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registration.go
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registration.go
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package builtin
import (
"context"
"github.com/edaniels/golog"
"github.com/pkg/errors"
"go.opencensus.io/trace"
"go.viam.com/rdk/config"
"go.viam.com/rdk/services/vision"
"go.viam.com/rdk/utils"
objdet "go.viam.com/rdk/vision/objectdetection"
"go.viam.com/rdk/vision/segmentation"
)
// registerColorDetector parses the Parameter field from the config into ColorDetectorConfig,
// creates the ColorDetector, and registers it to the detector map.
func registerColorDetector(ctx context.Context, mm modelMap, conf *vision.VisModelConfig, logger golog.Logger) error {
_, span := trace.StartSpan(ctx, "service::vision::registerColorDetector")
defer span.End()
if conf == nil {
return errors.New("object detection config for color detector cannot be nil")
}
var p objdet.ColorDetectorConfig
attrs, err := config.TransformAttributeMapToStruct(&p, conf.Parameters)
if err != nil {
return errors.Wrapf(err, "register color detector %s", conf.Name)
}
params, ok := attrs.(*objdet.ColorDetectorConfig)
if !ok {
err := utils.NewUnexpectedTypeError(params, attrs)
return errors.Wrapf(err, "register color detector %s", conf.Name)
}
detector, err := objdet.NewColorDetector(params)
if err != nil {
return errors.Wrapf(err, "register color detector %s", conf.Name)
}
regModel := registeredModel{Model: detector, ModelType: ColorDetector, Closer: nil}
return mm.RegisterVisModel(conf.Name, ®Model, logger)
}
func registerTfliteClassifier(ctx context.Context, mm modelMap, conf *vision.VisModelConfig, logger golog.Logger) error {
ctx, span := trace.StartSpan(ctx, "service::vision::registerTfliteClassifier")
defer span.End()
if conf == nil {
return errors.New("object detection config for tflite classifier cannot be nil")
}
classifier, model, err := NewTFLiteClassifier(ctx, conf, logger)
if err != nil {
return errors.Wrapf(err, "could not register tflite classifier %s", conf.Name)
}
regModel := registeredModel{Model: classifier, ModelType: TFLiteClassifier, Closer: model}
return mm.RegisterVisModel(conf.Name, ®Model, logger)
}
func registerTfliteDetector(ctx context.Context, mm modelMap, conf *vision.VisModelConfig, logger golog.Logger) error {
ctx, span := trace.StartSpan(ctx, "service::vision::registerTfliteDetector")
defer span.End()
if conf == nil {
return errors.New("object detection config for tflite detector cannot be nil")
}
detector, model, err := NewTFLiteDetector(ctx, conf, logger)
if err != nil {
return errors.Wrapf(err, "could not register tflite detector %s", conf.Name)
}
regModel := registeredModel{Model: detector, ModelType: TFLiteDetector, Closer: model}
return mm.RegisterVisModel(conf.Name, ®Model, logger)
}
func registerRCSegmenter(ctx context.Context, mm modelMap, conf *vision.VisModelConfig, logger golog.Logger) error {
_, span := trace.StartSpan(ctx, "service::vision::registerRCSegmenter")
defer span.End()
if conf == nil {
return errors.New("config for radius clustering segmenter cannot be nil")
}
segmenter, err := segmentation.NewRadiusClustering(conf.Parameters)
if err != nil {
return err
}
regModel := registeredModel{Model: segmenter, ModelType: RCSegmenter, Closer: nil}
return mm.RegisterVisModel(conf.Name, ®Model, logger)
}
func registerSegmenterFromDetector(ctx context.Context, mm modelMap, conf *vision.VisModelConfig, logger golog.Logger) error {
_, span := trace.StartSpan(ctx, "service::vision::registerSegmenterFromDetector")
defer span.End()
if conf == nil {
return errors.New("config for segmenter from detector cannot be nil")
}
cfg := &segmentation.DetectionSegmenterConfig{}
err := cfg.ConvertAttributes(conf.Parameters)
if err != nil {
return err
}
// check if detector name is in registry
d, err := mm.modelLookup(cfg.DetectorName)
if err != nil {
return err
}
detector, err := d.toDetector()
if err != nil {
return err
}
// convert numbers from parameters
segmenter, err := segmentation.DetectionSegmenter(detector, cfg.MeanK, cfg.Sigma)
if err != nil {
return err
}
regModel := registeredModel{Model: segmenter, ModelType: DetectorSegmenter, Closer: nil}
return mm.RegisterVisModel(conf.Name, ®Model, logger)
}