CscDetectorEngineHaarCascade.h

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//
//  CscDetectorEngineMire.hpp
//  ConscienceRobotManager
//
//  Created by Victor Coru on 26/05/2020.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#ifndef CscDetectorEngineHaarCascade_h
#define CscDetectorEngineHaarCascade_h
 
#include "CoreObjects/CscWorldObject.h"
#include "DetectorEngine/CscDetectorEngine.h"
#include <ctime>
#include <opencv2/opencv.hpp>
#include <vector>
 
using cv::CascadeClassifier;
using std::string;
using std::vector;
 
namespace conscience_core::detector_engine {
 
    class CscDetectorEngineHaarCascade : public CscDetectorEngine {
    public:
        CscDetectorEngineHaarCascade(string haarCascadePath,
                                     bool drawPredictionOnImage,
                                     int objectModelId,
                                     ptr<CscPoint3d> objectDimension,
                                     cv::Size minSize = cv::Size(30, 30),
                                     cv::Size maxSize = cv::Size(400, 400));
 
        ptr<DetectionResult> detectOnImage(
            const DetectorSourceImage &image, ptr<DetectionParameters> parameters) override;
 
        CscDetectorEngineHaarCascade *setMinSize(cv::Size minSize) {
            this->minSize = minSize;
            return this;
        }
 
        CscDetectorEngineHaarCascade *setMaxSize(cv::Size maxSize) {
            this->maxSize = maxSize;
            return this;
        }
 
        CscDetectorEngineHaarCascade *setDetectedRectanglesColor(const cv::Scalar &detectedRectanglesColor) {
            this->detectedRectanglesColor = detectedRectanglesColor;
            return this;
        }
 
        virtual bool equals(CscDetectorEngine *) const override;
 
    private:
        string haarCascadePath;
        bool drawPredictionOnImage;
        cv::Scalar detectedRectanglesColor = cv::Scalar(255, 178, 50);
        CascadeClassifier classifier;
        ptr<CscPoint3d> objectDimension;
 
        cv::Size minSize;
        cv::Size maxSize;
 
        int objectModelId;
 
        unique_ptr<CscLogger> logger;
    };
 
}
 
#endif /* ConscienceDetectorEngine_hpp */