Definition:</b> RgbdDetection.hpp:27</div></div> | ||
<div class="ttc" id="aclassroboticslab_1_1YarpCropCallback_html"><div class="ttname"><a href="classroboticslab_1_1YarpCropCallback.html">roboticslab::YarpCropCallback</a></div><div class="ttdef"><b>Definition:</b> YarpCropCallback.hpp:23</div></div> | ||
<div class="ttc" id="anamespaceroboticslab_html"><div class="ttname"><a href="namespaceroboticslab.html">roboticslab</a></div><div class="ttdoc">The main, catch-all namespace for Robotics Lab UC3M.</div><div class="ttdef"><b>Definition:</b> groups.dox:5</div></div> | ||
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