CscDetectorEngineShapeExtractor.h

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//
//  CscDetectorEngineMire.hpp
//  ConscienceRobotManager
//
//  Created by Victor Coru on 26/05/2020.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#ifndef CscDetectorEngineShapeExtractor_h
#define CscDetectorEngineShapeExtractor_h
 
 
#include <vector>
#include "CoreObjects/CscWorldObject.h"
#include "DetectorEngine/CscDetectorEngine.h"
#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <ctime>
#include <tuple>
 
using std::vector, std::string, std::tuple;
 
using namespace conscience_core::axiomes;
 
namespace conscience_core::detector_engine {
 
    class CscDetectorEngineShapeExtractor : public CscDetectorEngine {
    public:
        CscDetectorEngineShapeExtractor(int distanceFromSide, int distanceFromPole, int hsvRange, int hsvColor, int minShapeSize, int maxShapeSize);
 
        ptr<DetectionResult> detectOnImage(
            const DetectorSourceImage &image, ptr<DetectionParameters> parameters
        ) override;
        
        virtual bool equals(CscDetectorEngine *) const override;
        
    private:
        bool drawPredictionOnImage = false;
        bool isTrapDetectedOnlastImage = false;
        
        CscPoint2d* lastTrapPosition;
        
        int distanceFromSide;
        int distanceFromPole;
        int minShapeSize;
        int maxShapeSize;
        tuple<int, int> hsvFirstRange;
        tuple<int, int> hsvSecondRange;
    };
 
}
 
#endif