CscDetectorEngineYoloV8.h

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//
//  ConscienceDetectorEngineX.hpp
//  ConscienceRobotManager
//
//  Created by Xavier de Caseneuve on 26/05/2020.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#ifndef CscDetectorEngineYoloV8_h
#define CscDetectorEngineYoloV8_h
 
#include "CoreObjects/Csc3dElement/Csc3dElementModelsRepository.h"
#include "DetectorEngine/CscDetectorEngine.h"
#include "DetectorEngine/CscDNNPool.h"
#include <opencv2/core/types.hpp>
 
using std::ostream;
using namespace conscience_core::core_objects::element_3d;
 
namespace conscience_core::detector_engine {
 
using SafeNeuralNetwork = CscDNNPool::SafeNeuralNetwork;
 
enum DetectableObjectTypes {
    DetectableObjectType_Person = 0,
    DetectableObjectType_Bicycle = 1,
    DetectableObjectType_Car = 2,
    DetectableObjectType_Motorbike = 3,
    DetectableObjectType_Airplane = 4,
    DetectableObjectType_Bus = 5,
    DetectableObjectType_Train = 6,
    DetectableObjectType_Truck = 7,
    DetectableObjectType_Boat = 8,
    DetectableObjectType_TrafficLight = 9,
    DetectableObjectType_FireHydrant = 10,
    DetectableObjectType_StopSign = 11,
    DetectableObjectType_ParkingMeter = 12,
    DetectableObjectType_Bench = 13,
    DetectableObjectType_Bird = 14,
    DetectableObjectType_Cat = 15,
    DetectableObjectType_Dog = 16,
    DetectableObjectType_Horse = 17,
    DetectableObjectType_Sheep = 18,
    DetectableObjectType_Cow = 19,
    DetectableObjectType_Elephant = 20,
    DetectableObjectType_Bear = 21,
    DetectableObjectType_Zebra = 22,
    DetectableObjectType_Giraffe = 23,
    DetectableObjectType_Backpack = 24,
    DetectableObjectType_Umbrella = 25,
    DetectableObjectType_HandBag = 26,
    DetectableObjectType_Tie = 27,
    DetectableObjectType_Suitcase = 28,
    DetectableObjectType_Frisbee = 29,
    DetectableObjectType_Skis = 30,
    DetectableObjectType_Snowboard = 31,
    DetectableObjectType_SportsBall = 32,
    DetectableObjectType_Kite = 33,
    DetectableObjectType_BaseballBat = 34,
    DetectableObjectType_BaseballGlove = 35,
    DetectableObjectType_Skateboard = 36,
    DetectableObjectType_Surfboard = 37,
    DetectableObjectType_TennisRacket = 38,
    DetectableObjectType_Bottle = 39,
    DetectableObjectType_WineGlass = 40,
    DetectableObjectType_Cup = 41,
    DetectableObjectType_Fork = 42,
    DetectableObjectType_KnifeBall = 43,
    DetectableObjectType_Spoon = 44,
    DetectableObjectType_Bowl = 45,
    DetectableObjectType_Bannana = 46,
    DetectableObjectType_Apple = 47,
    DetectableObjectType_Sandwich = 48,
    DetectableObjectType_Orange = 49,
    DetectableObjectType_Broccoli = 50,
    DetectableObjectType_Carrot = 51,
    DetectableObjectType_HotDog = 52,
    DetectableObjectType_Pizza = 53,
    DetectableObjectType_Donut = 54,
    DetectableObjectType_Cake = 55,
    DetectableObjectType_Chair = 56,
    DetectableObjectType_Couch = 57,
    DetectableObjectType_PottedPlant = 58,
    DetectableObjectType_Bed = 59,
    DetectableObjectType_DiningTable = 60,
    DetectableObjectType_Toilet = 61,
    DetectableObjectType_TV = 62,
    DetectableObjectType_Laptop = 63,
    DetectableObjectType_Mouse = 64,
    DetectableObjectType_Remote = 65,
    DetectableObjectType_Keyboard = 66,
    DetectableObjectType_Phone = 67,
    DetectableObjectType_Microwave = 68,
    DetectableObjectType_Oven = 69,
    DetectableObjectType_Toaster = 70,
    DetectableObjectType_Sink = 71,
    DetectableObjectType_Refrigerator = 72,
    DetectableObjectType_Book = 73,
    DetectableObjectType_Clock = 74,
    DetectableObjectType_Vase = 75,
    DetectableObjectType_Scissors = 76,
    DetectableObjectType_TeddyBear = 77,
    DetectableObjectType_HairDrier = 78,
    DetectableObjectType_Toothbrush = 79,
};
 
using DetectableObjectClassId = int;
 
struct DetectableObjectClass {
public:
    DetectableObjectClassId classId;
    int conscienceObjectModelId;
    string name;
    float sizeCentimeters;
 
