message_utils

namespace EPD

A collection of use-case filters, namely for parsing usecase_config.json, Counting and Color-Matching usecaseMode.

class EPDObjectDetection

#include <message_utils.hpp>

An Easy Perception Deployment (EPD) ObjectDetection class object. This object functions as a transient container of inference results to transport them for processing in by EasyPerceptionDeployment class object.

Public Functions

inline explicit EPDObjectDetection(size_t input_size): A Constructor function. This object can only be called a known size to minimize memory use for storage.

Public Members

std::vector<std::array<int, 4>> bboxes: A vector of bounding boxes with xmin, ymin, xmax, ymax.

std::vector<uint64_t> classIndices: A vector of indices that indicate the numerical identities of corresponding bounding boxes of the same index.

std::vector<float> scores: A vector of indices that indicate the float confidence scores of corresponding bounding boxes of the same index.

std::vector<cv::Mat> masks: A vector of image-encoded 32FC1 greyscale masks for P3 results only.

size_t data_size: A set size for all vectors in class.

struct LocalizedObject

#include <message_utils.hpp>

Public Members

std::string name

sensor_msgs::msg::RegionOfInterest roi

cv::Mat mask

geometry_msgs::msg::Point centroid

float length

float breadth

float height

pcl::PointCloud<pcl::PointXYZ> segmented_pcl

geometry_msgs::msg::Vector3 axis

class EPDObjectLocalization

#include <message_utils.hpp>

Public Members

std::vector<LocalizedObject> objects

size_t data_size: A set size for all vectors in class.

class EPDObjectTracking

#include <message_utils.hpp>

Public Members

std::vector<std::string> object_ids

std::vector<LocalizedObject> objects

size_t data_size: A set size for all vectors in class.

struct LabelledRect2d

#include <message_utils.hpp>

Public Members

std::string obj_tag

cv::Rect2d obj_bounding_box