jevois Namespace Reference

Main namespace for all JeVois classes and functions.

See Topics for more details.

Namespaces
namespace	coords
	Namespace for helper functions to convert coordinates from camera resolution to standardized.
namespace	details
	Details that do not affect users of JeVois code.
namespace	dnn
	Deep neural networks.
namespace	font
	Fonts available for drawing text strings into RawImage.
namespace	python
	Python-related helpers and functions.
namespace	rawimage
	Functions for RawImage conversion, processing, drawing.
namespace	rgb565
	Helper RGB565 colors.
namespace	shader
	OpenGL shaders for video rendering.
namespace	yuyv
	Helper YUYV colors.

Classes
class	BoundedBuffer
	Thread-safe synchronized producer/consumer queue. More...
class	Camera
	JeVois camera driver class - grabs frames from a Video4Linux camera sensor. More...
class	CameraCalibration
	Helper class for camera calibration, which allows some modules to compute 3D locations of objects. More...
class	CameraDevice
	Accessory class to hold all the data associated with a V4L2 camera device. More...
class	ChatBox
	A simple helper class for a chat box rendered in ImGui. More...
class	Component
	A component of a model hierarchy. More...
struct	DMPdata
	DMP data (Digital Motion Processor) More...
class	DynamicLoader
	Class to open shared object (.so) files and load functions contained in them. More...
class	DynamicParameter
	Dynamic parameter added to a component at runtime. More...
struct	EditorItem
	Helper class to represent a GUIeditor file in a pull-down menu. More...
class	Engine
	JeVois processing engine - gets images from camera sensor, processes them, and sends results over USB. More...
class	Gadget
	JeVois gadget driver - exposes a uvcvideo interface to host computer connected over USB. More...
class	GPUimage
	Class to hold a GPUtexture, GPUprogram, and other data associated with rendering an image in OpenGL. More...
class	GPUprogram
	Simple class to load and compile some OpenGL-ES program. More...
class	GPUshader
	Simple class to load and compile some OpenGL-ES shader code. More...
class	GPUtexture
	Simple class to hold an OpenGL texture. More...
class	GPUtextureDmaBuf
	Simple class to hold an OpenGL texture with in-GPU pixel format conversion and DMABUF acceleration. More...
class	GUIconsole
	Simple console with coloring and completion. More...
class	GUIeditor
	Editor panel for JeVois-Pro GUI. More...
class	GUIhelper
	Helper class to assist modules in creating graphical and GUI elements. More...
class	GUIhelperPython
	Wrapper around GUIhelper to be used by Python. More...
class	GUIserial
	Simple class to monitor a serial port in the JeVois-Pro GUI. More...
class	ICM20948
	TDK InvenSense ICM-20948 9DOF IMU high-level driver. More...
class	ImGuiBackend
	Backend for ImGui on JeVois-Pro. More...
class	ImGuiBackendMALI
	BackendMALI for ImGui on JeVois-Pro. More...
class	ImGuiImage
	Wrapper for an image that can be rendered into ImGui. More...
class	IMU
	Abstract interface to an ICM20948 inertial measurement unit (IMU) More...
struct	IMUdata
	IMU data. More...
class	IMUi2c
	IMU with I2C interface shared with camera sensor, such as ICM20948 on JeVois-A33 AR0135 camera sensor board. More...
struct	IMUrawData
	Raw IMU data. More...
class	IMUspi
	IMU with SPI interface, such as the ICM20948 IMU on the JeVois-Pro IMX290 camera sensor board. More...
class	InputFrame
	Exception-safe wrapper around a raw camera input frame. More...
class	InputFramePython
	Wrapper around InputFrame to be used by Python. More...
class	JpegCompressor
	Simple singleton wrapper over a turbojpeg compressor. More...
class	Log
	Logger class. More...
class	Manager
	Manager of a hierarchy of Component objects. More...
class	Module
	Virtual base class for a vision processing module. More...
class	MovieInput
	Movie input, can be used as a replacement for Camera to debug algorithms using a fixed video sequence. More...
class	MovieOutput
	Video output to a movie file, using OpenCV video encoding. More...
struct	ObjDetect
	A trivial struct to store object detection results, for standard (straight up) bounding boxes. More...
