CscDetectorEngineMultiple.h

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//
//  CscDetectorEngineMultiple.h
//  ConscienceRobotManager
//
//  Created by Iliès Zaoui on 01/10/2020.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#ifndef CscDetectorEngineMultiple_h
#define CscDetectorEngineMultiple_h
 
#include <optional>
#include <vector>
#include <functional>
#include <string>
#include "CoreObjects/CscWorldObject.h"
#include "DetectorEngine/CscDetectorEngine.h"
#include <opencv2/opencv.hpp>
 
using std::optional, std::string, std::vector, std::function;
 
 
namespace conscience_core::detector_engine {
 
    struct OngoingDetectionResult {
        vector<CscWorldObject *> detectedObjects;
    };
    
    typedef function<bool(const OngoingDetectionResult &detectionResult)> DetectorIsEnabledFunction;
 
    class CscDetectorEngineMultiple : public CscDetectorEngine {
    private:
        vector<CscDetectorEngine *> detectors;
        vector<DetectorIsEnabledFunction> enabledFunctions;
        bool drawPredictionOnImage;
 
        optional<float> duplicateIoUThreshold = {};
        
        std::unique_ptr<CscLogger> logger;
        
        static bool alwaysEnableDetector(const OngoingDetectionResult &detectionResult) {
            return true;
        }
        
    public:
 
        CscDetectorEngineMultiple(const string & name, const vector<CscDetectorEngine *> & detectors = {}, bool drawPredictionOnImage = false);
        
        ptr<DetectionResult> detectOnImage(
                const DetectorSourceImage &image, ptr<DetectionParameters> parameters
        ) override;
        
        void addDetector(CscDetectorEngine * detector, DetectorIsEnabledFunction shouldEnable = alwaysEnableDetector) {
            detectors.push_back(detector);
            enabledFunctions.push_back(shouldEnable);
        }
        
        bool addDetectorIfNew(CscDetectorEngine * detector, DetectorIsEnabledFunction shouldEnable = alwaysEnableDetector);
        
        void enableDuplicateDeletion(float iouThreshold) {
            duplicateIoUThreshold = iouThreshold;
        }
        
        void setDrawPredictionOnImage(bool drawPredictionOnImage) {
            this->drawPredictionOnImage = drawPredictionOnImage;
        }
        
        virtual bool equals(CscDetectorEngine *) const override;
    };
 
}
 
#endif