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

#include <TagDetectionHandler.h>

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

Private Attributes
std::shared_ptr< TagDetector >	m_pTagDetectorMainCam
std::shared_ptr< TagDetector >	m_pTagDetectorRearCam
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 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,
            eRearCam,
            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), 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_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_TORCH_MODEL))
        {
            // Set torch detection enabled.
            m_pTagDetectorMainCam->EnableTorchDetection(constants::TAGDETECT_MAINCAM_TORCH_CONFIDENCE, constants::TAGDETECT_MAINCAM_TORCH_NMS_THRESH);
        }
    }
 
    // Initialize detector for rear ZEDCam.
    m_pTagDetectorRearCam = std::make_shared<TagDetector>(globals::g_pCameraHandler->GetZED(CameraHandler::ZEDCamName::eRearCam),
                                                          constants::TAGDETECT_REARCAM_CORNER_REFINE_MAX_ITER,
                                                          constants::TAGDETECT_REARCAM_CORNER_REFINE_METHOD,
                                                          constants::TAGDETECT_REARCAM_MARKER_BORDER_BITS,
                                                          constants::TAGDETECT_REARCAM_DETECT_INVERTED_MARKER,
                                                          constants::TAGDETECT_REARCAM_USE_ARUCO3_DETECTION,
                                                          constants::TAGDETECT_REARCAM_ENABLE_TRACKING,
                                                          constants::TAGDETECT_REARCAM_MAX_FPS,
                                                          constants::TAGDETECT_REARCAM_ENABLE_RECORDING,
                                                          constants::TAGDETECT_REARCAM_DATA_RETRIEVAL_THREADS,
                                                          constants::ZED_REARCAM_USE_GPU_MAT);
 
    // Check if torch detection is enabled for rear ZEDCam.
    if (constants::TAGDETECT_REARCAM_ENABLE_TORCH)
    {
        // Attempt to init torch detection.
        if (m_pTagDetectorRearCam->InitTorchDetection(constants::TAGDETECT_TORCH_MODEL))
        {
            // Set torch detection enabled.
            m_pTagDetectorRearCam->EnableTorchDetection(constants::TAGDETECT_REARCAM_TORCH_CONFIDENCE, constants::TAGDETECT_REARCAM_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), 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_pTagDetectorMainCam->Start();
 
    // Start ZED rearcam detector.
    m_pTagDetectorRearCam->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), 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 main ZED detectors.
    m_pTagDetectorMainCam->RequestStop();
    m_pTagDetectorMainCam->Join();
 
    // Stop rear ZED detectors.
    m_pTagDetectorRearCam->RequestStop();
    m_pTagDetectorRearCam->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), 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 tag detector should be returned.
    switch (eDetectorName)
    {
        case TagDetectors::eHeadMainCam: return m_pTagDetectorMainCam; break;
        case TagDetectors::eRearCam: return m_pTagDetectorRearCam; break;
        default: return m_pTagDetectorMainCam; break;
    }
}

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RequestDetectionOverlayFrame()

cv::Mat TagDetectionHandler::RequestDetectionOverlayFrame

(

TagDetectors

eDetector = TagDetectors::eHeadMainCam

)

Requests a snapshot of the current tag 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

2026-01-04

{
    cv::Mat cvFrame;
    std::shared_ptr<TagDetector> pDetector = this->GetTagDetector(eDetector);
 
    if (pDetector && pDetector->GetIsReady())
    {
        std::future<bool> fuFrame = pDetector->RequestDetectionOverlayFrame(cvFrame);
 
        if (fuFrame.wait_for(std::chrono::seconds(1)) == std::future_status::ready)
        {
            fuFrame.get();
        }
        else
        {
            LOG_WARNING(logging::g_qSharedLogger, "TagDetectionHandler: Timed out waiting for overlay snapshot.");
        }
    }
    else
    {
        LOG_WARNING(logging::g_qSharedLogger, "TagDetectionHandler: Requested snapshot from invalid or unready detector.");
    }
 
    return cvFrame;
}

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---

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

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