CscDetectorEngine.h

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//
//  ConscienceDetectorEngine.hpp
//  ConscienceRobotManager
//
//  Created by Iliès Zaoui on 14/07/2019.
//  Copyright © 2019 IliesZaoui. All rights reserved.
//
 
#ifndef CscDetectorEngine_h
#define CscDetectorEngine_h
 
#include "CoreObjects/CscWorldObject.h"
#include <CscCommon.h>
 
#include "DetectorEngine/CscPublicAIData.h"
 
using std::move, std::runtime_error, std::stringstream, std::optional, std::max;
using namespace conscience_core::ai::data;
namespace cv {
class Mat;
};
 
namespace conscience_core::detector_engine {
 
struct DetectionResult {
public:
    const vector<CscWorldObject *> detectedObjects;
    const float distanceInMetersFromCenterTop;
    const float distanceInMetersFromCenterRight;
    const float distanceInMetersFromLensFront;
    const optional<int> distanceInPixelsFromCenterTop;
    const optional<int> distanceInPixelsFromCenterRight;
    const optional<string> extractedData;
 
    DetectionResult(const vector<CscWorldObject *> &detectedObjects,
                    float distanceInMetersFromCenterTop,
                    float distanceInMetersFromCenterRight,
                    float distanceInMetersFromLensFront,
                    const vector<CscRect2d> &detectedObjectsRectangles,
                    optional<int> distanceInPixelsFromCenterTop = {},
                    optional<int> distanceInPixelsFromCenterRight = {},
                    const optional<string> extractedData = {},
                    const map<string, map<string, CscPublicAIData *>> &generatedPublicAIData = {});
 
    const CscRect2d &getDetectedObjectRectangle(int detectedObjectIndex) const;
 
    bool didDetectSomething() const;
 
    bool doRectanglesFitIn(const CscSize2d &dimension) const;
 
    static ptr<DetectionResult> empty();
 
    const map<string, map<string, CscPublicAIData *>> &getGeneratedPublicAIData() const;
 
private:
    const vector<CscRect2d> detectedObjectsRectangles;
    const map<string, map<string, CscPublicAIData *>> generatedPublicAIData;
};
 
class DetectorSourceImage {
public:
    DetectorSourceImage(const cv::Mat &originalImage, cv::Mat &resultingImage);
    const cv::Mat &getOriginalImage() const;
    cv::Mat &getResultingImage() const;
 
private:
    const cv::Mat &originalImage;
    cv::Mat &resultingImage;
};
 
struct LenseParameter {
    CscPoint3d lensePosition;
    CscPoint3d lenseEuler;
 
    LenseParameter(const CscPoint3d &lensePosition, const CscPoint3d &lenseEuler);
    const CscPoint3d &getPosition() const;
    const CscPoint3d &getEuler() const;
};
 
struct DetectionParameters {
    const LenseParameter *lense;
    const map<string, void *> additionalParameters;
 
    DetectionParameters(
        const LenseParameter *lense,
        const map<string, void *> &additionalParameters);
    ~DetectionParameters();
    static ptr<DetectionParameters> defaultParams();
};
 
class CscDetectorEngine {
public:
    virtual ptr<DetectionResult> detectOnImage(
        const DetectorSourceImage &image, ptr<DetectionParameters> parameters) = 0;
 
    void drawTarget(cv::Mat &image, float x, float y);
 
    virtual ~CscDetectorEngine() = default;
 
    virtual bool equals(CscDetectorEngine *) const = 0;
 
protected:
    CscDetectorEngine();
 
    void shiftDetectedObjectsForLense(const vector<CscWorldObject *> &resultObjList, const LenseParameter *lense) const;
 
    static void drawDetectedObjectBox(cv::Mat &frame, const CscRect2d &boxRectangle, float estimatedDistanceMeter, float certitude, const string &objectName, const Vec3 &color = Vec3(255, 178, 50));
 
    void safeAddRectangle(vector<CscRect2d> &rectangles, CscRect2d &rectangle, cv::Mat &image);
};
}
#endif