JeVoisBase  1.20
JeVois Smart Embedded Machine Vision Toolkit Base Modules
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Public Member Functions | Protected Attributes | List of all members
DNN Class Reference
JeVoisBase machine vision modules

Detect and recognize multiple objects in scenes using OpenCV, NPU, TPU, or VPU Deep Neural Nets. More...

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Public Member Functions

 DNN (std::string const &instance)
 Constructor. More...
 
virtual ~DNN ()
 Virtual destructor for safe inheritance. More...
 
void doprocess (jevois::InputFrame const &inframe, jevois::RawImage *outimg, jevois::OptGUIhelper *helper, bool idle)
 Processing function implementation. More...
 
virtual void process (jevois::InputFrame &&inframe) override
 Processing function, no video output. More...
 
virtual void process (jevois::InputFrame &&inframe, jevois::OutputFrame &&outframe) override
 Processing function with video output to USB on JeVois-A33. More...
 
- Public Member Functions inherited from jevois::StdModule
 StdModule (std::string const &instance)
 
virtual ~StdModule ()
 
void sendSerialImg1Dx (unsigned int camw, float x, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd1Dx (float x, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialImg1Dy (unsigned int camh, float y, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd1Dy (float y, float size=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialImg2D (unsigned int camw, unsigned int camh, float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd2D (float x, float y, float w=0.0F, float h=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialContour2D (unsigned int camw, unsigned int camh, std::vector< cv::Point_< T > > points, std::string const &id="", std::string const &extra="")
 
void sendSerialStd3D (float x, float y, float z, float w=0.0F, float h=0.0F, float d=0.0F, float q1=0.0F, float q2=0.0F, float q3=0.0f, float q4=0.0F, std::string const &id="", std::string const &extra="")
 
void sendSerialStd3D (std::vector< cv::Point3f > points, std::string const &id="", std::string const &extra="")
 
void sendSerialObjReco (std::vector< ObjReco > const &res)
 
void sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, float x, float y, float w, float h, std::vector< ObjReco > const &res)
 
void sendSerialObjDetImg2D (unsigned int camw, unsigned int camh, ObjDetect const &det)
 
 JEVOIS_DEFINE_ENUM_CLASS (SerStyle,(Terse)(Normal)(Detail)(Fine)) JEVOIS_DECLARE_PARAMETER(serstyle
 
 JEVOIS_DECLARE_PARAMETER (serprec, unsigned int, "Number of decimal points in standardized serial messages as " "defined in http://jevois.org/doc/UserSerialStyle.html", 0U, jevois::Range< unsigned int >(0U, 10U), ParamCateg)
 
 JEVOIS_DEFINE_ENUM_CLASS (SerStamp,(None)(Frame)(Time)(FrameTime)(FrameDateTime)) JEVOIS_DECLARE_PARAMETER(serstamp
 
 JEVOIS_DEFINE_ENUM_CLASS (SerMark,(None)(Start)(Stop)(Both)) JEVOIS_DECLARE_PARAMETER(sermark
 
- Public Member Functions inherited from jevois::Module
 Module (std::string const &instance)
 
virtual ~Module ()
 
virtual void process (InputFrame &&inframe, GUIhelper &helper)
 
virtual void sendSerial (std::string const &str)
 
virtual void parseSerial (std::string const &str, std::shared_ptr< UserInterface > s)
 
virtual void supportedCommands (std::ostream &os)
 
- Public Member Functions inherited from jevois::Component
 Component (std::string const &instance)
 
virtual ~Component ()
 
std::shared_ptr< Comp > addSubComponent (std::string const &instance, Args &&...args)
 
void removeSubComponent (std::shared_ptr< Comp > &component)
 
void removeSubComponent (std::string const &instance, bool warnIfNotFound=true)
 
std::shared_ptr< Comp > getSubComponent (std::string const &instance) const
 
bool isTopLevel () const
 
Engine * engine () const
 
bool initialized () const
 
const std::string & className () const
 
const std::string & instanceName () const
 
std::vector< std::string > setParamVal (std::string const &paramdescriptor, T const &val)
 
void setParamValUnique (std::string const &paramdescriptor, T const &val)
 
std::vector< std::pair< std::string, T > > getParamVal (std::string const &paramdescriptor) const
 
