fst commit

include/sv_algorithm_base.h

@@ -0,0 +1,172 @@
+#ifndef __SV_ALGORITHM__
+#define __SV_ALGORITHM__
+
+#include "sv_video_base.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/aruco.hpp>
+#include <opencv2/tracking.hpp>
+#include <string>
+#include <chrono>
+
+
+namespace yaed {
+class EllipseDetector;
+}
+
+namespace sv {
+
+// union JsonValue;
+// class JsonAllocator;
+
+class CameraAlgorithm
+{
+public:
+  CameraAlgorithm();
+  ~CameraAlgorithm();
+  void loadCameraParams(std::string yaml_fn_);
+  void loadAlgorithmParams(std::string json_fn_);
+  
+  cv::Mat camera_matrix;
+  cv::Mat distortion;
+  int image_width;
+  int image_height;
+  double fov_x;
+  double fov_y;
+  
+  std::string alg_params_fn;
+protected:
+  // JsonValue* _value;
+  // JsonAllocator* _allocator;
+  std::chrono::system_clock::time_point _t0;
+};
+
+
+class ArucoDetector : public CameraAlgorithm
+{
+public:
+  ArucoDetector();
+  void detect(cv::Mat img_, TargetsInFrame& tgts_);
+private:
+  void _load();
+  bool _params_loaded;
+  cv::Ptr<cv::aruco::DetectorParameters> _detector_params;
+  cv::Ptr<cv::aruco::Dictionary> _dictionary;
+  int _dictionary_id;
+  std::vector<int> _ids_need;
+  std::vector<double> _lengths_need;
+};
+
+
+class EllipseDetector : public CameraAlgorithm
+{
+public:
+  EllipseDetector();
+  ~EllipseDetector();
+  void detectAllInDirectory(std::string input_img_dir_, std::string output_json_dir_);
+  void detect(cv::Mat img_, TargetsInFrame& tgts_);
+protected:
+  void _load();
+  bool _params_loaded;
+  yaed::EllipseDetector* _ed;
+  float _max_center_distance_ratio;
+  double _radius_in_meter;
+};
+
+class LandingMarkerDetectorBase : public EllipseDetector
+{
+public:
+  LandingMarkerDetectorBase();
+  ~LandingMarkerDetectorBase();
+  void detect(cv::Mat img_, TargetsInFrame& tgts_);
+  
+  bool isParamsLoaded();
+  int getMaxCandidates();
+  std::vector<std::string> getLabelsNeed();
+protected:
+  virtual bool setupImpl();
+  virtual void roiCNN(std::vector<cv::Mat>& input_rois_, std::vector<int>& output_labels_);
+  void _loadLabels();
+  int _max_candidates;
+  std::vector<std::string> _labels_need;
+};
+
+
+class SingleObjectTrackerBase : public CameraAlgorithm
+{
+public:
+  SingleObjectTrackerBase();
+  ~SingleObjectTrackerBase();
+  void warmUp();
+  void init(cv::Mat img_, const cv::Rect& bounding_box_);
+  void track(cv::Mat img_, TargetsInFrame& tgts_);
+  
+  bool isParamsLoaded();
+  std::string getAlgorithm();
+  int getBackend();
+  int getTarget();
+protected:
+  virtual bool setupImpl();
+  virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_);
+  virtual bool trackImpl(cv::Mat img_, cv::Rect& output_bbox_);
+  void _load();
+  bool _params_loaded;
+  std::string _algorithm;
+  int _backend;
+  int _target;
+};
+
+
+class CommonObjectDetectorBase : public CameraAlgorithm
+{
+public:
+  CommonObjectDetectorBase();
+  ~CommonObjectDetectorBase();
+  void warmUp();
+  void detect(cv::Mat img_, TargetsInFrame& tgts_, Box* roi_=nullptr, int img_w_=0, int img_h_=0);
+  
+  bool isParamsLoaded();
+  std::string getDataset();
+  std::vector<std::string> getClassNames();
+  std::vector<double> getClassWs();
+  std::vector<double> getClassHs();
+  int getInputH();
+  void setInputH(int h_);
+  int getInputW();
+  void setInputW(int w_);
+  int getClassNum();
+  int getOutputSize();
+  double getThrsNms();
+  double getThrsConf();
+  int useWidthOrHeight();
+  bool withSegmentation();
+protected:
+  virtual bool setupImpl();
+  virtual void detectImpl(
+    cv::Mat img_,
+    std::vector<float>& boxes_x_,
+    std::vector<float>& boxes_y_,
+    std::vector<float>& boxes_w_,
+    std::vector<float>& boxes_h_,
+    std::vector<int>& boxes_label_,
+    std::vector<float>& boxes_score_,
+    std::vector<cv::Mat>& boxes_seg_
+  );
+  void _load();
+  bool _params_loaded;
+  std::string _dataset;
+  std::vector<std::string> _class_names;
+  std::vector<double> _class_ws;
+  std::vector<double> _class_hs;
+  int _input_h;
+  int _input_w;
+  int _n_classes;
+  int _output_size;
+  double _thrs_nms;
+  double _thrs_conf;
+  int _use_width_or_height;
+  bool _with_segmentation;
+};
+
+
+}
+#endif