Add configs to detect target pipeline

config.yaml

@@ -22,10 +22,12 @@ video_input:
 
 detect_target:
     worker_count: 1
-    option: 0  # 0 is for Ultralytics (from detect_target_factory.py)
+    option: 0  # 0 is for Ultralytics and 1 is for brightspot (from detect_target_factory.py)
+    save_prefix: "log_comp"
+
+detect_ultralytics:
     device: 0
     model_path: "tests/model_example/yolov8s_ultralytics_pretrained_default.pt"  # See autonomy OneDrive for latest model
-    save_prefix: "log_comp"
 
 detect_brightspot:
     brightspot_percentile_threshold: 99.9

main_2024.py

@@ -16,8 +16,10 @@
 from modules.common.modules.camera import camera_opencv
 from modules.common.modules.camera import camera_picamera2
 from modules.communications import communications_worker
+from modules.detect_target import detect_target_brightspot
 from modules.detect_target import detect_target_factory
 from modules.detect_target import detect_target_worker
+from modules.detect_target import detect_target_ultralytics
 from modules.flight_interface import flight_interface_worker
 from modules.video_input import video_input_worker
 from modules.data_merge import data_merge_worker
@@ -105,17 +107,48 @@ def main() -> int:
             config["video_input"]["image_name"] if config["video_input"]["log_images"] else None
         )
 
-        DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
         DETECT_TARGET_OPTION = detect_target_factory.DetectTargetOption(
             config["detect_target"]["option"]
         )
-        DETECT_TARGET_DEVICE = "cpu" if args.cpu else config["detect_target"]["device"]
-        DETECT_TARGET_MODEL_PATH = config["detect_target"]["model_path"]
-        DETECT_TARGET_OVERRIDE_FULL_PRECISION = args.full
         DETECT_TARGET_SAVE_PREFIX = str(
             pathlib.Path(logging_path, config["detect_target"]["save_prefix"])
         )
         DETECT_TARGET_SHOW_ANNOTATED = args.show_annotated
+        DETECT_TARGET_WORKER_COUNT = config["detect_target"]["worker_count"]
+
+        DETECT_TARGET_ULTRALYTICS_DEVICE = (
+            "cpu" if args.cpu else config["detect_ultralytics"]["device"]
+        )
+        DETECT_TARGET_ULTRALYTICS_MODEL_PATH = config["detect_ultralytics"]["model_path"]
+        DETECT_TARGET_ULTRALYTICS_OVERRIDE_FULL_PRECISION = args.full
+
+        DETECT_TARGET_BRIGHTSPOT_PERCENTILE_THRESHOLD = config["detect_brightspot"][
+            "brightspot_percentile_threshold"
+        ]
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_COLOR = config["detect_brightspot"]["filter_by_color"]
+        DETECT_TARGET_BRIGHTSPOT_BLOB_COLOR = config["detect_brightspot"]["blob_color"]
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_CIRCULARITY = config["detect_brightspot"][
+            "filter_by_circularity"
+        ]
+        DETECT_TARGET_BRIGHTSPOT_MIN_CIRCULARITY = config["detect_brightspot"]["min_circularity"]
+        DETECT_TARGET_BRIGHTSPOT_MAX_CIRCULARITY = config["detect_brightspot"]["max_circularity"]
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_INERTIA = config["detect_brightspot"][
+            "filter_by_inertia"
+        ]
+        DETECT_TARGET_BRIGHTSPOT_MIN_INERTIA_RATIO = config["detect_brightspot"][
+            "min_inertia_ratio"
+        ]
+        DETECT_TARGET_BRIGHTSPOT_MAX_INERTIA_RATIO = config["detect_brightspot"][
+            "max_inertia_ratio"
+        ]
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_CONVEXITY = config["detect_brightspot"][
+            "filter_by_convexity"
+        ]
+        DETECT_TARGET_BRIGHTSPOT_MIN_CONVEXITY = config["detect_brightspot"]["min_convexity"]
+        DETECT_TARGET_BRIGHTSPOT_MAX_CONVEXITY = config["detect_brightspot"]["max_convexity"]
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_AREA = config["detect_brightspot"]["filter_by_area"]
+        DETECT_TARGET_BRIGHTSPOT_MIN_AREA_PIXELS = config["detect_brightspot"]["min_area_pixels"]
+        DETECT_TARGET_BRIGHTSPOT_MAX_AREA_PIXELS = config["detect_brightspot"]["max_area_pixels"]
 