T getParamValUnique (std::string const &paramdescriptor) const
 
std::vector< std::string > setParamString (std::string const &paramdescriptor, std::string const &val)
 
void setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
 
std::vector< std::pair< std::string, std::string > > getParamString (std::string const &paramdescriptor) const
 
std::string getParamStringUnique (std::string const &paramdescriptor) const
 
void freezeParam (std::string const &paramdescriptor)
 
void unFreezeParam (std::string const &paramdescriptor)
 
void freezeAllParams ()
 
void unFreezeAllParams ()
 
std::string descriptor () const
 
void setParamsFromFile (std::string const &filename)
 
std::istream & setParamsFromStream (std::istream &is, std::string const &absfile)
 
virtual void paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")
 
void foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")
 
std::shared_ptr< DynamicParameter< T > > addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)
 
std::shared_ptr< DynamicParameter< T > > addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)
 
void setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)
 
void removeDynamicParameter (std::string const &name)
 
void setPath (std::string const &path)
 
std::filesystem::path absolutePath (std::filesystem::path const &path="")
 
std::shared_ptr< Comp > addSubComponent (std::string const &instance, Args &&...args)
 
void removeSubComponent (std::shared_ptr< Comp > &component)
 
void removeSubComponent (std::string const &instance, bool warnIfNotFound=true)
 
std::shared_ptr< Comp > getSubComponent (std::string const &instance) const
 
bool isTopLevel () const
 
Engine * engine () const
 
bool initialized () const
 
const std::string & className () const
 
const std::string & instanceName () const
 
std::vector< std::string > setParamVal (std::string const &paramdescriptor, T const &val)
 
void setParamValUnique (std::string const &paramdescriptor, T const &val)
 
std::vector< std::pair< std::string, T > > getParamVal (std::string const &paramdescriptor) const
 
T getParamValUnique (std::string const &paramdescriptor) const
 
std::vector< std::string > setParamString (std::string const &paramdescriptor, std::string const &val)
 
void setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
 
std::vector< std::pair< std::string, std::string > > getParamString (std::string const &paramdescriptor) const
 
std::string getParamStringUnique (std::string const &paramdescriptor) const
 
void freezeParam (std::string const &paramdescriptor)
 
void unFreezeParam (std::string const &paramdescriptor)
 
void freezeAllParams ()
 
void unFreezeAllParams ()
 
std::string descriptor () const
 
void setParamsFromFile (std::string const &filename)
 
std::istream & setParamsFromStream (std::istream &is, std::string const &absfile)
 
virtual void paramInfo (std::shared_ptr< UserInterface > s, std::map< std::string, std::string > &categs, bool skipFrozen, std::string const &cname="", std::string const &pfx="")
 
void foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")
 
std::shared_ptr< DynamicParameter< T > > addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category)
 
std::shared_ptr< DynamicParameter< T > > addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category)
 
void setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true)
 
void removeDynamicParameter (std::string const &name)
 
void setPath (std::string const &path)
 
std::filesystem::path absolutePath (std::filesystem::path const &path="")
 
- Public Member Functions inherited from jevois::ParameterRegistry
virtual ~ParameterRegistry ()
 

Protected Attributes

std::shared_ptr< jevois::dnn::Pipeline > itsPipeline
 

Additional Inherited Members

- Protected Member Functions inherited from jevois::StdModule
void sendSerialMarkStart ()
 
void sendSerialMarkStop ()
 
std::string getStamp () const
 
- Protected Member Functions inherited from jevois::Component
virtual void preInit ()
 
virtual void postInit ()
 
virtual void preUninit ()
 
virtual void postUninit ()
 
virtual void preInit ()
 
virtual void postInit ()
 
virtual void preUninit ()
 
virtual void postUninit ()
 
- Protected Member Functions inherited from jevois::ParameterRegistry
void addParameter (ParameterBase *const param)
 
void removeParameter (ParameterBase *const param)
 
void callbackInitCall ()
 

Detailed Description

Detect and recognize multiple objects in scenes using OpenCV, NPU, TPU, or VPU Deep Neural Nets.

This module runs a deep neural network using the OpenCV DNN library. Classification networks try to identify the whole object or scene in the field of view, and return the top scoring object classes. Detection networks analyze a scene and produce a number of bounding boxes around detected objects, together with identity labels and confidence scores for each detected box. Semantic segmentation networks create a pixel-by-pixel mask which assigns a class label to every location in the camera view.

To select a network, see parameter pipe of component Pipeline.

