Identify an object using Darknet deep neural network. More...

#include <jevoisbase/Components/ObjectDetection/Darknet.H>

Inheritance diagram for Darknet:

[legend]

Collaboration diagram for Darknet:

[legend]

Public Member Functions
	Darknet (std::string const &instance, bool show_detail_params=false)
	Constructor. More...

void	postInit () override
	Initialize, configure and load the network in a thread. More...

virtual	~Darknet ()
	Virtual destructor for safe inheritance. More...

void	postUninit () override
	Un-initialize and free resources. More...

float	predict (cv::Mat const &cvimg, std::vector< jevois::ObjReco > &results)
	Processing function, results are stored internally in the underlying Darknet network object. More...

float	predict (image &im, std::vector< jevois::ObjReco > &results)
	Processing function, results are stored internally in the underlying Darknet network object. More...

void	resizeInDims (int w, int h)
	Resize the network's input image dims. More...

void	getInDims (int &w, int &h, int &c)
	Get input width, height, channels. More...

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 ()

Public Attributes
network *	net

char **	names = nullptr

int	classes

Protected Member Functions
void	onParamChange (dknet::netw const &param, dknet::Net const &newval) override

void	onParamChange (dknet::dataroot const &param, std::string const &newval) override

void	onParamChange (dknet::datacfg const &param, std::string const &newval) override

void	onParamChange (dknet::cfgfile const &param, std::string const &newval) override

void	onParamChange (dknet::weightfile const &param, std::string const &newval) override

void	onParamChange (dknet::namefile const &param, std::string const &newval) override

void	loadNet ()

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()

virtual void	preUninit ()

virtual void	preInit ()

virtual void	preUninit ()

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)

void	removeParameter (ParameterBase *const param)

void	callbackInitCall ()

Protected Attributes
std::future< void >	itsReadyFut

std::atomic< bool >	itsReady

const bool	itsShowDetailParams

std::atomic< bool >	itsNeedReload

Related Functions
(Note that these are not member functions.)
	JEVOIS_DEFINE_ENUM_CLASS (Net,(Reference)(Tiny)) JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK(netw
	Enum. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (dataroot, std::string, "Root path for data, config, and weight files. " "If empty, use the module's path.", JEVOIS_SHARE_PATH "/darknet/single", ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (datacfg, std::string, "Data configuration file (if relative, relative to " "dataroot)", "cfg/imagenet1k.data", ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (cfgfile, std::string, "Network configuration file (if relative, relative to " "dataroot)", "cfg/tiny.cfg", ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (weightfile, std::string, "Network weights file (if relative, relative to " "dataroot)", "weights/tiny.weights", ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (namefile, std::string, "Category names file, or empty to fetch it from the " "network " "config file (if relative, relative to dataroot)", "", ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (top, unsigned int, "Max number of top-scoring predictions that score above thresh to return", 5, ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (thresh, float, "Threshold (in percent confidence) above which predictions will be reported", 20.0F, jevois::Range< float >(0.0F, 100.0F), ParamCateg)
	Parameter. More...

	JEVOIS_DECLARE_PARAMETER (threads, int, "Number of parallel computation threads", 6, jevois::Range< int >(1, 1024), ParamCateg)
	Parameter. More...

Detailed Description

Identify an object using Darknet deep neural network.

Darknet is a popular neural network framework. This component identifies the object in the given image crop. It returns the top scoring candidates.

See https://pjreddie.com/darknet

Darknet is a great, bare-metal deep learning and deep neural network framework. It is great for embedded systems like the small JeVois camera because it has a very small footprint and fewer dependencies than other deep neural network frameworks like Tensorflow, MXNet, Theano, Keras, PyTorch, etc. In addition, the port of Darknet to JeVois includes acceleration using the ARM NEON multimedia instructions through the popular NNPACK neural network acceleration package.

Definition at line 96 of file Darknet.H.

Constructor & Destructor Documentation

◆ Darknet()

Darknet::Darknet	(	std::string const &	instance,
		bool	show_detail_params = `false`
	)

Constructor.

if show_detail_params is false, the parameters dataroot, datacfg, cfgfile, weightfile, and namefile are hidden and users can just use the parameter network to set various predefined networks.

Definition at line 28 of file Darknet.C.

References freeze(), and itsShowDetailParams.

◆ ~Darknet()

Darknet::~Darknet ( )

virtual

Virtual destructor for safe inheritance.

Definition at line 49 of file Darknet.C.

References itsReadyFut, and JEVOIS_WAIT_GET_FUTURE.