struct	ObjDetectOBB
	A trivial struct to store object detection results, for oriented bounding boxes (OBB) More...
struct	ObjReco
	A trivial struct to store object recognition results. More...
class	OutputFrame
	Exception-safe wrapper around a raw image to be sent over USB. More...
class	OutputFramePython
	Wrapper around OutputFrame to be used by Python. More...
class	ParallelForAPIjevois
	A parallel API to make OpenCV use our thread pool. More...
class	Parameter< Param, Tail ... >
	A set of Parameters attached to a component. More...
class	ParameterBase
	Base class for Parameter. More...
struct	ParameterCategory
	A category to which multiple ParameterDef definitions can belong. More...
class	ParameterCore
	A changeable parameter for a Component, core class. More...
class	ParameterDef
	A Parameter Definition. More...
class	ParameterDefBase
	Base class for a Parameter definition. More...
class	ParameterRegistry
	A simple registry of all parameters associated with a Component. More...
class	ParameterSummary
	ParameterSummary provides a summary about a parameter. More...
struct	PoseSkeleton
	A simple skeleton class for pose detection deep neural networks. More...
struct	PoseSkeletonDefinition
	An enum for different kinds of skeletons. More...
class	Profiler
	Simple profiler class. More...
class	PythonModule
	Wrapper module to allow users to develop new modules written in Python. More...
class	PythonParameter
	Wrapper for jevois Parameter in python. More...
class	PythonWrapper
	Helper class to run python code from C++. More...
class	Range
	A generic range class. More...
class	RawImage
	A raw image as coming from a V4L2 Camera and/or being sent out to a USB Gadget. More...
class	Semaphore
	A simple semaphore. More...
class	Serial
	Interface to a serial port. More...
class	Singleton
	A generic singleton class to enforce a single instance of an object. More...
class	StdioInterface
	String-based user interface, simple terminal input/output to use on host. More...
class	StdModule
	Base class for a module that supports standardized serial messages. More...
class	StepRange
	A generic range class with a step. More...
class	ThreadPool
	A thread pool with CPU affinity. More...
class	Timer
	Simple timer class. More...
class	TimerOne
	Simple one-shot timer class. More...
class	UserInterface
	Abstract base class for a string-based user interface. More...
class	ValidValuesSpecBase
	Base class for specifying a set of valid values for a type. More...
class	ValidValuesSpecList
	Finite list valid values spec, everything listed at construction is valid, anything else is not. More...
class	ValidValuesSpecNone
	Open/None valid values spec, anything that T can take is valid. More...
class	ValidValuesSpecRange
	Range-based valid values spec, bounds are included. More...
class	ValidValuesSpecRegex
	Regex-based valid values spec, everything that is a match to the regex is considered valid. More...
class	ValidValuesSpecStepRange
	StepRange-based valid values spec, bounds are included. More...
class	VideoBuf
	A V4L2 video buffer, to be held in a shared_ptr. More...
class	VideoBuffers
	Collection of buffers for V4L2 video frames (Camera or Gadget) with hooks to the MMAP'd areas. More...
class	VideoDisplay
	Video output to local screen. More...
class	VideoDisplayBackend
	Backend for VideoDisplay on JeVois-Pro. More...
class	VideoDisplayBackendMALI
	Backend for VideoDisplay on JeVois-Pro host using MALI. More...
class	VideoDisplayGL
	Video output to local screen. More...
class	VideoDisplayGUI
	Video output to local screen with basic GUI. More...
class	VideoInput
	Base class for video input, which will get derived into Camera and MovieInput. More...
struct	VideoMapping
	Simple struct to hold video mapping definitions for the processing Engine. More...
class	VideoOutput
	Base class for video output. Gadget, MovieOutput, VideoDisplay, and VideoOutputNone derive from it. More...
class	VideoOutputNone
	No-op VideoOutput derivative for when there is no video output. More...
class	Watchdog
	Simple watchdog class. More...

