DnnDetector.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __DNN_DETECTOR_HPP__
#define __DNN_DETECTOR_HPP__
 
#include <yarp/dev/DeviceDriver.h>
 
#include <opencv2/dnn.hpp>
 
#include "IDetector.hpp"
 
namespace roboticslab
{
 
class DnnDetector : public yarp::dev::DeviceDriver,
                    public IDetector
{
public:
    bool open(yarp::os::Searchable & config) override;
    bool detect(const yarp::sig::Image & inYarpImg, yarp::os::Bottle & detectedObjects) override;
 
private:
    cv::dnn::Net net;
    std::vector<std::string> classes;
    std::vector<std::string> outNames;
 
    float confThreshold; // Confidence threshold
    float nmsThreshold; // Non-max supression threshold
    float scale;
    cv::Scalar mean;
 
    void preprocess(const cv::Mat & frame);
    void postprocess(const cv::Size & size, const std::vector<cv::Mat> & outs, yarp::os::Bottle & detectedObjects);
};
 
} // namespace roboticslab
 
#endif // __DNN_DETECTOR_HPP__