#include <YoloObjectDetector.hpp>

Public Member Functions
	YoloObjectDetector (ros::NodeHandle nh)

	~YoloObjectDetector ()

Private Types
using	CheckForObjectsActionServer = actionlib::SimpleActionServer< darknet_ros_msgs::CheckForObjectsAction >
	Using. More...

using	CheckForObjectsActionServerPtr = std::shared_ptr< CheckForObjectsActionServer >

Private Member Functions
detection *	avgPredictions (network net, int nboxes)

void	cameraCallback (const sensor_msgs::ImageConstPtr &msg)

void	checkForObjectsActionGoalCB ()

void	checkForObjectsActionPreemptCB ()

void *	detectInThread ()

void *	detectLoop (void *ptr)

void *	displayInThread (void *ptr)

void *	displayLoop (void *ptr)

void *	fetchInThread ()

CvMatWithHeader_	getCvMatWithHeader ()

bool	getImageStatus (void)

void	init ()

bool	isCheckingForObjects () const

bool	isNodeRunning (void)

bool	publishDetectionImage (const cv::Mat &detectionImage)

void *	publishInThread ()

bool	readParameters ()

void	rememberNetwork (network *net)

void	setupNetwork (char cfgfile, char weightfile, char datafile, float thresh, char names, int classes, int delay, char prefix, int avg_frames, float hier, int w, int h, int frames, int fullscreen)

int	sizeNetwork (network *net)

void	yolo ()

Private Attributes
int	actionId_

float *	avg_

ros::Publisher	boundingBoxesPublisher_

darknet_ros_msgs::BoundingBoxes	boundingBoxesResults_

image	buff_ [3]

int	buffId_ [3]

int	buffIndex_ = 0

image	buffLetter_ [3]

cv::Mat	camImageCopy_

CheckForObjectsActionServerPtr	checkForObjectsActionServer_
	Check for objects action server. More...

std::vector< std::string >	classLabels_

image **	demoAlphabet_

int	demoClasses_

int	demoDelay_ = 0

int	demoDone_ = 0

int	demoFrame_ = 3

float	demoHier_ = .5

int	demoIndex_ = 0

char **	demoNames_

char *	demoPrefix_

float	demoThresh_ = 0

double	demoTime_

int	demoTotal_ = 0

ros::Publisher	detectionImagePublisher_
	Publisher of the bounding box image. More...

cv::Mat	disp_

bool	enableConsoleOutput_

float	fps_ = 0

int	frameHeight_

int	frameWidth_
	Camera related parameters. More...

int	fullScreen_

std_msgs::Header	headerBuff_ [3]

std_msgs::Header	imageHeader_

bool	imageStatus_ = false

image_transport::Subscriber	imageSubscriber_
	ROS subscriber and publisher. More...

image_transport::ImageTransport	imageTransport_
	Advertise and subscribe to image topics. More...

bool	isNodeRunning_ = true

float *	lastAvg2_

float *	lastAvg_

boost::shared_mutex	mutexActionStatus_

boost::shared_mutex	mutexImageCallback_

boost::shared_mutex	mutexImageStatus_

boost::shared_mutex	mutexNodeStatus_

network *	net_

ros::NodeHandle	nodeHandle_
	ROS node handle. More...

int	numClasses_
	Class labels. More...

ros::Publisher	objectPublisher_

float **	predictions_

RosBox_ *	roiBoxes_

std::vector< int >	rosBoxCounter_

std::vector< std::vector< RosBox_ > >	rosBoxes_
	Detected objects. More...

int	running_ = 0

bool	viewImage_

int	waitKeyDelay_

std::thread	yoloThread_

Detailed Description

Definition at line 79 of file YoloObjectDetector.hpp.

Member Typedef Documentation

using darknet_ros::YoloObjectDetector::CheckForObjectsActionServer = actionlib::SimpleActionServer<darknet_ros_msgs::CheckForObjectsAction>

private

Using.

Definition at line 132 of file YoloObjectDetector.hpp.

using darknet_ros::YoloObjectDetector::CheckForObjectsActionServerPtr = std::shared_ptr<CheckForObjectsActionServer>

private

Definition at line 133 of file YoloObjectDetector.hpp.

Constructor & Destructor Documentation

darknet_ros::YoloObjectDetector::YoloObjectDetector ( ros::NodeHandle nh )

explicit

Constructor.

Definition at line 28 of file YoloObjectDetector.cpp.

darknet_ros::YoloObjectDetector::~YoloObjectDetector ( )

Destructor.

Definition at line 40 of file YoloObjectDetector.cpp.

Member Function Documentation

detection * darknet_ros::YoloObjectDetector::avgPredictions	(	network *	net,
		int *	nboxes
	)

private

Definition at line 275 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::cameraCallback ( const sensor_msgs::ImageConstPtr & msg )

private

Callback of camera.

Parameters

[in] msg image pointer.

