autopilot/ai_controller/src-opi5/aiengineinferenceopi5.h

#pragma once

#include <QObject>
#include "aiengineinference.h"
#include "yolov8.h"
#include "image_utils.h"

class AiEngineInferenceOpi5 : public AiEngineInference
{
    Q_OBJECT
public:
    explicit AiEngineInferenceOpi5(QString modelPath, QObject *parent = nullptr);
    ~AiEngineInferenceOpi5();
    void initialize(int number) override;

public slots:
    void performInferenceSlot(cv::Mat frame) override;

private:
    image_buffer_t convertCV2FrameToImageBuffer(const cv::Mat& bgrFrame);
    void freeImageBuffer(image_buffer_t& imgBuffer);
    cv::Mat resizeAndAssignToTopLeft(const int toWidth, const int toHeight, const cv::Mat& inputFrame);
    void drawObjects(cv::Mat& image, const object_detect_result_list& result_list);

    rknn_app_context_t mRrknnAppCtx0;
};