    DetectableObjectClass(DetectableObjectClassId classId, int conscienceObjectModelId, const string &name, float sizeCentimeters);
    DetectableObjectClass(const DetectableObjectClass &other);
 
    operator string() const;
    friend ostream &operator<<(ostream &out, const DetectableObjectClass &objectClass) {
        out << string(objectClass);
        return out;
    }
 
    bool operator==(const DetectableObjectClass &rhs) const;
    bool operator!=(const DetectableObjectClass &rhs) const;
};
 
static const map<DetectableObjectTypes, const DetectableObjectClass> detectableObjectClasses = {
    {DetectableObjectType_Person, DetectableObjectClass(DetectableObjectType_Person, 10, "Person", 170.0)},
    {DetectableObjectType_Bicycle, DetectableObjectClass(DetectableObjectType_Bicycle, 1, "Bicycle", 200.0)},
    {DetectableObjectType_Car, DetectableObjectClass(DetectableObjectType_Car, 2, "Car", 250.0)},
    {DetectableObjectType_Motorbike, DetectableObjectClass(DetectableObjectType_Motorbike, 3, "Motorbike", 250.0)},
    {DetectableObjectType_Airplane, DetectableObjectClass(DetectableObjectType_Airplane, 41, "Airplane", 500000.0)},
    {DetectableObjectType_Bus, DetectableObjectClass(DetectableObjectType_Bus, 5, "Bus", 10000.0)},
    {DetectableObjectType_Train, DetectableObjectClass(DetectableObjectType_Train, 6, "Train", 100000.0)},
    {DetectableObjectType_Truck, DetectableObjectClass(DetectableObjectType_Truck, 7, "Truck", 20000.0)},
    {DetectableObjectType_Boat, DetectableObjectClass(DetectableObjectType_Boat, 8, "Boat", 20000.0)},
    {DetectableObjectType_TrafficLight, DetectableObjectClass(DetectableObjectType_TrafficLight, 39, "Traffic light", 50.0)},
    {DetectableObjectType_FireHydrant, DetectableObjectClass(DetectableObjectType_FireHydrant, 0, "Fire hydrant", 500.0)},
    {DetectableObjectType_StopSign, DetectableObjectClass(DetectableObjectType_StopSign, 11, "Stop Sign", 20000.0)},
    {DetectableObjectType_ParkingMeter, DetectableObjectClass(DetectableObjectType_ParkingMeter, 12000, "Parking meter", 20000.0)},
    {DetectableObjectType_Bench, DetectableObjectClass(DetectableObjectType_Bench, 13, "Bench", 20000.0)},
    {DetectableObjectType_Bird, DetectableObjectClass(DetectableObjectType_Bird, 14, "Bird", 20000.0)},
    {DetectableObjectType_Cat, DetectableObjectClass(DetectableObjectType_Cat, 15, "Cat", 20000.0)},
    {DetectableObjectType_Dog, DetectableObjectClass(DetectableObjectType_Dog, 16, "Dog", 20000.0)},
    {DetectableObjectType_Horse, DetectableObjectClass(DetectableObjectType_Horse, 17, "Horse", 20000.0)},
    {DetectableObjectType_Sheep, DetectableObjectClass(DetectableObjectType_Sheep, 60, "Sheep", 20000.0)},
    {DetectableObjectType_Cow, DetectableObjectClass(DetectableObjectType_Cow, 19, "Cow", 20000.0)},
    {DetectableObjectType_Elephant, DetectableObjectClass(DetectableObjectType_Elephant, 20, "Elephant", 20000.0)},
    {DetectableObjectType_Bear, DetectableObjectClass(DetectableObjectType_Bear, 21, "Bear", 20000.0)},
    {DetectableObjectType_Zebra, DetectableObjectClass(DetectableObjectType_Zebra, 22, "Zebra", 20000.0)},
    {DetectableObjectType_Giraffe, DetectableObjectClass(DetectableObjectType_Giraffe, 23, "Giraffe", 20000.0)},
    {DetectableObjectType_Backpack, DetectableObjectClass(DetectableObjectType_Backpack, 24, "Backpack", 20000.0)},
    {DetectableObjectType_Umbrella, DetectableObjectClass(DetectableObjectType_Umbrella, 25, "Umbrella", 20000.0)},
    {DetectableObjectType_HandBag, DetectableObjectClass(DetectableObjectType_HandBag, 26, "HandBag", 20000.0)},
    {DetectableObjectType_Tie, DetectableObjectClass(DetectableObjectType_Tie, 27, "Tie", 40.0)},
    {DetectableObjectType_Suitcase, DetectableObjectClass(DetectableObjectType_Suitcase, 28, "Suitcase", 20000.0)},
    {DetectableObjectType_Frisbee, DetectableObjectClass(DetectableObjectType_Frisbee, 29, "Frisbee", 20000.0)},
    {DetectableObjectType_Skis, DetectableObjectClass(DetectableObjectType_Skis, 30, "Skis", 20000.0)},
    {DetectableObjectType_Snowboard, DetectableObjectClass(DetectableObjectType_Snowboard, 31, "Snowboard", 20000.0)},
    {DetectableObjectType_SportsBall, DetectableObjectClass(DetectableObjectType_SportsBall, 32, "Sports Ball", 20000.0)},
    {DetectableObjectType_Kite, DetectableObjectClass(DetectableObjectType_Kite, 33, "Kite", 20000.0)},
    {DetectableObjectType_BaseballBat, DetectableObjectClass(DetectableObjectType_BaseballBat, 34, "Baseball bat", 20000.0)},
    {DetectableObjectType_BaseballGlove, DetectableObjectClass(DetectableObjectType_BaseballGlove, 35, "Baseball glove", 20000.0)},
    {DetectableObjectType_Skateboard, DetectableObjectClass(DetectableObjectType_Skateboard, 36, "Skateboard", 20000.0)},
