diff --git a/apps/data-collection/.gitignore b/apps/data-collection/.gitignore new file mode 100644 index 000000000..6018a0cbe --- /dev/null +++ b/apps/data-collection/.gitignore @@ -0,0 +1,3 @@ +clip_textual_hf.onnx +clip_visual_with_projector.onnx +tokenizer.json \ No newline at end of file diff --git a/apps/data-collection/.oakappignore b/apps/data-collection/.oakappignore new file mode 100644 index 000000000..00f160e89 --- /dev/null +++ b/apps/data-collection/.oakappignore @@ -0,0 +1,38 @@ +# Python virtual environments +venv/ +.venv/ +env + +# Node.js +# ignore node_modules, it will be reinstalled in the container +node_modules/ + +# Multimedia files +media/ + +# Local models +*.onnx + +# Documentation +README.md + +# VCS +.gitignore +.git/ +.github/ +.gitlab/ + +# The following files are ignored by default +# uncomment a line if you explicitly need it + +# !*.oakapp + +# Python +# !**/.mypy_cache/ +# !**/.ruff_cache/ + +# IDE files +# !**/.idea +# !**/.vscode +# !**/.zed + diff --git a/apps/data-collection/README.md b/apps/data-collection/README.md new file mode 100644 index 000000000..d04f4d0c9 --- /dev/null +++ b/apps/data-collection/README.md @@ -0,0 +1,68 @@ +# Data Collection + +This application combines on-device open-vocabulary detection with an interactive frontend to **auto-collect “snaps” (images + metadata) under configurable conditions**.\ +It runs **YOLOE** on the DepthAI backend, and exposes controls in the UI for: + +- Selecting labels (by **text** or **image prompt**) +- Adjusting **confidence threshold** +- Enabling **snap conditions** (timed, no detections, low confidence, lost-in-middle) + +> **Note:** RVC4 standalone mode only. + +## Features + +- **Class control** + - Update classes by text or upload an image to create a visual prompt +- **Confidence filter** + - Drop detections below a chosen threshold +- **Snapping (auto-capture)** + - **Timed** (periodic) + - **No detections** (when a frame has zero detections) + - **Low confidence** (if any detection falls below threshold) + - **Lost-in-middle** (object disappears inside central area; edge buffer configurable) + - Cooldowns **reset** when snapping is (re)started + +______________________________________________________________________ + +## Usage + +A **Luxonis device** (RVC4) is required + +### Arguments + +```text +-fps FPS_LIMIT, --fps_limit FPS_LIMIT + FPS limit. (default: None) +-api, --api_key API_KEY HubAI API key +-ip IP, --ip IP IP address to serve the frontend on. (default: None) +-media, --media_path MEDIA_PATH Path to media file; if not set, runs on live camera. (default: None) +-p PORT, --port PORT + Port to serve the frontend on. (default: None) +``` + +## Prerequisites (Frontend) + +Build the FE once before running: + +```bash +cd frontend/ +npm i +npm run build +cd .. +``` + +______________________________________________________________________ + +## Standalone Mode (RVC4) + +Install `oakctl` (see [docs](https://docs.luxonis.com/software-v3/oak-apps/oakctl)), then: + +```bash +oakctl connect +oakctl app run . +``` + +### Remote access + +1. You can upload oakapp to Luxonis Hub via oakctl +2. And then you can just remotely open App UI via App detail --> diff --git a/apps/data-collection/backend-run.sh b/apps/data-collection/backend-run.sh new file mode 100644 index 000000000..dbbada4d4 --- /dev/null +++ b/apps/data-collection/backend-run.sh @@ -0,0 +1,3 @@ +#!/bin/sh +echo "Starting Backend" +exec python3.12 /app/backend/src/main.py \ No newline at end of file diff --git a/apps/data-collection/backend/src/__init__.py b/apps/data-collection/backend/src/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/config/__init__.py b/apps/data-collection/backend/src/config/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/config/arguments.py b/apps/data-collection/backend/src/config/arguments.py new file mode 100644 index 000000000..6b47b127c --- /dev/null +++ b/apps/data-collection/backend/src/config/arguments.py @@ -0,0 +1,52 @@ +from argparse import Namespace, ArgumentParser, ArgumentDefaultsHelpFormatter + + +def initialize_argparser() -> Namespace: + """Initialize the argument parser for the script.""" + parser = ArgumentParser(formatter_class=ArgumentDefaultsHelpFormatter) + + parser.add_argument( + "-fps", + "--fps_limit", + help="FPS limit for the model runtime.", + required=False, + default=None, + type=int, + ) + + parser.add_argument( + "-api", + "--api_key", + help="HubAI API key to access private model. Can also use 'DEPTHAI_HUB_API_KEY' environment variable instead.", + required=False, + default="", + type=str, + ) + + parser.add_argument( + "-media", + "--media_path", + help="Path to the media file you aim to run the model on. If not set, the model will run on the camera input.", + required=False, + default=None, + type=str, + ) + + parser.add_argument( + "-ip", + "--ip", + help="IP address to serve the frontend on.", + required=False, + type=str, + ) + parser.add_argument( + "-p", + "--port", + help="Port to serve the frontend on.", + required=False, + type=int, + ) + + args = parser.parse_args() + + return parser, args diff --git a/apps/data-collection/backend/src/config/cli_env_loader.py b/apps/data-collection/backend/src/config/cli_env_loader.py new file mode 100644 index 000000000..07b69e522 --- /dev/null +++ b/apps/data-collection/backend/src/config/cli_env_loader.py @@ -0,0 +1,67 @@ +import argparse + + +class CLIEnvLoader: + """ + Handles environment (.env) loading and command-line argument parsing. + """ + + @staticmethod + def parse_arguments() -> argparse.Namespace: + """ + Private helper to initialize and parse command-line arguments. + """ + parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter + ) + + parser.add_argument( + "-fps", + "--fps_limit", + help="FPS limit for the model runtime.", + required=False, + default=None, + type=int, + ) + + parser.add_argument( + "-api", + "--api_key", + help=( + "HubAI API key to access private model. " + "Alternatively, set 'DEPTHAI_HUB_API_KEY' environment variable." + ), + required=False, + default="", + type=str, + ) + + parser.add_argument( + "-media", + "--media_path", + help=( + "Path to the media file to run the model on. " + "If not set, the model runs on the live camera input." + ), + required=False, + default=None, + type=str, + ) + + parser.add_argument( + "-ip", + "--ip", + help="IP address to serve the frontend on.", + required=False, + type=str, + ) + + parser.add_argument( + "-p", + "--port", + help="Port to serve the frontend on.", + required=False, + type=int, + ) + + return parser.parse_args() diff --git a/apps/data-collection/backend/src/config/config_data_classes.py b/apps/data-collection/backend/src/config/config_data_classes.py new file mode 100644 index 000000000..8e30c5da6 --- /dev/null +++ b/apps/data-collection/backend/src/config/config_data_classes.py @@ -0,0 +1,35 @@ +from pathlib import Path +from dataclasses import dataclass +import depthai as dai +from box import Box + + +@dataclass +class ModelInfo: + """Stores paths and dimensions of the detection model.""" + + yaml_path: Path + width: int + height: int + description: dai.NNModelDescription + archive: dai.NNArchive + precision: str + + +@dataclass +class VideoConfig: + """Stores video configuration (resolution, FPS).""" + + resolution: list[int] + fps: int + media_path: str + width: int + height: int + + +@dataclass +class NeuralNetworkConfig: + """Stores neural network configuration (confidence thresholds, etc.).""" + + nn_yaml: Box + model: ModelInfo diff --git a/apps/data-collection/backend/src/config/model_loader.py b/apps/data-collection/backend/src/config/model_loader.py new file mode 100644 index 000000000..786e27f44 --- /dev/null +++ b/apps/data-collection/backend/src/config/model_loader.py @@ -0,0 +1,35 @@ +from argparse import Namespace + +import depthai as dai +from pathlib import Path +from config.config_data_classes import ModelInfo + + +class ModelLoader: + """Resolves DepthAI model archive and metadata.""" + + def __init__(self, platform: str, args): + self.platform: str = platform + self.args: Namespace = args + + def load_model_info(self) -> ModelInfo: + models_dir = Path(__file__).parent.parent / "depthai_models" + yaml_file = f"yoloe_v8_l_fp16.{self.platform}.yaml" + yaml_path = models_dir / yaml_file + + if not yaml_path.exists(): + raise SystemExit(f"Model YAML not found for yoloe: {yaml_path}") + + desc = dai.NNModelDescription.fromYamlFile(str(yaml_path)) + desc.platform = self.platform + archive = dai.NNArchive(dai.getModelFromZoo(desc)) + width, height = archive.getInputSize() + + return ModelInfo( + yaml_path=yaml_path, + width=width, + height=height, + description=desc, + archive=archive, + precision="", + ) diff --git a/apps/data-collection/backend/src/config/system_configuration.py b/apps/data-collection/backend/src/config/system_configuration.py new file mode 100644 index 000000000..8ed2e204e --- /dev/null +++ b/apps/data-collection/backend/src/config/system_configuration.py @@ -0,0 +1,61 @@ +from __future__ import annotations + +from argparse import Namespace +from pathlib import Path +from typing import Optional +from box import Box + +from config.cli_env_loader import CLIEnvLoader +from config.yaml_config_manager import YamlConfigManager +from config.model_loader import ModelLoader +from config.config_data_classes import ModelInfo, VideoConfig, NeuralNetworkConfig + + +class SystemConfiguration: + """ + Class that manages configuration initialization. + """ + + def __init__(self, platform: str): + self._platform: str = platform + self._args: Namespace = None + self._yaml: Optional[YamlConfigManager] = None + self._model_info: Optional[ModelInfo] = None + + def build(self): + """Initialize all configuration subsystems.""" + self._args = CLIEnvLoader.parse_arguments() + + base = Path(__file__).parent / "yaml_configs" + + self._yaml = YamlConfigManager(base) + self._yaml.load_all() + + model_loader = ModelLoader(self._platform, self._args) + self._model_info = model_loader.load_model_info() + self._model_info.precision = self._yaml.prompts.precision + + def get_video_config(self) -> VideoConfig: + if self._args.fps_limit is None: + self._args.fps_limit = self._yaml.video.default_fps + print(f"\nFPS limit set to {self._args.fps_limit} for {self._platform}\n") + + return VideoConfig( + resolution=self._yaml.video.video_resolution, + fps=self._args.fps_limit, + media_path=self._args.media_path, + width=self._model_info.width, + height=self._model_info.height, + ) + + def get_neural_network_config(self) -> NeuralNetworkConfig: + return NeuralNetworkConfig( + nn_yaml=self._yaml.nn, + model=self._model_info, + ) + + def get_snaps_config(self) -> Box: + return self._yaml.conditions + + def get_prompts_config(self) -> Box: + return self._yaml.prompts diff --git a/apps/data-collection/backend/src/config/yaml_config_manager.py b/apps/data-collection/backend/src/config/yaml_config_manager.py new file mode 100644 index 000000000..fb3c80c9e --- /dev/null +++ b/apps/data-collection/backend/src/config/yaml_config_manager.py @@ -0,0 +1,29 @@ +from pathlib import Path +from box import Box + + +class YamlConfigManager: + """Loads all YAML configuration files and exposes them as Box objects.""" + + def __init__(self, base_dir: Path): + self._base: Path = base_dir + self.nn: Box = None + self.video: Box = None + self.conditions: Box = None + self.prompts: Box = None + + def load_all(self): + """Load all YAML configs from the given base directory.""" + print(f"[YamlConfigManager] Loading from: {self._base.resolve()}") + + def safe_load(name: str, file: str) -> Box: + path = self._base / file + if not path.exists(): + raise FileNotFoundError(f"Missing YAML: {path}") + print(f"[YamlConfigManager] ✓ Loaded {name}: {path.name}") + return Box.from_yaml(filename=path) + + self.nn = safe_load("nn", "nn_config.yaml") + self.video = safe_load("video", "visual_constants.yaml") + self.conditions = safe_load("conditions", "conditions.yaml") + self.prompts = safe_load("prompts", "prompts_config.yaml") diff --git a/apps/data-collection/backend/src/config/yaml_configs/conditions.yaml b/apps/data-collection/backend/src/config/yaml_configs/conditions.yaml new file mode 100644 index 000000000..75580e4bf --- /dev/null +++ b/apps/data-collection/backend/src/config/yaml_configs/conditions.yaml @@ -0,0 +1,21 @@ +cooldown: 300 +conditions: + - path: core.snapping.conditions.timed_condition.TimedCondition + enabled: false + name: Timed Snap + tags: ["timed"] + + - path: core.snapping.conditions.low_conf_condition.LowConfidenceCondition + enabled: false + name: Low Confidence + tags: ["confidence"] + + - path: core.snapping.conditions.no_detections_condition.NoDetectionsCondition + enabled: false + name: No Detections + tags: ["no detections"] + + - path: core.snapping.conditions.tracker_conditions.lost_mid_condition.LostMidCondition + enabled: false + name: Lost in Middle + tags: ["lost"] diff --git a/apps/data-collection/backend/src/config/yaml_configs/nn_config.yaml b/apps/data-collection/backend/src/config/yaml_configs/nn_config.yaml new file mode 100644 index 000000000..cd003a1a0 --- /dev/null +++ b/apps/data-collection/backend/src/config/yaml_configs/nn_config.yaml @@ -0,0 +1,13 @@ +nn_backend: + type: "snpe" + runtime: "dsp" + performance_profile: "default" + inference_threads: 1 + precision: "fp16" + +tracker: + track_per_class: true + birth_threshold: 3 + max_lifespan: 90 + occlusion_ratio_threshold: 0.5 + tracker_threshold: 0.25 \ No newline at end of file diff --git a/apps/data-collection/backend/src/config/yaml_configs/prompts_config.yaml b/apps/data-collection/backend/src/config/yaml_configs/prompts_config.yaml new file mode 100644 index 000000000..95abf707e --- /dev/null +++ b/apps/data-collection/backend/src/config/yaml_configs/prompts_config.yaml @@ -0,0 +1,29 @@ +name: "yoloe" +precision: "fp16" +class_names: ["person", "chair", "TV"] +detection_threshold: 0.1 +text_offset: 0 +visual_offset: 80 +max_num_classes: 80 + + +quant_values: + yoloe: + quant_zero_point: 174.0 + quant_scale: 0.003328413470 + yoloe-image: + quant_zero_point: 137.0 + quant_scale: 0.002327915514 + +paths: + tokenizer: + url: "https://huggingface.co/openai/clip-vit-base-patch32/resolve/main/tokenizer.json" + path: "tokenizer.json" + + text_encoder: + url: "https://huggingface.co/Xenova/mobileclip_blt/resolve/main/onnx/text_model.onnx" + path: "mobileclip_textual_hf.onnx" + + visual_encoder: + url: "https://huggingface.co/sokovninn/yoloe-v8l-seg-visual-encoder/resolve/main/yoloe-v8l-seg_visual_encoder.onnx" + path: "yoloe-v8l-seg_visual_encoder.onnx" \ No newline at end of file diff --git a/apps/data-collection/backend/src/config/yaml_configs/visual_constants.yaml b/apps/data-collection/backend/src/config/yaml_configs/visual_constants.yaml new file mode 100644 index 000000000..7e07ad692 --- /dev/null +++ b/apps/data-collection/backend/src/config/yaml_configs/visual_constants.yaml @@ -0,0 +1,2 @@ +video_resolution: [1080, 1080] +default_fps: 30 \ No newline at end of file diff --git a/apps/data-collection/backend/src/core/__init__.py b/apps/data-collection/backend/src/core/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/base_service.py b/apps/data-collection/backend/src/core/base_service.py new file mode 100644 index 000000000..decf7c46a --- /dev/null +++ b/apps/data-collection/backend/src/core/base_service.py @@ -0,0 +1,31 @@ +from abc import ABC, abstractmethod +from typing import Generic, TypeVar +from pydantic import BaseModel + +from core.neural_network.prompts.nn_prompts_controller import NnPromptsController +from core.neural_network.prompts.handlers.base_prompt_handler import BasePromptHandler +from core.service_name import ServiceName + +PayloadT = TypeVar("PayloadT", bound=BaseModel) + + +class BaseService(ABC, Generic[PayloadT]): + NAME: ServiceName + + def __init__( + self, + controller: NnPromptsController | None = None, + handler: BasePromptHandler | None = None, + ): + self._controller = controller + self._handler = handler + self.