#include <jevois/DNN/PostProcessorDetect.H>

Post-Processor for neural network pipeline.

This is the last step in a deep neural network processing Pipeline.

Definition at line 31 of file PostProcessorDetect.H.

Inheritance diagram for jevois::dnn::PostProcessorDetect:

[legend]

Collaboration diagram for jevois::dnn::PostProcessorDetect:

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Public Member Functions
virtual	~PostProcessorDetect ()
	Destructor.

void	freeze (bool doit) override
	Freeze/unfreeze parameters that users should not change while running.

void	process (std::vector< cv::Mat > const &outs, PreProcessor *preproc) override
	Process outputs and draw/send some results.

void	report (jevois::StdModule mod, jevois::RawImage outimg=nullptr, jevois::OptGUIhelper *helper=nullptr, bool overlay=true, bool idle=false) override
	Report what happened in last process() to console/output video/GUI.

std::vector< ObjDetect > const &	latestDetections () const
	Get the latest detections, use with caution, not thread-safe.

Public Member Functions inherited from jevois::dnn::PostProcessor
virtual	~PostProcessor ()
	Destructor.

Public Member Functions inherited from jevois::Component
	Component (std::string const &instance)
	Constructor.

virtual	~Component ()
	Virtual destructor for safe inheritance.

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.

template<class Comp >
void	removeSubComponent (std::shared_ptr< Comp > &component)
	Remove a sub-Component from this Component, by shared_ptr.

void	removeSubComponent (std::string const &instance, bool warnIfNotFound=true)
	Remove a sub-Component from this Component, by instance name.

template<class Comp = jevois::Component>
std::shared_ptr< Comp >	getSubComponent (std::string const &instance) const
	Get a sub-component by instance name.

bool	isTopLevel () const
	Returns true if this component is top-level, i.e., its parent is jevois::Manager.

bool	initialized () const
	Has this component been initialized yet?

std::string const &	className () const
	The class name of this component.

std::string const &	instanceName () const
	The instance name of this component.

template<typename T >
std::vector< std::string >	setParamVal (std::string const &paramdescriptor, T const &val)
	Set a parameter value.

template<typename T >
void	setParamValUnique (std::string const &paramdescriptor, T const &val)
	Set a parameter value, simple version assuming only one parameter match.

template<typename T >
std::vector< std::pair< std::string, T > >	getParamVal (std::string const &paramdescriptor) const
	Get parameter(s) value(s) by descriptor.

template<typename T >
T	getParamValUnique (std::string const &paramdescriptor) const
	Get a parameter value, simple version assuming only one parameter match.

std::vector< std::string >	setParamString (std::string const &paramdescriptor, std::string const &val)
	Set a parameter value, by string.

void	setParamStringUnique (std::string const &paramdescriptor, std::string const &val)
	Set a parameter value by string, simple version assuming only one parameter match.

std::vector< std::pair< std::string, std::string > >	getParamString (std::string const &paramdescriptor) const
	Get a parameter value, by string.

std::string	getParamStringUnique (std::string const &paramdescriptor) const
	Get a parameter value by string, simple version assuming only one parameter match.

void	freezeParam (std::string const &paramdescriptor, bool doit)
	Freeze/unfreeze a parameter, by name, see ParameterBase::freeze()

void	freezeAllParams (bool doit)
	Freeze all parameters.

std::string	descriptor () const
	Get our full descriptor (including all parents) as [Instancename]:[...]:[...].

void	setParamsFromFile (std::string const &filename)
	Set some parameters from a file.

std::istream &	setParamsFromStream (std::istream &is, std::string const &absfile)
	Set some parameters from an open stream.

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.

void	foreachParam (std::function< void(std::string const &compname, ParameterBase *p)> func, std::string const &cname="")
	Run a function on every param we hold.

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.

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.

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.

void	removeDynamicParameter (std::string const &name, bool throw_if_not_found=true)
	Remove a previously added dynamic parameter.

void	setPath (std::string const &path)
	Assign a filesystem path to this component.

std::filesystem::path	absolutePath (std::filesystem::path const &path="")
	If given path is relative (not starting with /), prepend the Component path to it.

Public Member Functions inherited from jevois::ParameterRegistry
virtual	~ParameterRegistry ()
	Virtual destructor for safe inheritance.

