#include <jevois/DNN/Pipeline.H>

Neural processing pipeline.

A neural processing pipeline in JeVois consists of:

pre-processing an input image to extract one or more blobs used as input tensors to a deep neural network
processing the input blobs through a deep network to obtain output blobs
post-processing the output blobs to display results and send serial messages

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.

Inheritance diagram for jevois::dnn::Pipeline:

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Collaboration diagram for jevois::dnn::Pipeline:

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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)

Public Member Functions inherited from jevois::Component
	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 &paramdescriptor, T const &val)
	Set a parameter value. More...

template<typename T >
void	setParamValUnique (std::string const &paramdescriptor, 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 &paramdescriptor) const
	Get parameter(s) value(s) by descriptor. More...

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

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

void	setParamStringUnique (std::string const &paramdescriptor, 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 &paramdescriptor) const
	Get a parameter value, by string. More...

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

void	freezeParam (std::string const &paramdescriptor)
	Freeze a parameter, by name, see ParameterBase::freeze() More...

void	unFreezeParam (std::string const &paramdescriptor)
	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...

Public Member Functions inherited from jevois::ParameterRegistry
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)

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

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

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. 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

Constructor & Destructor Documentation

◆ Pipeline()

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.

◆ ~Pipeline()

jevois::dnn::Pipeline::~Pipeline ( )

virtual

Destructor.

Definition at line 154 of file Pipeline.C.

Member Function Documentation

◆ freeze()

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.

◆ postInit()

void jevois::dnn::Pipeline::postInit ( )

overrideprotectedvirtual

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

Reimplemented from jevois::Component.

Definition at line 140 of file Pipeline.C.

◆ preUninit()

void jevois::dnn::Pipeline::preUninit ( )

overrideprotectedvirtual

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

Reimplemented from jevois::Component.

Definition at line 147 of file Pipeline.C.

◆ process()

void jevois::dnn::Pipeline::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.

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().

◆ ready()

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.

◆ reloadZoo()

void jevois::dnn::Pipeline::reloadZoo	(	std::string const &	root,
		std::string const &	filt,
		std::string const &	zoofile
	)

protected

◆ setCustomNetwork()

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.

◆ setCustomPostProcessor()

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.

◆ setCustomPreProcessor()

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:

// Create an instance of our custom pre-processor and attach it as a sub-component of our pipeline
auto sptr = itsPipeline->addSubComponent<MyCustomPreProc>("preproc");
itsPipeline->setCustomPreProcessor(std::static_pointer_cast<jevois::dnn::PreProcessor>(sptr));

And you are ready to rock.

Definition at line 546 of file Pipeline.C.

References LINFO.

Member Data Documentation

◆ itsNetwork

std::shared_ptr<Network> jevois::dnn::Pipeline::itsNetwork

protected

Definition at line 186 of file Pipeline.H.

◆ itsPostProcessor

std::shared_ptr<PostProcessor> jevois::dnn::Pipeline::itsPostProcessor

protected

Definition at line 187 of file Pipeline.H.

◆ itsPreProcessor

std::shared_ptr<PreProcessor> jevois::dnn::Pipeline::itsPreProcessor

protected

Definition at line 185 of file Pipeline.H.

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

include/jevois/DNN/Pipeline.H
src/jevois/DNN/Pipeline.C

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ Pipeline()

◆ ~Pipeline()

Member Function Documentation

◆ freeze()

◆ postInit()

◆ preUninit()

◆ process()

◆ ready()

◆ reloadZoo()

◆ setCustomNetwork()

◆ setCustomPostProcessor()

◆ setCustomPreProcessor()

Member Data Documentation

◆ itsNetwork

◆ itsPostProcessor

◆ itsPreProcessor