/home/fwph/code/wurde/modules/visionModule/Operators/ConstrainedDetector/ConstrainedDetector.H

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#ifndef __DETECTOR_CHAIN_OPERATOR_H__
#define __DETECTOR_CHAIN_OPERATOR_H__

#include <string>
#include <cmvision.h>
#include <map>
#include "../visionModule.H"
#include <RobotObject.H>
#include <pthread.h>
#include <RoleConfiguration.H>
#include <RangeFinder.H>

namespace RobotVision {
       
        class DetectorChainOperator : public VisionOperator {
        public:
                DetectorChainOperator(std::string name);
                ~DetectorChainOperator();
                
                void initOperator();
                void runOperator(RobotObjects::RoleImage image, RobotObjects::RoleImage stereo);
                void runOperator(RobotObjects::RoleImage theimage);
                void quitOperator();
                
        protected:
                std::vector<RobotObjects::RobotObject *> m_consumers;
                std::vector<ObjectDetector *> m_detectorChain;
                
        };

        typedef std::vector<RobotObjects::Point> Region;

        typedef std::pair<Region,float> ProbabilityRegion;

        class ObjectDetector {

        public:
                explicit virtual ObjectDetector(std::string operatorName)=0;
                virtual ~ObjectDetector() = 0;

                virtual std::vector<ProbabilityRegion> filterRegions(std::vector<ProbabilityRegion> &regions, RoleImage *image) = 0;
                std::vector<RobotObjects::RobotObject *> *getConsumers(){return &m_consumers;}
        private:
                std::string m_operatorName;
                std::vector<RobotObjects::RobotObject *> m_consumers;
        };

};

#endif

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