autopilot/ai_controller/aiengineinference.h

#pragma once

#include <QObject>
#include <QString>
#include <QVector>
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include "aienginedefinitions.h"


const int INFERENCE_SQUARE_WIDTH  = 1280;
const int INFERENCE_SQUARE_HEIGHT = 1280;


class AiEngineObject {
public:
    AiEngineRectangle rectangle;
    float propability;
    int classId;
    QString classStr;
};


class AiEngineInferenceResult {
public:
    cv::Mat frame;
    QVector<AiEngineObject> objects;
};


class AiEngineInference : public QObject
{
    Q_OBJECT
public:
    explicit AiEngineInference(QString modelPath, QObject *parent = nullptr);
    bool isActive(void);

protected:
    cv::Mat resizeAndPad(const cv::Mat& src);
    QString mModelPath;
    bool mActive;
    int mNumber;
    QVector<QString> mClassNames;

public slots:
    virtual void performInferenceSlot(cv::Mat frame) = 0;
    virtual void initialize(int number) = 0;
signals:
    void resultsReady(AiEngineInferenceResult results);
};