Definition at line 159 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::checkForObjectsActionGoalCB ( )

private

Check for objects action goal callback.

Definition at line 187 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::checkForObjectsActionPreemptCB ( )

private

Check for objects action preempt callback.

Definition at line 221 of file YoloObjectDetector.cpp.

void * darknet_ros::YoloObjectDetector::detectInThread ( )

private

Definition at line 293 of file YoloObjectDetector.cpp.

void * darknet_ros::YoloObjectDetector::detectLoop ( void * ptr )

private

Definition at line 408 of file YoloObjectDetector.cpp.

void * darknet_ros::YoloObjectDetector::displayInThread ( void * ptr )

private

Definition at line 382 of file YoloObjectDetector.cpp.

void * darknet_ros::YoloObjectDetector::displayLoop ( void * ptr )

private

Definition at line 402 of file YoloObjectDetector.cpp.

void * darknet_ros::YoloObjectDetector::fetchInThread ( )

private

Definition at line 368 of file YoloObjectDetector.cpp.

CvMatWithHeader_ darknet_ros::YoloObjectDetector::getCvMatWithHeader ( )

private

Definition at line 512 of file YoloObjectDetector.cpp.

bool darknet_ros::YoloObjectDetector::getImageStatus ( void )

private

Definition at line 517 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::init ( )

private

Initialize the ROS connections.

Definition at line 72 of file YoloObjectDetector.cpp.

bool darknet_ros::YoloObjectDetector::isCheckingForObjects ( ) const

private

Check if a preempt for the check for objects action has been requested.

Returns: false if preempt has been requested or inactive.

Definition at line 226 of file YoloObjectDetector.cpp.

bool darknet_ros::YoloObjectDetector::isNodeRunning ( void )

private

Definition at line 522 of file YoloObjectDetector.cpp.

bool darknet_ros::YoloObjectDetector::publishDetectionImage ( const cv::Mat & detectionImage )

private

Publishes the detection image.

Returns: true if successful.

Definition at line 230 of file YoloObjectDetector.cpp.

void * darknet_ros::YoloObjectDetector::publishInThread ( )

private

Definition at line 527 of file YoloObjectDetector.cpp.

bool darknet_ros::YoloObjectDetector::readParameters ( )

private

Reads and verifies the ROS parameters.

Returns: true if successful.

Definition at line 48 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::rememberNetwork ( network * net )

private

Definition at line 263 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::setupNetwork	(	char *	cfgfile,
		char *	weightfile,
		char *	datafile,
		float	thresh,
		char **	names,
		int	classes,
		int	delay,
		char *	prefix,
		int	avg_frames,
		float	hier,
		int	w,
		int	h,
		int	frames,
		int	fullscreen
	)

private

Definition at line 414 of file YoloObjectDetector.cpp.

int darknet_ros::YoloObjectDetector::sizeNetwork ( network * net )

private

Definition at line 251 of file YoloObjectDetector.cpp.

void darknet_ros::YoloObjectDetector::yolo ( )

private

Definition at line 431 of file YoloObjectDetector.cpp.

Member Data Documentation

int darknet_ros::YoloObjectDetector::actionId_

private

Definition at line 212 of file YoloObjectDetector.hpp.

float* darknet_ros::YoloObjectDetector::avg_

private

Definition at line 191 of file YoloObjectDetector.hpp.

ros::Publisher darknet_ros::YoloObjectDetector::boundingBoxesPublisher_

private

Definition at line 151 of file YoloObjectDetector.hpp.

darknet_ros_msgs::BoundingBoxes darknet_ros::YoloObjectDetector::boundingBoxesResults_

private

Definition at line 156 of file YoloObjectDetector.hpp.

image darknet_ros::YoloObjectDetector::buff_[3]

private

Definition at line 175 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::buffId_[3]

private

Definition at line 177 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::buffIndex_ = 0

private

Definition at line 178 of file YoloObjectDetector.hpp.

image darknet_ros::YoloObjectDetector::buffLetter_[3]

private

Definition at line 176 of file YoloObjectDetector.hpp.

cv::Mat darknet_ros::YoloObjectDetector::camImageCopy_

private

Definition at line 203 of file YoloObjectDetector.hpp.

CheckForObjectsActionServerPtr darknet_ros::YoloObjectDetector::checkForObjectsActionServer_

private

Check for objects action server.