         FLIGHT_INTERFACE_ADDRESS = config["flight_interface"]["address"]
         FLIGHT_INTERFACE_TIMEOUT = config["flight_interface"]["timeout"]
@@ -240,14 +273,42 @@ def main() -> int:
     # Get Pylance to stop complaining
     assert video_input_worker_properties is not None
 
+    detect_target_brightspot_config = detect_target_brightspot.DetectTargetBrightspotConfig(
+        DETECT_TARGET_BRIGHTSPOT_PERCENTILE_THRESHOLD,
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_COLOR,
+        DETECT_TARGET_BRIGHTSPOT_BLOB_COLOR,
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_CIRCULARITY,
+        DETECT_TARGET_BRIGHTSPOT_MIN_CIRCULARITY,
+        DETECT_TARGET_BRIGHTSPOT_MAX_CIRCULARITY,
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_INERTIA,
+        DETECT_TARGET_BRIGHTSPOT_MIN_INERTIA_RATIO,
+        DETECT_TARGET_BRIGHTSPOT_MAX_INERTIA_RATIO,
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_CONVEXITY,
+        DETECT_TARGET_BRIGHTSPOT_MIN_CONVEXITY,
+        DETECT_TARGET_BRIGHTSPOT_MAX_CONVEXITY,
+        DETECT_TARGET_BRIGHTSPOT_FILTER_BY_AREA,
+        DETECT_TARGET_BRIGHTSPOT_MIN_AREA_PIXELS,
+        DETECT_TARGET_BRIGHTSPOT_MAX_AREA_PIXELS,
+    )
+
+    detect_target_ultralytics_config = detect_target_ultralytics.DetectTargetUltralyticsConfig(
+        DETECT_TARGET_ULTRALYTICS_DEVICE,
+        DETECT_TARGET_ULTRALYTICS_MODEL_PATH,
+        DETECT_TARGET_ULTRALYTICS_OVERRIDE_FULL_PRECISION,
+    )
+
+    match DETECT_TARGET_OPTION:
+        case detect_target_factory.DetectTargetOption.ML_ULTRALYTICS:
+            detect_target_config = detect_target_ultralytics_config
+        case detect_target_factory.DetectTargetOption.CV_BRIGHTSPOT:
+            detect_target_config = detect_target_brightspot_config
+
     result, detect_target_worker_properties = worker_manager.WorkerProperties.create(
         count=DETECT_TARGET_WORKER_COUNT,
         target=detect_target_worker.detect_target_worker,
         work_arguments=(
             DETECT_TARGET_OPTION,
-            DETECT_TARGET_DEVICE,
-            DETECT_TARGET_MODEL_PATH,
-            DETECT_TARGET_OVERRIDE_FULL_PRECISION,
+            detect_target_config,
             DETECT_TARGET_SHOW_ANNOTATED,
             DETECT_TARGET_SAVE_PREFIX,
         ),

modules/detect_target/detect_target_factory.py

@@ -21,9 +21,10 @@ class DetectTargetOption(enum.Enum):
 
 def create_detect_target(
     detect_target_option: DetectTargetOption,
-    device: "str | int",
-    model_path: str,
-    override_full: bool,
+    config: (
+        detect_target_brightspot.DetectTargetBrightspotConfig
+        | detect_target_ultralytics.DetectTargetUltralyticsConfig
+    ),
     local_logger: logger.Logger,
     show_annotations: bool,
     save_name: str,
@@ -34,15 +35,14 @@ def create_detect_target(
     match detect_target_option:
         case DetectTargetOption.ML_ULTRALYTICS:
             return True, detect_target_ultralytics.DetectTargetUltralytics(
-                device,
-                model_path,
-                override_full,
+                config,
                 local_logger,
                 show_annotations,
                 save_name,
             )
         case DetectTargetOption.CV_BRIGHTSPOT:
             return True, detect_target_brightspot.DetectTargetBrightspot(
+                config,
                 local_logger,
                 show_annotations,
                 save_name,