Member Function Documentation

◆ getInDims()

void Darknet::getInDims	(	int &	w,
		int &	h,
		int &	c
	)

Get input width, height, channels.

Throws std::logic_error if the network is still loading and not ready.

Definition at line 274 of file Darknet.C.

References h, itsNeedReload, itsReady, loadNet(), net, and demo::w.

◆ loadNet()

void Darknet::loadNet ( )

protected

Definition at line 115 of file Darknet.C.

References jevois::Component::absolutePath(), jevois::async(), classes, itsNeedReload, itsReady, itsReadyFut, LFATAL, LINFO, names, and net.

Referenced by getInDims(), postInit(), predict(), and resizeInDims().

◆ onParamChange() [1/6]

void Darknet::onParamChange	(	dknet::cfgfile const &	param,
		std::string const &	newval
	)

overrideprotected

Definition at line 103 of file Darknet.C.

References itsNeedReload.

◆ onParamChange() [2/6]

void Darknet::onParamChange	(	dknet::datacfg const &	param,
		std::string const &	newval
	)

overrideprotected

Definition at line 102 of file Darknet.C.

References itsNeedReload.

◆ onParamChange() [3/6]

void Darknet::onParamChange	(	dknet::dataroot const &	param,
		std::string const &	newval
	)

overrideprotected

Definition at line 101 of file Darknet.C.

References itsNeedReload.

◆ onParamChange() [4/6]

void Darknet::onParamChange	(	dknet::namefile const &	param,
		std::string const &	newval
	)

overrideprotected

Definition at line 105 of file Darknet.C.

References itsNeedReload.

◆ onParamChange() [5/6]

void Darknet::onParamChange	(	dknet::netw const &	param,
		dknet::Net const &	newval
	)

overrideprotected

Definition at line 60 of file Darknet.C.

References freeze(), itsShowDetailParams, and unFreeze().

◆ onParamChange() [6/6]

void Darknet::onParamChange	(	dknet::weightfile const &	param,
		std::string const &	newval
	)

overrideprotected

Definition at line 104 of file Darknet.C.

References itsNeedReload.

◆ postInit()

void Darknet::postInit ( )

overridevirtual

Initialize, configure and load the network in a thread.

Any call to process() will simply throw until the network is loaded and ready

Reimplemented from jevois::Component.

Definition at line 108 of file Darknet.C.

References loadNet().

◆ postUninit()

void Darknet::postUninit ( )

overridevirtual

Un-initialize and free resources.

Reimplemented from jevois::Component.

Definition at line 184 of file Darknet.C.

References classes, itsReadyFut, names, and net.

◆ predict() [1/2]

float Darknet::predict	(	cv::Mat const &	cvimg,
		std::vector< jevois::ObjReco > &	results
	)

Processing function, results are stored internally in the underlying Darknet network object.

This version expects an OpenCV RGB byte image which will be converted to float RGB planar. If the image dims do not match the network's input layer dims, we here resize the network (beware that this only works if the network is fully convolutional). Returns the prediction time (neural net forward pass) in milliseconds. Throws std::logic_error if the network is still loading and not ready.

Definition at line 202 of file Darknet.C.

References demo::float, h, demo::image, itsNeedReload, itsReady, LFATAL, loadNet(), demo::results, and demo::w.

◆ predict() [2/2]

float Darknet::predict	(	image &	im,
		std::vector< jevois::ObjReco > &	results
	)

Processing function, results are stored internally in the underlying Darknet network object.

This version expects a Darknet image input, RGB float planar normalized to [0..1]. If the image dims do not match the network's input layer dims, we here resize the network (beware that this only works if the network is fully convolutional). Returns the prediction time (neural net forward pass) in milliseconds. Throws std::logic_error if the network is still loading and not ready.

Definition at line 229 of file Darknet.C.

References demo::float, itsNeedReload, itsReady, loadNet(), names, net, demo::results, and demo::score.

◆ resizeInDims()

void Darknet::resizeInDims	(	int	w,
		int	h
	)

Resize the network's input image dims.

This will prepare the network to receive inputs of the specified size. It is optional and will be called automatically by predict() if the given image size does not match the current network input size. Note that this only works with fully convolutional networks. Note that the number of channels cannot be changed at this time. Throws std::logic_error if the network is still loading and not ready.

Definition at line 266 of file Darknet.C.

References h, itsNeedReload, itsReady, loadNet(), net, and demo::w.

