DnnOpenCvDetector C++ lib. Objects detection based on OpenCV DNN

class DnnOpenCvDetector : public ObjectDetector
{
public:
    /// Get string of current library version.
    static std::string getVersion();
    
    /// Init object detector.
    bool initObjectDetector(ObjectDetectorParams& params) override;
    
    /// Set object detector param.
    bool setParam(ObjectDetectorParam id, float value) override;
    
    /// Get object detector param value.
    float getParam(ObjectDetectorParam id) override;
    
    /// Get object detector params structure.
    void getParams(ObjectDetectorParams& params) override;
    
    /// Get list of objects.
    std::vector<Object> getObjects() override;
    
    /// Execute command.
    bool executeCommand(ObjectDetectorCommand id) override;
    
    /// Perform detection.
    bool detect(cr::video::Frame& frame) override;
    
    /// Set detection mask.
    bool setMask(cr::video::Frame mask) override;
    
    /// Decode command and execute command.
    bool decodeAndExecuteCommand(uint8_t* data, int size) override;
}

#include <opencv2/opencv.hpp>
#include "DnnOpenCvDetector.h"

int main(void)
{
    // Open video file "test.mp4".
    cv::VideoCapture videoSource;
    if (!videoSource.open("test.mp4"))
        return -1;

    // Create and init detector.
    cr::detector::DnnOpenCvDetector detector;
    cr::detector::ObjectDetectorParams params;
    params.initString = "./yolov7s.onnx;640;640";
    params.maxObjectHeight = 96;
    params.maxObjectWidth = 96;
    params.minObjectHeight = 4;
    params.minObjectHeight = 4;
    params.type = 0;
    detector.initObjectDetector(params);

    // Create frames.
    cv::Mat frameBgrOpenCv;

    // Main loop.
    while (true) {
        // Capture next video frame.
        videoSource >> frameBgrOpenCv;
        if (frameBgrOpenCv.empty()) {
            // If we have video file we can set initial position to replay.
            detector.executeCommand(cr::detector::ObjectDetectorCommand::RESET);
            videoSource.set(cv::CAP_PROP_POS_FRAMES, 0);
            continue;
        }

        // Copy frame data from OpenCv frame to Frame.
        cr::video::Frame frameBgr;
        frameBgr.fourcc = cr::video::Fourcc::BGR24;
        frameBgr.width = frameBgrOpenCv.size().width;
        frameBgr.height = frameBgrOpenCv.size().height;
        frameBgr.size = frameBgr.width * frameBgr.height * 3;
        frameBgr.data = frameBgrOpenCv.data;

        // Detect objects.
        detector.detect(frameBgr);

        // Get list of objects.
        std::vector<cr::detector::Object> objects = detector.getObjects();

        // Draw detected objects.
        for (int n = 0; n < objects.size(); ++n) {
            rectangle(frameBgrOpenCv, cv::Rect(objects[n].x, objects[n].y,
                      objects[n].width, objects[n].height),
                      cv::Scalar(0, 0, 255), 1);
            putText(frameBgrOpenCv, std::to_string(objects[n].p),
                    cv::Point(objects[n].x, objects[n].y),
                    1, 1, cv::Scalar(0, 0, 255));
        }

        // Show video.
        cv::imshow("VIDEO", frameBgrOpenCv);
        // Wait ESC.
        if (cv::waitKey(1) == 27)
            return -1;
    }
    return 1;
}