__name = self.NAME + + @abstractmethod + def handle(self, payload: PayloadT) -> dict[str, any]: + """Execute service logic and return a JSON-serializable response.""" + pass + + @property + def name(self) -> ServiceName: + return self.__name diff --git a/apps/data-collection/backend/src/core/export_service.py b/apps/data-collection/backend/src/core/export_service.py new file mode 100644 index 000000000..80ab3d3b3 --- /dev/null +++ b/apps/data-collection/backend/src/core/export_service.py @@ -0,0 +1,43 @@ +from core.neural_network.pipeline.model_state import ModelState +from core.base_service import BaseService +from core.service_name import ServiceName +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey + + +class ExportService(BaseService[None]): + """Returns the current configuration state to the frontend.""" + + NAME = ServiceName.EXPORT + + def __init__( + self, model_state: ModelState, conditions: dict[ConditionKey, Condition] + ): + super().__init__() + self._model_state: ModelState = model_state + self._conditions: dict[ConditionKey, Condition] = conditions + + def export_conditions_config(self) -> dict[str, dict]: + """ + Export current configuration of all conditions. + """ + configs: dict[str, dict] = {} + + for key, condition in self._conditions.items(): + cfg = condition.export_config() + if "cooldown" in cfg: + cfg["cooldown"] = round(cfg["cooldown"] / 60.0, 1) + + configs[key.value] = cfg + + return configs + + def handle(self, payload: None = None) -> dict[str, any]: + return { + "classes": self._model_state.current_classes, + "confidence_threshold": self._model_state.confidence_threshold, + "snapping": { + "running": any(cond.enabled for cond in self._conditions.values()), + **self.export_conditions_config(), + }, + } diff --git a/apps/data-collection/backend/src/core/neural_network/__init__.py b/apps/data-collection/backend/src/core/neural_network/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/__init__.py b/apps/data-collection/backend/src/core/neural_network/pipeline/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/annotation_node.py b/apps/data-collection/backend/src/core/neural_network/pipeline/annotation_node.py new file mode 100644 index 000000000..124ab7af5 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/annotation_node.py @@ -0,0 +1,45 @@ +import depthai as dai +from depthai_nodes import ImgDetectionsExtended +from typing import Dict + + +class AnnotationNode(dai.node.HostNode): + def __init__(self, label_encoding: Dict[int, str] = None) -> None: + super().__init__() + self._label_encoding = label_encoding if label_encoding is not None else {} + self.out_detections = self.createOutput() + + def set_label_encoding(self, label_encoding: Dict[int, str]) -> None: + """Sets the label encoding. + + @param label_encoding: The label encoding with labels as keys and label names as + values. + @type label_encoding: Dict[int, str] + """ + if not isinstance(label_encoding, Dict): + raise ValueError("label_encoding must be a dictionary.") + self._label_encoding = label_encoding + + def build( + self, + detections: dai.Node.Output, + frame: dai.Node.Output, + label_encoding: Dict[int, str] = None, + ) -> "AnnotationNode": + if label_encoding is not None: + self.set_label_encoding(label_encoding) + # Link detections and reference frame inputs + self.link_args(detections, frame) + return self + + def process( + self, + detections_message: dai.Buffer, + frame_message: dai.ImgFrame, + ) -> None: + assert isinstance(detections_message, ImgDetectionsExtended) + # Ensure detections align with the provided frame (e.g., high-res stream) + detections_message.setTransformation(frame_message.getTransformation()) + for detection in detections_message.detections: + detection.label_name = self._label_encoding.get(detection.label, "unknown") + return detections_message diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/detection_graph_factory.py b/apps/data-collection/backend/src/core/neural_network/pipeline/detection_graph_factory.py new file mode 100644 index 000000000..b34c82e49 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/detection_graph_factory.py @@ -0,0 +1,32 @@ +import depthai as dai +from depthai_nodes.node import ImgDetectionsFilter, ImgDetectionsBridge +from core.neural_network.pipeline.annotation_node import AnnotationNode +from depthai_nodes.node import ParsingNeuralNetwork + + +class DetectionGraphFactory: + """ + Builds the detection-processing subgraph: + ParsingNeuralNetwork → ImgDetectionsFilter ─┬─→ AnnotationNode + └─→ ImgDetectionsBridge + """ + + def __init__( + self, + pipeline: dai.Pipeline, + video_node: dai.Node.Output, + nn: ParsingNeuralNetwork, + ): + self._pipeline: dai.Pipeline = pipeline + self._video_node: dai.Node.Output = video_node + self._nn: ParsingNeuralNetwork = nn + + def build(self): + det_filter = self._pipeline.create(ImgDetectionsFilter).build(self._nn.out) + annotation_node = self._pipeline.create(AnnotationNode).build( + det_filter.out, self._video_node + ) + filtered_bridge = self._pipeline.create(ImgDetectionsBridge).build( + det_filter.out + ) + return det_filter, annotation_node, filtered_bridge diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/model_state.py b/apps/data-collection/backend/src/core/neural_network/pipeline/model_state.py new file mode 100644 index 000000000..34d0e6925 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/model_state.py @@ -0,0 +1,9 @@ +from dataclasses import dataclass, field + + +@dataclass +class ModelState: + """Holds current NN model prompt state""" + + confidence_threshold: float = 0.1 + current_classes: list[str] = field(default_factory=list) diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/nn_node_factory.py b/apps/data-collection/backend/src/core/neural_network/pipeline/nn_node_factory.py new file mode 100644 index 000000000..746518a51 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/nn_node_factory.py @@ -0,0 +1,35 @@ +import depthai as dai +from config.config_data_classes import NeuralNetworkConfig +from depthai_nodes.node import ParsingNeuralNetwork + + +class NnNodeFactory: + """Builds and configures the core ParsingNeuralNetwork node.""" + + def __init__( + self, + pipeline: dai.Pipeline, + video_node: dai.Node.Output, + config: NeuralNetworkConfig, + ): + self._pipeline: dai.Pipeline = pipeline + self._video_node: dai.Node.Output = video_node + self._config: NeuralNetworkConfig = config + + def build(self) -> ParsingNeuralNetwork: + backend = self._config.nn_yaml.nn_backend + + nn = self._pipeline.create(ParsingNeuralNetwork) + nn.setNNArchive(self._config.model.archive) + nn.setBackend(backend.type) + nn.setBackendProperties( + { + "runtime": backend.runtime, + "performance_profile": backend.performance_profile, + } + ) + nn.setNumInferenceThreads(backend.inference_threads) + nn.getParser(0).setConfidenceThreshold(0.0) + + self._video_node.link(nn.inputs["images"]) + return nn diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/nn_pipeline_setup.py b/apps/data-collection/backend/src/core/neural_network/pipeline/nn_pipeline_setup.py new file mode 100644 index 000000000..e6046515d --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/nn_pipeline_setup.py @@ -0,0 +1,86 @@ +import depthai as dai +from config.config_data_classes import NeuralNetworkConfig +from core.neural_network.prompts.nn_prompts_controller import NnPromptsController +from core.neural_network.pipeline.annotation_node import AnnotationNode +from core.neural_network.pipeline.detection_graph_factory import DetectionGraphFactory +from core.neural_network.pipeline.nn_node_factory import NnNodeFactory +from core.neural_network.pipeline.prompt_controller_factory import ( + PromptControllerFactory, +) +from core.neural_network.pipeline.tracker_factory import TrackerFactory + +from depthai_nodes.node import ( + ParsingNeuralNetwork, + ImgDetectionsFilter, + ImgDetectionsBridge, +) + + +class NNPipelineBuilder: + """ + Facade that orchestrates the creation of all neural-network related + DepthAI nodes and supporting controller components. + """ + + def __init__( + self, + pipeline: dai.Pipeline, + video_node: dai.Node.Output, + nn_config: NeuralNetworkConfig, + ): + self._pipeline: dai.Pipeline = pipeline + self._video_node: dai.Node.Output = video_node + self._config: NeuralNetworkConfig = nn_config + + self._nn: ParsingNeuralNetwork = None + self._det_filter: ImgDetectionsFilter = None + self._annotation_node: AnnotationNode = None + self._filtered_bridge: ImgDetectionsBridge = None + self._tracker: dai.node.ObjectTracker = None + self._controller: NnPromptsController = None + + def build(self) -> "NNPipelineBuilder": + """Build full neural-network subgraph.""" + nn_builder = NnNodeFactory(self._pipeline, self._video_node, self._config) + self._nn = nn_builder.build() + + det_graph = DetectionGraphFactory(self._pipeline, self._video_node, self._nn) + self._det_filter, self._annotation_node, self._filtered_bridge = ( + det_graph.build() + ) + + tracker_factory = TrackerFactory( + self._pipeline, + self._filtered_bridge.out, + self._video_node, + self._config.nn_yaml.tracker, + ) + self._tracker = tracker_factory.build() + + controller_factory = PromptControllerFactory( + self._nn, + self._det_filter, + self._annotation_node, + self._config.model.precision, + ) + self._controller = controller_factory.build() + + @property + def nn(self): + return self._nn + + @property + def detections_bridge(self): + return self._filtered_bridge + + @property + def tracker(self): + return self._tracker + + @property + def annotation_node(self): + return self._annotation_node + + @property + def controller(self): + return self._controller diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/prompt_controller_factory.py b/apps/data-collection/backend/src/core/neural_network/pipeline/prompt_controller_factory.py new file mode 100644 index 000000000..fa90b4eeb --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/prompt_controller_factory.py @@ -0,0 +1,35 @@ +from core.neural_network.pipeline.annotation_node import AnnotationNode +from core.neural_network.prompts.nn_prompts_controller import NnPromptsController +from core.neural_network.prompts.label_manager import LabelManager +from depthai_nodes.node import ParsingNeuralNetwork, ImgDetectionsFilter + + +class PromptControllerFactory: + """Creates and configures the NnPromptsController and LabelManager.""" + + def __init__( + self, + nn_node: ParsingNeuralNetwork, + det_filter: ImgDetectionsFilter, + annotation_node: AnnotationNode, + precision: str, + ): + self._nn_node: ParsingNeuralNetwork = nn_node + self._det_filter: ImgDetectionsFilter = det_filter + self._annotation_node: AnnotationNode = annotation_node + self._precision: str = precision + + def build(self) -> NnPromptsController: + text_q = self._nn_node.inputs["texts"].createInputQueue() + img_q = self._nn_node.inputs["image_prompts"].createInputQueue() + self._nn_node.inputs["texts"].setReusePreviousMessage(True) + self._nn_node.inputs["image_prompts"].setReusePreviousMessage(True) + + parser = self._nn_node.getParser(0) + label_manager = LabelManager(self._det_filter, self._annotation_node) + + controller = NnPromptsController( + img_q, text_q, self._precision, parser, label_manager + ) + + return controller diff --git a/apps/data-collection/backend/src/core/neural_network/pipeline/tracker_factory.py b/apps/data-collection/backend/src/core/neural_network/pipeline/tracker_factory.py new file mode 100644 index 000000000..5f2956632 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/pipeline/tracker_factory.py @@ -0,0 +1,32 @@ +import depthai as dai +from box import Box + + +class TrackerFactory: + def __init__( + self, + pipeline: dai.Pipeline, + detections_bridge: dai.Node.Output, + video_node: dai.Node.Output, + config: Box, + ): + self._pipeline: dai.Pipeline = pipeline + self._detections_bridge: dai.Node.Output = detections_bridge + self._video_node: dai.Node.Output = video_node + self._config: Box = config + + def build(self) -> dai.node.ObjectTracker: + tracker = self._pipeline.create(dai.node.ObjectTracker) + tracker.setTrackerType(dai.TrackerType.SHORT_TERM_IMAGELESS) + tracker.setTrackerIdAssignmentPolicy(dai.TrackerIdAssignmentPolicy.UNIQUE_ID) + tracker.setTrackingPerClass(self._config.track_per_class) + tracker.setTrackletBirthThreshold(self._config.birth_threshold) + tracker.setTrackletMaxLifespan(self._config.max_lifespan) + tracker.setOcclusionRatioThreshold(self._config.occlusion_ratio_threshold) + tracker.setTrackerThreshold(self._config.tracker_threshold) + + self._video_node.link(tracker.inputTrackerFrame) + self._video_node.link(tracker.inputDetectionFrame) + self._detections_bridge.link(tracker.inputDetections) + + return tracker diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/__init__.py b/apps/data-collection/backend/src/core/neural_network/prompts/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/encoders/__init__.py b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/encoders/base_prompt_encoder.py b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/base_prompt_encoder.py new file mode 100644 index 000000000..0efb8115d --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/base_prompt_encoder.py @@ -0,0 +1,90 @@ +import os +from abc import ABC, abstractmethod +from onnxruntime import InferenceSession +import numpy as np +import requests +from pathlib import Path + +from box import Box + + +class BasePromptEncoder(ABC): + """ + Abstract base class for all embedding encoders (visual, text, etc.). + """ + + def __init__( + self, + config: Box, + encoder_model_url: str, + encoder_model_path: str, + ): + self._config: Box = config + self._encoder_model_url: str = encoder_model_url + self._encoder_model_path: str = encoder_model_path + self._providers: list[str] = [ + "TensorrtExecutionProvider", + "CUDAExecutionProvider", + "CPUExecutionProvider", + ] + self._session: InferenceSession = None + self._offset: int = None + + def _load_model(self) -> None: + """Download and initialize the ONNX model.""" + path = self._download_file() + self._session = InferenceSession(path, providers=self._providers) + + @abstractmethod + def extract_embeddings(self, *args, **kwargs) -> np.ndarray: + """Subclasses must implement modality-specific preprocessing and inference.""" + pass + + def _pad_and_quantize_features(self, features) -> np.ndarray: + """ + Pad features to (1, 512, max_num_classes) and quantize if precision is int8. + For FP16, return padded float16 features (no quantization). + """ + num_padding = self._config.max_num_classes - features.shape[0] + padded = np.pad(features, ((0, num_padding), (0, 0)), "constant").T.reshape( + 1, 512, self._config.max_num_classes + ) + + if self._config.precision == "fp16": + return padded.astype(np.float16) + + quant = self._config.quant_values[self._config.name] + out = (padded / quant["quant_scale"]) + quant["quant_zero_point"] + return out.astype(np.uint8) + + def make_dummy(self) -> np.ndarray: + """ + Create a dummy tensor of shape (1, 512, max_num_classes) for model input. + For FP16, return zeros; for INT8, fill with the model's quantization zero point. + """ + if self._config.precision == "fp16": + return np.zeros((1, 512, self._config.max_num_classes), dtype=np.float16) + qzp = int( + round( + self._config.quant_values.get(self._config.model_name, {}).get( + "quant_zero_point", 0 + ) + ) + ) + return np.full((1, 512, self._config.max_num_classes), qzp, dtype=np.uint8) + + def _download_file(self, url: str = "", path: str = "") -> Path: + if url == "": + url = self._encoder_model_url + if path == "": + path = self._encoder_model_path + if not os.path.exists(path): + print(f"Downloading tokenizer config from {url}...") + with open(path, "wb") as f: + f.write(requests.get(url).content) + return path + + @property + def offset(self) -> int: + """Return class offset or encoder index limit.""" + return self._offset diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/encoders/textual_prompt_encoder.py b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/textual_prompt_encoder.py new file mode 100644 index 000000000..ee8fab393 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/textual_prompt_encoder.py @@ -0,0 +1,54 @@ +from box import Box +from tokenizers import Tokenizer +import numpy as np + +from core.neural_network.prompts.encoders.base_prompt_encoder import BasePromptEncoder + + +class TextualPromptEncoder(BasePromptEncoder): + """ + Handles text tokenization and embedding extraction (CLIP-compatible). + """ + + def __init__(self, config: Box): + super().__init__( + config, + config.paths.text_encoder.url, + config.paths.text_encoder.path, + ) + self._offset: str = config.text_offset + self.tokenizer_url: str = config.paths.tokenizer.url + self.tokenizer_path: str = config.paths.tokenizer.path + self.tokenizer: Tokenizer = None + + def _load_tokenizer(self): + path = self._download_file(self.tokenizer_url, self.tokenizer_path) + self.tokenizer = Tokenizer.from_file(str(path)) + + def extract_embeddings(self, class_names: list[str]) -> np.ndarray: + self._load_tokenizer() + self._load_model() + + self.tokenizer.enable_padding( + pad_id=self.tokenizer.token_to_id("<|endoftext|>"), + pad_token="<|endoftext|>", + ) + + encodings = self.tokenizer.encode_batch(class_names) + text_ids = np.array([e.ids for e in encodings], dtype=np.int64) + if text_ids.shape[1] < 77: + text_ids = np.pad( + text_ids, ((0, 0), (0, 77 - text_ids.shape[1])), mode="constant" + ) + + outputs = self._session.run( + None, {self._session.get_inputs()[0].name: text_ids} + ) + embeddings = outputs[0] + embeddings /= np.linalg.norm(embeddings, ord=2, axis=-1, keepdims=True) + + quantized = self._pad_and_quantize_features(embeddings) + + del self._session + + return quantized diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/encoders/visual_prompt_encoder.py b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/visual_prompt_encoder.py new file mode 100644 index 000000000..2b0f968b2 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/encoders/visual_prompt_encoder.py @@ -0,0 +1,58 @@ +import cv2 +import numpy as np +from box import Box + +from core.neural_network.prompts.encoders.base_prompt_encoder import BasePromptEncoder + + +class VisualPromptEncoder(BasePromptEncoder): + """ + Handles visual embedding extraction using a visual encoder. + + Loads an ONNX visual encoder, preprocesses an image input, performs + forward inference, and returns quantized visual feature tensors + compatible with downstream models. + """ + + def __init__( + self, + config: Box, + ): + super().__init__( + config, + config.paths.visual_encoder.url, + config.paths.visual_encoder.path, + ) + self._offset: str = config.visual_offset + + def extract_embeddings(self, image: np.ndarray, mask_prompt=None) -> np.ndarray: + self._load_model() + if mask_prompt is None: + prompts = np.zeros((1, 1, 80, 80), dtype=np.float32) + prompts[0, 0, 5:75, 5:75] = 1.0 + else: + prompts = np.asarray(mask_prompt, dtype=np.float32) + if prompts.ndim == 2: + if prompts.shape != (80, 80): + prompts = cv2.resize( + prompts, (80, 80), interpolation=cv2.INTER_NEAREST + ) + prompts = prompts[None, None, :, :] + elif prompts.shape == (1, 1, 80, 80): + pass + else: + raise ValueError("mask_prompt must have shape (80,80) or (1,1,80,80)") + + image_resized = cv2.resize(image, (640, 640)) + image_array = image_resized.astype(np.float32) / 255.0 + image_array = np.transpose(image_array, (2, 0, 1)) + input_tensor = np.expand_dims(image_array, axis=0).astype(np.float32) + + outputs = self._session.run(None, {"images": input_tensor, "prompts": prompts}) + + image_embeddings = outputs[0].squeeze(0).reshape(1, -1) + image_features = self._pad_and_quantize_features(image_embeddings) + + del self._session + + return image_features diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/frame_cache_node.py b/apps/data-collection/backend/src/core/neural_network/prompts/frame_cache_node.py new file mode 100644 index 000000000..4156a87a6 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/frame_cache_node.py @@ -0,0 +1,19 @@ +import depthai as dai +import numpy as np + + +class FrameCacheNode(dai.node.HostNode): + def __init__(self) -> None: + super().__init__() + self._last_frame: np.ndarray | None = None + + def build(self, frame: dai.Node.Output) -> "FrameCacheNode": + self.link_args(frame) + return self + + def process(self, frame: dai.ImgFrame) -> dai.ImgFrame: + self._last_frame = frame.getCvFrame() + return frame + + def get_last_frame(self) -> np.ndarray | None: + return self._last_frame diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/__init__.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/bbox_prompt_service.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/bbox_prompt_service.py new file mode 100644 index 000000000..b3da9b69f --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/bbox_prompt_service.py @@ -0,0 +1,24 @@ +from pydantic import ValidationError +from core.base_service import BaseService +from core.neural_network.prompts.front_end_prompt_services.payloads.bbox_prompt_payload import ( + BBoxPromptPayload, +) +from core.service_name import ServiceName + + +class BBoxPromptService(BaseService[BBoxPromptPayload]): + NAME = ServiceName.BBOX_PROMPT + + def handle(self, payload: BBoxPromptPayload) -> dict[str, any]: + try: + payload = BBoxPromptPayload.model_validate(payload) + except ValidationError as e: + return {"ok": False, "error": e.errors()} + + image_inputs, dummy = self._handler.process(payload) + class_names = self._handler.get_class_names() + self._controller.send_prompts_pair( + image_inputs, dummy, class_names, self._handler.get_offset() + ) + + return {"ok": True, "classes": class_names} diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/class_update_service.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/class_update_service.py new file mode 100644 index 000000000..da881786a --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/class_update_service.py @@ -0,0 +1,25 @@ +from pydantic import ValidationError +from core.base_service import BaseService +from core.neural_network.prompts.front_end_prompt_services.payloads.class_update_payload import ( + ClassUpdatePayload, +) +from core.service_name import ServiceName + + +class ClassUpdateService(BaseService[ClassUpdatePayload]): + """Coordinates text-based class updates across model, repository, and state.""" + + NAME = ServiceName.CLASS_UPDATE + + def handle(self, payload: ClassUpdatePayload) -> dict[str, any]: + try: + payload = ClassUpdatePayload.model_validate(payload) + except ValidationError as e: + return {"ok": False, "error": e.errors()} + text_inputs, dummy = self._handler.process(payload) + new_classes = self._handler.get_class_names() + self._controller.send_prompts_pair( + dummy, text_inputs, new_classes, self._handler.get_offset() + ) + + return {"ok": True, "classes": new_classes} diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/image_upload_service.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/image_upload_service.py new file mode 100644 index 000000000..6acd7c680 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/image_upload_service.py @@ -0,0 +1,26 @@ +from pydantic import ValidationError +from core.base_service import BaseService +from core.neural_network.prompts.front_end_prompt_services.payloads.image_upload_payload import ( + ImageUploadPayload, +) +from core.service_name import ServiceName + + +class ImageUploadService(BaseService[ImageUploadPayload]): + """Coordinates image upload flow: decode → extract → send → update labels.""" + + NAME = ServiceName.IMAGE_UPLOAD + + def handle(self, payload: ImageUploadPayload) -> dict[str, any]: + try: + payload = ImageUploadPayload.model_validate(payload) + except ValidationError as e: + return {"ok": False, "error": e.errors()} + image_inputs, dummy = self._handler.process(payload) + class_names = self._handler.get_class_names() + + self._controller.send_prompts_pair( + image_inputs, dummy, class_names, self._handler.get_offset() + ) + + return {"ok": True, "class": class_names} diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/__init__.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/bbox_prompt_payload.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/bbox_prompt_payload.py new file mode 100644 index 000000000..6580b6168 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/bbox_prompt_payload.py @@ -0,0 +1,8 @@ +from pydantic import BaseModel, Field + + +class BBoxPromptPayload(BaseModel): + x: float = Field(..., ge=0.0, le=1.0, description="Normalized x coordinate [0–1]") + y: float = Field(..., ge=0.0, le=1.0, description="Normalized y coordinate [0–1]") + width: float = Field(..., gt=0.0, le=1.0, description="Normalized width [0–1]") + height: float = Field(..., gt=0.0, le=1.0, description="Normalized height [0–1]") diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/class_update_payload.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/class_update_payload.py new file mode 100644 index 000000000..1106d0ed6 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/class_update_payload.py @@ -0,0 +1,7 @@ +from pydantic import BaseModel, Field + + +class ClassUpdatePayload(BaseModel): + """Payload for updating detection classes.""" + + classes: list[str] = Field(..., min_length=1, description="List of class names") diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/image_upload_payload.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/image_upload_payload.py new file mode 100644 index 000000000..75ccf3890 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/image_upload_payload.py @@ -0,0 +1,9 @@ +from pydantic import BaseModel, Field + + +class ImageUploadPayload(BaseModel): + """Payload for uploading an image from the frontend.""" + + filename: str = Field(..., min_length=1) + type: str = Field(..., min_length=1) + data: str = Field(..., description="Base64-encoded image data") diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/threshold_update_payload.