Protected Member Functions
void	onParamChange (postprocessor::detecttype const &param, postprocessor::DetectType const &val) override

void	onParamChange (postprocessor::classes const &param, std::string const &val) override

Protected Member Functions inherited from jevois::Component
virtual void	preInit ()
	Called before all sub-Components are init()ed.

virtual void	postInit ()
	Called after all sub-Components are init()ed.

virtual void	preUninit ()
	Called before all sub-Components are uninit()ed.

virtual void	postUninit ()
	Called after all sub-Components are uninit()ed.

Protected Member Functions inherited from jevois::ParameterRegistry
void	addParameter (ParameterBase *const param)
	The Parameter class uses this method to register itself on construction with its owning Component.

void	removeParameter (ParameterBase *const param)
	The Parameter class uses this method to un-register itself on destruction with its owning Component.

void	callbackInitCall ()
	For all parameters that have a callback which has never been called, call it with the default param value.

Protected Attributes
std::map< int, std::string >	itsLabels
	Mapping from object ID to class name.

std::vector< ObjDetect >	itsDetections

cv::Size	itsImageSize

std::shared_ptr< PostProcessorDetectYOLO >	itsYOLO

Related Symbols
(Note that these are not member symbols.)
	JEVOIS_DECLARE_PARAMETER (maxnbox, unsigned int, "Max number of top-scoring boxes to report (for YOLO flavors, " "this is the max for each scale), or 0 for no limit", 500, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (namedonly, bool, "When true, only report (on display and to serial ports) results " "for which we have a class name defined in the class file. This can allow one " "to skip some of the results by simply commenting out their name in the class file " "(make sure your class file then contains class-ID numbers for each named class).", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (dthresh, float, "Detection box threshold (in percent confidence) above which " "predictions will be reported. Not all networks use a separate box threshold, " "many only use one threshold confidence threshold (cthresh parameter). The YOLO " "family is an example that uses both box and classification confidences", 15.0F, jevois::Range< float >(0.0F, 100.0F), ParamCateg)
	Parameter.

	JEVOIS_DEFINE_ENUM_CLASS (DetectType,(FasterRCNN)(YOLO)(SSD)(TPUSSD)(RAWYOLO)(YOLOv10)(YOLOv10pp)(YOLOX)(YOLOv8)(YOLOv8t)(YOLOv8seg)(YOLOv8segt))
	Enum.

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (detecttype, DetectType, "Type of detection output format", DetectType::YOLO, DetectType_Values, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (nms, float, "Non-maximum suppression intersection-over-union threshold in percent", 45.0F, jevois::Range< float >(0.0F, 100.0F), ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (nmsperclass, bool, "When true, apply non-maximum suppression (NMS) separately for each " "object class, rather than globally. This will allow overlapping boxes as long as " "they belong to different classes", false, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK (anchors, std::string, "For YOLO-type detection models with raw outputs, " "list of anchors. Should be formatted as: w1, h1, w2, h2, ... ww1, hh1, ww2, hh2, " "... ... where individual entries for a given YOLO layer are separated by commas, " "and successive YOLO layers (from large to small, e.g., first the anchors for 52x52, " "then for 26x26, then for 13x13) are separated by semicolons. Leave empty " "for other models.", "", ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (masksmooth, bool, "When true, extract smoother instance segmentation masks, " "which may be marginally slower.", true, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (alpha, unsigned char, "Alpha channel value for drawn results", 64, ParamCateg)
	Parameter.

	JEVOIS_DECLARE_PARAMETER (sigmoid, bool, "Apply sigmoid to raw YOLO outputs, use when the last conv layers " "just before yolo/detection/region layers have linear activation (most " "YOLOv2/v3/v4 models, but not YOLOv5/v7 which have logistic activation on their " "last conv)", true, ParamCateg)
	Parameter.

Constructor & Destructor Documentation

◆ ~PostProcessorDetect()

jevois::dnn::PostProcessorDetect::~PostProcessorDetect ( )

virtual

Destructor.

Definition at line 32 of file PostProcessorDetect.C.

Member Function Documentation

◆ freeze()

void jevois::dnn::PostProcessorDetect::freeze ( bool doit )

overridevirtual

Freeze/unfreeze parameters that users should not change while running.

Implements jevois::dnn::PostProcessor.

