TagDetectionHandler Class Reference

The TagDetectionHandler class is responsible for managing all of the different detectors that Autonomy_Software uses for AR tag detection. Whether it be for detection using OpenCV's ArUco or detection using a custom tensorflow model, the detectors are created and stored here. More...

#include <TagDetectionHandler.h>

Public Types
enum class	TagDetectors { TAGDETECTOR_START , eHeadMainCam , TAGDETECTOR_END }

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

Private Attributes
std::shared_ptr< TagDetector >	m_pTagDetectorMainCam
std::unique_ptr< RecordingHandler >	m_pRecordingHandler

Detailed Description

The TagDetectionHandler class is responsible for managing all of the different detectors that Autonomy_Software uses for AR tag detection. Whether it be for detection using OpenCV's ArUco 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

2023-10-07

Member Enumeration Documentation

TagDetectors

enum class TagDetectionHandler::TagDetectors

strong

        {
            TAGDETECTOR_START,
            eHeadMainCam,
            TAGDETECTOR_END
        };

Constructor & Destructor Documentation

TagDetectionHandler()

TagDetectionHandler::TagDetectionHandler

(

)

Construct a new TagDetectionHandler::TagDetectionHandler 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_pTagDetectorMainCam = std::make_shared<TagDetector>(globals::g_pCameraHandler->GetZED(CameraHandler::ZEDCamName::eHeadMainCam),
                                                          constants::TAGDETECT_MAINCAM_CORNER_REFINE_MAX_ITER,
                                                          constants::TAGDETECT_MAINCAM_CORNER_REFINE_METHOD,
                                                          constants::TAGDETECT_MAINCAM_MARKER_BORDER_BITS,
                                                          constants::TAGDETECT_MAINCAM_DETECT_INVERTED_MARKER,
                                                          constants::TAGDETECT_MAINCAM_USE_ARUCO3_DETECTION,
                                                          constants::TAGDETECT_MAINCAM_ENABLE_TRACKING,
                                                          constants::TAGDETECT_MAINCAM_MAX_FPS,
                                                          constants::TAGDETECT_MAINCAM_ENABLE_RECORDING,
                                                          constants::TAGDETECT_MAINCAM_DATA_RETRIEVAL_THREADS,
                                                          constants::ZED_MAINCAM_USE_GPU_MAT);
 
    // Check if torch detection is enabled for main ZEDCam.
    if (constants::TAGDETECT_MAINCAM_ENABLE_TORCH)
    {
        // Attempt to init torch detection.
        if (m_pTagDetectorMainCam->InitTorchDetection(constants::TAGDETECT_MAINCAM_TORCH_MODEL))
        {
            // Set torch detection enabled.
            m_pTagDetectorMainCam->EnableTorchDetection(constants::TAGDETECT_MAINCAM_TORCH_CONFIDENCE, constants::TAGDETECT_MAINCAM_TORCH_NMS_THRESH);
        }
    }
 
    // Initialize recording handler for detectors.
    m_pRecordingHandler = std::make_unique<RecordingHandler>(RecordingHandler::RecordingMode::eTagDetectionHandler);
}

~TagDetectionHandler()

TagDetectionHandler::~TagDetectionHandler

(

)

Destroy the TagDetectionHandler::TagDetectionHandler 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 TagDetectionHandler::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_pTagDetectorMainCam->Start();
}

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StartRecording()

void TagDetectionHandler::StartRecording

(

)

Signal the RecordingHandler to start recording video feeds from the TagDetectionHandler.

Author

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

Date

2023-12-31

{
    // Start recording handler.
    m_pRecordingHandler->Start();
}

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StopAllDetectors()

void TagDetectionHandler::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 detectors.
    m_pTagDetectorMainCam->RequestStop();
    m_pTagDetectorMainCam->Join();
}

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StopRecording()

void TagDetectionHandler::StopRecording

(

)

Signal the RecordingHandler to stop recording video feeds from the TagDetectionHandler.

Author

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

Date

2024-01-01

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

GetTagDetector()

std::shared_ptr< TagDetector > TagDetectionHandler::GetTagDetector

(

TagDetectors

eDetectorName

)

Accessor for TagDetector detectors.

Parameters

eDetectorName

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

Returns

std::shared_ptr<TagDetector> - 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 tag detector should be returned.
    switch (eDetectorName)
    {
        case TagDetectors::eHeadMainCam: return m_pTagDetectorMainCam; break;
        default: return m_pTagDetectorMainCam; break;
    }
}

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

• src/handlers/TagDetectionHandler.h
• src/handlers/TagDetectionHandler.cpp