auterion::ObjectDetectionProvider Class Reference

Publisher for 2D object detections. More...

#include <auterion_sdk/object_detection/object_detection_provider.hpp>

Public Member Functions
	ObjectDetectionProvider (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 Provider object.
virtual	~ObjectDetectionProvider ()
	Destroy the Object Detection Provider object.
	ObjectDetectionProvider (const ObjectDetectionProvider &)=delete
ObjectDetectionProvider &	operator= (const ObjectDetectionProvider &)=delete
	ObjectDetectionProvider (ObjectDetectionProvider &&)=delete
ObjectDetectionProvider &	operator= (ObjectDetectionProvider &&)=delete
void	updateDetections2D (const ImageDetections2D &image_detections)
	Publishes 2D object detections.
ObjectDetectionEnabledSubscription &	objectDetectionEnabledSubscription () const
	Get the object detection enabled subscription.
ObjectDetectionProvider &	subscribeObjectDetectionEnabled (ObjectDetectionEnabledCallback callback=nullptr)
	Subscribe to object detection enabled state changes to control provider operation.

Detailed Description

Publisher for 2D object detections.

Example usage:

To publish 2D object detections:

auterion::SDK sdk;
auterion::ObjectDetectionProvider object_detection_provider{sdk};
 
// Create detections from an input image
auterion::ImageDetections2D detections;
// The timestamp must match the input image that was used to generate these detections
detections.image_timestamp = input_image_timestamp;  // e.g. from camera timestamp
 
// Add a detection
auterion::Detection2D detection;
detection.bbox.center = Eigen::Vector2d{100.0, 200.0};
detection.bbox.size_x = 50.0;
detection.bbox.size_y = 30.0;
detection.object_hypotheses.emplace_back({"person", 0.95});
detections.detections.push_back(std::move(detection));
 
// Publish the detections
object_detection_provider.updateDetections2D(detections);

To control provider operation based on object detection enabled state:

auterion::SDK sdk;
auterion::ObjectDetectionProvider object_detection_provider{sdk};
 
// Subscribe to object detection enabled state changes and control processing accordingly
object_detection_provider.subscribeObjectDetectionEnabled([&](bool enabled) {
    if (enabled) {
        std::cout << "Service enabled - starting processing pipeline" << std::endl;
        // Start heavy computational work: inference, image processing, etc.
        startImageProcessing();
    } else {
        std::cout << "Service disabled - stopping processing pipeline" << std::endl;
        // Stop heavy computational work to save system resources
        stopImageProcessing();
    }
});

To check object detection enabled state programmatically and control processing:

auterion::SDK sdk;
auterion::ObjectDetectionProvider object_detection_provider{sdk};
 
// Activate subscription to object detection enabled state
object_detection_provider.subscribeObjectDetectionEnabled();
 
// Later, check state and control processing accordingly (e.g. in a loop)
if (object_detection_provider.objectDetectionEnabledSubscription().isLastValid()) {
    bool enabled = object_detection_provider.objectDetectionEnabledSubscription().last();
    if (enabled) {
        // Object detection is active - ensure processing is running
        ensureProcessingIsActive();
    } else {
        // Object detection is inactive - stop unnecessary work
        stopProcessingToSaveResources();
    }
}

Constructor & Destructor Documentation

ObjectDetectionProvider()

auterion::ObjectDetectionProvider::ObjectDetectionProvider	(	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 Provider object.

Parameters

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

Member Function Documentation

objectDetectionEnabledSubscription()

ObjectDetectionEnabledSubscription & auterion::ObjectDetectionProvider::objectDetectionEnabledSubscription

(

)

const

Get the object detection enabled subscription.

Returns

Reference to the object detection enabled subscription.

subscribeObjectDetectionEnabled()

ObjectDetectionProvider & auterion::ObjectDetectionProvider::subscribeObjectDetectionEnabled ( ObjectDetectionEnabledCallback  callback = nullptr )

inline

Subscribe to object detection enabled state changes to control provider operation.

Providers should use this to start/stop computational work based on whether the object detection is enabled or disabled, avoiding unnecessary resource usage.

Parameters

callback

The callback function to be invoked when the object detection enabled state changes. Should implement logic to start/stop processing accordingly.

Returns

Reference to this object for method chaining.

updateDetections2D()

void auterion::ObjectDetectionProvider::updateDetections2D

(

const ImageDetections2D &

image_detections

)

Publishes 2D object detections.

Parameters

image_detections

The image detections to publish.

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

• include/auterion_sdk/object_detection/object_detection_provider.hpp