Refactor object detection

[hiromon0125]

Description

• Refactor object detection
• Yolo now sorts the bounding box by id generated using tracking method

Limitations

While sorting will guarantee order, we ideally want to just pass the ids to the main process to do further processing.
However, we currently don't have the mechanisms to do that nor have feature ideas that require that knowledge, so this will be left to be investigated further by future teams.

Metrics

• PR Confidence value(1 ~ 5): 4

Related issues

closes #186
closes #188
closes #180

[cwo3990]

Got this error when trying to use the basic model:

Process Process-2:
Traceback (most recent call last):
  File "/usr/local/Cellar/python@3.12/3.12.12_2/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/usr/local/Cellar/python@3.12/3.12.12_2/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/Users/connor/talos-rit/commander/src/tracking/detector.py", line 417, in _detect_person_worker
    bboxes = model.detect_person(frame=raw_frame)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/tracking/haar_cascade/basic_model.py", line 18, in detect_person
    frameGray, meta = self.resize_frame(
                      ^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/tracking/detector.py", line 85, in resize_frame
    scale_size = (frameHeight / size[0], frameWidth / size[1])
                                         ~~~~~~~~~~~^~~~~~~~~
ZeroDivisionError: division by zero

[cwo3990]

Got this error with the mediapipe model:

Process Process-3:
Traceback (most recent call last):
  File "/usr/local/Cellar/python@3.12/3.12.12_2/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/process.py", line 314, in _bootstrap
    self.run()
  File "/usr/local/Cellar/python@3.12/3.12.12_2/Frameworks/Python.framework/Versions/3.12/lib/python3.12/multiprocessing/process.py", line 108, in run
    self._target(*self._args, **self._kwargs)
  File "/Users/connor/talos-rit/commander/src/tracking/detector.py", line 417, in _detect_person_worker
    bboxes = model.detect_person(frame=raw_frame)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/tracking/media_pipe/media_pipe_pose_model.py", line 111, in detect_person
    cropped = frame[y1:y2, x1:x2]
              ~~~~~^^^^^^^^^^^^^^
TypeError: slice indices must be integers or None or have an __index__ method

[cwo3990]

Mediapipepose model freezes video stream display on PySide GUI on x86 Intel-based Mac.

[cwo3990]

Getting this error with mediapipepose model:

Error calling Python override of QThread::run(): Traceback (most recent call last):
  File "/Users/connor/talos-rit/commander/src/pyside_gui/main_interface.py", line 50, in run
    frame = self.app.get_active_frame()
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/talos_app.py", line 204, in get_active_frame
    return self.streamer.get_active_frame()
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/streaming/streamer.py", line 92, in get_active_frame
    frame = draw_visuals(bboxes, frame)
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/streaming/streamer.py", line 45, in draw_visuals
    cv2.rectangle(frame, (x1, y1), (x2, y2), BBOX_COLOR.GREEN.value, 2)
cv2.error: OpenCV(4.11.0) :-1: error: (-5:Bad argument) in function 'rectangle'
> Overload resolution failed:
>  - Can't parse 'pt1'. Sequence item with index 0 has a wrong type
>  - Can't parse 'rec'. Expected sequence length 4, got 2
>  - Can't parse 'pt1'. Sequence item with index 0 has a wrong type
>  - Can't parse 'rec'. Expected sequence length 4, got 2

[cwo3990]

Getting this error with mediapipepose model:

Error calling Python override of QThread::run(): Traceback (most recent call last):
  File "/Users/connor/talos-rit/commander/src/pyside_gui/main_interface.py", line 50, in run
    frame = self.app.get_active_frame()
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/talos_app.py", line 204, in get_active_frame
    return self.streamer.get_active_frame()
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/streaming/streamer.py", line 92, in get_active_frame
    frame = draw_visuals(bboxes, frame)
            ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/Users/connor/talos-rit/commander/src/streaming/streamer.py", line 45, in draw_visuals
    cv2.rectangle(frame, (x1, y1), (x2, y2), BBOX_COLOR.GREEN.value, 2)
cv2.error: OpenCV(4.11.0) :-1: error: (-5:Bad argument) in function 'rectangle'
> Overload resolution failed:
>  - Can't parse 'pt1'. Sequence item with index 0 has a wrong type
>  - Can't parse 'rec'. Expected sequence length 4, got 2
>  - Can't parse 'pt1'. Sequence item with index 0 has a wrong type
>  - Can't parse 'rec'. Expected sequence length 4, got 2

Getting the same issue with the basic model now