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 model, the detectors are created and stored here. More...

#include <ObjectDetectionHandler.h>

Public Types
enum class	ObjectDetectors { OBJECTDETECTOR_START , eHeadMainCam , eRearCam , 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.
cv::Mat	RequestDetectionOverlayFrame (ObjectDetectors eDetector=ObjectDetectors::eHeadMainCam)
	Requests a snapshot of the current detection overlay. Blocks execution until the frame is ready.

Private Attributes
std::shared_ptr< ObjectDetector >	m_pObjectDetectorMainCam
std::shared_ptr< ObjectDetector >	m_pObjectDetectorRearCam
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 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), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-10-23

Member Enumeration Documentation

ObjectDetectors

enum class ObjectDetectionHandler::ObjectDetectors

strong

        {
            OBJECTDETECTOR_START,
            eHeadMainCam,
            eRearCam,
            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), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

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_TORCH_MODEL))
        {
            // Set torch detection enabled.
            m_pObjectDetectorMainCam->EnableTorchDetection(constants::OBJECTDETECT_MAINCAM_TORCH_CONFIDENCE, constants::OBJECTDETECT_MAINCAM_TORCH_NMS_THRESH);
        }
    }
 
    // Initialize detector for rear ZEDCam.
    m_pObjectDetectorRearCam = std::make_shared<ObjectDetector>(globals::g_pCameraHandler->GetZED(CameraHandler::ZEDCamName::eRearCam),
                                                                constants::OBJECTDETECT_REARCAM_ENABLE_TRACKING,
                                                                constants::OBJECTDETECT_REARCAM_MAX_FPS,
                                                                constants::OBJECTDETECT_REARCAM_ENABLE_RECORDING,
                                                                constants::OBJECTDETECT_REARCAM_DATA_RETRIEVAL_THREADS,
                                                                constants::ZED_REARCAM_USE_GPU_MAT);
 
    // Check if torch detection is enabled for rear ZEDCam.
    if (constants::OBJECTDETECT_REARCAM_ENABLE_TORCH)
    {
        // Attempt to init torch detection.
        if (m_pObjectDetectorRearCam->InitTorchDetection(constants::OBJECTDETECT_TORCH_MODEL))
        {
            // Set torch detection enabled.
            m_pObjectDetectorRearCam->EnableTorchDetection(constants::OBJECTDETECT_REARCAM_TORCH_CONFIDENCE, constants::OBJECTDETECT_REARCAM_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), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-10-07

{
    // Start ZED maincam detector.
    m_pObjectDetectorMainCam->Start();
 
    // Start ZED rearcam detector.
    m_pObjectDetectorRearCam->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), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-10-07

{
    // Stop recording handler.
    m_pRecordingHandler->RequestStop();
    m_pRecordingHandler->Join();
 
    // Stop ZED maincam detector.
    m_pObjectDetectorMainCam->RequestStop();
    m_pObjectDetectorMainCam->Join();
 
    // Stop ZED rearcam detector.
    m_pObjectDetectorRearCam->RequestStop();
    m_pObjectDetectorRearCam->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), Sam Hajdukiewicz (saman.nosp@m.thah.nosp@m.ajduk.nosp@m.iewi.nosp@m.cz@gm.nosp@m.ail..nosp@m.com)

Date

2023-10-07

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

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RequestDetectionOverlayFrame()

cv::Mat ObjectDetectionHandler::RequestDetectionOverlayFrame

(

ObjectDetectors

eDetector = ObjectDetectors::eHeadMainCam

)

Requests a snapshot of the current detection overlay. Blocks execution until the frame is ready.

Parameters

eDetector

- The detector to request the frame from.

Returns

cv::Mat - The frame with detection overlays.

Author

Targed (ltkli.nosp@m.onel.nosp@m.@gmai.nosp@m.l.co.nosp@m.m)

Date

2026-01-01

{
    // Create an empty frame to store the result
    cv::Mat cvFrame;
 
    // Get the specific detector (e.g., Head Main Cam)
    std::shared_ptr<ObjectDetector> pDetector = this->GetObjectDetector(eDetector);
 
    // Check if the detector is valid and running
    if (pDetector && pDetector->GetIsReady())
    {
        // Request the frame. This returns a "future" (a promise that data will come later)
        std::future<bool> fuFrame = pDetector->RequestDetectionOverlayFrame(cvFrame);
 
        // Wait for the detector thread to fulfill the promise
        if (fuFrame.wait_for(std::chrono::seconds(1)) == std::future_status::ready)
        {
            // Retrieve the result (this ensures any exceptions are handled, though rare here)
            fuFrame.get();
        }
        else
        {
            LOG_WARNING(logging::g_qSharedLogger, "ObjectDetectionHandler: Timed out waiting for overlay snapshot.");
        }
    }
    else
    {
        LOG_WARNING(logging::g_qSharedLogger, "ObjectDetectionHandler: Requested snapshot from invalid or unready detector.");
    }
 
    // Return the frame (it will be empty if anything failed, which the State Machine handles)
    return cvFrame;
}

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

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