JeVois
1.19
JeVois Smart Embedded Machine Vision Toolkit
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#include <jevois/DNN/Pipeline.H>
Neural processing pipeline.
A neural processing pipeline in JeVois consists of:
A pipeline is typically configured by parsing a YAML config file (zoo file) that determines what kind of pre-processing, network, and post-processing to use, and that sets the parameters for those.
Definition at line 133 of file Pipeline.H.
Public Member Functions | |
Pipeline (std::string const &instance) | |
Constructor. More... | |
virtual | ~Pipeline () |
Destructor. More... | |
bool | ready () const |
Returns true when all three of preproc, net, and postproc are ready. More... | |
void | process (jevois::RawImage const &inimg, jevois::StdModule *mod, jevois::RawImage *outimg, jevois::OptGUIhelper *helper, bool idle=false) |
Process an input image, send results to serial/image/gui. More... | |
void | freeze (bool doit) |
Freeze/unfreeze parameters that users should not change while running. More... | |
void | setCustomPreProcessor (std::shared_ptr< PreProcessor > pp) |
Set a custom pre-processor. More... | |
void | setCustomNetwork (std::shared_ptr< Network > n) |
void | setCustomPostProcessor (std::shared_ptr< PostProcessor > pp) |
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Component (std::string const &instance) | |
Constructor. More... | |
virtual | ~Component () |
Virtual destructor for safe inheritance. More... | |
template<class Comp , typename... Args> | |
std::shared_ptr< Comp > | addSubComponent (std::string const &instance, Args &&...args) |
Pseudo-constructor: construct and add another component as a subcomponent of this one. More... | |
template<class Comp > | |
void | removeSubComponent (std::shared_ptr< Comp > &component) |
Remove a sub-Component from this Component, by shared_ptr. More... | |
void | removeSubComponent (std::string const &instance, bool warnIfNotFound=true) |
Remove a sub-Component from this Component, by instance name. More... | |
template<class Comp = jevois::Component> | |
std::shared_ptr< Comp > | getSubComponent (std::string const &instance) const |
Get a sub-component by instance name. More... | |
bool | isTopLevel () const |
Returns true if this component is top-level, i.e., its parent is jevois::Manager. More... | |
Engine * | engine () const |
Get a handle to our Engine, or throw if we do not have an Engine as root ancestor. More... | |
bool | initialized () const |
Has this component been initialized yet? More... | |
const std::string & | className () const |
The class name of this component. More... | |
const std::string & | instanceName () const |
The instance name of this component. More... | |
template<typename T > | |
std::vector< std::string > | setParamVal (std::string const ¶mdescriptor, T const &val) |
Set a parameter value. More... | |
template<typename T > | |
void | setParamValUnique (std::string const ¶mdescriptor, T const &val) |
Set a parameter value, simple version assuming only one parameter match. More... | |
template<typename T > | |
std::vector< std::pair< std::string, T > > | getParamVal (std::string const ¶mdescriptor) const |
Get parameter(s) value(s) by descriptor. More... | |
template<typename T > | |
T | getParamValUnique (std::string const ¶mdescriptor) const |
Get a parameter value, simple version assuming only one parameter match. More... | |
std::vector< std::string > | setParamString (std::string const ¶mdescriptor, std::string const &val) |
Set a parameter value, by string. More... | |
void | setParamStringUnique (std::string const ¶mdescriptor, std::string const &val) |
Set a parameter value by string, simple version assuming only one parameter match. More... | |
std::vector< std::pair< std::string, std::string > > | getParamString (std::string const ¶mdescriptor) const |
Get a parameter value, by string. More... | |
std::string | getParamStringUnique (std::string const ¶mdescriptor) const |
Get a parameter value by string, simple version assuming only one parameter match. More... | |
void | freezeParam (std::string const ¶mdescriptor) |
Freeze a parameter, by name, see ParameterBase::freeze() More... | |
void | unFreezeParam (std::string const ¶mdescriptor) |
Unfreeze a parameter, by name, see ParameterBase::unFreeze() More... | |
void | freezeAllParams () |
Freeze all parameters. More... | |
void | unFreezeAllParams () |
Unfreeze all parameters. More... | |
std::string | descriptor () const |
Get our full descriptor (including all parents) as [Instancename]:[...]:[...]. More... | |
void | setParamsFromFile (std::string const &filename) |
Set some parameters from a file. More... | |
std::istream & | setParamsFromStream (std::istream &is, std::string const &absfile) |
Set some parameters from an open stream. More... | |
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="") |
Get machine-oriented descriptions of all parameters. More... | |
void | foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="") |
Run a function on every param we hold. More... | |
template<typename T > | |
std::shared_ptr< DynamicParameter< T > > | addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ParameterCategory const &category) |
Add a new parameter after the Component has already been constructed. More... | |
template<typename T , template< typename > class ValidValuesSpec> | |
std::shared_ptr< DynamicParameter< T > > | addDynamicParameter (std::string const &name, std::string const &description, T const &defaultValue, ValidValuesSpec< T > const &validValuesSpec, ParameterCategory const &category) |