    {DetectableObjectType_Surfboard, DetectableObjectClass(DetectableObjectType_Surfboard, 37, "Surfboard", 20000.0)},
    {DetectableObjectType_TennisRacket, DetectableObjectClass(DetectableObjectType_TennisRacket, 38, "Tennis Racket", 20000.0)},
    {DetectableObjectType_Bottle, DetectableObjectClass(DetectableObjectType_Bottle, 9, "Bottle", 30)},
    {DetectableObjectType_WineGlass, DetectableObjectClass(DetectableObjectType_WineGlass, 40, "Wine Glass", 10.0)},
    {DetectableObjectType_Cup, DetectableObjectClass(DetectableObjectType_Cup, 4, "Cup", 10.0)},
    {DetectableObjectType_Fork, DetectableObjectClass(DetectableObjectType_Fork, 42, "Fork", 10.0)},
    {DetectableObjectType_KnifeBall, DetectableObjectClass(DetectableObjectType_KnifeBall, 43, "Knife Ball", 10.0)},
    {DetectableObjectType_Spoon, DetectableObjectClass(DetectableObjectType_Spoon, 44, "Spoon", 7.0)},
    {DetectableObjectType_Bowl, DetectableObjectClass(DetectableObjectType_Bowl, 45, "Bowl", 10.0)},
    {DetectableObjectType_Bannana, DetectableObjectClass(DetectableObjectType_Bannana, 46, "Bannana", 10.0)},
    {DetectableObjectType_Apple, DetectableObjectClass(DetectableObjectType_Apple, 47, "Apple", 8.0)},
    {DetectableObjectType_Sandwich, DetectableObjectClass(DetectableObjectType_Sandwich, 48, "Sandwich", 15.0)},
    {DetectableObjectType_Orange, DetectableObjectClass(DetectableObjectType_Orange, 49, "Orange", 8.0)},
    {DetectableObjectType_Broccoli, DetectableObjectClass(DetectableObjectType_Broccoli, 50, "Broccoli", 14.0)},
    {DetectableObjectType_Carrot, DetectableObjectClass(DetectableObjectType_Carrot, 51, "Carrot", 10.0)},
    {DetectableObjectType_HotDog, DetectableObjectClass(DetectableObjectType_HotDog, 52, "Hot dog", 15.0)},
    {DetectableObjectType_Pizza, DetectableObjectClass(DetectableObjectType_Pizza, 53, "Pizza", 25.0)},
    {DetectableObjectType_Donut, DetectableObjectClass(DetectableObjectType_Donut, 54, "Donut", 10.0)},
    {DetectableObjectType_Cake, DetectableObjectClass(DetectableObjectType_Cake, 55, "Cake", 30.0)},
    {DetectableObjectType_Chair, DetectableObjectClass(DetectableObjectType_Chair, CscObjectModel::MODEL_ID_CHAIR, "Chair", 100.0)},
    {DetectableObjectType_Couch, DetectableObjectClass(DetectableObjectType_Couch, 57, "Couch", 150.0)},
    {DetectableObjectType_PottedPlant, DetectableObjectClass(DetectableObjectType_PottedPlant, 58, "Potted plant", 80.0)},
    {DetectableObjectType_Bed, DetectableObjectClass(DetectableObjectType_Bed, CscObjectModel::MODEL_ID_BED, "Bed", 200.0)},
    {DetectableObjectType_DiningTable, DetectableObjectClass(DetectableObjectType_DiningTable, 18, "Dining table", 200.0)},
    {DetectableObjectType_Toilet, DetectableObjectClass(DetectableObjectType_Toilet, 61, "Toilet", 100.0)},
    {DetectableObjectType_TV, DetectableObjectClass(DetectableObjectType_TV, 62, "TV", 180.0)},
    {DetectableObjectType_Laptop, DetectableObjectClass(DetectableObjectType_Laptop, 63, "Laptop", 45.0)},
    {DetectableObjectType_Mouse, DetectableObjectClass(DetectableObjectType_Mouse, 64, "Mouse", 12.0)},
    {DetectableObjectType_Remote, DetectableObjectClass(DetectableObjectType_Remote, 65, "Remote", 12.0)},
    {DetectableObjectType_Keyboard, DetectableObjectClass(DetectableObjectType_Keyboard, 66, "Keyboard", 30.0)},
    {DetectableObjectType_Phone, DetectableObjectClass(DetectableObjectType_Phone, 67, "Phone", 10.0)},
    {DetectableObjectType_Microwave, DetectableObjectClass(DetectableObjectType_Microwave, 68, "Microwave", 60.0)},
    {DetectableObjectType_Oven, DetectableObjectClass(DetectableObjectType_Oven, 69, "Oven", 150.0)},
    {DetectableObjectType_Toaster, DetectableObjectClass(DetectableObjectType_Toaster, 70, "Toaster", 60.0)},
    {DetectableObjectType_Sink, DetectableObjectClass(DetectableObjectType_Sink, 71, "Sink", 80.0)},
    {DetectableObjectType_Refrigerator, DetectableObjectClass(DetectableObjectType_Refrigerator, 72, "Refrigerator", 200.0)},
    {DetectableObjectType_Book, DetectableObjectClass(DetectableObjectType_Book, 73, "Book", 20.0)},
    {DetectableObjectType_Clock, DetectableObjectClass(DetectableObjectType_Clock, 74, "Clock", 30.0)},
    {DetectableObjectType_Vase, DetectableObjectClass(DetectableObjectType_Vase, 75, "Vase", 20000.0)},
    {DetectableObjectType_Scissors, DetectableObjectClass(DetectableObjectType_Scissors, 76, "Scissors", 15.0)},
    {DetectableObjectType_TeddyBear, DetectableObjectClass(DetectableObjectType_TeddyBear, 77, "Teddy bear", 15.0)},
    {DetectableObjectType_HairDrier, DetectableObjectClass(DetectableObjectType_HairDrier, 78, "Hair drier", 20000.0)},
    {DetectableObjectType_Toothbrush, DetectableObjectClass(DetectableObjectType_Toothbrush, 79, "Toothbrush", 8.0)},
};
 