Definition at line 143 of file YoloObjectDetector.hpp.

std::vector<std::string> darknet_ros::YoloObjectDetector::classLabels_

private

Definition at line 140 of file YoloObjectDetector.hpp.

image** darknet_ros::YoloObjectDetector::demoAlphabet_

private

Definition at line 170 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::demoClasses_

private

Definition at line 171 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::demoDelay_ = 0

private

Definition at line 184 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::demoDone_ = 0

private

Definition at line 188 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::demoFrame_ = 3

private

Definition at line 185 of file YoloObjectDetector.hpp.

float darknet_ros::YoloObjectDetector::demoHier_ = .5

private

Definition at line 181 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::demoIndex_ = 0

private

Definition at line 187 of file YoloObjectDetector.hpp.

char** darknet_ros::YoloObjectDetector::demoNames_

private

Definition at line 169 of file YoloObjectDetector.hpp.

char* darknet_ros::YoloObjectDetector::demoPrefix_

private

Definition at line 200 of file YoloObjectDetector.hpp.

float darknet_ros::YoloObjectDetector::demoThresh_ = 0

private

Definition at line 180 of file YoloObjectDetector.hpp.

double darknet_ros::YoloObjectDetector::demoTime_

private

Definition at line 193 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::demoTotal_ = 0

private

Definition at line 192 of file YoloObjectDetector.hpp.

ros::Publisher darknet_ros::YoloObjectDetector::detectionImagePublisher_

private

Publisher of the bounding box image.

Definition at line 163 of file YoloObjectDetector.hpp.

cv::Mat darknet_ros::YoloObjectDetector::disp_

private

Definition at line 183 of file YoloObjectDetector.hpp.

bool darknet_ros::YoloObjectDetector::enableConsoleOutput_

private

Definition at line 197 of file YoloObjectDetector.hpp.

float darknet_ros::YoloObjectDetector::fps_ = 0

private

Definition at line 179 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::frameHeight_

private

Definition at line 160 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::frameWidth_

private

Camera related parameters.

Definition at line 159 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::fullScreen_

private

Definition at line 199 of file YoloObjectDetector.hpp.

std_msgs::Header darknet_ros::YoloObjectDetector::headerBuff_[3]

private

Definition at line 174 of file YoloObjectDetector.hpp.

std_msgs::Header darknet_ros::YoloObjectDetector::imageHeader_

private

Definition at line 202 of file YoloObjectDetector.hpp.

bool darknet_ros::YoloObjectDetector::imageStatus_ = false

private

Definition at line 206 of file YoloObjectDetector.hpp.

image_transport::Subscriber darknet_ros::YoloObjectDetector::imageSubscriber_

private

ROS subscriber and publisher.

Definition at line 149 of file YoloObjectDetector.hpp.

image_transport::ImageTransport darknet_ros::YoloObjectDetector::imageTransport_

private

Advertise and subscribe to image topics.

Definition at line 146 of file YoloObjectDetector.hpp.

bool darknet_ros::YoloObjectDetector::isNodeRunning_ = true

private

Definition at line 209 of file YoloObjectDetector.hpp.

float* darknet_ros::YoloObjectDetector::lastAvg2_

private

Definition at line 189 of file YoloObjectDetector.hpp.

float* darknet_ros::YoloObjectDetector::lastAvg_

private

Definition at line 190 of file YoloObjectDetector.hpp.

boost::shared_mutex darknet_ros::YoloObjectDetector::mutexActionStatus_

private

Definition at line 213 of file YoloObjectDetector.hpp.

boost::shared_mutex darknet_ros::YoloObjectDetector::mutexImageCallback_

private

Definition at line 204 of file YoloObjectDetector.hpp.

boost::shared_mutex darknet_ros::YoloObjectDetector::mutexImageStatus_

private

Definition at line 207 of file YoloObjectDetector.hpp.

boost::shared_mutex darknet_ros::YoloObjectDetector::mutexNodeStatus_

private

Definition at line 210 of file YoloObjectDetector.hpp.

network* darknet_ros::YoloObjectDetector::net_

private

Definition at line 173 of file YoloObjectDetector.hpp.

ros::NodeHandle darknet_ros::YoloObjectDetector::nodeHandle_

private

ROS node handle.

Definition at line 136 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::numClasses_

private

Class labels.

Definition at line 139 of file YoloObjectDetector.hpp.

ros::Publisher darknet_ros::YoloObjectDetector::objectPublisher_

private

Definition at line 150 of file YoloObjectDetector.hpp.

float** darknet_ros::YoloObjectDetector::predictions_

private

Definition at line 186 of file YoloObjectDetector.hpp.

RosBox_* darknet_ros::YoloObjectDetector::roiBoxes_

private

Definition at line 195 of file YoloObjectDetector.hpp.

std::vector<int> darknet_ros::YoloObjectDetector::rosBoxCounter_

private

Definition at line 155 of file YoloObjectDetector.hpp.

std::vector<std::vector<RosBox_> > darknet_ros::YoloObjectDetector::rosBoxes_

private

Detected objects.

Definition at line 154 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::running_ = 0

private

Definition at line 182 of file YoloObjectDetector.hpp.

bool darknet_ros::YoloObjectDetector::viewImage_

private

Definition at line 196 of file YoloObjectDetector.hpp.

int darknet_ros::YoloObjectDetector::waitKeyDelay_

private

Definition at line 198 of file YoloObjectDetector.hpp.

std::thread darknet_ros::YoloObjectDetector::yoloThread_

private

Definition at line 166 of file YoloObjectDetector.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation