Segmentation pipeline class that maintains YOLO and SAM models state. This prevents initializing heavy models iteratively on every frame. More...

#include <sam_seg_module.h>

Classes
struct	Impl

Public Member Functions
void	initialize (tue::Configuration &config)
	Initialize the YOLO and SAM models from configuration. More...

SegmentationResult	process (const cv::Mat &img, const cv::Mat &depth_image=cv::Mat(), const std::string &ignore_label="", bool verbose=false)
	Process the input image and generate segmentation masks. More...

	SamSegPipeline ()

	~SamSegPipeline ()

Private Attributes
std::atomic< bool >	is_initialized_

std::unique_ptr< Impl >	pimpl_

Detailed Description

Segmentation pipeline class that maintains YOLO and SAM models state. This prevents initializing heavy models iteratively on every frame.

Definition at line 47 of file sam_seg_module.h.

Constructor & Destructor Documentation

◆ SamSegPipeline()

SamSegPipeline::SamSegPipeline ( )

Definition at line 27 of file sam_seg_module.cpp.

◆ ~SamSegPipeline()

SamSegPipeline::~SamSegPipeline ( )

default

Member Function Documentation

◆ initialize()

void SamSegPipeline::initialize ( tue::Configuration & config )

Initialize the YOLO and SAM models from configuration.

Parameters

config Configuration containing model paths.

Definition at line 31 of file sam_seg_module.cpp.

◆ process()

SegmentationResult SamSegPipeline::process	(	const cv::Mat &	img,
		const cv::Mat &	depth_image = `cv::Mat()`,
		const std::string &	ignore_label = `""`,
		bool	verbose = `false`
	)

Process the input image and generate segmentation masks.

Parameters

img	The input RGB image to segment.
depth_image	Optionally, the filtered depth image to ignore bounding boxes outside our point cloud frustum.
ignore_label	Optionally, a specific YOLO label to skip inferring SAM on.
verbose	If true, measure and populate latency timings.

Returns: SegmentationResult The generated masks, bounding boxes, labels, and confidences.

Definition at line 71 of file sam_seg_module.cpp.

Member Data Documentation

◆ is_initialized_

std::atomic<bool> SamSegPipeline::is_initialized_

private

Definition at line 72 of file sam_seg_module.h.

◆ pimpl_

std::unique_ptr<Impl> SamSegPipeline::pimpl_

private

Definition at line 70 of file sam_seg_module.h.

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

Classes

Public Member Functions

Private Attributes