Yolov8 component

Table of Contents

• Ports
  • ImageFrame (in)
  • Intrinsics (in)
  • Extrinsics (in)
  • Detections (out)
• Services
  • start_object_detection (activity)
  • stop_object_detection (activity)
  • set_classes (attribute)
  • set_debug (attribute)
  • show_image_frames (attribute)
  • set_verbose_level (attribute)
  • start_object_detection (function)
  • stop_object_detection (function)
  • pause_object_detection (function)
  • resume_object_detection (function)
• Tasks
  • detect_objects

A GenoM module for Yolov8 integration using a monocular camera.

Ports

ImageFrame (in)

Data structure struct ::or::sensor::frame ImageFrame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The image frame to process.

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Intrinsics (in)

Data structure struct ::or::sensor::intrinsics Intrinsics struct ::or::sensor::calibration calib float fx float fy float cx float cy float gamma struct ::or::sensor::distortion disto float k1 float k2 float k3 float p1 float p2

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Extrinsics (in)

Data structure struct ::or::sensor::extrinsics Extrinsics struct ::or::sensor::translation trans float tx float ty float tz struct ::or::sensor::rotation rot float roll float pitch float yaw

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Detections (out)

Data structure struct ::or::Yolo::Detections Detections sequence< struct ::or::Yolo::Detection > detections short class_id float confidence string label struct ::or::Yolo::bounding_box bbox float x float y float w float h struct ::or::sensor::frame image_frame struct ::or::time::ts ts long sec long nsec boolean compressed unsigned short height unsigned short width unsigned short bpp sequence< octet > pixels

The detected classes from the image frame.

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Services

start_object_detection (activity)

Throws exception ::Yolov8::e_BAD_IMAGE_PORT short code string<128> message exception ::Yolov8::e_OPENCV_ERROR short code string<128> message exception ::Yolov8::e_BAD_CONFIG short code string<128> message exception ::Yolov8::e_OUT_OF_MEM short code string<128> message

Context In task detect_objects (frequency 10.0 Hz)

Start detecting the object.

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stop_object_detection (activity)

Throws exception ::Yolov8::e_BAD_IMAGE_PORT short code string<128> message exception ::Yolov8::e_OPENCV_ERROR short code string<128> message exception ::Yolov8::e_BAD_CONFIG short code string<128> message exception ::Yolov8::e_OUT_OF_MEM short code string<128> message

Context In task detect_objects (frequency 10.0 Hz) Reads port ImageFrame (in) Reads port Intrinsics (in) Reads port Extrinsics (in) Updates port Detections (out)

Stop detecting the object.

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set_classes (attribute)

Inputs sequence< string > classes Set the class names to be detected.

Set the class names to be detected.

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set_debug (attribute)

Inputs boolean debug (default "0") Set debug mode (default: false)

Set the debug mode.

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show_image_frames (attribute)

Inputs boolean show_frames (default "0") Show image frames (default: false)

Show image frames.

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set_verbose_level (attribute)

Inputs octet verbose_level (default "0") Verbose level

Set the verbose level.

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start_object_detection (function)

Start detecting the object.

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stop_object_detection (function)

Stop detecting the object.

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pause_object_detection (function)

Pause detecting the object.

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resume_object_detection (function)

Resume detecting the object.

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Tasks

detect_objects

Context Frequency 10.0 Hz Reads port ImageFrame (in) Updates port Detections (out)

Throws exception ::Yolov8::e_BAD_IMAGE_PORT short code string<128> message exception ::Yolov8::e_OPENCV_ERROR short code string<128> message exception ::Yolov8::e_BAD_CONFIG short code string<128> message exception ::Yolov8::e_OUT_OF_MEM short code string<128> message

Detect the objects in the image.

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