Typedefs
using	OptGUIhelper = GUIhelper

Enumerations
enum class	EditorSaveAction
	Helper enum for actions to execute after saving a config file. More...
enum class	BlockingBehavior { BlockingBehavior::Block , BlockingBehavior::Throw }
	Behavior when attemting an operation that cannot be completed immediately. More...

Functions
template<typename T >
void	paramValToString (T const &val, std::string &result)
	Machine-readable conversion of T to a string, for use in jevois::Parameter.
template<>
void	paramValToString< unsigned char > (unsigned char const &val, std::string &result)
	Machine-readable conversion of T to a string, specialization to convert unsigned char to number, not character.
template<typename T >
void	paramStringToVal (std::string const &valstring, T &result)
	Machine-readable conversion from string to T, for use in jevois::Parameter.
template<typename Q >
void	paramValToString (std::vector< Q > const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs [Element1, Element2, ...].
template<typename Q >
void	paramStringToVal (std::string const &valstring, std::vector< Q > &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads [Element1, Element2, ...].
template<typename F , typename S >
void	paramValToString (std::pair< F, S > const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs first second.
template<typename F , typename S >
void	paramStringToVal (std::string const &valstring, std::pair< F, S > &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads first second.
template<typename T >
void	paramValToString (cv::Point_< T > const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs x y.
template<typename T >
void	paramStringToVal (std::string const &valstring, cv::Point_< T > &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads x y.
template<typename T >
void	paramValToString (cv::Size_< T > const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs width height.
template<typename T >
void	paramStringToVal (std::string const &valstring, cv::Size_< T > &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads width height.
template<typename T >
void	paramValToString (cv::Scalar_< T > const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs r g b a.
template<typename T >
void	paramStringToVal (std::string const &valstring, cv::Scalar_< T > &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads r g b a or subsets.
template<>
void	paramValToString< ImColor > (ImColor const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs R G B A, each 0..255.
template<>
void	paramStringToVal< ImColor > (std::string const &valstring, ImColor &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads R G B A, each 0..255.
template<typename K , typename V >
void	paramValToString (std::map< K, V > const &val, std::string &result)
	Machine-readable output to a string, for use in jevois::Parameter: outputs [Key1:Value1, Key2:Value2, ...].
template<typename K , typename V >
void	paramStringToVal (std::string const &valstring, std::map< K, V > &result)
	Machine-readable input from a string, for use in jevois::Parameter: reads [Key1:Value1, Key2:Value2, ...].
template<>
void	paramValToString< bool > (bool const &val, std::string &result)
	Machine-readable conversion of bool to a string, for use in jevois::Parameter.
template<>
void	paramStringToVal< bool > (std::string const &valstring, bool &result)
	Machine-readable conversion from string to bool, for use in jevois::Parameter.
template<>
void	paramValToString< std::string > (std::string const &val, std::string &result)
	Machine-readable conversion of string to a string, for use in jevois::Parameter.
template<>
void	paramStringToVal< std::string > (std::string const &valstring, std::string &result)
	Machine-readable conversion from string to string, for use in jevois::Parameter.
	JEVOIS_DEFINE_ENUM_CLASS (CameraSensor,(any)(imx290)(os08a10)(ar0234))
	Enum for different sensor models.
	JEVOIS_DEFINE_ENUM_CLASS (CameraLens,(standard)(custom1)(custom2)(custom3)(custom4)(custom5))
bool	sensorSupportsFormat (CameraSensor s, VideoMapping const &m)
	Check whether a given resolution and frame rate is supported by a sensor.
bool	sensorHasIMU (CameraSensor s)
	Check whether sensor has an IMU (inertial measurement unit)
void	sensorPrepareSetFormat (CameraSensor s, VideoMapping const &m, unsigned int &capw, unsigned int &caph, int &preset)
	Load a sensor preset (JeVois-Pro only) and return native sensor grab dims (when cropping and/or scaling)
size_t	DMPpacketSize (unsigned short ctl1, unsigned short ctl2)
