DepthDetection.hpp

 
#ifndef DEPTH_DETECTION_HPP
#define DEPTH_DETECTION_HPP
 
#include "../../AutonomyConstants.h"
#include "../../AutonomyLogging.h"
#include "../../util/GeospatialOperations.hpp"
#include "../../util/vision/ImageOperations.hpp"
 
#include <opencv2/opencv.hpp>
#include <vector>
 
 
 
namespace depthobject
{
 
    struct DepthObject
    {
        public:
            // Declare public struct member attributes.
            cv::Point2f CornerTL;                                                                 // The top left corner of the bounding box.
            cv::Point2f CornerTR;                                                                 // The top right corner of the bounding box.
            cv::Point2f CornerBL;                                                                 // The bottom left corner of the bounding box.
            cv::Point2f CornerBR;                                                                 // The bottom right corner of bounding box.
            std::vector<cv::Point2f*> vCorners = {&CornerTL, &CornerTR, &CornerBL, &CornerBR};    // Provide an easy method for getting all corners.
            geoops::UTMCoordinate stLocation;                                                     // The absolute position of the object stored in a UTM coordinate.
            double dStraightLineDistance;                                                         // Distance between the object and the camera.
            double dYawAngle;                                                                     // This is the yaw angle so roll and pitch are ignored.
    };
 
 
    inline cv::Point2f FindObjectCenter(const DepthObject& stObject)
    {
        // Average of the four corners.
        cv::Point2f cvCenter(0, 0);
 
        // Loop through each corner of the object.
        for (cv::Point2f* cvCorner : stObject.vCorners)
        {
            // Add each object x, y to the center x, y.
            cvCenter.x += cvCorner->x;
            cvCenter.y += cvCorner->y;
        }
        // Divide by number of corners.
        cvCenter.x /= 4;
        cvCenter.y /= 4;
 
        // Return a copy of the center point of the object.
        return cvCenter;
    }
 
    // TODO: Implement when ready, commented out to suppress warnings.
    // /******************************************************************************
    //  * @brief Detect objects in the provided image using the depth measure image and
    //  *      simple but fast filtering, masking, and blob detection algorithms.
    //  *
    //  * @param cvDepthMeasure - The depth measure image to detect objects in.
    //  * @param fMinDistance - Filter out blobs closer than this distance.
    //  * @param fMaxDistance - Filter out blobs farther than this distance.
    //  * @param fFullnessThresh - The threshold for the area or fullness of the blob.
    //  * @return std::vector<DepthObject> - A vector containing struct that hold the detected object info.
    //  *
    //  * @author clayjay3 (claytonraycowen@gmail.com)
    //  * @date 2023-10-23
    //  ******************************************************************************/
    // inline std::vector<DepthObject> Detect(const cv::Mat& cvDepthMeasure, const float fMinDistance, const float fMaxDistance, const float fFullnessThresh)
    // {
    //     // Put detection code here.
    // }
 
    // TODO: Implement when ready, commented out to suppress warnings.
    // /******************************************************************************
    //  * @brief Given a vector of DepthObject structs draw each object corner and ID onto the given image.
    //  *      Image must be a 1 or 3 channel image and image must match dimensions of image when used for
    //  *      detection of the given objects.
    //  *
    //  * @param cvDetectionsFrame - The frame to draw overlay onto.
    //  * @param vDetectedObjects - The vector of DepthObject struct used to draw object corners and IDs onto image.
    //  *
    //  * @author clayjay3 (claytonraycowen@gmail.com)
    //  * @date 2023-10-19
    //  ******************************************************************************/
    // inline void DrawDetections(cv::Mat& cvDetectionsFrame, std::vector<DepthObject> vDetectedObjects) {}
}    // namespace depthobject
 
#endif