HaarDetector.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __HAAR_DETECTOR_HPP__
#define __HAAR_DETECTOR_HPP__
 
#include <yarp/dev/DeviceDriver.h>
 
#include <opencv2/core/version.hpp>
#if CV_VERSION_MAJOR >= 5
# include <opencv2/xobjdetect.hpp>
#else
# include <opencv2/objdetect.hpp>
#endif
#ifdef HAVE_CV_FACE
# include <opencv2/face/facemark.hpp>
#endif
 
#include "IDetector.hpp"
#include "HaarDetector_ParamsParser.h"
 
class HaarDetector : public yarp::dev::DeviceDriver,
                     public roboticslab::IDetector,
                     public HaarDetector_ParamsParser
{
public:
    bool open(yarp::os::Searchable& config) override;
    bool detect(const yarp::sig::Image& inYarpImg, yarp::os::Bottle& detectedObjects) override;
 
private:
    cv::CascadeClassifier object_cascade;
#ifdef HAVE_CV_FACE
    cv::Ptr<cv::face::Facemark> facemark;
#endif
};
 
#endif // __HAAR_DETECTOR_HPP__