ObjectDetectionHandler Class Reference

The ObjectDetectionHandler class is responsible for managing all of the different detectors that Autonomy_Software uses for object and obstacle detection. (excluding AR tags) Whether it be for simple detection using a depth measure and blobs or detection using a custom tensorflow model, the detectors are created and stored here. More...

#include <ObjectDetectionHandler.h>

Public Types
enum class	ObjectDetectors { OBJECTDETECTOR_START , eHeadMainCam , OBJECTDETECTOR_END }

Public Member Functions
	ObjectDetectionHandler ()
	Construct a new ObjectDetectionHandler::ObjectDetectionHandler object.
	~ObjectDetectionHandler ()
	Destroy the ObjectDetectionHandler::ObjectDetectionHandler object.
void	StartAllDetectors ()
	Signals all detectors to start their threads.
void	StartRecording ()
	Signal the RecordingHandler to start recording feeds from the detectors.
void	StopAllDetectors ()
	Signals all detectors to stop their threads.
void	StopRecording ()
	Signal the RecordingHandler to stop recording feeds from the detectors.
std::shared_ptr< ObjectDetector >	GetObjectDetector (ObjectDetectors eDetectorName)
	Accessor for ObjectDetector detectors.

Private Attributes
std::shared_ptr< ObjectDetector >	m_pObjectDetectorMainCam
std::unique_ptr< RecordingHandler >	m_pRecordingHandler

Detailed Description

The ObjectDetectionHandler class is responsible for managing all of the different detectors that Autonomy_Software uses for object and obstacle detection. (excluding AR tags) Whether it be for simple detection using a depth measure and blobs or detection using a custom tensorflow model, the detectors are created and stored here.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-23

Member Enumeration Documentation

ObjectDetectors

enum class ObjectDetectionHandler::ObjectDetectors

strong

        {
            OBJECTDETECTOR_START,
            eHeadMainCam,
            OBJECTDETECTOR_END
        };

Constructor & Destructor Documentation

ObjectDetectionHandler()

ObjectDetectionHandler::ObjectDetectionHandler

(

)

Construct a new ObjectDetectionHandler::ObjectDetectionHandler object.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-07

{
    // Initialize detector for main ZEDCam.
    m_pObjectDetectorMainCam = std::make_shared<ObjectDetector>(globals::g_pCameraHandler->GetZED(CameraHandler::ZEDCamName::eHeadMainCam),
                                                                constants::OBJECTDETECT_MAINCAM_ENABLE_TRACKING,
                                                                constants::OBJECTDETECT_MAINCAM_MAX_FPS,
                                                                constants::OBJECTDETECT_MAINCAM_ENABLE_RECORDING,
                                                                constants::OBJECTDETECT_MAINCAM_DATA_RETRIEVAL_THREADS,
                                                                constants::ZED_MAINCAM_USE_GPU_MAT);
 
    // Check if torch detection is enabled for main ZEDCam.
    if (constants::OBJECTDETECT_MAINCAM_ENABLE_TORCH)
    {
        // Attempt to init torch detection.
        if (m_pObjectDetectorMainCam->InitTorchDetection(constants::OBJECTDETECT_MAINCAM_TORCH_MODEL))
        {
            // Set torch detection enabled.
            m_pObjectDetectorMainCam->EnableTorchDetection(constants::OBJECTDETECT_MAINCAM_TORCH_CONFIDENCE, constants::OBJECTDETECT_MAINCAM_TORCH_NMS_THRESH);
        }
    }
 
    // Initialize recording handler for detectors.
    m_pRecordingHandler = std::make_unique<RecordingHandler>(RecordingHandler::RecordingMode::eObjectDetectionHandler);
}

~ObjectDetectionHandler()

ObjectDetectionHandler::~ObjectDetectionHandler

(

)

Destroy the ObjectDetectionHandler::ObjectDetectionHandler object.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-07

{
    // Signal and wait for cameras to stop.
    this->StopAllDetectors();
}

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Member Function Documentation

StartAllDetectors()

void ObjectDetectionHandler::StartAllDetectors

(

)

Signals all detectors to start their threads.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-07

{
    // Start ZED maincam detector.
    m_pObjectDetectorMainCam->Start();
}

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StartRecording()

void ObjectDetectionHandler::StartRecording

(

)

Signal the RecordingHandler to start recording feeds from the detectors.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-05-05

{
    // Start recording for all detectors.
    m_pRecordingHandler->Start();
}

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StopAllDetectors()

void ObjectDetectionHandler::StopAllDetectors

(

)

Signals all detectors to stop their threads.

Author

ClayJay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-07

{
    // Stop recording handler.
    m_pRecordingHandler->RequestStop();
    m_pRecordingHandler->Join();
 
    // Stop ZED maincam detector.
    m_pObjectDetectorMainCam->RequestStop();
    m_pObjectDetectorMainCam->Join();
}

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StopRecording()

void ObjectDetectionHandler::StopRecording

(

)

Signal the RecordingHandler to stop recording feeds from the detectors.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2025-05-05

{
    // Stop recording handler.
    m_pRecordingHandler->RequestStop();
    m_pRecordingHandler->Join();
}

GetObjectDetector()

std::shared_ptr< ObjectDetector > ObjectDetectionHandler::GetObjectDetector

(

ObjectDetectors

eDetectorName

)

Accessor for ObjectDetector detectors.

Parameters

eDetectorName

- The name of the detector to retrieve. An enum defined in and specific to this class.

Returns

std::shared_ptr<ObjectDetector> - A pointer to the detector pertaining to the given name.

Author

clayjay3 (clayt.nosp@m.onra.nosp@m.ycowe.nosp@m.n@gm.nosp@m.ail.c.nosp@m.om)

Date

2023-10-07

{
    // Determine which object detector should be returned.
    switch (eDetectorName)
    {
        case ObjectDetectors::eHeadMainCam: return m_pObjectDetectorMainCam; break;
        default: return m_pObjectDetectorMainCam; break;
    }
}

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The documentation for this class was generated from the following files:

• src/handlers/ObjectDetectionHandler.h
• src/handlers/ObjectDetectionHandler.cpp