ICupDetector.hpp

#pragma once

#include <memory>
#include <vector>
#include <libfreenect2/frame_listener_impl.h>
#include <opencv2/core.hpp>

namespace HLR
{
namespace Vision
{
struct CupDetection
{
    std::vector<cv::Point> cups;

    std::shared_ptr<cv::Mat> frame =
        std::make_shared<cv::Mat>(424, 512, CV_32FC1, cv::Scalar(0));
};

class ICupDetector
{
public:
    ICupDetector() = default;
    virtual ~ICupDetector() = default;

    ICupDetector(ICupDetector&& cup_detector) = default;

    ICupDetector(const ICupDetector& cup_detector) = default;

    ICupDetector& operator=(const ICupDetector& cup_detector) = default;

    ICupDetector& operator=(ICupDetector&& cup_detector) = default;

    virtual CupDetection detect_cups() = 0;

    virtual std::shared_ptr<cv::Mat> get_detected_cups_image() = 0;

    virtual std::shared_ptr<cv::Mat> get_latest_depth_frame() = 0;

    virtual std::shared_ptr<cv::Mat> get_latest_ir_frame() = 0;

    virtual std::shared_ptr<cv::Mat> get_latest_color_frame() = 0;
};
} // namespace Vision
} // namespace HLR