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/threshold_update_payload.py new file mode 100644 index 000000000..a58b97a51 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/payloads/threshold_update_payload.py @@ -0,0 +1,7 @@ +from pydantic import BaseModel, Field + + +class ThresholdUpdatePayload(BaseModel): + """Payload for updating NN confidence threshold.""" + + threshold: float = Field(..., ge=0.0, le=1.0) diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/threshold_update_service.py b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/threshold_update_service.py new file mode 100644 index 000000000..b1e38a7d0 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/front_end_prompt_services/threshold_update_service.py @@ -0,0 +1,24 @@ +from pydantic import ValidationError +from core.base_service import BaseService +from core.neural_network.prompts.front_end_prompt_services.payloads.threshold_update_payload import ( + ThresholdUpdatePayload, +) +from core.service_name import ServiceName + + +class ThresholdUpdateService(BaseService[ThresholdUpdatePayload]): + """Coordinates NN confidence threshold updates between handler, repository, and state.""" + + NAME = ServiceName.THRESHOLD_UPDATE + + def handle(self, payload: ThresholdUpdatePayload) -> dict[str, any]: + try: + payload = ThresholdUpdatePayload.model_validate(payload) + except ValidationError as e: + return {"ok": False, "error": e.errors()} + new_threshold = payload.threshold + + clamped = max(0.0, min(1.0, new_threshold)) + self._controller.set_confidence_threshold(clamped) + + return {"ok": True, "threshold": clamped} diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/handlers/__init__.py b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/handlers/base_prompt_handler.py b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/base_prompt_handler.py new file mode 100644 index 000000000..ba4dc15ee --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/base_prompt_handler.py @@ -0,0 +1,33 @@ +from __future__ import annotations +from abc import ABC, abstractmethod +from typing import List, Tuple, TypedDict +import numpy as np + +from core.neural_network.prompts.encoders.base_prompt_encoder import BasePromptEncoder + + +class BasePromptHandler(ABC): + """ + Abstract base handler for converting various input modalities + (image, text, bbox, etc.) into model-ready prompts. + """ + + def __init__(self, encoder: BasePromptEncoder): + self._encoder = encoder + self._class_names: List[str] = [] + + @abstractmethod + def process(self, payload: TypedDict) -> Tuple[np.ndarray, np.ndarray]: + """ + Transform input (payload, image, bbox, etc.) into model-ready tensors. + Must return (embeddings, dummy) tuple. + """ + raise NotImplementedError + + def get_class_names(self) -> List[str]: + """Return list of class names associated with the processed data.""" + return self._class_names + + def get_offset(self) -> int: + """Return class offset or encoder index limit.""" + return self._encoder.offset diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/handlers/bbox_prompt_handler.py b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/bbox_prompt_handler.py new file mode 100644 index 000000000..97455d485 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/bbox_prompt_handler.py @@ -0,0 +1,58 @@ +import numpy as np + +from core.neural_network.prompts.encoders.visual_prompt_encoder import ( + VisualPromptEncoder, +) +from core.neural_network.prompts.handlers.base_prompt_handler import BasePromptHandler +from core.neural_network.prompts.frame_cache_node import FrameCacheNode +from core.neural_network.prompts.front_end_prompt_services.payloads.bbox_prompt_payload import ( + BBoxPromptPayload, +) + + +class BBoxPromptHandler(BasePromptHandler): + """ + Handles extraction of embeddings for a specific bounding-box region. + Takes an image and a bounding box (normalized coordinates) and produces + model-ready visual embeddings with a dummy tensor. + """ + + def __init__(self, encoder: VisualPromptEncoder, frame_cache: FrameCacheNode): + super().__init__(encoder) + self._frame_cache: FrameCacheNode = frame_cache + self._image: np.ndarray = None + self._bbox: BBoxPromptPayload = None + self._class_names: list[str] = ["Bounding Box Object"] + + def process(self, payload: BBoxPromptPayload) -> tuple[np.ndarray, np.ndarray]: + """Crop region mask based on bbox and extract embeddings.""" + self._image = self._frame_cache.get_last_frame() + self._bbox = payload + + mask = self._make_mask() + embeddings = self._encoder.extract_embeddings(self._image, mask) + dummy = self._encoder.make_dummy() + + return embeddings, dummy + + def _make_mask(self) -> np.ndarray: + """Build a binary mask corresponding to the provided bounding box.""" + H, W = self._image.shape[:2] + bx, by, bw, bh = ( + self._bbox.x, + self._bbox.y, + self._bbox.width, + self._bbox.height, + ) + + x0, y0 = int(bx * W), int(by * H) + x1, y1 = int((bx + bw) * W), int((by + bh) * H) + x0, x1 = sorted((x0, x1)) + y0, y1 = sorted((y0, y1)) + + if x1 <= x0 or y1 <= y0: + raise ValueError(f"Invalid bbox coordinates: {(x0, y0, x1, y1)}") + + mask = np.zeros((H, W), dtype=np.float32) + mask[y0:y1, x0:x1] = 1.0 + return mask diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/handlers/image_prompt_handler.py b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/image_prompt_handler.py new file mode 100644 index 000000000..035839682 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/image_prompt_handler.py @@ -0,0 +1,41 @@ +import base64 +import cv2 +import numpy as np + +from core.neural_network.prompts.encoders.visual_prompt_encoder import ( + VisualPromptEncoder, +) +from core.neural_network.prompts.handlers.base_prompt_handler import BasePromptHandler +from core.neural_network.prompts.front_end_prompt_services.payloads.image_upload_payload import ( + ImageUploadPayload, +) + + +class ImagePromptHandler(BasePromptHandler): + """ + Handles full image prompt preparation flow: + decode base64 → preprocess → extract visual embeddings → prepare dummy features. + """ + + def __init__(self, encoder: VisualPromptEncoder): + super().__init__(encoder) + self._payload: ImageUploadPayload = None + + def process(self, payload: ImageUploadPayload) -> tuple[np.ndarray, np.ndarray]: + """Decode and process uploaded image payload into model-ready features.""" + self._payload = payload + self._class_names = [self._payload.filename.split(".")[0]] + image = self._decode_image() + embeddings = self._encoder.extract_embeddings(image) + dummy = self._encoder.make_dummy() + return embeddings, dummy + + def _decode_image(self) -> np.ndarray: + """Convert base64-encoded image to OpenCV array.""" + data_uri = self._payload.data + if "," in data_uri: + _, base64_data = data_uri.split(",", 1) + else: + base64_data = data_uri + np_arr = np.frombuffer(base64.b64decode(base64_data), np.uint8) + return cv2.imdecode(np_arr, cv2.IMREAD_COLOR) diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/handlers/text_prompt_handler.py b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/text_prompt_handler.py new file mode 100644 index 000000000..28b4f364f --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/handlers/text_prompt_handler.py @@ -0,0 +1,26 @@ +from __future__ import annotations +from typing import Tuple +import numpy as np + +from core.neural_network.prompts.encoders.textual_prompt_encoder import ( + TextualPromptEncoder, +) +from core.neural_network.prompts.handlers.base_prompt_handler import BasePromptHandler +from core.neural_network.prompts.front_end_prompt_services.payloads.class_update_payload import ( + ClassUpdatePayload, +) + + +class TextPromptHandler(BasePromptHandler): + """Handles embedding extraction and label synchronization for class name updates.""" + + def __init__(self, encoder: TextualPromptEncoder): + super().__init__(encoder) + self._payload: ClassUpdatePayload = None + + def process(self, payload: ClassUpdatePayload) -> Tuple[np.ndarray, np.ndarray]: + self._class_names = payload.classes + embeddings = self._encoder.extract_embeddings(self.get_class_names()) + dummy = self._encoder.make_dummy() + + return embeddings, dummy diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/handlers_factory.py b/apps/data-collection/backend/src/core/neural_network/prompts/handlers_factory.py new file mode 100644 index 000000000..fe72969dc --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/handlers_factory.py @@ -0,0 +1,31 @@ +from core.neural_network.prompts.handlers.base_prompt_handler import BasePromptHandler +from core.neural_network.prompts.handlers.text_prompt_handler import TextPromptHandler +from core.neural_network.prompts.handlers.image_prompt_handler import ImagePromptHandler +from core.neural_network.prompts.handlers.bbox_prompt_handler import BBoxPromptHandler +from core.neural_network.prompts.frame_cache_node import FrameCacheNode +from core.neural_network.prompts.prompt_encoders_manager import ( + PromptEncodersManager, +) + + +class HandlersFactory: + def __init__(self, encoders: PromptEncodersManager, frame_cache: FrameCacheNode): + self._encoders = encoders + self._frame_cache = frame_cache + self.class_update_handler: BasePromptHandler = None + self.image_update_handler: BasePromptHandler = None + self.bbox_prompt_handler: BasePromptHandler = None + + def build(self): + self.class_update_handler = self._class_update_handler() + self.image_update_handler = self._image_update_handler() + self.bbox_prompt_handler = self._bbox_prompt_handler() + + def _class_update_handler(self) -> TextPromptHandler: + return TextPromptHandler(self._encoders.textual_encoder) + + def _image_update_handler(self) -> ImagePromptHandler: + return ImagePromptHandler(self._encoders.visual_encoder) + + def _bbox_prompt_handler(self) -> BBoxPromptHandler: + return BBoxPromptHandler(self._encoders.visual_encoder, self._frame_cache) diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/label_manager.py b/apps/data-collection/backend/src/core/neural_network/prompts/label_manager.py new file mode 100644 index 000000000..a827a1577 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/label_manager.py @@ -0,0 +1,26 @@ +from depthai_nodes.node import ImgDetectionsFilter +from core.neural_network.pipeline.annotation_node import AnnotationNode + + +class LabelManager: + """ + Manages synchronization of label data between the detection filter + and the annotation node. + + Handles assigning numeric label IDs used by the neural network and + mapping them to human-readable class names for visualization. + """ + + def __init__( + self, det_filter: ImgDetectionsFilter, annotation_node: AnnotationNode + ): + self.det_filter = det_filter + self.annotation_node = annotation_node + + def update_labels(self, label_names: list[str], offset: int = 0): + self.det_filter.setLabels( + labels=[i for i in range(offset, offset + len(label_names))], keep=True + ) + self.annotation_node.set_label_encoding( + {offset + k: v for k, v in enumerate(label_names)} + ) diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/nn_prompts_controller.py b/apps/data-collection/backend/src/core/neural_network/prompts/nn_prompts_controller.py new file mode 100644 index 000000000..b3cb87f0c --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/nn_prompts_controller.py @@ -0,0 +1,57 @@ +import depthai as dai +import numpy as np +from depthai_nodes.node import YOLOExtendedParser + +from core.neural_network.prompts.label_manager import LabelManager +from core.neural_network.pipeline.model_state import ModelState + + +class NnPromptsController: + """Handles sending conditioning inputs to the NN.""" + + def __init__( + self, + image_prompt_queue: dai.InputQueue, + text_prompt_queue: dai.InputQueue, + precision: str, + parser: YOLOExtendedParser, + label_manager: LabelManager, + ): + self._image_prompt_queue = image_prompt_queue + self._text_prompt_queue = text_prompt_queue + self._precision = precision + self._parser: YOLOExtendedParser = parser + self._label_manager = label_manager + + self._model_state = ModelState() + + def _tensor_type(self) -> dai.TensorInfo.DataType: + return ( + dai.TensorInfo.DataType.FP16 + if self._precision == "fp16" + else dai.TensorInfo.DataType.U8F + ) + + def _send(self, queue: dai.InputQueue, name: str, data: np.ndarray): + nn_data = dai.NNData() + nn_data.addTensor(name, data, dataType=self._tensor_type()) + queue.send(nn_data) + + def send_prompts_pair( + self, + visual_prompt: np.ndarray, + text_prompt: np.ndarray, + class_names: list[str], + offset: int, + ): + self._send(self._text_prompt_queue, "text_prompts", text_prompt) + self._send(self._image_prompt_queue, "image_prompts", visual_prompt) + self._label_manager.update_labels(class_names, offset) + self._model_state.current_classes = class_names + + def set_confidence_threshold(self, threshold: float): + self._parser.setConfidenceThreshold(threshold) + self._model_state.confidence_threshold = threshold + + def get_model_state(self) -> ModelState: + return self._model_state diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/nn_prompts_manager.py b/apps/data-collection/backend/src/core/neural_network/prompts/nn_prompts_manager.py new file mode 100644 index 000000000..7fa706d9e --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/nn_prompts_manager.py @@ -0,0 +1,57 @@ +from typing import List +import depthai as dai +from box import Box + +from core.neural_network.prompts.nn_prompts_controller import NnPromptsController +from core.neural_network.prompts.frame_cache_node import FrameCacheNode +from core.neural_network.prompts.prompt_service_factory import ( + PromptServiceFactory, +) +from core.neural_network.prompts.prompt_encoders_manager import ( + PromptEncodersManager, +) +from core.neural_network.prompts.handlers_factory import HandlersFactory +from core.base_service import BaseService + + +class NNPromptsManager: + """ + Facade for the neural-network subsystem. + """ + + def __init__( + self, + pipeline: dai.Pipeline, + video_node: dai.Node.Output, + config: Box, + controller: NnPromptsController, + ): + self._pipeline: dai.Pipeline = pipeline + self._video_node: dai.Node.Output = video_node + self._config: Box = config + self._controller: NnPromptsController = controller + self._services: List[BaseService] = [] + + def build(self): + encoders = PromptEncodersManager(self._config) + encoders.build() + + frame_cache = self._pipeline.create(FrameCacheNode).build(self._video_node) + handlers = HandlersFactory(encoders, frame_cache) + handlers.build() + + service_factory = PromptServiceFactory(self._controller, handlers) + self._services = service_factory.build_services() + + text_prompt, image_prompt = encoders.prepare_initial_prompts() + self._controller.send_prompts_pair( + image_prompt, + text_prompt, + self._config.class_names, + self._config.text_offset, + ) + self._controller.set_confidence_threshold(self._config.detection_threshold) + + def register_services(self, visualizer: dai.RemoteConnection): + for service in self._services: + visualizer.registerService(service.name, service.handle) diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/prompt_encoders_manager.py b/apps/data-collection/backend/src/core/neural_network/prompts/prompt_encoders_manager.py new file mode 100644 index 000000000..9b0c95a21 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/prompt_encoders_manager.py @@ -0,0 +1,42 @@ +import numpy as np +from box import Box + +from core.neural_network.prompts.encoders.base_prompt_encoder import BasePromptEncoder +from core.neural_network.prompts.encoders.textual_prompt_encoder import ( + TextualPromptEncoder, +) +from core.neural_network.prompts.encoders.visual_prompt_encoder import ( + VisualPromptEncoder, +) + + +class PromptEncodersManager: + """ + Central manager for initializing and caching encoder components. + """ + + def __init__(self, config: Box): + self._model_config = config + + self.textual_encoder: BasePromptEncoder = None + self.visual_encoder: BasePromptEncoder = None + + self.text_prompt: np.ndarray = None + self.image_prompt: np.ndarray = None + + def build(self): + self.textual_encoder = self._init_textual_encoder() + self.visual_encoder = self._init_visual_encoder() + + def _init_textual_encoder(self) -> TextualPromptEncoder: + return TextualPromptEncoder(self._model_config) + + def _init_visual_encoder(self) -> VisualPromptEncoder: + return