	Helper function to determine DMP packet size depending on options.
void	warnAndRethrowException (std::string const &prefix="")
	Convenience function to catch an exception, issue some LERROR (depending on type), and rethrow it.
std::string	warnAndIgnoreException (std::string const &prefix="")
	Convenience function to catch an exception, issue some LERROR (depending on type), and ignore it.
void	warnAndRethrowParamCallbackException (std::string const &descriptor, std::string const &strval)
	Convenience function for parameter callback exceptions.
void	drawErrorImage (std::string const &errmsg, RawImage &videoerrimg)
	Display an error message into a RawImage.
void	logSetEngine (Engine *e)
	Set an Engine so that all log messages will be forwarded to its serial ports.
void	logEnd ()
	Terminate log service.
std::string	getPythonExceptionString (boost::python::error_already_set &)
	Python exception translation to string so we can print the traceback to our serlog stream.
std::string	getSysInfoCPU ()
	Get CPU info: frequency, thermal, load.
std::string	getSysInfoMem ()
	Get memory info.
std::string	getSysInfoVersion ()
	Get O.S. version info.
size_t	getNumInstalledTPUs ()
	Get the number of Coral TPUs present on this system.
size_t	getNumInstalledVPUs ()
	Get the number of Myriad-X VPUs present on this system.
size_t	getNumInstalledNPUs ()
	Get the number of JeVois-Pro NPUs present on this system.
size_t	getNumInstalledSPUs ()
	Get the number of Hailo8 SPUs present on this system.
int	getFanSpeed ()
	Get fan speed in percent, only meaningful on JeVois-Pro Platform, all others return 0.
std::string	opengl_error (int err)
	Function to write OpenGL errors in clear witout requiring GLUT.
void	convertYUYVtoYUV422 (unsigned char const *src, int width, int height, unsigned char *dst)
	Helper to convert from packed YUYV to planar YUV422.
unsigned long	compressBGRtoJpeg (unsigned char const *src, int width, int height, unsigned char *dst, int quality=75)
	Compress raw pixel buffer to jpeg.
void	compressBGRtoJpeg (cv::Mat const &src, RawImage &dst, int quality=75)
	Compress a BGR cv::Mat into an output JPEG jevois::RawImage.
unsigned long	compressRGBtoJpeg (unsigned char const *src, int width, int height, unsigned char *dst, int quality=75)
	Compress raw pixel buffer to jpeg.
void	compressRGBtoJpeg (cv::Mat const &src, RawImage &dst, int quality=75)
	Compress a RGB cv::Mat into an output JPEG jevois::RawImage.
unsigned long	compressRGBAtoJpeg (unsigned char const *src, int width, int height, unsigned char *dst, int quality=75)
	Compress raw pixel buffer to jpeg.
void	compressRGBAtoJpeg (cv::Mat const &src, RawImage &dst, int quality=75)
	Compress an RGBA cv::Mat into an output JPEG jevois::RawImage.
unsigned long	compressGRAYtoJpeg (unsigned char const *src, int width, int height, unsigned char *dst, int quality=75)
	Compress raw pixel buffer to jpeg.
void	compressGRAYtoJpeg (cv::Mat const &src, RawImage &dst, int quality=75)
	Compress a Gray cv::Mat into an output JPEG jevois::RawImage.
cv::Mat	rescaleCv (cv::Mat const &img, cv::Size const &newdims)
	Rescale an OpenCV image, choosing the right kind of interpolation.
template<class Function , class... Args>
std::future< std::invoke_result_t< std::decay_t< Function >, std::decay_t< Args >... > >	async (Function &&f, Args &&... args)
	Async execution using a thread pool.
template<class Function , class... Args>
std::future< std::invoke_result_t< std::decay_t< Function >, std::decay_t< Args >... > >	async_little (Function &&f, Args &&... args)
	Async execution using a thread pool.
template<typename T >
std::vector< T >	joinall (std::vector< std::future< T > > &fvec, bool multiline=true)
	Collect results from several async threads that are all returning a T result.
void	joinall (std::vector< std::future< void > > &fvec, bool multiline=true)
	Collect results from several async threads that are all returning a T result.
bool	isInputDevice (int fd)
	Indicate whether this fd (which should be from /dev/input/eventX) is keyboard, mouse, etc.
int	getConsoleFd ()
	Get a file descriptor to the console.
int	getActiveTTY ()
	Get current active tty.
void	muteKeyboard (int tty, int &kb_mode)
	Prevent keystrokes from reaching the tty.
void	unMuteKeyboard (int tty, int kb_mode)
	Restore the keyboard mode for given tty.
std::string	demangle (std::string const &mangledName)
	Demangle a mangled name.
std::string	demangle (char const *mangledName)
	Demangle a mangled name.
template<typename T >
std::string	demangledName ()
