ObjectDetector.h

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#ifndef OBJECT_DETECTOR_H
#define OBJECT_DETECTOR_H
 
#include "../../interfaces/BasicCamera.hpp"
#include "../../interfaces/ZEDCamera.hpp"
#include "./DepthDetection.hpp"
#include "./TensorflowObjectDetection.hpp"
 
#include <future>
#include <shared_mutex>
#include <vector>
 
 
 
class ObjectDetector : public AutonomyThread<void>
{
    public:
        // Declare public methods and member variables.
        ObjectDetector(BasicCamera* pBasicCam, const int nNumDetectedObjectsRetrievalThreads = 5, const bool bUsingGpuMats = false);
        ObjectDetector(ZEDCamera* pZEDCam, const int nNumDetectedObjectsRetrievalThreads = 5, const bool bUsingGpuMats = false);
        std::future<bool> RequestDepthDetectionOverlayFrame(cv::Mat& cvFrame);
        std::future<bool> RequestTensorflowDetectionOverlayFrame(cv::Mat& cvFrame);
        std::future<bool> RequestDetectedDepthObjects(std::vector<depthobject::DepthObject>& vDepthObjects);
        std::future<bool> RequestDetectedTensorflowObjects(std::vector<tensorflowobject::TensorflowObject>& vTensorflowObjects);
        IPS& GetIPS();
 
    private:
        // Declare private member variables.
        // Class member variables.
 
        Camera<cv::Mat>* m_pCamera;
        bool m_bUsingZedCamera;
        bool m_bUsingGpuMats;
        int m_nNumDetectedObjectsRetrievalThreads;
        IPS m_IPS;
 
        // Detected objects storage.
 
        std::vector<depthobject::DepthObject> m_vDetectedDepthObjects;
        std::vector<tensorflowobject::TensorflowObject> m_vDetectedTensorObjects;
 
        // Create frames for storing images and point clouds.
 
        cv::Mat m_cvNormalFrame;
        cv::Mat m_cvProcFrame;
        cv::Mat m_cvDepthMeasure;
        cv::cuda::GpuMat m_cvGPUNormalFrame;
        cv::cuda::GpuMat m_cvGPUDepthMeasure;
 
        // Queues and mutexes for scheduling and copying data to other threads.
 
        std::queue<containers::FrameFetchContainer<cv::Mat>> m_qDetectedObjectDrawnOverlayFrames;
        std::queue<containers::DataFetchContainer<std::vector<depthobject::DepthObject>>> m_qDetectedDepthObjectCopySchedule;
        std::queue<containers::DataFetchContainer<std::vector<tensorflowobject::TensorflowObject>>> m_qDetectedTensorflowObjectCopySchedule;
        std::shared_mutex m_muPoolScheduleMutex;
        std::mutex m_muFrameCopyMutex;
        std::mutex m_muDepthDataCopyMutex;
        std::mutex m_muTensorflowDataCopyMutex;
 
        // Declare private methods.
        void ThreadedContinuousCode() override;
        void PooledLinearCode() override;
        void UpdateDetectedObjects(std::vector<depthobject::DepthObject>& vNewlyDetectedObjects);
        void UpdateDetectedObjects(std::vector<tensorflowobject::TensorflowObject>& vNewlyDetectedObjects);
};
 
#endif