VisualPromptEncoder(self._model_config) + + def prepare_initial_prompts(self) -> tuple[np.ndarray, np.ndarray]: + text_prompt = self.textual_encoder.extract_embeddings( + self._model_config.class_names + ) + image_prompt = self.textual_encoder.make_dummy() + return text_prompt, image_prompt diff --git a/apps/data-collection/backend/src/core/neural_network/prompts/prompt_service_factory.py b/apps/data-collection/backend/src/core/neural_network/prompts/prompt_service_factory.py new file mode 100644 index 000000000..4076dd6e5 --- /dev/null +++ b/apps/data-collection/backend/src/core/neural_network/prompts/prompt_service_factory.py @@ -0,0 +1,33 @@ +from core.neural_network.prompts.nn_prompts_controller import NnPromptsController +from core.neural_network.prompts.handlers_factory import HandlersFactory +from core.base_service import BaseService +from core.neural_network.prompts.front_end_prompt_services.class_update_service import ( + ClassUpdateService, +) +from core.neural_network.prompts.front_end_prompt_services.threshold_update_service import ( + ThresholdUpdateService, +) +from core.neural_network.prompts.front_end_prompt_services.image_upload_service import ( + ImageUploadService, +) +from core.neural_network.prompts.front_end_prompt_services.bbox_prompt_service import ( + BBoxPromptService, +) + + +class PromptServiceFactory: + def __init__( + self, + controller: NnPromptsController, + handlers: HandlersFactory, + ): + self.controller: NnPromptsController = controller + self.handlers: HandlersFactory = handlers + + def build_services(self) -> list[BaseService]: + return [ + ClassUpdateService(self.controller, self.handlers.class_update_handler), + ThresholdUpdateService(self.controller), + ImageUploadService(self.controller, self.handlers.image_update_handler), + BBoxPromptService(self.controller, self.handlers.bbox_prompt_handler), + ] diff --git a/apps/data-collection/backend/src/core/service_name.py b/apps/data-collection/backend/src/core/service_name.py new file mode 100644 index 000000000..689d6893a --- /dev/null +++ b/apps/data-collection/backend/src/core/service_name.py @@ -0,0 +1,12 @@ +from enum import Enum + + +class ServiceName(str, Enum): + """Unique identifiers for all backend services.""" + + CLASS_UPDATE = "Class Update Service" + THRESHOLD_UPDATE = "Threshold Update Service" + IMAGE_UPLOAD = "Image Upload Service" + SNAP_COLLECTION = "Snap Collection Service" + BBOX_PROMPT = "BBox Prompt Service" + EXPORT = "Export Service" diff --git a/apps/data-collection/backend/src/core/snapping/__init__.py b/apps/data-collection/backend/src/core/snapping/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/snapping/conditions/__init__.py b/apps/data-collection/backend/src/core/snapping/conditions/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/snapping/conditions/base_condition.py b/apps/data-collection/backend/src/core/snapping/conditions/base_condition.py new file mode 100644 index 000000000..f4202eb8f --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/base_condition.py @@ -0,0 +1,76 @@ +from abc import ABC, abstractmethod +from typing import Dict, Any, List, Optional + +from core.snapping.front_end_config_service.snap_payload import ConditionConfig +from core.snapping.conditions.condition_key import ConditionKey +from time import time + + +class Condition(ABC): + """ + Abstract base class for all snap trigger conditions. + + Each condition encapsulates: + - its unique KEY (class-level) + - human-readable name and optional tags + - configuration: enabled state, cooldown interval, etc. + """ + + KEY: ConditionKey # must be defined in subclasses + + def __init__( + self, + name: str, + default_cooldown: float, + tags: Optional[List[str]] = None, + ): + if not getattr(self, "KEY", None): + raise ValueError(f"{self.__class__.__name__} must define a KEY constant") + + self.__key = self.KEY + self.name = name + self.tags = tags or [] + self.enabled: bool = False + self.cooldown: float = max(0.0, float(default_cooldown)) + self._last_trigger_time: Optional[float] = None + + @abstractmethod + def should_trigger(self, *args, **kwargs) -> bool: + """Return True if this condition should trigger.""" + pass + + @abstractmethod + def make_extras(self, *args, **kwargs) -> Dict[str, str]: + """Return optional metadata attached to the snap.""" + pass + + def apply_config(self, conf: ConditionConfig): + self.enabled = conf.enabled + if not self.enabled: + self.reset_cooldown() + self.cooldown = conf.cooldown + + def export_config(self) -> Dict[str, Any]: + return { + "enabled": self.enabled, + "cooldown": self.cooldown, + } + + def get_key(self) -> ConditionKey: + return self.__key + + def reset_cooldown(self): + """Reset internal cooldown tracking.""" + self._last_trigger_time = None + + def _cooldown_passed(self) -> bool: + """Return True if enough time passed since the last trigger.""" + now = time() + if self._last_trigger_time is None: + return True + return (now - self._last_trigger_time) >= self.cooldown + + def mark_triggered(self): + """Record that this condition has just fired.""" + now = time() + self._last_trigger_time = now diff --git a/apps/data-collection/backend/src/core/snapping/conditions/condition_key.py b/apps/data-collection/backend/src/core/snapping/conditions/condition_key.py new file mode 100644 index 000000000..a794b7af8 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/condition_key.py @@ -0,0 +1,8 @@ +from enum import Enum + + +class ConditionKey(str, Enum): + TIMED = "timed" + NO_DETECTIONS = "noDetections" + LOW_CONFIDENCE = "lowConfidence" + LOST_MID = "lostMid" diff --git a/apps/data-collection/backend/src/core/snapping/conditions/low_conf_condition.py b/apps/data-collection/backend/src/core/snapping/conditions/low_conf_condition.py new file mode 100644 index 000000000..5f45ee245 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/low_conf_condition.py @@ -0,0 +1,47 @@ +from core.snapping.front_end_config_service.snap_payload import ConditionConfig +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey +from typing import Dict, Any +import depthai as dai + + +class LowConfidenceCondition(Condition): + """Triggers when any detection has confidence below a threshold.""" + + KEY = ConditionKey.LOW_CONFIDENCE + + def __init__(self, name: str, default_cooldown: float, tags: list[str]): + super().__init__(name, default_cooldown, tags or []) + self.threshold: float = 0.3 + self.last_lowest: float = 0.0 + + def apply_config(self, conf: ConditionConfig): + super().apply_config(conf) + if conf.threshold: + val = float(conf.threshold) + self.threshold = max(0.0, min(1.0, val)) + + def export_config(self) -> Dict[str, Any]: + base = super().export_config() + base["threshold"] = self.threshold + return base + + def should_trigger(self, detections: list[dai.ImgDetection], **kwargs) -> bool: + if self.enabled and self._cooldown_passed(): + if self._check_detections(detections): + self.mark_triggered() + return True + return False + + def _check_detections(self, detections: list[dai.ImgDetection]) -> bool: + if not detections: + return False + self.last_lowest = min((float(d.confidence) for d in detections), default=1.0) + return self.last_lowest < self.threshold + + def make_extras(self) -> Dict[str, str]: + return { + "reason": "low_confidence", + "threshold": f"{round(self.threshold, 3)}", + "min_conf": f"{round(self.last_lowest, 3)}", + } diff --git a/apps/data-collection/backend/src/core/snapping/conditions/no_detections_condition.py b/apps/data-collection/backend/src/core/snapping/conditions/no_detections_condition.py new file mode 100644 index 000000000..efd6d1099 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/no_detections_condition.py @@ -0,0 +1,23 @@ +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey +from typing import Dict +import depthai as dai + + +class NoDetectionsCondition(Condition): + """Triggers when no objects are detected in the current frame.""" + + KEY = ConditionKey.NO_DETECTIONS + + def __init__(self, name: str, default_cooldown: float, tags: list[str]): + super().__init__(name, default_cooldown, tags or []) + + def should_trigger(self, detections: list[dai.ImgDetection], **kwargs) -> bool: + if self.enabled and self._cooldown_passed(): + if not detections or len(detections) == 0: + self.mark_triggered() + return True + return False + + def make_extras(self) -> Dict[str, str]: + return {"reason": "no_detections"} diff --git a/apps/data-collection/backend/src/core/snapping/conditions/timed_condition.py b/apps/data-collection/backend/src/core/snapping/conditions/timed_condition.py new file mode 100644 index 000000000..f2f0b3204 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/timed_condition.py @@ -0,0 +1,21 @@ +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey +from typing import Dict + + +class TimedCondition(Condition): + """Triggers snaps at regular time intervals.""" + + KEY = ConditionKey.TIMED + + def __init__(self, name: str, default_cooldown: float, tags: list[str]): + super().__init__(name, default_cooldown, tags or []) + + def should_trigger(self, **kwargs) -> bool: + if self.enabled and self._cooldown_passed(): + self.mark_triggered() + return True + return False + + def make_extras(self) -> Dict[str, str]: + return {"reason": "timed_snap"} diff --git a/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/__init__.py b/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/lost_mid_condition.py b/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/lost_mid_condition.py new file mode 100644 index 000000000..44f9dc9e0 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/lost_mid_condition.py @@ -0,0 +1,60 @@ +from core.snapping.front_end_config_service.snap_payload import ConditionConfig +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.tracker_conditions.tracklet_analyzer import ( + TrackletAnalyzer, +) +from core.snapping.conditions.condition_key import ConditionKey +from typing import Dict, Any +import depthai as dai + + +class LostMidCondition(Condition): + """Triggers when an object is lost inside the frame center region.""" + + KEY = ConditionKey.LOST_MID + + def __init__(self, name: str, default_cooldown: float, tags: list[str]): + super().__init__(name, default_cooldown, tags or []) + self.margin: float = 0.2 + self.prev_tracked: dict[int, bool] = {} + + def apply_config(self, conf: ConditionConfig): + super().apply_config(conf) + if conf.margin: + val = float(conf.margin) + self.margin = max(0.0, min(0.49, val)) + + def export_config(self) -> Dict[str, Any]: + base = super().export_config() + base["margin"] = self.margin + return base + + def should_trigger(self, tracklets: dai.Tracklet, **kwargs) -> bool: + if self.enabled and self._cooldown_passed(): + if self._check_tracklets(tracklets): + self.mark_triggered() + return True + return False + + def _check_tracklets(self, tracklets) -> bool: + if tracklets is None: + return False + + triggered = False + for t in getattr(tracklets, "tracklets", []): + tr = TrackletAnalyzer(t) + if tr.is_lost and tr.was_tracked(self.prev_tracked): + rc = tr.center_area() + if rc is not None: + cx, cy, _ = rc + if ( + self.margin <= cx <= 1 - self.margin + and self.margin <= cy <= 1 - self.margin + ): + triggered = True + tr.update_state(self.prev_tracked) + + return triggered + + def make_extras(self) -> Dict[str, str]: + return {"reason": "lost_in_middle", "margin": f"{round(self.margin, 3)}"} diff --git a/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/tracklet_analyzer.py b/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/tracklet_analyzer.py new file mode 100644 index 000000000..eb4ac6317 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions/tracker_conditions/tracklet_analyzer.py @@ -0,0 +1,79 @@ +from __future__ import annotations +from typing import Optional, Tuple, Dict +import depthai as dai + + +class TrackletAnalyzer: + """ + Provides safe, normalized access to dai.Tracklet properties + """ + + def __init__(self, tracklet: dai.Tracklet): + self._t = tracklet + + @property + def id(self) -> Optional[int]: + try: + tid = int(getattr(self._t, "id", -1)) + return tid if tid >= 0 else None + except Exception: + return None + + @property + def is_tracked(self) -> bool: + val = getattr(self._t, "status", None) + try: + return val == dai.Tracklet.TrackingStatus.TRACKED + except Exception: + try: + return int(val) == 1 + except Exception: + return False + + @property + def is_lost(self) -> bool: + val = getattr(self._t, "status", None) + try: + return val == dai.Tracklet.TrackingStatus.LOST + except Exception: + try: + return int(val) == 2 + except Exception: + return False + + def center_area(self) -> Optional[Tuple[float, float, float]]: + """ + Return (cx, cy, area_norm) in normalized coordinates. + """ + roi = getattr(self._t, "roi", None) + if roi is not None: + try: + tl = roi.topLeft() + br = roi.bottomRight() + x0, y0 = float(tl.x), float(tl.y) + x1, y1 = float(br.x), float(br.y) + cx, cy = 0.5 * (x0 + x1), 0.5 * (y0 + y1) + area = max(0.0, (x1 - x0) * (y1 - y0)) + return cx, cy, area + except Exception: + pass + + det = getattr(self._t, "srcImgDetection", None) + if det is not None: + x = float(getattr(det, "x", getattr(det, "xmin", 0.0))) + y = float(getattr(det, "y", getattr(det, "ymin", 0.0))) + w = float(getattr(det, "width", 0.0)) + h = float(getattr(det, "height", 0.0)) + cx, cy = x + 0.5 * w, y + 0.5 * h + return cx, cy, max(0.0, w * h) + + return None + + def was_tracked(self, prev_state: Dict[int, bool]) -> bool: + tid = self.id + return tid is not None and prev_state.get(tid, False) + + def update_state(self, state: Dict[int, bool]): + tid = self.id + if tid is not None: + state[tid] = self.is_tracked diff --git a/apps/data-collection/backend/src/core/snapping/conditions_factory.py b/apps/data-collection/backend/src/core/snapping/conditions_factory.py new file mode 100644 index 000000000..6a5b0e03d --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/conditions_factory.py @@ -0,0 +1,33 @@ +import importlib + +from box import Box + +from core.snapping.conditions.condition_key import ConditionKey +from core.snapping.conditions.base_condition import Condition + + +class ConditionsFactory: + @staticmethod + def build_conditions_from_yaml( + conditions_yaml: Box, + ) -> dict[ConditionKey, Condition]: + conditions: dict[ConditionKey, Condition] = {} + + for entry in conditions_yaml.conditions: + if not entry.path: + continue + + try: + module_name, class_name = entry.path.rsplit(".", 1) + module = importlib.import_module(module_name) + cls = getattr(module, class_name) + cond: Condition = cls( + name=entry.name, + default_cooldown=conditions_yaml.cooldown, + tags=entry.tags, + ) + conditions[cond.get_key()] = cond + except Exception as e: + print(f"Failed to import condition {entry.path}: {e}") + + return conditions diff --git a/apps/data-collection/backend/src/core/snapping/front_end_config_service/__init__.py b/apps/data-collection/backend/src/core/snapping/front_end_config_service/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/snapping/front_end_config_service/snap_payload.py b/apps/data-collection/backend/src/core/snapping/front_end_config_service/snap_payload.py new file mode 100644 index 000000000..875fe7f2e --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/front_end_config_service/snap_payload.py @@ -0,0 +1,20 @@ +from typing import Optional +from pydantic import BaseModel, Field, RootModel +from core.snapping.conditions.condition_key import ConditionKey + + +class ConditionConfig(BaseModel): + """Configuration of a single snapping condition.""" + + enabled: bool = Field(default=True) + cooldown: Optional[float] = Field(default=None, ge=0.0) + interval: Optional[float] = Field(default=None, ge=0.0) + threshold: Optional[float] = Field(default=None, ge=0.0, le=1.0) + margin: Optional[float] = Field(default=None, ge=0.0) + + +class SnapPayload(RootModel[dict[ConditionKey, ConditionConfig]]): + """Map of snapping conditions keyed by ConditionKey enum.""" + + def to_dict(self) -> dict[ConditionKey, ConditionConfig]: + return self.root diff --git a/apps/data-collection/backend/src/core/snapping/front_end_config_service/snapping_service.py b/apps/data-collection/backend/src/core/snapping/front_end_config_service/snapping_service.py new file mode 100644 index 000000000..0892e73b6 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/front_end_config_service/snapping_service.py @@ -0,0 +1,34 @@ +from pydantic import ValidationError +from core.base_service import BaseService +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey +from core.snapping.front_end_config_service.snap_payload import SnapPayload +from core.service_name import ServiceName + + +class SnappingService(BaseService[SnapPayload]): + """ + Handles updates to snapping conditions and manages SnapsProducer state. + """ + + NAME = ServiceName.SNAP_COLLECTION + + def __init__(self, conditions: dict[ConditionKey, Condition]): + super().__init__() + self._conditions: dict[ConditionKey, Condition] = conditions + + def handle(self, payload: SnapPayload) -> dict[str, any]: + try: + payload = SnapPayload.model_validate(payload) + except ValidationError as e: + return {"ok": False, "error": e.errors()} + + any_active = False + for key, params in payload.root.items(): + cond = self._conditions.get(key) + if not cond: + continue + cond.apply_config(params) + any_active |= cond.enabled + + return {"ok": True, "active": any_active} diff --git a/apps/data-collection/backend/src/core/snapping/snaps_manager.py b/apps/data-collection/backend/src/core/snapping/snaps_manager.py new file mode 100644 index 000000000..ff8deed35 --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/snaps_manager.py @@ -0,0 +1,58 @@ +import depthai as dai +from box import Box + +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey +from core.snapping.conditions_factory import ConditionsFactory +from core.snapping.snaps_producer import SnapsProducer +from core.snapping.front_end_config_service.snapping_service import SnappingService + +from depthai_nodes.node import ImgDetectionsBridge + +from depthai_nodes.node import SnapsUploader + + +class SnappingServiceManager: + """ + Facade for the snapping subsystem. + """ + + def __init__( + self, + pipeline: dai.Pipeline, + video_node: dai.Node.Output, + tracker: dai.node.ObjectTracker, + detections: ImgDetectionsBridge, + conditions_config: Box, + ): + self._pipeline = pipeline + self._video_node = video_node + self._tracker = tracker + self._detections = detections + self._conditions_config = conditions_config + self._uploader: SnapsUploader = None + + self._conditions: dict[ConditionKey, Condition] = None + self._snap_service: SnappingService = None + + def build(self): + self._conditions = ConditionsFactory.build_conditions_from_yaml( + self._conditions_config + ) + + collector = self._pipeline.create(SnapsProducer).build( + self._video_node, + self._conditions, + self._detections.out, + self._tracker.out, + ) + + self._uploader = self._pipeline.create(SnapsUploader).build(collector.out) + + self._snap_service = SnappingService(self._conditions) + + def register_service(self, visualizer: dai.RemoteConnection): + visualizer.registerService(self._snap_service.name, self._snap_service.handle) + + def get_conditions(self) -> dict[ConditionKey, Condition]: + return self._conditions diff --git a/apps/data-collection/backend/src/core/snapping/snaps_producer.py b/apps/data-collection/backend/src/core/snapping/snaps_producer.py new file mode 100644 index 000000000..a904cb79c --- /dev/null +++ b/apps/data-collection/backend/src/core/snapping/snaps_producer.py @@ -0,0 +1,57 @@ +import depthai as dai +import time + +from core.snapping.conditions.base_condition import Condition +from core.snapping.conditions.condition_key import ConditionKey +from depthai_nodes.message import SnapData + + +class SnapsProducer(dai.node.HostNode): + """ + Host node that evaluates snapping conditions each pipeline tick and emits + SnapData messages for downstream SnapsProducer. + + Attributes + ---------- + _conditions : dict[ConditionKey, Condition] + A dictionary mapping condition keys to their respective snapping conditions. + """ + + def __init__(self): + super().__init__() + self._conditions: dict[ConditionKey, Condition] = {} + + def build( + self, + frame: dai.Node.Output, + conditions: dict[ConditionKey, Condition], + detections: dai.Node.Output, + tracklets: dai.Node.Output, + ): + self._conditions = conditions + self.link_args(frame, detections, tracklets) + return self + + def process( + self, + frame: dai.ImgFrame, + detections: dai.Buffer, + tracklets: dai.Tracklets, + ) -> None: + assert isinstance(detections, dai.ImgDetections) + for cond in self._conditions.values(): + if not cond.should_trigger( + detections=detections.detections, tracklets=tracklets + ): + continue + + snap = SnapData( + snap_name=cond.name, + file_name=f"{cond.name}_{int(time.time())}", + frame=frame, + detections=detections, + tags=cond.tags, + extras=cond.make_extras(), + ) + + self.out.send(snap) diff --git a/apps/data-collection/backend/src/core/video/__init__.py b/apps/data-collection/backend/src/core/video/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/video/video_factory.py b/apps/data-collection/backend/src/core/video/video_factory.py new file mode 100644 index 000000000..b945c36c8 --- /dev/null +++ b/apps/data-collection/backend/src/core/video/video_factory.py @@ -0,0 +1,39 @@ +import depthai as dai +from config.config_data_classes import VideoConfig +from core.video.video_providers.base_video_provider import BaseVideoProvider +from core.video.video_providers.camera_video_provvider import ( + CameraVideoProvider, +) +from core.video.video_providers.replay_video_provider import ( + ReplayVideoProvider, +) + + +class VideoFactory: + """Facade that chooses the right source type and provides encoder.""" + + def __init__(self, pipeline: dai.Pipeline, cfg: VideoConfig): + self._pipeline: dai.Pipeline = pipeline + self._config: VideoConfig = cfg + self._source: BaseVideoProvider = self._select_source() + + def _select_source(self) -> BaseVideoProvider: + if self._config.media_path: + return ReplayVideoProvider(self._pipeline, self._config) + return CameraVideoProvider(self._pipeline, self._config) + + def get_video_node(self) -> dai.Node.Output: + return self._source.get_video_node() + + def get_nv12_output(self) -> dai.Node.Output: + return self._source.get_nv12_output() + + def get_encoded_output(self) -> dai.Node.Output: + """Attach H.264 encoder to NV12 output.""" + encoder = self._pipeline.create(dai.node.VideoEncoder) + encoder.setDefaultProfilePreset( + fps=self._config.fps, + profile=dai.VideoEncoderProperties.Profile.H264_MAIN, + ) + self.get_nv12_output().link(encoder.input) + return encoder.out diff --git a/apps/data-collection/backend/src/core/video/video_providers/__init__.py b/apps/data-collection/backend/src/core/video/video_providers/__init__.py new file mode 100644 index 000000000..e69de29bb diff --git a/apps/data-collection/backend/src/core/video/video_providers/base_video_provider.py b/apps/data-collection/backend/src/core/video/video_providers/base_video_provider.py new file mode 100644 index 000000000..d6a0f7616 --- /dev/null +++ b/apps/data-collection/backend/src/core/video/video_providers/base_video_provider.py @@ -0,0 +1,21 @@ +from abc import ABC, abstractmethod +import depthai as dai +from config.config_data_classes import VideoConfig + + +class BaseVideoProvider(ABC): + """Abstract interface for any DepthAI video input source.""" + + def __init__(self, pipeline: dai.Pipeline, config: VideoConfig): + self._pipeline = pipeline + self._config = config + + @abstractmethod + def get_video_node(self) -> dai.Node.Output: + """Return BGR888i output for NN input.""" + pass + + @abstractmethod + def get_nv12_output(self) -> dai.Node.Output: + """Return NV12 output for visualization.""" + pass diff --git a/apps/data-collection/backend/src/core/video/video_providers/camera_video_provvider.py b/apps/data-collection/backend/src/core/video/video_providers/camera_video_provvider.py new file mode 100644 index 000000000..df323c6a4 --- /dev/null +++ b/apps/data-collection/backend/src/core/video/video_providers/camera_video_provvider.py @@ -0,0 +1,31 @@ +import depthai as dai + +from config.config_data_classes import VideoConfig +from core.video.video_providers.base_video_provider import BaseVideoProvider + + +class CameraVideoProvider(BaseVideoProvider): + """Video source from live DepthAI camera.""" + + def __init__(self, pipeline: dai.Pipeline, config: VideoConfig): + super().__init__(pipeline, config) + self._camera: dai.node.Camera = self._build_camera() + + def get_video_node(self) -> dai.Node.Output: + return self._camera.requestOutput( + size=(self._config.width, self._config.height), + type=dai.ImgFrame.Type.BGR888i, + fps=self._config.fps, + ) + + def get_nv12_output(self) -> dai.Node.Output: + return self._camera.requestOutput( + size=self._config.resolution, + type=dai.ImgFrame.Type.NV12, + fps=self._config.fps, + ) + + def _build_camera(self) -> dai.node.Camera: + return self._pipeline.create(dai.node.Camera).build( + boardSocket=dai.CameraBoardSocket.CAM_A + ) diff --git a/apps/data-collection/backend/src/core/video/video_providers/replay_video_provider.py b/apps/data-collection/backend/src/core/video/video_providers/replay_video_provider.py new file mode 100644 index 000000000..1ec918fd3 --- /dev/null +++ b/apps/data-collection/backend/src/core/video/video_providers/replay_video_provider.py @@ -0,0 +1,33 @@ +from pathlib import Path + +from config.config_data_classes import VideoConfig +from core.video.video_providers.base_video_provider import BaseVideoProvider +import depthai as dai + + +class ReplayVideoProvider(BaseVideoProvider): + """Video source from file replay.""" + + def __init__(self, pipeline: dai.Pipeline, config: VideoConfig): + super().__init__(pipeline, config) + self._replay: dai.node.ReplayVideo = self._build_replay() + + def get_video_node(self) -> dai.Node.Output: + manip = self._pipeline.create(dai.node.ImageManip) + manip.setMaxOutputFrameSize(self._config.width * self._config.height * 3) + manip.initialConfig.setOutputSize(self._config.width, self._config.height) + manip.initialConfig.setFrameType(dai.ImgFrame.Type.BGR888i) + self._replay.out.link(manip.inputImage) + return manip.out + + def get_nv12_output(self) -> dai.Node.Output: + return self._replay.out + + def _build_replay(self) -> dai.node.ReplayVideo: + replay = self._pipeline.create(dai.node.ReplayVideo) + replay.setReplayVideoFile(Path(self._config.media_path)) + replay.setOutFrameType(dai.ImgFrame.Type.NV12) + replay.setLoop(True) + replay.setFps(self._config.fps) + replay.setSize(self._config.resolution) + return replay diff --git a/apps/data-collection/backend/src/depthai_models/yoloe_v8_l_fp16.RVC4.yaml b/apps/data-collection/backend/src/depthai_models/yoloe_v8_l_fp16.RVC4.yaml new file mode 100644 index 000000000..a887528e3 --- /dev/null +++ b/apps/data-collection/backend/src/depthai_models/yoloe_v8_l_fp16.RVC4.yaml @@ -0,0 +1,2 @@ +model: yoloe-v8-l:640x640-text-visual-prompt:e23da0f +platform: RVC4 \ No newline at end of file diff --git a/apps/data-collection/backend/src/main.py b/apps/data-collection/backend/src/main.py new file mode 100644 index 000000000..c813e0b0a --- /dev/null +++ b/apps/data-collection/backend/src/main.py @@ -0,0 +1,68 @@ +import depthai as dai +from config.system_configuration import SystemConfiguration +from core.export_service import ExportService +from core.neural_network.prompts.nn_prompts_manager import NNPromptsManager +from core.neural_network.pipeline.nn_pipeline_setup import NNPipelineBuilder +from core.snapping.snaps_manager import SnappingServiceManager +from core.video.video_factory import VideoFactory + + +def main(): + device = dai.Device() + visualizer = dai.RemoteConnection(serveFrontend=False) + + platform = device.getPlatformAsString() + + if platform != "RVC4": + raise ValueError("This example is supported only on RVC4 platform") + + config = SystemConfiguration(platform) + config.build() + + with dai.Pipeline(device) as pipeline: + print("Creating pipeline...") + + video_factory = VideoFactory(pipeline, config.get_video_config()) + visualizer.addTopic("Video", video_factory.get_encoded_output()) + video_node = video_factory.get_video_node() + + nn_pipeline = NNPipelineBuilder( + pipeline, + video_node, + config.get_neural_network_config(), + ) + nn_pipeline.build() + visualizer.addTopic("Annotations", nn_pipeline.annotation_node.out) + + prompts_manager = NNPromptsManager( + pipeline, video_node, config.get_prompts_config(), nn_pipeline.controller + ) + prompts_manager.build() + prompts_manager.register_services(visualizer) + + snaps_manager = SnappingServiceManager( + pipeline, + video_node, + nn_pipeline.tracker, + nn_pipeline.detections_bridge, + config.get_snaps_config(), + ) + snaps_manager.build() + snaps_manager.register_service(visualizer) + + export_service = ExportService( + nn_pipeline.controller.get_model_state(), snaps_manager.get_conditions() + ) + visualizer.registerService(export_service.name, export_service.handle) + + print("Pipeline created.") + pipeline.start() + visualizer.registerPipeline(pipeline) + + while