SAM2AutomaskHandle Struct
Default implementation using the pooled SAM2Automask facade. More...
Declaration
Included Headers
Base struct
| struct | InferenceHandle |
|
Interface for SAM2 automasking inference. More... | |
Public Member Functions Index
| tl::expected< void, std::string > | load (const std::filesystem::path &bundle_manifest, std::string_view runtime_id) override |
|
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 override |
|
Run SAM2 automasking inference on an image and return the raw mask logits. More... | |
| void | requestTerminate () const override |
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Request termination of any in-flight predict() call. More... | |
| void | clearTerminate () const override |
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Clear a previously-set terminate flag. More... | |
| std::optional< moveit_pro_ml::Device > | servingDevice () const override |
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The device actually serving inference, if known. More... | |
| bool | isTerminateRequested () const |
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Whether requestTerminate() has been called since the last clearTerminate(). More... | |
Private Member Functions Index
| moveit_pro_ml::model::RunControl | runControl () const |
Private Member Attributes Index
| std::shared_ptr< moveit_pro_ml::SAM2Automask > | model |
| moveit_pro_ml::model::RunControl | control_ |
| std::mutex | control_mutex_ |
Description
Default implementation using the pooled SAM2Automask facade.
Definition at line 165 of file sam2_automasking.hpp.
Public Member Functions
clearTerminate()
| virtual |
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().
Declaration at line 176 of file sam2_automasking.hpp, definition at line 195 of file sam2_automasking.cpp.
isTerminateRequested()
|
Whether requestTerminate() has been called since the last clearTerminate().
Declaration at line 181 of file sam2_automasking.hpp, definition at line 202 of file sam2_automasking.cpp.
load()
| virtual |
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.
Declaration at line 167 of file sam2_automasking.hpp, definition at line 151 of file sam2_automasking.cpp.
predict()
| virtual |
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
Declaration at line 171 of file sam2_automasking.hpp, definition at line 172 of file sam2_automasking.cpp.
requestTerminate()
| virtual |
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.
Declaration at line 174 of file sam2_automasking.hpp, definition at line 190 of file sam2_automasking.cpp.
servingDevice()
| 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.
Declaration at line 178 of file sam2_automasking.hpp, definition at line 213 of file sam2_automasking.cpp.
Private Member Functions
runControl()
|
Declaration at line 187 of file sam2_automasking.hpp, definition at line 207 of file sam2_automasking.cpp.
Private Member Attributes
control_
| mutable |
Definition at line 190 of file sam2_automasking.hpp.
control_mutex_
| mutable |
Definition at line 191 of file sam2_automasking.hpp.
model
|
Definition at line 184 of file sam2_automasking.hpp.
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