The following keys are used in the JeVois-Pro GUI (pipe parameter of Pipeline component):

  • OpenCV: network loaded by OpenCV DNN framework and running on CPU.
  • ORT: network loaded by ONNX-Runtime framework and running on CPU.
  • NPU: network running native on the JeVois-Pro integrated 5-TOPS NPU (neural processing unit).
  • SPU: network running on the optional 26-TOPS Hailo8 SPU accelerator (stream processing unit).
  • TPU: network running on the optional 4-TOPS Google Coral TPU accelerator (tensor processing unit).
  • VPU: network running on the optional 1-TOPS MyriadX VPU accelerator (vector processing unit).
  • NPUX: network loaded by OpenCV and running on NPU via the TIM-VX OpenCV extension. To run efficiently, network should have been quantized to int8, otherwise some slow CPU-based emulation will occur.
  • VPUX: network optimized for VPU but running on CPU if VPU is not available. Note that VPUX entries are automatically created by scanning all VPU entries and changing their target from Myriad to CPU, if a VPU accelerator is not detected. If a VPU is detected, then VPU models are listed and VPUX ones are not. VPUX emulation runs on the JeVois-Pro CPU using the Arm Compute Library to provide efficient implementation of various network layers and operations.

For expected network speed, see JeVois-Pro Deep Neural Network Benchmarks

Serial messages

For classification networks, when object classes are found with confidence scores above thresh, a message containing up to top category:score pairs will be sent per video frame. Exact message format depends on the current serstyle setting and is described in Standardized serial messages formatting. For example, when serstyle is Detail, this module sends:

DO category:score category:score ... category:score

where category is a category name (from namefile) and score is the confidence score from 0.0 to 100.0 that this category was recognized. The pairs are in order of decreasing score.

See Standardized serial messages formatting for more on standardized serial messages, and Helper functions to convert coordinates from camera resolution to standardized for more info on standardized coordinates.

For object detection networks, when detections are found which are above threshold, one message will be sent for each detected object (i.e., for each box that gets drawn when USB outputs are used), using a standardized 2D message:

  • Serial message type: 2D
  • id: the category of the recognized object, followed by ':' and the confidence score in percent
  • x, y, or vertices: standardized 2D coordinates of object center or corners
  • w, h: standardized object size
  • extra: any number of additional category:score pairs which had an above-threshold score for that box

See Standardized serial messages formatting for more on standardized serial messages, and Helper functions to convert coordinates from camera resolution to standardized for more info on standardized coordinates.

Author
Laurent Itti
Display Name:
DNN
Videomapping:
NONE 0 0 0.0 YUYV 640 480 15.0 JeVois DNN
Videomapping:
YUYV 640 498 15.0 YUYV 640 480 15.0 JeVois DNN
Email:
itti@usc.edu
Address:
University of Southern California, HNB-07A, 3641 Watt Way, Los Angeles, CA 90089-2520, USA
Copyright
Copyright (C) 2018 by Laurent Itti, iLab and the University of Southern California
Main URL:
http://jevois.org
Support URL:
http://jevois.org/doc
Other URL:
http://iLab.usc.edu
License:
GPL v3
Distribution:
Unrestricted
Restrictions:
None

Definition at line 97 of file DNN.C.

Constructor & Destructor Documentation

◆ DNN()

DNN::DNN ( std::string const &  instance)
inline

Constructor.

Definition at line 103 of file DNN.C.

References itsPipeline.

◆ ~DNN()

virtual DNN::~DNN ( )
inlinevirtual

Virtual destructor for safe inheritance.

Definition at line 111 of file DNN.C.

Member Function Documentation

◆ doprocess()

void DNN::doprocess ( jevois::InputFrame const &  inframe,
jevois::RawImage *  outimg,
jevois::OptGUIhelper *  helper,
bool  idle 
)
inline

Processing function implementation.

Definition at line 117 of file DNN.C.

References jevois::InputFrame::getp(), and itsPipeline.

Referenced by process().

◆ process() [1/2]

virtual void DNN::process ( jevois::InputFrame &&  inframe)
inlineoverridevirtual

Processing function, no video output.

Reimplemented from jevois::Module.

Definition at line 130 of file DNN.C.

References doprocess().

◆ process() [2/2]

virtual void DNN::process ( jevois::InputFrame &&  inframe,
jevois::OutputFrame &&  outframe 
)
inlineoverridevirtual

Processing function with video output to USB on JeVois-A33.

Reimplemented from jevois::Module.

Definition at line 138 of file DNN.C.

References doprocess(), jevois::RawImage::fmt, h, jevois::RawImage::height, jevois::rawimage::paste(), jevois::RawImage::require(), demo::w, and jevois::RawImage::width.

Member Data Documentation

◆ itsPipeline

std::shared_ptr<jevois::dnn::Pipeline> DNN::itsPipeline
protected

Definition at line 193 of file DNN.C.

Referenced by DNN(), and doprocess().

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