Add a new parameter after the Component has already been constructed. More... | |
template<typename T > | |
void | setDynamicParameterCallback (std::string const &name, std::function< void(T const &)> cb, bool callnow=true) |
Register a callback with a previously created dynamic parameter. More... | |
void | removeDynamicParameter (std::string const &name) |
Remove a previously added dynamic parameter. More... | |
void | setPath (std::string const &path) |
Assign a filesystem path to this component. More... | |
std::filesystem::path | absolutePath (std::filesystem::path const &path="") |
If given path is relative (not starting with /), prepend the Component path to it. More... | |
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virtual | ~ParameterRegistry () |
Virtual destructor for safe inheritance. More... | |
Protected Member Functions | |
void | postInit () override |
Called after all sub-Components are init()ed. More... | |
void | preUninit () override |
Called before all sub-Components are uninit()ed. More... | |
void | reloadZoo (std::string const &root, std::string const &filt, std::string const &zoofile) |
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virtual void | preInit () |
Called before all sub-Components are init()ed. More... | |
virtual void | postUninit () |
Called after all sub-Components are uninit()ed. More... | |
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void | addParameter (ParameterBase *const param) |
The Parameter class uses this method to register itself on construction with its owning Component. More... | |
void | removeParameter (ParameterBase *const param) |
The Parameter class uses this method to un-register itself on destruction with its owning Component. More... | |
void | callbackInitCall () |
For all parameters that have a callback which has never been called, call it with the default param value. More... | |
Protected Attributes | |
std::shared_ptr< PreProcessor > | itsPreProcessor |
std::shared_ptr< Network > | itsNetwork |
std::shared_ptr< PostProcessor > | itsPostProcessor |
jevois::dnn::Pipeline::Pipeline | ( | std::string const & | instance | ) |
Constructor.
Definition at line 105 of file Pipeline.C.
References jevois::getNumInstalledNPUs(), jevois::getNumInstalledSPUs(), jevois::getNumInstalledTPUs(), jevois::getNumInstalledVPUs(), and LINFO.
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Destructor.
Definition at line 154 of file Pipeline.C.
void jevois::dnn::Pipeline::freeze | ( | bool | doit | ) |
Freeze/unfreeze parameters that users should not change while running.
Definition at line 128 of file Pipeline.C.
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Called after all sub-Components are init()ed.
Reimplemented from jevois::Component.
Definition at line 140 of file Pipeline.C.
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Called before all sub-Components are uninit()ed.
Reimplemented from jevois::Component.
Definition at line 147 of file Pipeline.C.
void jevois::dnn::Pipeline::process | ( | jevois::RawImage const & | inimg, |
jevois::StdModule * | mod, | ||
jevois::RawImage * | outimg, | ||
jevois::OptGUIhelper * | helper, | ||
bool | idle = false |
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Process an input image, send results to serial/image/gui.
If the network is not ready, no processing will occur. When helper is not null (i.e., using GUI display), hide the information window when idle is true. This function catches all exceptions and reports them.
Definition at line 705 of file Pipeline.C.
References jevois::absolutePath(), jevois::async(), jevois::imu::get(), jevois::GUIhelper::itext(), jevois::join(), LINFO, jevois::replaceAll(), jevois::GUIhelper::reportAndIgnoreException(), jevois::GUIhelper::reportError(), jevois::secs2str(), jevois::dnn::shapestr(), jevois::split(), jevois::warnAndIgnoreException(), and jevois::rawimage::writeText().
bool jevois::dnn::Pipeline::ready | ( | ) | const |
Returns true when all three of preproc, net, and postproc are ready.
Definition at line 684 of file Pipeline.C.
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void jevois::dnn::Pipeline::setCustomNetwork | ( | std::shared_ptr< Network > | n | ) |
See doc of setCustomPreProcessor() for instructions, but use the name "network" instead of "preproc".
Definition at line 622 of file Pipeline.C.
References LINFO.
void jevois::dnn::Pipeline::setCustomPostProcessor | ( | std::shared_ptr< PostProcessor > | pp | ) |
See doc of setCustomPreProcessor() for instructions, but use the name "postproc" instead of "preproc".
Definition at line 672 of file Pipeline.C.
References LINFO.
void jevois::dnn::Pipeline::setCustomPreProcessor | ( | std::shared_ptr< PreProcessor > | pp | ) |
Set a custom pre-processor.
To create a custom pre-processor, create a new class that derives from jevois::dnn::PreProcessor and that implements the pure virtual functions of that base class. Then, in your module, you should hold a shared_ptr<jevois::Pipeline> which we will call itsPipeline, and in your constructor you instantiate it and add it as a sub-component of your module (see constructor of DNN for an example). Then proceed as follows in your constructor or postInit() or parameter callback:
And you are ready to rock.
Definition at line 546 of file Pipeline.C.
References LINFO.
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Definition at line 186 of file Pipeline.H.
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Definition at line 187 of file Pipeline.H.
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Definition at line 185 of file Pipeline.H.