	Get the demangled type name of type T.
template<>
std::string	demangledName< std::string > ()
	Specialization for std::string to avoid getting an ugly name.
std::string	fccstr (unsigned int fcc)
	Convert a V4L2 four-cc code (V4L2_PIX_FMT_...) to a 4-char string.
std::string	cvtypestr (unsigned int cvtype)
	Convert cv::Mat::type() code to to a string (e.g., CV_8UC1, CV_32SC3, etc)
unsigned int	cvBytesPerPix (unsigned int cvtype)
	Return the number of bytes per pixel for a given OpenCV pixel type.
unsigned int	strfcc (std::string const &str)
	Convert a JeVois video format string to V4L2 four-cc code (V4L2_PIX_FMT_...)
unsigned int	v4l2BytesPerPix (unsigned int fcc)
	Return the number of bytes per pixel for a given V4L2_PIX_FMT_...
unsigned int	v4l2ImageSize (unsigned int fcc, unsigned int width, unsigned int height)
	Return the image size in bytes for a given V4L2_PIX_FMT_..., width, height.
unsigned int	blackColor (unsigned int fcc)
	Return a value that corresponds to black for the given video format.
unsigned int	whiteColor (unsigned int fcc)
	Return a value that corresponds to white for the given video format.
void	applyLetterBox (unsigned int &imw, unsigned int &imh, unsigned int const winw, unsigned int const winh, bool noalias)
	Apply a letterbox resizing to fit an image into a window.
std::vector< std::string >	split (std::string const &input, std::string const &regex="\\s+")
	Split string into vector of tokens using a regex to specify what to split on; default regex splits by whitespace.
template<typename T >
std::string	join (std::vector< T > const &tokens, std::string const &delimiter)
	Concatenate a vector of tokens into a string.
template<>
std::string	join< std::string > (std::vector< std::string > const &tokens, std::string const &delimiter)
	Concatenate a vector of string tokens into a string.
bool	stringStartsWith (std::string const &str, std::string const &prefix)
	Return true if str starts with prefix (including if both strings are equal)
std::string	replaceWhitespace (std::string const &str, char rep='_')
	Replace white space characters in a string with underscore (default) or another character.
std::string	strip (std::string const &str)
	Strip white space (including CR, LF, tabs, etc) from the end of a string.
std::string	extractString (std::string const &str, std::string const &startsep, std::string const &endsep)
	Extract a portion of a string between two delimiters.
size_t	replaceStringFirst (std::string &str, std::string const &from, std::string const &to)
	Replace first instance of 'from' with 'to'.
size_t	replaceStringAll (std::string &str, std::string const &from, std::string const &to)
	Replace all instances of 'from' with 'to'.
std::string	replaceAll (std::string const &str, std::string const &from, std::string const &to)
	Replace all instances of 'from' with 'to'.
std::string	tolower (std::string const &str)
	Convert string to lowercase.
std::filesystem::path	absolutePath (std::filesystem::path const &root, std::filesystem::path const &path)
	Compute an absolute path from two paths.
std::string	sformat (char const *fmt,...) __attribute__((format(__printf__
	Create a string using printf style arguments.
template<typename T >
std::string T	from_string (std::string const &str)
	Convert from string to a type.
template<typename T >
std::string	to_string (T const &val)
	Convert from type to string.
template<typename dest_type , typename source_type >
dest_type	clamped_convert (source_type source)
	Clamped numerical conversion.
void	flushcache ()
	Flush the caches, may sometimes be useful when running the camera in turbo mode.
std::string	system (std::string const &cmd, bool errtoo=true)
	Execute a command and grab stdout output to a string.
std::string	secs2str (double secs)
	Report a duration given in seconds with variable units (ns, us, ms, or s), with precision of 2 decimal points.
std::string	secs2str (std::vector< double > secs)
	Report avg+/-std duration given in seconds with variable units (ns, us, ms, or s), with 1 decimal point.
void	secs2str (std::ostringstream &ss, double secs)
	Report a duration given in seconds with variable units (ns, us, ms, or s)
std::string	num2str (double n)
	Report a number with variable multipliers (K, M, G, T, P, E, Z, Y), with precision of 2 decimal points.
void	num2str (std::ostringstream &ss, double n)
	Report a number with variable multipliers (K, M, G, T, P, E, Z, Y)
std::string	getFileString (char const *fname, int skip=0)
	Read one line from a file and return it as a string.