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/3]

JEVOIS_DECLARE_PARAMETER	(	threads	,
		int	,
		"Number of parallel computation threads"	,
		6	,
		jevois::Range< int >	1, 1024,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [2/3]

JEVOIS_DECLARE_PARAMETER	(	thresh	,
		float	,
		"Threshold (in percent confidence) above which predictions will be reported"	,
		20.	0F,
		jevois::Range< float >	0.0F, 100.0F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [3/3]

JEVOIS_DECLARE_PARAMETER	(	top	,
		unsigned int	,
		"Max number of top-scoring predictions that score above thresh to return"	,
		5	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/5]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	cfgfile	,
		std::string	,
		"Network configuration file (if relative, relative to " "dataroot)"	,
		"cfg/tiny.cfg"	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/5]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	datacfg	,
		std::string	,
		"Data configuration file (if relative, relative to " "dataroot)"	,
		"cfg/imagenet1k.data"	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [3/5]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	dataroot	,
		std::string	,
		"Root path for	data,
		config	,
		and weight files. " "If	empty,
		use the module 's path."	,
		JEVOIS_SHARE_PATH "/darknet/single"	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [4/5]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	namefile	,
		std::string	,
		"Category names	file,
		or empty to fetch it from the " "network " "config file(if relative, relative to dataroot)"	,
		""	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [5/5]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	weightfile	,
		std::string	,
		"Network weights file (if relative, relative to " "dataroot)"	,
		"weights/tiny.weights"	,
		ParamCateg
	)

◆ JEVOIS_DEFINE_ENUM_CLASS()

JEVOIS_DEFINE_ENUM_CLASS	(	Net	,
		(Reference)(Tiny)
	)

Parameter

Member Data Documentation

◆ classes

int Darknet::classes

Definition at line 144 of file Darknet.H.

Referenced by PyPostClassify.PyPostClassify::freeze(), PyPostDAMOyolo.PyPostDAMOyolo::freeze(), PyPostYolo.PyPostYolo::freeze(), loadNet(), PyDetectionDNN.PyDetectionDNN::postprocess(), postUninit(), and PyClassificationDNN.PyClassificationDNN::process().

◆ itsNeedReload

std::atomic<bool> Darknet::itsNeedReload

protected

Definition at line 158 of file Darknet.H.

Referenced by getInDims(), loadNet(), onParamChange(), predict(), and resizeInDims().

◆ itsReady

std::atomic<bool> Darknet::itsReady

protected

Definition at line 156 of file Darknet.H.

Referenced by getInDims(), loadNet(), predict(), and resizeInDims().

◆ itsReadyFut

std::future<void> Darknet::itsReadyFut

protected

Definition at line 155 of file Darknet.H.

Referenced by loadNet(), postUninit(), and ~Darknet().

◆ itsShowDetailParams

const bool Darknet::itsShowDetailParams

protected

Definition at line 157 of file Darknet.H.

Referenced by Darknet(), and onParamChange().

◆ names

char** Darknet::names = nullptr

Definition at line 143 of file Darknet.H.

Referenced by loadNet(), postUninit(), and predict().

◆ net

network* Darknet::net

Definition at line 142 of file Darknet.H.

Referenced by getInDims(), PyNetOpenCV.PyNetOpenCV::load(), loadNet(), PyDetectionDNN.PyDetectionDNN::postprocess(), postUninit(), predict(), PyNetOpenCV.PyNetOpenCV::process(), PyClassificationDNN.PyClassificationDNN::process(), PyDetectionDNN.PyDetectionDNN::process(), and resizeInDims().

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

include/jevoisbase/Components/ObjectDetection/Darknet.H
src/Components/ObjectDetection/Darknet.C

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Darknet()

◆ ~Darknet()

Member Function Documentation

◆ getInDims()

◆ loadNet()

◆ onParamChange() [1/6]

◆ onParamChange() [2/6]

◆ onParamChange() [3/6]

◆ onParamChange() [4/6]

◆ onParamChange() [5/6]

◆ onParamChange() [6/6]

◆ postInit()

◆ postUninit()

◆ predict() [1/2]

◆ predict() [2/2]

◆ resizeInDims()

Friends And Related Function Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/3]

◆ JEVOIS_DECLARE_PARAMETER() [2/3]

◆ JEVOIS_DECLARE_PARAMETER() [3/3]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/5]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/5]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [3/5]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [4/5]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [5/5]

◆ JEVOIS_DEFINE_ENUM_CLASS()

Member Data Documentation

◆ classes

◆ itsNeedReload

◆ itsReady

◆ itsReadyFut

◆ itsShowDetailParams

◆ names

◆ net