pipeline.isRunning(): + pipeline.processTasks() + visualizer.waitKey(1) + + +if __name__ == "__main__": + main() diff --git a/apps/data-collection/backend/src/requirements.txt b/apps/data-collection/backend/src/requirements.txt new file mode 100644 index 000000000..66babd870 --- /dev/null +++ b/apps/data-collection/backend/src/requirements.txt @@ -0,0 +1,15 @@ +# depthai==3.0.0 +--extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local +--pre +depthai==3.0.0.dev0+d66489c671da0aee5713135222d0c628eec01d4b +#depthai-nodes==0.3.4 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@feat/new_snaps_producer +opencv-python-headless~=4.10.0 +numpy>=1.22 +tokenizers~=0.21.0 +onnxruntime +# onnxruntime-gpu # if you want to use CUDAExecutionProvider +requests +dotenv +python-box +pydantic \ No newline at end of file diff --git a/apps/data-collection/frontend/.gitignore b/apps/data-collection/frontend/.gitignore new file mode 100644 index 000000000..dafadc4b9 --- /dev/null +++ b/apps/data-collection/frontend/.gitignore @@ -0,0 +1,28 @@ +# Logs +logs +*.log +npm-debug.log* +yarn-debug.log* +yarn-error.log* +pnpm-debug.log* +lerna-debug.log* + +node_modules +dist +dist-ssr +*.local + +# Editor directories and files +.vscode/* +!.vscode/extensions.json +.idea +.DS_Store +*.suo +*.ntvs* +*.njsproj +*.sln +*.sw? + +## Panda +styled-system +styled-system-studio diff --git a/apps/data-collection/frontend/biome.json b/apps/data-collection/frontend/biome.json new file mode 100644 index 000000000..5d96cd100 --- /dev/null +++ b/apps/data-collection/frontend/biome.json @@ -0,0 +1,30 @@ +{ + "$schema": "https://biomejs.dev/schemas/1.9.4/schema.json", + "vcs": { + "enabled": false, + "clientKind": "git", + "useIgnoreFile": false + }, + "files": { + "ignoreUnknown": false, + "ignore": ["node_modules/", "dist/"] + }, + "formatter": { + "enabled": true, + "indentStyle": "tab" + }, + "organizeImports": { + "enabled": true + }, + "linter": { + "enabled": true, + "rules": { + "recommended": true + } + }, + "javascript": { + "formatter": { + "quoteStyle": "single" + } + } +} diff --git a/apps/data-collection/frontend/index.html b/apps/data-collection/frontend/index.html new file mode 100644 index 000000000..3f5e422fa --- /dev/null +++ b/apps/data-collection/frontend/index.html @@ -0,0 +1,13 @@ + + + + + + + Data Collection Application + + +
+ + + diff --git a/apps/data-collection/frontend/package-lock.json b/apps/data-collection/frontend/package-lock.json new file mode 100644 index 000000000..5ca548ede --- /dev/null +++ b/apps/data-collection/frontend/package-lock.json @@ -0,0 +1,22382 @@ +{ + "name": "frontend", + "version": "0.0.0", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "name": "frontend", + "version": "0.0.0", + "dependencies": { + "@luxonis/depthai-viewer-common": "1.2.8", + "react": "^18.3.1", + "react-dom": "^18.3.1", + "react-router": "^7.5.0", + "react-router-dom": "^7.5.0" + }, + "devDependencies": { + "@biomejs/biome": "1.9.4", + "@pandacss/dev": "0.53.0", + "@types/react": "^18.3.20", + "@types/react-dom": "^18.3.6", + "@vitejs/plugin-react": "^4.3.4", + "globals": "^16.0.0", + "typescript": "~5.7.2", + "vite": "^6.3.1" + } + }, + "node_modules/@ampproject/remapping": { + "version": "2.3.0", + "resolved": "https://registry.npmjs.org/@ampproject/remapping/-/remapping-2.3.0.tgz", + 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vite build", + "lint": "biome check .", + "lint:fix": "biome check --write .", + "preview": "vite preview" + }, + "dependencies": { + "@luxonis/depthai-viewer-common": "1.2.8", + "react": "^18.3.1", + "react-dom": "^18.3.1", + "react-router": "^7.5.0", + "react-router-dom": "^7.5.0" + }, + "devDependencies": { + "@biomejs/biome": "1.9.4", + "@pandacss/dev": "0.53.0", + "@types/react": "^18.3.20", + "@types/react-dom": "^18.3.6", + "@vitejs/plugin-react": "^4.3.4", + "globals": "^16.0.0", + "typescript": "~5.7.2", + "vite": "^6.3.1" + } +} diff --git a/apps/data-collection/frontend/panda.config.ts b/apps/data-collection/frontend/panda.config.ts new file mode 100644 index 000000000..f1c3e8249 --- /dev/null +++ b/apps/data-collection/frontend/panda.config.ts @@ -0,0 +1,12 @@ +import { defineConfig, defineGlobalStyles } from "@pandacss/dev"; +import { pandaPreset } from "@luxonis/common-fe-components"; + +export default defineConfig({ + presets: [pandaPreset], + preflight: true, + include: ["./src/**/*.{ts,tsx}"], + exclude: [], + jsxFramework: "react", + outdir: "styled-system", + forceConsistentTypeExtension: true, +}); diff --git a/apps/data-collection/frontend/postcss.config.mjs b/apps/data-collection/frontend/postcss.config.mjs new file mode 100644 index 000000000..cdaaad9ae --- /dev/null +++ b/apps/data-collection/frontend/postcss.config.mjs @@ -0,0 +1,5 @@ +export default { + plugins: { + '@pandacss/dev/postcss': {}, + }, +} \ No newline at end of file diff --git a/apps/data-collection/frontend/src/App.tsx b/apps/data-collection/frontend/src/App.tsx new file mode 100644 index 000000000..fa314019b --- /dev/null +++ b/apps/data-collection/frontend/src/App.tsx @@ -0,0 +1,395 @@ +import { css } from "../styled-system/css/css.mjs"; +import { Streams, useConnection } from "@luxonis/depthai-viewer-common"; +import { ClassSelector } from "./utils/classes/ClassSelector.tsx"; +import { ConfidenceSlider } from "./utils/classes/ConfidenceSlider.tsx"; +import { ImageUploader } from "./utils/classes/ImageUploader.tsx"; +import { SnapConditionsPanel } from "./utils/conditions/SnapConditionsPanel.tsx"; +import { useCallback, useEffect, useRef, useState } from "react"; +import { useNotifications } from "./Notifications.tsx"; + +interface BackendConfig { + classes: string[]; + confidence_threshold: number; + snapping: { + running: boolean; + timed: { enabled: boolean; cooldown: number }; + noDetections: { enabled: boolean; cooldown: number }; + lowConfidence: { enabled: boolean; threshold: number; cooldown: number }; + lostMid: { enabled: boolean; cooldown: number; margin: number }; + }; +} + +function App() { + const connection = useConnection(); + const streamContainerRef = useRef(null); + const overlayCanvasRef = useRef(null); + const [isDrawing, setIsDrawing] = useState(false); + const [dragStart, setDragStart] = useState<{ x: number; y: number } | null>(null); + const [currentRect, setCurrentRect] = useState<{ x: number; y: number; w: number; h: number } | null>(null); + const [backendConfig, setBackendConfig] = useState(null); + const [configLoaded, setConfigLoaded] = useState(false); + const { notify } = useNotifications(); + + const getUnderlyingMediaAndSize = () => { + const container = streamContainerRef.current; + if (!container) return null; + const videoEl = container.querySelector("video") as HTMLVideoElement | null; + const canvases = Array.from(container.querySelectorAll("canvas")) as HTMLCanvasElement[]; + const canvasEl = canvases.find((c) => c.getAttribute("data-role") !== "overlay") || null; + const containerRect = container.getBoundingClientRect(); + if (videoEl && videoEl.videoWidth && videoEl.videoHeight) { + const r = videoEl.getBoundingClientRect(); + const displayWidth = r.width; + const displayHeight = r.height; + const offsetX = r.left - containerRect.left; + const offsetY = r.top - containerRect.top; + return { + type: "video" as const, + el: videoEl, + width: videoEl.videoWidth, + height: videoEl.videoHeight, + displayWidth, + displayHeight, + offsetX, + offsetY, + }; + } + if (canvasEl && canvasEl.width && canvasEl.height) { + const r = canvasEl.getBoundingClientRect(); + const displayWidth = r.width; + const displayHeight = r.height; + const offsetX = r.left - containerRect.left; + const offsetY = r.top - containerRect.top; + return { + type: "canvas" as const, + el: canvasEl, + width: canvasEl.width, + height: canvasEl.height, + displayWidth, + displayHeight, + offsetX, + offsetY, + }; + } + return null; + }; + + const finalizeBBox = useCallback(() => { + if (!currentRect) return; + const overlay = overlayCanvasRef.current; + if (!overlay) return; + const { x, y, w, h } = currentRect; + if (w <= 0 || h <= 0) { + setIsDrawing(false); + setCurrentRect(null); + setDragStart(null); + const ctx = overlay.getContext("2d"); + if (ctx) ctx.clearRect(0, 0, overlay.width, overlay.height); + notify("Selection too small. Please draw a larger box.", { type: "warning" }); + return; + } + + const media = getUnderlyingMediaAndSize(); + if (!media) { + notify("No video/canvas found. Reset the view and try again.", { type: "error", durationMs: 6000 }); + return; + } + + const overlayW = overlay.width; + const overlayH = overlay.height; + const srcW = media.width; + const srcH = media.height; + const mediaOffsetX = (media as any).offsetX ?? 0; + const mediaOffsetY = (media as any).offsetY ?? 0; + const mediaDispW = (media as any).displayWidth ?? overlayW; + const mediaDispH = (media as any).displayHeight ?? overlayH; + + let contentX = mediaOffsetX; + let contentY = mediaOffsetY; + let contentW = mediaDispW; + let contentH = mediaDispH; + if (media.type === "canvas") { + const side = Math.min(mediaDispW, mediaDispH); + contentX = mediaOffsetX + (mediaDispW - side) / 2; + contentY = mediaOffsetY + (mediaDispH - side) / 2; + contentW = side; + contentH = side; + } + + const rx0 = Math.max(x, contentX); + const ry0 = Math.max(y, contentY); + const rx1 = Math.min(x + w, contentX + contentW); + const ry1 = Math.min(y + h, contentY + contentH); + const rw = Math.max(0, rx1 - rx0); + const rh = Math.max(0, ry1 - ry0); + if (rw <= 1 || rh <= 1) { + notify("Box outside of content area. Try again within the stream.", { type: "warning", durationMs: 6000 }); + return; + } + + const scaleX = srcW / contentW; + const scaleY = srcH / contentH; + const sx0 = Math.max(0, Math.min(srcW - 1, Math.round((rx0 - contentX) * scaleX))); + const sy0 = Math.max(0, Math.min(srcH - 1, Math.round((ry0 - contentY) * scaleY))); + const sx1 = Math.max(0, Math.min(srcW, Math.round((rx1 - contentX) * scaleX))); + const sy1 = Math.max(0, Math.min(srcH, Math.round((ry1 - contentY) * scaleY))); + const sw = Math.max(1, sx1 - sx0); + const sh = Math.max(1, sy1 - sy0); + + const xNorm = sx0 / srcW; + const yNorm = sy0 / srcH; + const wNorm = sw / srcW; + const hNorm = sh / srcH; + + notify(`Sending box [${xNorm.toFixed(2)}, ${yNorm.toFixed(2)}, ${wNorm.toFixed(2)}, ${hNorm.toFixed(2)}]`, { + type: "info", + }); + + (connection as any).daiConnection?.postToService( + "BBox Prompt Service", + { + x: xNorm, y: yNorm, width: wNorm, height: hNorm + }, + (resp: any) => { + console.log("[BBox] Service ack:", resp); + notify("Bounding box sent", { type: "success" }); + } + ); + + setIsDrawing(false); + setCurrentRect(null); + setDragStart(null); + const ctx = overlay.getContext("2d"); + if (ctx) ctx.clearRect(0, 0, overlay.width, overlay.height); + }, [connection, currentRect, notify]); + + const handleBeginBBoxDraw = useCallback(() => { + setIsDrawing(true); + setCurrentRect(null); + setDragStart(null); + }, []); + + useEffect(() => { + if (!isDrawing) return; + const container = streamContainerRef.current; + const overlay = overlayCanvasRef.current; + if (!container || !overlay) return; + const sizeOverlay = () => { + const rect = container.getBoundingClientRect(); + overlay.width = Math.max(1, Math.round(rect.width)); + overlay.height = Math.max(1, Math.round(rect.height)); + const ctx = overlay.getContext("2d"); + if (ctx) ctx.clearRect(0, 0, overlay.width, overlay.height); + }; + sizeOverlay(); + window.addEventListener("resize", sizeOverlay); + return () => window.removeEventListener("resize", sizeOverlay); + }, [isDrawing]); + + useEffect(() => { + notify(connection.connected ? "Connected to device" : "Disconnected from device", { + type: connection.connected ? "success" : "warning", + durationMs: 1200, + }); + }, [connection.connected, notify]); + + // Fetch backend config on connection + useEffect(() => { + if (!connection.connected || configLoaded) return; + + const timeoutId = setTimeout(() => { + console.log("[App] Fetching backend configuration..."); + (connection as any).daiConnection?.postToService( + "Export Service", + null, + (response: any) => { + if (response === null || response === undefined) { + console.log("[App] Config service not available - using defaults"); + return; + } + + let config: BackendConfig | null = null; + try { + let obj: any = response; + const td = new TextDecoder('utf-8'); + const view = new Uint8Array(obj.buffer, obj.byteOffset, obj.byteLength); + const jsonStr = td.decode(view); + obj = JSON.parse(jsonStr); + + console.log("[App] Received payload:", obj); + + if (obj && obj.data && typeof obj.data === 'object') { + obj = obj.data; + } + if (obj && typeof obj === 'object' && 'classes' in obj) { + config = obj as BackendConfig; + } + } catch (e) { + console.error('[App] Failed to parse service response:', e); + } + + if (config && Array.isArray(config.classes) && typeof config.confidence_threshold === 'number') { + setBackendConfig(config); + setConfigLoaded(true); + console.log("[App] Config restored from backend"); + notify("Configuration restored from backend", { type: "success", durationMs: 2000 }); + } else { + console.log("[App] Invalid config format - using defaults"); + } + } + ); + }, 1500); + + return () => clearTimeout(timeoutId); + }, [connection.connected, configLoaded, notify]); + + // Reset config loaded flag when disconnected + useEffect(() => { + if (!connection.connected) { + setConfigLoaded(false); + setBackendConfig(null); + } + }, [connection.connected]); + + const onOverlayMouseDown = (e: any) => { + if (!isDrawing) return; + const canvas = overlayCanvasRef.current; + if (!canvas) return; + const rect = canvas.getBoundingClientRect(); + const x = e.clientX - rect.left; + const y = e.clientY - rect.top; + setDragStart({ x, y }); + setCurrentRect({ x, y, w: 0, h: 0 }); + }; + + const onOverlayMouseMove = (e: any) => { + if (!isDrawing || !dragStart) return; + const canvas = overlayCanvasRef.current; + if (!canvas) return; + const rect = canvas.getBoundingClientRect(); + const x = e.clientX - rect.left; + const y = e.clientY - rect.top; + const x0 = Math.min(dragStart.x, x); + const y0 = Math.min(dragStart.y, y); + const w = Math.abs(x - dragStart.x); + const h = Math.abs(y - dragStart.y); + setCurrentRect({ x: x0, y: y0, w, h }); + + const ctx = canvas.getContext("2d"); + if (!ctx) return; + ctx.clearRect(0, 0, canvas.width, canvas.height); + ctx.strokeStyle = "#22c55e"; + ctx.lineWidth = 2; + ctx.strokeRect(x0, y0, w, h); + }; + + const onOverlayMouseUp = () => { + if (!isDrawing) return; + finalizeBBox(); + }; + + const SectionTitle = (props: { children: any }) => ( +