Variables
int	logLevel = LOG_INFO
	Current log level.
int	traceLevel = 0
	Current trace level.

Typedef Documentation

OptGUIhelper

using jevois::OptGUIhelper = typedef GUIhelper

Definition at line 25 of file GUIhelper.H.

Enumeration Type Documentation

EditorSaveAction

enum class EditorSaveAction

related

Helper enum for actions to execute after saving a config file.

Definition at line 34 of file GUIeditor.H.

Function Documentation

drawErrorImage()

void jevois::drawErrorImage	(	std::string const &	errmsg,
		jevois::RawImage &	videoerrimg
	)

Display an error message into a RawImage.

The error message should consist of a string where multiple lines may be separated by \n characters, such as the string returned by warnAndIgnoreException(). The message will be written in the image, which should be valid(). This is useful to display module exceptions in the video stream that is sent over USB.

Definition at line 300 of file Log.C.

References jevois::RawImage::clear(), jevois::rawimage::drawDisk(), jevois::rawimage::drawLine(), jevois::RawImage::fmt, jevois::rawimage::Font10x20, jevois::rawimage::Font14x26, jevois::rawimage::Font6x10, jevois::rawimage::Font7x13, jevois::RawImage::height, LERROR, split(), jevois::RawImage::valid(), whiteColor(), jevois::RawImage::width, and jevois::rawimage::writeText().

getFanSpeed()

int jevois::getFanSpeed

(

)

Get fan speed in percent, only meaningful on JeVois-Pro Platform, all others return 0.

Definition at line 153 of file SysInfo.C.

References getFileString().

Referenced by jevois::GUIhelper::drawSystem().

getNumInstalledNPUs()

size_t jevois::getNumInstalledNPUs

(

)

Get the number of JeVois-Pro NPUs present on this system.

Definition at line 127 of file SysInfo.C.

Referenced by jevois::GUIhelper::drawSystem(), and jevois::dnn::Pipeline::Pipeline().

getNumInstalledSPUs()

size_t jevois::getNumInstalledSPUs

(

)

Get the number of Hailo8 SPUs present on this system.

Definition at line 138 of file SysInfo.C.

References getFileString().

Referenced by jevois::GUIhelper::drawSystem(), and jevois::dnn::Pipeline::Pipeline().

getNumInstalledTPUs()

size_t jevois::getNumInstalledTPUs

(

)

Get the number of Coral TPUs present on this system.

Definition at line 87 of file SysInfo.C.

References getFileString(), and system().

Referenced by jevois::GUIhelper::drawSystem(), and jevois::dnn::Pipeline::Pipeline().

getNumInstalledVPUs()

size_t jevois::getNumInstalledVPUs

(

)

Get the number of Myriad-X VPUs present on this system.

Definition at line 112 of file SysInfo.C.

References system().

Referenced by jevois::GUIhelper::drawSystem(), and jevois::dnn::Pipeline::Pipeline().

logEnd()

void jevois::logEnd

(

)

Terminate log service.

You must call this once you a ready to end a program, to stop the logger thread. Otherwise the ThreadPool will be stuck with one running thread and will never exit.

Definition at line 145 of file Log.C.

References logSetEngine().

Referenced by main(), and main().

opengl_error()

std::string jevois::opengl_error ( int  err )

inline

Function to write OpenGL errors in clear witout requiring GLUT.

Definition at line 60 of file OpenGL.H.