rail_object_detector::DarknetDetector Class Reference

#include <darknet_detector.h>

List of all members.

Public Member Functions
void	backgroundDetectionCallback (const ros::TimerEvent &e)
	DarknetDetector (ros::NodeHandle &handle, ros::NodeHandle &private_handle)
bool	imageQueryCallback (ImageQuery::Request &req, ImageQuery::Response &res)
void	imageSubscriberCallback (const sensor_msgs::ImageConstPtr &msg)
void	runBackgroundDetections ()
bool	sceneQueryCallback (SceneQuery::Request &req, SceneQuery::Response &res)
bool	start ()
bool	stop ()
Private Member Functions
bool	detectObjects (cv_bridge::CvImagePtr cv_ptr, std::vector< Object > &detected_objects)
Private Attributes
char **	class_names_
ros::Publisher	detections_pub_
boost::thread *	detections_thread_
ros::CallbackQueuePtr	image_callback_q_
ros::ServiceServer	image_query_server_
boost::shared_ptr < ros::AsyncSpinner >	image_spinner_
image_transport::Subscriber	image_sub_
image_transport::ImageTransport	it_
sensor_msgs::ImageConstPtr	latest_image_
float	max_desired_publish_freq_
boost::mutex	mutex_
network	net_
ros::NodeHandle	nh_
bool	perform_detections_
ros::NodeHandle	private_nh_
float	probability_threshold_
bool	publish_detections_topic_
ros::CallbackQueuePtr	scene_callback_q_
ros::ServiceServer	scene_query_server_
boost::shared_ptr < ros::AsyncSpinner >	scene_spinner_
bool	use_image_service_
bool	use_scene_service_

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Detailed Description

Definition at line 111 of file darknet_detector.h.

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Constructor & Destructor Documentation

rail_object_detector::DarknetDetector::DarknetDetector	(	ros::NodeHandle &	handle,
		ros::NodeHandle &	private_handle
	)		[inline]

Definition at line 115 of file darknet_detector.h.

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Member Function Documentation

void DarknetDetector::backgroundDetectionCallback

(

const ros::TimerEvent &

e

)

Callback function for the background publisher which is called back on a timer depending on the desired frequency of detections

Definition at line 328 of file darknet_detector.cpp.

bool DarknetDetector::detectObjects	(	cv_bridge::CvImagePtr	cv_ptr,
		std::vector< Object > &	detected_objects
	)		[private]

Common method that calls the darknet network for the set of objects. The method takes as arguments an OpenCV image pointer and a reference to a std::vector that the detected objects can be inserted into. It returns a status of true if there was no issue in detection; else it returns false.

Definition at line 222 of file darknet_detector.cpp.

bool DarknetDetector::imageQueryCallback	(	ImageQuery::Request &	req,
		ImageQuery::Response &	res
	)

Callback for an image query

Definition at line 297 of file darknet_detector.cpp.

void DarknetDetector::imageSubscriberCallback

(

const sensor_msgs::ImageConstPtr &

msg

)

Callback for the images coming in on the image topic

Definition at line 209 of file darknet_detector.cpp.

void DarknetDetector::runBackgroundDetections

(

)

Runnable function that performs detections in the background and publishes them to the detections topic. (Callback)

Definition at line 366 of file darknet_detector.cpp.

bool DarknetDetector::sceneQueryCallback	(	SceneQuery::Request &	req,
		SceneQuery::Response &	res
	)

Callback for a scene query

Definition at line 257 of file darknet_detector.cpp.

bool DarknetDetector::start

(

)

Start the detector

Definition at line 27 of file darknet_detector.cpp.

bool DarknetDetector::stop

(

)

Stop the detector

Definition at line 162 of file darknet_detector.cpp.

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Member Data Documentation

char** rail_object_detector::DarknetDetector::class_names_ [private]

Definition at line 198 of file darknet_detector.h.

ros::Publisher rail_object_detector::DarknetDetector::detections_pub_ [private]

Definition at line 175 of file darknet_detector.h.

boost::thread* rail_object_detector::DarknetDetector::detections_thread_ [private]

Definition at line 192 of file darknet_detector.h.

ros::CallbackQueuePtr rail_object_detector::DarknetDetector::image_callback_q_ [private]

Definition at line 187 of file darknet_detector.h.

ros::ServiceServer rail_object_detector::DarknetDetector::image_query_server_ [private]

Definition at line 177 of file darknet_detector.h.

boost::shared_ptr<ros::AsyncSpinner> rail_object_detector::DarknetDetector::image_spinner_ [private]

Definition at line 189 of file darknet_detector.h.

image_transport::Subscriber rail_object_detector::DarknetDetector::image_sub_ [private]

Definition at line 174 of file darknet_detector.h.

image_transport::ImageTransport rail_object_detector::DarknetDetector::it_ [private]

Definition at line 173 of file darknet_detector.h.

sensor_msgs::ImageConstPtr rail_object_detector::DarknetDetector::latest_image_ [private]

Definition at line 183 of file darknet_detector.h.

float rail_object_detector::DarknetDetector::max_desired_publish_freq_ [private]

Definition at line 170 of file darknet_detector.h.

boost::mutex rail_object_detector::DarknetDetector::mutex_ [private]

Definition at line 180 of file darknet_detector.h.

network rail_object_detector::DarknetDetector::net_ [private]

Definition at line 197 of file darknet_detector.h.

ros::NodeHandle rail_object_detector::DarknetDetector::nh_ [private]

Definition at line 161 of file darknet_detector.h.

bool rail_object_detector::DarknetDetector::perform_detections_ [private]

Definition at line 193 of file darknet_detector.h.

ros::NodeHandle rail_object_detector::DarknetDetector::private_nh_ [private]

Definition at line 162 of file darknet_detector.h.

float rail_object_detector::DarknetDetector::probability_threshold_ [private]

Definition at line 196 of file darknet_detector.h.

bool rail_object_detector::DarknetDetector::publish_detections_topic_ [private]

Definition at line 167 of file darknet_detector.h.

ros::CallbackQueuePtr rail_object_detector::DarknetDetector::scene_callback_q_ [private]

Definition at line 186 of file darknet_detector.h.

ros::ServiceServer rail_object_detector::DarknetDetector::scene_query_server_ [private]

Definition at line 176 of file darknet_detector.h.

boost::shared_ptr<ros::AsyncSpinner> rail_object_detector::DarknetDetector::scene_spinner_ [private]

Definition at line 188 of file darknet_detector.h.

bool rail_object_detector::DarknetDetector::use_image_service_ [private]

Definition at line 166 of file darknet_detector.h.

bool rail_object_detector::DarknetDetector::use_scene_service_ [private]

Definition at line 165 of file darknet_detector.h.

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

• darknet_detector.h
• darknet_detector.cpp