moveit_pro::behaviors::GetMasks2DFromTextQueryInterface Class Reference

#include <clipseg_segmentation.hpp>

Public Member Functions
	GetMasks2DFromTextQueryInterface ()=default
virtual	~GetMasks2DFromTextQueryInterface ()=default
virtual void	init (const std::filesystem::path &encoder_onnx_file, const std::filesystem::path &decoder_onnx_file)
virtual const moveit_pro_ml::ONNXImage &	predict_mask (const moveit_pro_ml::ONNXImage &image, const std::vector< std::string > &prompts) const
virtual bool	isUsingCpuFallback () const
	Returns true if either the CLIP or CLIPSeg model fell back to CPU execution.
virtual void	requestTerminate () const
	Request termination of any in-flight predict_mask() call.
virtual void	clearTerminate () const
	Clear a previously-set terminate flag.
bool	isInitialized () const noexcept
	Returns true once init() has successfully constructed the underlying model.

Constructor & Destructor Documentation

GetMasks2DFromTextQueryInterface()

moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::GetMasks2DFromTextQueryInterface ( )

default

~GetMasks2DFromTextQueryInterface()

virtual moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::~GetMasks2DFromTextQueryInterface ( )

virtualdefault

Member Function Documentation

clearTerminate()

void moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::clearTerminate ( ) const

virtual

Clear a previously-set terminate flag.

Must be called before predict_mask() if the previous predict_mask() 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().

init()

void moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::init ( const std::filesystem::path &  encoder_onnx_file, const std::filesystem::path &  decoder_onnx_file  )

virtual

isInitialized()

bool moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::isInitialized ( ) const

inlinenoexcept

Returns true once init() has successfully constructed the underlying model.

isUsingCpuFallback()

virtual bool moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::isUsingCpuFallback ( ) const

inlinevirtual

Returns true if either the CLIP or CLIPSeg model fell back to CPU execution.

predict_mask()

const moveit_pro_ml::ONNXImage & moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::predict_mask ( const moveit_pro_ml::ONNXImage &  image, const std::vector< std::string > &  prompts  ) const

virtual

requestTerminate()

void moveit_pro::behaviors::GetMasks2DFromTextQueryInterface::requestTerminate ( ) const

virtual

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

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

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

• clipseg_segmentation.hpp
• clipseg_segmentation.cpp