72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
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#define OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
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#include <memory>
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#include <string>
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#include <vector>
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#include "openrobotics_darknet_ros/visibility.hpp"
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#include "sensor_msgs/msg/image.hpp"
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#include "vision_msgs/msg/detection2_d_array.hpp"
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namespace openrobotics
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{
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namespace darknet_ros
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{
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// Forward declaration
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class DetectorNetworkPrivate;
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class DetectorNetwork
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{
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public:
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/// \brief load a network from disk
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/// \param[in] config_file Path to a file describing the network
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/// \param[in] weights_file Path to a file containing the network's weights
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/// \param[in] classes Ordered list of class names the network can predict
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DARKNET_ROS_PUBLIC
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DetectorNetwork(
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const std::string & config_file,
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const std::string & weights_file,
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const std::vector<std::string> & classes);
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DARKNET_ROS_PUBLIC
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~DetectorNetwork();
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/// \brief Detect objects in image
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/// \param[in] image An image to analyze
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/// \param[in] threshold How confident the network must be to detect something [0.0, 1.0]
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/// \param[in] nms_threshold Non-Maximal Suppression threhsold [0.0, 1.0].
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/// When the intersection over union (iou) of two bounding boxes is greater than nms_threshold,
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/// the box with the lower objectness score is discarded.
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/// \param[out] output_detections Things detected in the image (does not set source_img)
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/// \return number of objects detected
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DARKNET_ROS_PUBLIC
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size_t
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detect(
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const sensor_msgs::msg::Image & image,
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double threshold,
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double nms_threshold,
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vision_msgs::msg::Detection2DArray * output_detections);
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private:
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std::unique_ptr<DetectorNetworkPrivate> impl_;
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};
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} // namespace darknet_ros
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} // namespace openrobotics
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#endif // OPENROBOTICS_DARKNET_ROS__DETECTOR_NETWORK_HPP_
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