auterion::ObjectDetectionClient Class Reference

Provides access to 2D object detections from the system. More...

#include <auterion_sdk/object_detection/object_detection_client.hpp>

Public Member Functions
	ObjectDetectionClient (SDK &sdk, const std::string &detections_topic="object_detection/detections_2d", const std::string &enabled_topic="object_detection/detections_2d_enabled")
	Construct a new Object Detection Client object.
virtual	~ObjectDetectionClient ()
	Destroy the Object Detection Client object.
	ObjectDetectionClient (const ObjectDetectionClient &)=delete
ObjectDetectionClient &	operator= (const ObjectDetectionClient &)=delete
	ObjectDetectionClient (ObjectDetectionClient &&)=delete
ObjectDetectionClient &	operator= (ObjectDetectionClient &&)=delete
Detections2DSubscription &	detections2D () const
	Get the detections2D subscription.
ObjectDetectionClient &	subscribeDetections2D (Detections2DCallback callback=nullptr)
	Subscribe to 2D object detections.
void	enableObjectDetection ()
	Publishes a message to enable the object detection service. The publisher will receive this message and enable the object detection service.
void	disableObjectDetection ()
	Publishes a message to disable the object detection service. The publisher will receive this message and disable the object detection service.

Detailed Description

Provides access to 2D object detections from the system.

Example usage:

To register a custom callback on the 2D detections:

auterion::SDK sdk;
auterion::ObjectDetectionClient object_detection_client{sdk};
 
// Subscribe to detection updates
object_detection_client.subscribeDetections2D([](const ImageDetections2D& detections) {
    std::cout << "Received " << detections.detections.size() << " detections" << std::endl;
});

To query the latest known 2D detections:

auterion::SDK sdk;
auterion::ObjectDetectionClient object_detection_client{sdk};
 
// Activate subscription process without registering a callback
object_detection_client.subscribeDetections2D();
 
// Retrieve latest detections
auterion::ImageDetections2D detections = object_detection_client.detections2D().last();

To control the object detection service:

auterion::SDK sdk;
auterion::ObjectDetectionClient object_detection_client{sdk};
 
// Enable the object detection service
object_detection_client.enableObjectDetection();
 
// Later, disable the service when no longer needed
object_detection_client.disableObjectDetection();

Constructor & Destructor Documentation

ObjectDetectionClient()

auterion::ObjectDetectionClient::ObjectDetectionClient	(	SDK &	sdk,
		const std::string &	detections_topic = "object_detection/detections_2d",
		const std::string &	enabled_topic = "object_detection/detections_2d_enabled"
	)

Construct a new Object Detection Client object.

Parameters

sdk	The SDK instance to use for creating clients.
detections_topic	Topic name for subscribing to 2D detections.
enabled_topic	Topic name for publishing detection enabled state.

Member Function Documentation

detections2D()

Detections2DSubscription & auterion::ObjectDetectionClient::detections2D

(

)

const

Get the detections2D subscription.

Returns

Reference to the detections2D subscription.

subscribeDetections2D()

ObjectDetectionClient & auterion::ObjectDetectionClient::subscribeDetections2D ( Detections2DCallback  callback = nullptr )

inline

Subscribe to 2D object detections.

Parameters

callback

The callback function to be invoked when new detections are received.

Returns

Reference to this object for method chaining.

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

• include/auterion_sdk/object_detection/object_detection_client.hpp