modules/detect_target/detect_target_ultralytics.py

@@ -13,16 +13,37 @@
 from ..common.modules.logger import logger
 
 
-class DetectTargetUltralytics(base_detect_target.BaseDetectTarget):
+class DetectTargetUltralyticsConfig:
     """
-    Contains the YOLOv8 model for prediction.
+    Configuration for DetectTargetUltralytics.
     """
 
     def __init__(
         self,
         device: "str | int",
         model_path: str,
         override_full: bool,
+    ) -> None:
+        """
+        Initializes the configuration for DetectTargetUltralytics.
+
+        device: name of target device to run inference on (i.e. "cpu" or cuda device 0, 1, 2, 3).
+        model_path: path to the YOLOv8 model.
+        override_full: Force full precision floating point calculations.
+        """
+        self.device = device
+        self.model_path = model_path
+        self.override_full = override_full
+
+
+class DetectTargetUltralytics(base_detect_target.BaseDetectTarget):
+    """
+    Contains the YOLOv8 model for prediction.
+    """
+
+    def __init__(
+        self,
+        config: DetectTargetUltralyticsConfig,
         local_logger: logger.Logger,
         show_annotations: bool = False,
         save_name: str = "",
@@ -34,14 +55,14 @@ def __init__(
         show_annotations: Display annotated images.
         save_name: filename prefix for logging detections and annotated images.
         """
-        self.__device = device
-        self.__model = ultralytics.YOLO(model_path)
-        self.__counter = 0
+        self.__device = config.device
         self.__enable_half_precision = not self.__device == "cpu"
+        self.__model = ultralytics.YOLO(config.model_path)
+        if config.override_full:
+            self.__enable_half_precision = False
+        self.__counter = 0
         self.__local_logger = local_logger
         self.__show_annotations = show_annotations
-        if override_full:
-            self.__enable_half_precision = False
         self.__filename_prefix = ""
         if save_name != "":
             self.__filename_prefix = save_name + "_" + str(int(time.time())) + "_"

modules/detect_target/detect_target_worker.py

@@ -7,15 +7,18 @@
 
 from utilities.workers import queue_proxy_wrapper
 from utilities.workers import worker_controller
+from . import detect_target_brightspot
 from . import detect_target_factory
+from . import detect_target_ultralytics
 from ..common.modules.logger import logger
 
 
 def detect_target_worker(
     detect_target_option: detect_target_factory.DetectTargetOption,
-    device: "str | int",
-    model_path: str,
-    override_full: bool,
+    config: (
+        detect_target_brightspot.DetectTargetBrightspotConfig
+        | detect_target_ultralytics.DetectTargetUltralyticsConfig
+    ),
     show_annotations: bool,
     save_name: str,
     input_queue: queue_proxy_wrapper.QueueProxyWrapper,
@@ -44,9 +47,7 @@ def detect_target_worker(
 
     result, detector = detect_target_factory.create_detect_target(
         detect_target_option,
-        device,
-        model_path,
-        override_full,
+        config,
         local_logger,
         show_annotations,
         save_name,

tests/unit/test_detect_target_ultralytics.py

@@ -114,9 +114,13 @@ def detector() -> detect_target_ultralytics.DetectTargetUltralytics:  # type: ig
     assert result
     assert test_logger is not None
 
-    detection = detect_target_ultralytics.DetectTargetUltralytics(
-        DEVICE, str(MODEL_PATH), OVERRIDE_FULL, test_logger
+    config = detect_target_ultralytics.DetectTargetUltralyticsConfig(
+        DEVICE,
+        str(MODEL_PATH),
+        OVERRIDE_FULL,
     )
+
+    detection = detect_target_ultralytics.DetectTargetUltralytics(config, test_logger)
     yield detection  # type: ignore