class CscDetectorEngineYoloV8 : public CscDetectorEngine {
public:
    CscDetectorEngineYoloV8(ptr<CscDNNPool::SafeNeuralNetwork>, const map<DetectableObjectClassId, const DetectableObjectClass> &detectedObjectClasses, bool drawPredictionOnImage, const string &name);
 
    ptr<DetectionResult> detectOnImage(
        const DetectorSourceImage &image, ptr<DetectionParameters> parameters) override;
 
    CscDetectorEngineYoloV8 *setDetectedRectanglesColor(const cv::Scalar &detectedRectanglesColor);
    CscDetectorEngineYoloV8 *setMinConfidenceThreshold(float minConfidenceThreshold);
 
    CscDetectorEngineYoloV8 *setCropImage(bool cropImage);
 
    virtual bool equals(CscDetectorEngine *) const override;
 
private:
    float minConfidenceThreshold = 0.8;
    bool cropImage = false;
 
    ptr<SafeNeuralNetwork> neuralNetwork;
 
    const bool drawPredictionOnImage;
    const map<DetectableObjectClassId, const DetectableObjectClass> detectedObjectClasses;
 
    cv::Scalar detectedRectanglesColor = cv::Scalar(255, 178, 50);
 
    std::unique_ptr<CscLogger> logger;
};
}
 
#endif /* ConscienceDetectorEngine_hpp */