object_detection_provider.hpp

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#pragma once
 
#include <auterion_sdk/object_detection/class_catalog.hpp>
#include <auterion_sdk/object_detection/image_detections_2d.hpp>
#include <functional>
#include <memory>
#include <utility>
 
namespace auterion {
 
class SDK;
 
using ObjectDetectionEnabledCallback = std::function<void(bool enable)>;
 
class ObjectDetectionEnabledSubscription {
   public:
    ObjectDetectionEnabledSubscription(
        const std::shared_ptr<class ObjectDetectionEnabledSubscriptionImpl>& impl);
 
    void onUpdate(ObjectDetectionEnabledCallback callback);
 
    void subscribe(ObjectDetectionEnabledCallback callback = nullptr);
 
    bool last() const;
 
    bool isLastValid() const;
 
   private:
    std::shared_ptr<class ObjectDetectionEnabledSubscriptionImpl> _impl;
};
 
struct DetectionProviderOptions {
    bool ros{true};  
    bool mavlink{true};
    ClassCatalog class_catalog{};  
 
    DetectionProviderOptions& withRos(bool enable) {
        ros = enable;
        return *this;
    }
 
    DetectionProviderOptions& withMavlink(bool enable) {
        mavlink = enable;
        return *this;
    }
 
    DetectionProviderOptions& withClassCatalog(ClassCatalog catalog) {
        class_catalog = std::move(catalog);
        return *this;
    }
};
 
class ObjectDetectionProvider {
   public:
    explicit ObjectDetectionProvider(SDK& sdk, DetectionProviderOptions options = {});
 
    virtual ~ObjectDetectionProvider();
 
    // Make non-copyable and non-movable
    ObjectDetectionProvider(const ObjectDetectionProvider&) = delete;
    ObjectDetectionProvider& operator=(const ObjectDetectionProvider&) = delete;
    ObjectDetectionProvider(ObjectDetectionProvider&&) = delete;
    ObjectDetectionProvider& operator=(ObjectDetectionProvider&&) = delete;
 
    void updateDetections2D(const ImageDetections2D& image_detections);
 
    void setClassCatalog(const ClassCatalog& catalog);
 
    ObjectDetectionEnabledSubscription& objectDetectionEnabledSubscription() const;
 
    ObjectDetectionProvider& subscribeObjectDetectionEnabled(
        ObjectDetectionEnabledCallback callback = nullptr) {
        objectDetectionEnabledSubscription().subscribe(callback);
        return *this;
    }
 
   private:
    class Impl;
    std::shared_ptr<Impl> _impl;
};
 
}  // namespace auterion