Send target types with detections

include/cv/aggregator.hpp

@@ -20,10 +20,11 @@
 #include "utilities/lockptr.hpp"
 
 struct AggregatedRun {
-    int run_id;                    // Unique integer ID for this pipeline run
-    cv::Mat annotatedImage;        // The "big image" with bounding boxes drawn
-    std::vector<Bbox> bboxes;      // All bounding boxes in that image
-    std::vector<GPSCoord> coords;  // Matching lat-longs for each bounding box
+    int run_id;                            // Unique integer ID for this pipeline run
+    cv::Mat annotatedImage;                // The "big image" with bounding boxes drawn
+    std::vector<Bbox> bboxes;              // All bounding boxes in that image
+    std::vector<GPSCoord> coords;          // Matching lat-longs for each bounding box
+    std::vector<AirdropType> targetTypes;  // The corrsponding target types for each detection
 };
 
 struct CVResults {

src/camera/mock.cpp

@@ -119,6 +119,7 @@ std::optional<ImageData> MockCamera::takePicture(const std::chrono::milliseconds
                                   "&alt_ft=" + std::to_string(static_cast<int>((telemetry.altitude_agl_m * 3.281))) + //NOLINT
                                   "&heading=" + std::to_string(telemetry.heading_deg) +
                                   "&format=png");
+    // httplib::Result res = cli.Get("/generate?&format=png");
 
     if (!res || res->status != 200) {
         LOG_F(ERROR, "Failed to query server for images");

src/cv/aggregator.cpp

@@ -83,12 +83,12 @@ void CVAggregator::worker(ImageData image, int thread_num) {
         run.annotatedImage = pipeline_results.imageData.DATA.clone();
         run.bboxes.reserve(pipeline_results.targets.size());
         run.coords.reserve(pipeline_results.targets.size());
-
+        run.targetTypes.reserve(pipeline_results.targets.size());
         for (auto& det : pipeline_results.targets) {
             run.bboxes.push_back(det.bbox);
             run.coords.push_back(det.coord);
+            run.targetTypes.push_back(det.likely_airdrop);
         }
-
         {
             Lock lock(this->mut);
             this->results->runs.push_back(std::move(run));

src/network/gcs_routes.cpp

@@ -383,6 +383,8 @@ DEF_GCS_HANDLE(Get, targets, all) {
             proto_bbox->set_y1(run.bboxes[i].y1);
             proto_bbox->set_x2(run.bboxes[i].x2);
             proto_bbox->set_y2(run.bboxes[i].y2);
+            // Add a target type
+            target.add_target_type(run.targetTypes[i]);
         }
 
         // copy the target to a record object to store