Fix threshold value not passing to openvino.

ajtudela · May 26, 2022 · 0b12a96 · 0b12a96
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commit 0b12a96
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,9 +2,14 @@
 Changelog for package object_detection_openvino
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.2.2 (26-05-2022)
+------------------
+* Improve documentation.
+* Fix threshold value not passing to openvino.
+
 3.2.1 (08-03-2022)
 ------------------
-* Optimizations, change pose to bottom of bbox
+* Optimizations, change pose to bottom of bbox.
 
 3.2.0 (23-02-2022)
 ------------------

diff --git a/include/object_detection_openvino/detectionObject.h b/include/object_detection_openvino/detectionObject.h
@@ -14,11 +14,47 @@
 
 #include <string>
 
+/**
+ * @brief Implementation of a detection object in an image
+ * 
+ * An object is defined by the 2D coordinates in pixels of the bounding box surrounding it,
+ * its class (name and numeric id) and its confidence.
+ */
 struct DetectionObject{
-	int xmin, ymin, xmax, ymax, classId;
+	/// Minimum coordinate in the X axis.
+	int xmin;
+
+	/// Minimum coordinate in the Y axis.
+	int ymin;
+
+	/// Maximum coordinate in the X axis.
+	int xmax;
+
+	/// Maximum coordinate in the Y axis.
+	int ymax;
+
+	/// Numeric id of the object class.
+	int classId;
+
+	/// Confidence of the detected object in a range between 0 and 1.
 	float confidence;
+
+	/// Name of object class.
 	std::string className;
 
+	/**
+	 * @brief Constructor of a new detection object.
+	 * 
+	 * @param x Coordinate of the center pixel in the X axis. 
+	 * @param y Coordinate of the center pixel in the Y axis. 
+	 * @param h Height in pixels of the bounding box surrounding the detected object.
+	 * @param w Width in pixels of the bounding box surrounding the detected object.
+	 * @param classId  Numeric id of the object class.
+	 * @param className Name of object class.
+	 * @param confidence Confidence of the detected object in a range between 0 and 1.
+	 * @param h_scale Scale of the bounding box height.
+	 * @param w_scale Scale of the bounding box width.
+	 */
 	DetectionObject(double x, double y, double h, double w, int classId, std::string className, float confidence, float h_scale, float w_scale){
 		xmin = static_cast<int>((x - w / 2) * w_scale);
 		ymin = static_cast<int>((y - h / 2) * h_scale);
@@ -29,6 +65,18 @@ struct DetectionObject{
 		this->className = className;
 	}
 
+	/**
+	 * @brief Overloaded constructor, provided for convenience.
+	 * It differs from the above function only in what argument(s) it accepts.
+	 * 
+	 * @param x Coordinate of the center pixel in the X axis. 
+	 * @param y Coordinate of the center pixel in the Y axis. 
+	 * @param h Height in pixels of the bounding box surrounding the detected object.
+	 * @param w Width in pixels of the bounding box surrounding the detected object.
+	 * @param classId  Numeric id of the object class.
+	 * @param className Name of object class.
+	 * @param confidence Confidence of the detected object in a range between 0 and 1.
+	 */
 	DetectionObject(double x, double y, double h, double w, int classId, std::string className, float confidence){
 		xmin = static_cast<int>(x);
 		ymin = static_cast<int>(y);
@@ -39,10 +87,52 @@ struct DetectionObject{
 		this->className = className;
 	}
 
+	/**
+	 * @brief Copy constructor.
+	 * 
+	 * @param object The detected object.
+	 */
+	DetectionObject(DetectionObject& object){
+		xmin = object.xmin;
+		ymin = object.ymin;
+		xmax = object.xmax;
+		ymax = object.ymax;
+		confidence = object.confidence;
+		classId = object.classId;
+		className = object.className;
+	}
+
+	/**
+	 * @brief Copy constructor.
+	 * 
+	 * @param object The detected object.
+	 */
+	DetectionObject(const DetectionObject& object){
+		xmin = object.xmin;
+		ymin = object.ymin;
+		xmax = object.xmax;
+		ymax = object.ymax;
+		confidence = object.confidence;
+		classId = object.classId;
+		className = object.className;
+	}
+
+	/**
+	 * @brief Relational operator of the confidence of the detected object.
+	 * 
+	 * @param s2 Object to compare to. 
+	 * @return True if the left object has lower confidence than the right one. False, otherwise.
+	 */
 	bool operator<(const DetectionObject &s2) const {
 		return this->confidence < s2.confidence;
 	}
 
