Object Detection Handler

The ObjectDetectionHandler (src/handlers/ObjectDetectionHandler.h & ObjectDetectionHandler.cpp) orchestrates all deep-learning prop and obstacle detection pipelines across active camera feeds.

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1. Primary Responsibilities

1. Model Loading and Management: Loads custom LibTorch YOLO models (OBJECTDETECT_TORCH_MODEL) onto GPU memory via CUDA (supporting both baseline bmp_v6 and competition-tuned bmp_v7 Tucumcari weights).
2. Detector Lifecycle Management: Instantiates and initializes ObjectDetector instances for assigned cameras (eHeadMainCam, eRearCam).
3. Bounding Box Tracking Integration: Coordinates OpenCV CSRT/KCF multi-object trackers between neural network inferences to reduce compute load.
4. Debug Overlay Streaming: Generates annotated frames (RequestDetectionOverlayFrame()) displaying bounding boxes, class labels, and confidence scores.
5. Video Recording: Houses an internal RecordingHandler configured in RecordingType::eObjectDetectionHandler mode to record annotated detection video.

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2. Managed Detectors

Access to detector instances is provided via the ObjectDetectors enumeration:

• ObjectDetectors::eHeadMainCam: Primary detector analyzing the forward camera stream.
• ObjectDetectors::eRearCam: Secondary detector analyzing the rear camera stream when enabled.

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3. Concurrency and Integration

• Each ObjectDetector executes on its own AutonomyThread<void>.
• Inferences run asynchronously at rates up to constants::OBJECTDETECT_MAINCAM_MAX_FPS.
• Detected props are cached thread-safely in objectdetectutils::Object structs, which ObjectDetectionChecker evaluates against requested leg types (Mallet, Water Bottle, Rock Pick).

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4. Usage Example

// Initialization in main.cpp
globals::g_pObjectDetectionHandler = new ObjectDetectionHandler();
globals::g_pObjectDetectionHandler->StartAllDetectors();
globals::g_pObjectDetectionHandler->StartRecording();

// Querying detection overlay for UI streaming:
cv::Mat cvAnnotatedFrame = globals::g_pObjectDetectionHandler->RequestDetectionOverlayFrame(
    ObjectDetectionHandler::ObjectDetectors::eHeadMainCam
);