algo.impl.inl

#include <rockx/rockx.h>
#include <opencv2/opencv.hpp>
#include <functional>
#include <cstring>

namespace rockx {

enum class RockxModule {
  OBJECT_DETECTION = ROCKX_MODULE_OBJECT_DETECTION,
  OBJECT_TRACK = ROCKX_MODULE_OBJECT_TRACK,
  POSE_FINGER_3 = ROCKX_MODULE_POSE_FINGER_3,
  POSE_FINGER_21 = ROCKX_MODULE_POSE_FINGER_21,
  POSE_BODY = ROCKX_MODULE_POSE_BODY,
  POSE_BODYV2 = ROCKX_MODULE_POSE_BODY_V2,
};

void finger_postprocess(rockx_keypoints_t& finger, rockx_image_t& input_image);
void bodyv1_postprocess(rockx_keypoints_array_t& body, rockx_image_t& input_image);
void bodyv2_postprocess(rockx_keypoints_array_t& body, rockx_image_t& input_image);

template <typename KeyType>
using AlgoFunc = std::function<rockx_ret_t(rockx_handle_t, rockx_image_t*, KeyType*)>;

template <typename KeyType>
using PostProcessFunc = std::function<void(KeyType&, rockx_image_t&)>;

template <RockxModule module>
struct RockxPipe;

template <>
struct RockxPipe<RockxModule::POSE_FINGER_3> {
  using KeyType = rockx_keypoints_t;
  inline static AlgoFunc<KeyType> algo_func = rockx_pose_finger;
  inline static PostProcessFunc<KeyType> post_process_func = finger_postprocess;
};

template <>
struct RockxPipe<RockxModule::POSE_FINGER_21> : RockxPipe<RockxModule::POSE_FINGER_3> {};

template <>
struct RockxPipe<RockxModule::POSE_BODY> {
  using KeyType = rockx_keypoints_array_t;
  inline static AlgoFunc<KeyType> algo_func = [](rockx_handle_t handle, rockx_image_t* input_image,
                                                 rockx_keypoints_array_t* keys) {
    return rockx_pose_body(handle, input_image, keys, nullptr);
  };
  inline static PostProcessFunc<KeyType> post_process_func = bodyv1_postprocess;
};

template <>
struct RockxPipe<RockxModule::POSE_BODYV2> {
  using KeyType = rockx_keypoints_array_t;
  inline static AlgoFunc<KeyType> algo_func = [](rockx_handle_t handle, rockx_image_t* input_image,
                                                 rockx_keypoints_array_t* keys) {
    return rockx_pose_body(handle, input_image, keys, nullptr);
  };
  inline static PostProcessFunc<KeyType> post_process_func = bodyv2_postprocess;
};

template <RockxModule module>
int rockx_process_image(rockx_handle_t& handle, rockx_image_t& input_image) {
  typename RockxPipe<module>::KeyType keys;
  std::memset(&keys, 0, sizeof(typename RockxPipe<module>::KeyType));
  rockx_ret_t ret = RockxPipe<module>::algo_func(handle, &input_image, &keys);
  if (ret != ROCKX_RET_SUCCESS) {
    // Handle error
    return ret;
  }
  RockxPipe<module>::post_process_func(keys, input_image);
  return ret;
}

}  // namespace rockx