Definition at line 36 of file PostProcessorDetect.C.

◆ latestDetections()

std::vector< jevois::ObjDetect > const & jevois::dnn::PostProcessorDetect::latestDetections ( ) const

Get the latest detections, use with caution, not thread-safe.

This returns a reference to our internal vector of detections. That vector will get overwritten every time process() is called. It is ok to use this after you have called process() on a given frame, or, if using a Pipeline, after you have called Pipeline::process(). Do not hold this ref past the end of the current video frame. If you need to keep a persistent copy of the data, make a deep copy of the vector.

Definition at line 862 of file PostProcessorDetect.C.

◆ onParamChange() [1/2]

void jevois::dnn::PostProcessorDetect::onParamChange	(	postprocessor::classes const &	param,
		std::string const &	val
	)

overrideprotected

Definition at line 47 of file PostProcessorDetect.C.

References jevois::absolutePath(), JEVOIS_SHARE_PATH, and jevois::dnn::readLabelsFile().

◆ onParamChange() [2/2]

void jevois::dnn::PostProcessorDetect::onParamChange	(	postprocessor::detecttype const &	param,
		postprocessor::DetectType const &	val
	)

overrideprotected

Definition at line 54 of file PostProcessorDetect.C.

◆ process()

void jevois::dnn::PostProcessorDetect::process	(	std::vector< cv::Mat > const &	outs,
		PreProcessor *	preproc
	)

overridevirtual

Process outputs and draw/send some results.

Implements jevois::dnn::PostProcessor.

Definition at line 67 of file PostProcessorDetect.C.

References jevois::dnn::PreProcessor::b2i(), jevois::dnn::PreProcessor::blobsize(), jevois::dnn::clamp(), jevois::dnn::effectiveDims(), jevois::dnn::getLabel(), jevois::dnn::PreProcessor::imagesize(), LFATAL, LTHROW, o, jevois::dnn::shapestr(), jevois::dnn::sigmoid(), and jevois::dnn::softmax_dfl().

◆ report()

void jevois::dnn::PostProcessorDetect::report	(	jevois::StdModule *	mod,
		jevois::RawImage *	outimg = `nullptr`,
		jevois::OptGUIhelper *	helper = `nullptr`,
		bool	overlay = `true`,
		bool	idle = `false`
	)

overridevirtual

Report what happened in last process() to console/output video/GUI.

Implements jevois::dnn::PostProcessor.

Definition at line 813 of file PostProcessorDetect.C.

References jevois::GUIhelper::drawPoly(), jevois::GUIhelper::drawRect(), jevois::rawimage::drawRect(), jevois::GUIhelper::drawText(), jevois::rawimage::Font10x20, LERROR, jevois::yuyv::LightGreen, o, jevois::StdModule::sendSerialObjDetImg2D(), jevois::sformat(), jevois::dnn::stringToRGBA(), and jevois::rawimage::writeText().

Friends And Related Symbol Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/8]

JEVOIS_DECLARE_PARAMETER	(	alpha	,
		unsigned char	,
		"Alpha channel value for drawn results"	,
		64	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [2/8]

JEVOIS_DECLARE_PARAMETER	(	dthresh	,
		float	,
		"Detection box threshold (in percent confidence) above which " "predictions will be reported. Not all networks use a separate box	threshold,
		" "many only use one threshold confidence threshold(cthresh parameter). The YOLO " "family is an example that uses both box and classification confidences"	,
		15.	0F,
		jevois::Range< float >	0.0F, 100.0F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [3/8]

JEVOIS_DECLARE_PARAMETER	(	masksmooth	,
		bool	,
		"When	true,
		extract smoother instance segmentation	masks,
		" "which may be marginally slower."	,
		true	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [4/8]

JEVOIS_DECLARE_PARAMETER	(	maxnbox	,
		unsigned int	,
		"Max number of top-scoring boxes to report	for YOLO flavors, " "this is the max for each scale,
		or 0 for no limit"	,
		500	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [5/8]

JEVOIS_DECLARE_PARAMETER	(	namedonly	,
		bool	,
		"When	true,
		only report(on display and to serial ports) results " "for which we have a class name defined in the class file. This can allow one " "to skip some of the results by simply commenting out their name in the class file " "(make sure your class file then contains class-ID numbers for each named class)."	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [6/8]