+	/**
+	 * @brief Relational operator of the confidence of the detected object.
+	 * 
+	 * @param s2 Object to compare to. 
+	 * @return True if the left object has greater confidence than the right one. False, otherwise.
+	 */
 	bool operator>(const DetectionObject &s2) const {
 		return this->confidence > s2.confidence;
 	}

diff --git a/include/object_detection_openvino/objectDetectionVPU.h b/include/object_detection_openvino/objectDetectionVPU.h
@@ -44,48 +44,232 @@
 // OpenCV
 #include <cv_bridge/cv_bridge.h>
 
+
+/// The number of the labels in the COCO database.
 #define COCO_CLASSES		80
 
-// Typedef for easier readability
+/// Typedef for easier readability.
 typedef std::chrono::duration<double, std::ratio<1, 1000>> ms;
+
+/// Typedef for easier readability.
 typedef pcl::PointCloud<pcl::PointXYZRGB> pcloud;
 
+/**
+ * @brief Implmentation of the interface between different neural networks frameworks and ROS.
+ * 
+ */
 class ObjectDetectionVPU{
 	public:
+
+		/// Constructor which initialize the subscribers, the publishers and the inference engine .
 		ObjectDetectionVPU(ros::NodeHandle& node, ros::NodeHandle& node_private);
+
+		/// Delete all parameteres of the node.
 		~ObjectDetectionVPU();
 
 	private:
-		ros::NodeHandle node_, nodePrivate_;
+
+		/// Public ROS node handler.
+		ros::NodeHandle node_;
+
+		/// Private ROS node handler.
+		ros::NodeHandle nodePrivate_;
+
+		/// The received image.
 		image_transport::ImageTransport imageTransport_;
+
+		/// Subscriber to a color image.
 		image_transport::SubscriberFilter colorSub_;
+
+		/// Publisher of the image with the bounding boxes of the detected objects.
 		image_transport::Publisher detectionColorPub_;
+
+		/// Subscriber to a pointcloud. 
 		message_filters::Subscriber<sensor_msgs::PointCloud2> pointsSub_;
-		ros::Publisher detectionInfoPub_, detections2DPub_, detections3DPub_, markersPub_;
+
+		/// Publisher of the meta-information about the vision pipeline.
+		ros::Publisher detectionInfoPub_;
+
+		/// Publisher of the aray with the detected objects in 2 dimensions.
+		ros::Publisher detections2DPub_;
+
+		/// Publisher of the aray with the detected objects in 3 dimensions.
+		ros::Publisher detections3DPub_;
+
+		/// Publisher of markers with the bounding boxes and labels of the detected objects.
+		ros::Publisher markersPub_;
+
+		/// Listener of the transformations tree.
 		tf::TransformListener tfListener_;
+
+		/// Typedef for a ApproximateTime policy between an image message and a pointcloud message.
 		typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::PointCloud2> SyncPolicyImagePCL;
+
+		/// Synchronizer of the image message and the pointcloud message.
 		message_filters::Synchronizer<SyncPolicyImagePCL> syncImagePCL_;
 
+		/// Intel OpenVino framework.
 		Openvino openvino_;
-		float thresh_, iouThresh_;
-		bool showFPS_, useDepth_;
-		std::string deviceTarget_, networkType_;
-		std::string modelFileName_, binFileName_, labelFileName_;
-		std::string colorFrameId_, cameraFrameId_;
-		std::string colorTopic_, pointCloudTopic_, detectionImageTopic_, detectionInfoTopic_, detections2DTopic_, detections3DTopic_;
-		cv::Mat nextFrame_, currFrame_;
+
+		/// Value below which objects will be discarded.
+		float thresh_;
+
+		/// Value of the intersection over union threshold in a range between 0 and 1.
+		float iouThresh_;
+
+		/// Flag to enable / disable the number of FPS in the iamge.
+		bool showFPS_;
+
+		/// Flag to enable / disable the use of te pointcloud to perform depth analysis.
+		bool useDepth_;
+
+		/// Type of the neural network.
+		std::string networkType_;
+
+		/// Name of the device to load the neural network into.
+		std::string deviceTarget_;
+
+		/// The filename of the model in XML format.
+		std::string modelFileName_;
+
+		/// The filename of the model in BIN format.
+		std::string binFileName_;
+
+		/// The filename of the labels used in the model.
+		std::string labelFileName_;
+
+		/// Frame identifier of the color image.
+		std::string colorFrameId_;
+
+		/// Frame identifier of the camera.
+		std::string cameraFrameId_;
+
+		/// Topic of the color image.
+		std::string colorTopic_;
+
+		/// Topic of the pointcloud.
+		std::string pointCloudTopic_;
+
+		/// Topic of the image with the bounding boxes of the detected objects.
+		std::string detectionImageTopic_;
+
+		/// Topic of the information about the vision pipeline.
+		std::string detectionInfoTopic_;
+
+		/// Topic of the detected objects in 2 dimensions.
+		std::string detections2DTopic_;
+
+		/// Topic of the detected objects in 3 dimensions.
+		std::string detections3DTopic_;
+
+		/// Next image to be processed.
+		cv::Mat nextFrame_;
+
+		/// Curent image to be processed.
+		cv::Mat currFrame_;
+
+		/// Class labels of the neural network.
 		std::vector<std::string> labels_;
 
