InferenceHandle Struct

Interface for SAM2 automasking inference. More...

Declaration

struct moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle { ... }

Included Headers

#include <sam2_automasking.hpp>

Derived Structs

struct	SAM2AutomaskHandle
	Default implementation using the pooled SAM2Automask facade. More...

Public Destructor Index

	~InferenceHandle ()=default

Public Member Functions Index

tl::expected< void, std::string >	load (const std::filesystem::path &bundle_manifest, std::string_view runtime_id)=0
	Load a runtime variant from a SAM2 automask model bundle. More...
tl::expected< moveit_pro_ml::SAM2Automask::Result, std::string >	predict (const moveit_pro_ml::data::Tensor< float, moveit_pro_ml::data::format::NCHW > &image, int grid_size, float score_threshold) const =0
	Run SAM2 automasking inference on an image and return the raw mask logits. More...
void	requestTerminate () const =0
	Request termination of any in-flight predict() call. More...
void	clearTerminate () const =0
	Clear a previously-set terminate flag. More...
std::optional< moveit_pro_ml::Device >	servingDevice () const
	The device actually serving inference, if known. More...

Description

Interface for SAM2 automasking inference.

This interface allows dependency injection of different automasking implementations for testing with GoogleMock.

Definition at line 95 of file sam2_automasking.hpp.

Public Destructor

~InferenceHandle()

virtual moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle::~InferenceHandle ()

virtual default

Definition at line 97 of file sam2_automasking.hpp.

Public Member Functions

clearTerminate()

virtual void moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle::clearTerminate ()

Clear a previously-set terminate flag.

Must be called before predict() if the previous predict() was halted, otherwise the next run aborts immediately. The behavior calls this at the start of doWork() before signalling that halt is allowed via notifyCanHalt().

Definition at line 148 of file sam2_automasking.hpp.

load()

virtual tl::expected< void, std::string > moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle::load (const std::filesystem::path & bundle_manifest, std::string_view runtime_id)

Load a runtime variant from a SAM2 automask model bundle.

This method is idempotent: if a model is already loaded it returns immediately. The model therefore latches for the handle's lifetime — the arguments are read on the first call only.

That means this is not the place a changed bundle or runtime is detected. The caller compares the ports against what it latched and fails the Behavior, because swapping models mid-run would stall an Objective in an uninterruptible multi-second load while ignoring the change would keep serving masks from a bundle the tree no longer asks for.

Parameters

bundle_manifest	Path to the relocatable versioned bundle manifest.
runtime_id	Runtime variant to select from the bundle.

Returns

An error message if model initialization fails.

Definition at line 114 of file sam2_automasking.hpp.

predict()

virtual tl::expected< moveit_pro_ml::SAM2Automask::Result, std::string > moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle::predict (const moveit_pro_ml::data::Tensor< float, moveit_pro_ml::data::format::NCHW > & image, int grid_size, float score_threshold)

Run SAM2 automasking inference on an image and return the raw mask logits.

Returns the unprocessed inferred logits/masks for every grid point scoring at or above score_threshold. Post-processing (NMS, splitting connected components, upscaling to the original resolution) is performed separately by the behavior via refineAndSplit(); it does not happen inside this call.

Parameters

image	Image data in NCHW format [1, 3, H, W] (RGB float normalized to [0,1])
grid_size	Grid size for point generation (e.g., 11 = 11x11 = 121 points)
score_threshold	Minimum score to keep masks (0.0 to 1.0)

Returns

Raw inferred mask logits for all points in the grid

Definition at line 131 of file sam2_automasking.hpp.

requestTerminate()

virtual void moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle::requestTerminate ()

Request termination of any in-flight predict() call.

Thread-safe; intended to be called from the behavior's doHalt() handler while another thread is blocked inside predict(). The terminate flag is sticky; the caller is responsible for calling clearTerminate() before the next predict() so a stale flag does not abort it.

Definition at line 140 of file sam2_automasking.hpp.

servingDevice()

virtual std::optional< moveit_pro_ml::Device > moveit_pro::behaviors::GetMasks2DAutomask::InferenceHandle::servingDevice ()

inline virtual

The device actually serving inference, if known.

Defaults to unknown so test doubles need not implement it. The behavior uses this to surface an operator-facing warning when inference silently fell back to CPU.

Definition at line 155 of file sam2_automasking.hpp.

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The documentation for this struct was generated from the following file:

• sam2_automasking.hpp

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