JEVOIS_DECLARE_PARAMETER	(	nms	,
		float	,
		"Non-maximum suppression intersection-over-union threshold in percent"	,
		45.	0F,
		jevois::Range< float >	0.0F, 100.0F,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [7/8]

JEVOIS_DECLARE_PARAMETER	(	nmsperclass	,
		bool	,
		"When	true,
		apply non-maximum suppression(NMS) separately for each " "object	class,
		rather than globally. This will allow overlapping boxes as long as " "they belong to different classes"	,
		false	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER() [8/8]

JEVOIS_DECLARE_PARAMETER	(	sigmoid	,
		bool	,
		"Apply sigmoid to raw YOLO	outputs,
		use when the last conv layers " "just before yolo/detection/region layers have linear activation(most " "YOLOv2/v3/v4 models, but not YOLOv5/v7 which have logistic activation on their " "last conv)"	,
		true	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/2]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	anchors	,
		std::string	,
		"For YOLO-type detection models with raw	outputs,
		" "list of anchors. Should be formatted as:w1	,
		h1	,
		w2	,
		h2	,
			ww1,
		hh1	,
		ww2	,
		hh2	,
		" "... ... where individual entries for a given YOLO layer are separated by	commas,
		" "and successive YOLO layers(from large to small, e.g., first the anchors for 52x52, " "then for 26x26, then for 13x13) are separated by semicolons. Leave empty " "for other models."	,
		""	,
		ParamCateg
	)

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/2]

JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK	(	detecttype	,
		DetectType	,
		"Type of detection output format"	,
		DetectType::YOLO	,
		DetectType_Values	,
		ParamCateg
	)

◆ JEVOIS_DEFINE_ENUM_CLASS()

JEVOIS_DEFINE_ENUM_CLASS	(	DetectType	,
		(FasterRCNN)(YOLO)(SSD)(TPUSSD)(RAWYOLO)(YOLOv10)(YOLOv10pp)(YOLOX)(YOLOv8)(YOLOv8t)(YOLOv8seg)(YOLOv8segt)
	)

Member Data Documentation

◆ itsDetections

std::vector<ObjDetect> jevois::dnn::PostProcessorDetect::itsDetections

protected

Definition at line 68 of file PostProcessorDetect.H.

◆ itsImageSize

cv::Size jevois::dnn::PostProcessorDetect::itsImageSize

protected

Definition at line 69 of file PostProcessorDetect.H.

◆ itsLabels

std::map<int, std::string> jevois::dnn::PostProcessorDetect::itsLabels

protected

Mapping from object ID to class name.

Definition at line 67 of file PostProcessorDetect.H.

◆ itsYOLO

std::shared_ptr<PostProcessorDetectYOLO> jevois::dnn::PostProcessorDetect::itsYOLO

protected

Definition at line 70 of file PostProcessorDetect.H.

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

include/jevois/DNN/PostProcessorDetect.H
include/jevois/DNN/PostProcessor.H
src/jevois/DNN/PostProcessorDetect.C

Public Member Functions

Protected Member Functions

Protected Attributes

Related Symbols

Constructor & Destructor Documentation

◆ ~PostProcessorDetect()

Member Function Documentation

◆ freeze()

◆ latestDetections()

◆ onParamChange() [1/2]

◆ onParamChange() [2/2]

◆ process()

◆ report()

Friends And Related Symbol Documentation

◆ JEVOIS_DECLARE_PARAMETER() [1/8]

◆ JEVOIS_DECLARE_PARAMETER() [2/8]

◆ JEVOIS_DECLARE_PARAMETER() [3/8]

◆ JEVOIS_DECLARE_PARAMETER() [4/8]

◆ JEVOIS_DECLARE_PARAMETER() [5/8]

◆ JEVOIS_DECLARE_PARAMETER() [6/8]

◆ JEVOIS_DECLARE_PARAMETER() [7/8]

◆ JEVOIS_DECLARE_PARAMETER() [8/8]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [1/2]

◆ JEVOIS_DECLARE_PARAMETER_WITH_CALLBACK() [2/2]

◆ JEVOIS_DEFINE_ENUM_CLASS()

Member Data Documentation

◆ itsDetections

◆ itsImageSize

◆ itsLabels

◆ itsYOLO