+		/**
+		 * @brief Update the parameters of the node.
+		 * 
+		 */
 		void getParams();
+
+		/**
+		 * @brief Get color of the class.
+		 * 
+		 * @param c Integer with the channel of the color.
+		 * @param x Offset value.
+		 * @param max Maximum number of classes.
+		 * @return The color of the class. 
+		 */
 		int getColor(int c, int x, int max);
+
+		/**
+		 * @brief Publish the meta-information about the vision pipeline when a subscriber connect to it.
+		 * 
+		 * @param pub The publisher of the information.
+		 */
 		void connectInfoCallback(const ros::SingleSubscriberPublisher& pub);
+
+		/**
+		 * @brief Receive an image, perform 2d object detection on it and publish the detected objects.
+		 * 
+		 * @param colorImageMsg A message with an image to be processed.
+		 */
 		void colorImageCallback(const sensor_msgs::Image::ConstPtr& colorImageMsg);
+
+		/**
+		 * @brief Receive an image and a pointcloud, perform 2d object detection on it and publish the detected objects.
+		 * 
+		 * 
+		 * @param colorImageMsg A message with an image to be processed.
+		 * @param pointsMsg A message with a pointcloud to be processed.
+		 */
 		void colorPointCallback(const sensor_msgs::Image::ConstPtr& colorImageMsg, const sensor_msgs::PointCloud2::ConstPtr& pointsMsg);
+
+		/**
+		 * @brief Show the histogram of the image.
+		 * 
+		 * @param image The image from the sensor.
+		 * @param mean The mean value of the pixels.
+		 */
 		void showHistogram(cv::Mat image, cv::Scalar mean);
+
+		/**
+		 * @brief Create a Detection2D message with the detected object.
+		 * 
+		 * @param[in] object The detected object.
+		 * @param[in] header The header of the detected object.
+		 * @param[out] detection2D The detection2D message with the detected object.
+		 * @return True if the message was created correctly, false otherwise.
+		 */
 		bool createDetection2DMsg(DetectionObject object, std_msgs::Header header, vision_msgs::Detection2D& detection2D);
+
+		/**
+		 * @brief Create a detection3D message with the detected object.
+		 * 
+		 * @param[in] object The detected object.
+		 * @param[in] header The header of the detected object.
+		 * @param[in] cloudPC2 The pointcloud of the detected object in sensor_msgs::PointCloud2 format.
+		 * @param[in] cloudPCL The pointcloud of the detected object in pcloud format.
+		 * @param[out] detection3D The detection3D message with the detected object.
+		 * @return True if the message was created correctly, false otherwise.
+		 */
 		bool createDetection3DMsg(DetectionObject object, std_msgs::Header header, const sensor_msgs::PointCloud2& cloudPC2, pcloud::ConstPtr cloudPCL, vision_msgs::Detection3D& detection3D);
+
+		/**
+		 * @brief Create a 3D marker with the bounding box of the object to be shown in Rviz.
+		 * 
+		 * @param[in] id The numeric identifier of the marker.
+		 * @param[in] header The header of the marker.
+		 * @param[in] colorRGB The color of the marker.
+		 * @param[in] bbox The dimensions of the bounding box surrounding the object.
+		 * @param[out] marker The 3d marker with the bounding of the detected object.
+		 * @return True if the marker was created correctly, false otherwise.
+		 */
 		bool createBBox3DMarker(int id, std_msgs::Header header, float colorRGB[3], vision_msgs::BoundingBox3D bbox, visualization_msgs::Marker& marker);
+
+		/**
+		 * @brief Create a 3d marker with the label of the object to be shown in Rviz.
+		 * 
+		 * @param[in] id The numeric identifier of the marker.
+		 * @param[in] header The header of the marker.
+		 * @param[in] colorRGB The color of the marker.
+		 * @param[in] bbox The dimensions of the bounding box surrounding the object.
+		 * @param[in] label The label class of the detected object.
+		 * @param[out] marker The 3d marker with the label of the detected object.
+		 * @return True if the marker was created correctly, false otherwise.
+		 */
 		bool createLabel3DMarker(int id, std_msgs::Header header, float colorRGB[3], vision_msgs::BoundingBox3D bbox, std::string label, visualization_msgs::Marker& marker);
+
+		/**
+		 * @brief Publish the image with the bounding boxes of the detected objects.
+		 * 
+		 * @param image The image with the bounding boxes of the detected objects.
+		 */
 		void publishImage(cv::Mat image);
 };
 #endif