{props.children}

+ ); + + return ( +
+
+ + {isDrawing && ( + + )} +
+ + {/* Vertical Divider */} +
+ + {/* Right: Sidebar — restored width */} +
+

Data Collection

+

+ Detect by name or example and auto-capture snaps based on conditions. +

+ + Labels by Text +

Enter labels to find (e.g., person, chair, TV).

+ + + Labels by Image +

Upload a photo or draw a box on the stream.

+ + + Confidence Filter +

Detections below this confidence are dropped.

+ + +
+

Snap conditions

+

Choose when to auto-capture a snap.

+ +
+ +
+
+ + {connection.connected ? "Connected to device" : "Disconnected"} + +
+
+
+ ); +} + +export default App; diff --git a/apps/data-collection/frontend/src/Notifications.tsx b/apps/data-collection/frontend/src/Notifications.tsx new file mode 100644 index 000000000..d77312608 --- /dev/null +++ b/apps/data-collection/frontend/src/Notifications.tsx @@ -0,0 +1,107 @@ +import { createContext, useCallback, useContext, useMemo, useRef, useState } from "react"; +import { css } from "../styled-system/css/css.mjs"; + +type Notification = { + id: number; + message: string; + type?: "info" | "success" | "warning" | "error"; + durationMs?: number; +}; + +type NotificationContextValue = { + notify: (message: string, options?: { type?: Notification["type"]; durationMs?: number }) => void; +}; + +const NotificationContext = createContext(null); + +export function useNotifications() { + const ctx = useContext(NotificationContext); + if (!ctx) throw new Error("useNotifications must be used within NotificationProvider"); + return ctx; +} + +export function NotificationProvider({ children }: { children: React.ReactNode }) { + const [items, setItems] = useState([]); + const idRef = useRef(1); + + const remove = useCallback((id: number) => { + setItems((prev) => prev.filter((n) => n.id !== id)); + }, []); + + const notify = useCallback((message, options) => { + const id = idRef.current++; + const durationMs = options?.durationMs ?? 4500; + const type = options?.type ?? "info"; + setItems((prev) => [...prev, { id, message, type, durationMs }].slice(-5)); + if (durationMs > 0) { + window.setTimeout(() => remove(id), durationMs); + } + }, [remove]); + + const value = useMemo(() => ({ notify }), [notify]); + + return ( + + {children} +
+ {items.map((n, idx) => ( + remove(n.id)} index={idx} /> + ))} +
+ + ); +} + +function Toast({ notification, onClose, index }: { notification: Notification; onClose: () => void; index: number }) { + const { message, type } = notification; + const colorMap: Record, { bg: string; border: string; text: string }> = { + info: { bg: "blue.50", border: "blue.300", text: "blue.900" }, + success: { bg: "green.50", border: "green.300", text: "green.900" }, + warning: { bg: "yellow.50", border: "yellow.300", text: "yellow.900" }, + error: { bg: "red.50", border: "red.300", text: "red.900" }, + }; + const colors = colorMap[type ?? "info"]; + + return ( +
+
+ {message} + +
+
+ ); +} + +// Keyframes for smooth appear (no opacity change to keep background fully opaque) +const styleEl = (typeof document !== 'undefined') ? document.createElement('style') : null; +if (styleEl && !document.getElementById('notif-keyframes')) { + styleEl.id = 'notif-keyframes'; + styleEl.innerHTML = ` +@keyframes slideInUp { from { transform: translateY(8px); } to { transform: translateY(0); } } +@keyframes slideOutDown { from { transform: translateY(0); } to { transform: translateY(8px); } } +`; + document.head.appendChild(styleEl); +} + diff --git a/apps/data-collection/frontend/src/index.css b/apps/data-collection/frontend/src/index.css new file mode 100644 index 000000000..009ed44b9 --- /dev/null +++ b/apps/data-collection/frontend/src/index.css @@ -0,0 +1 @@ +@layer reset, base, tokens, recipes, utilities; \ No newline at end of file diff --git a/apps/data-collection/frontend/src/main.tsx b/apps/data-collection/frontend/src/main.tsx new file mode 100644 index 000000000..116fda8d2 --- /dev/null +++ b/apps/data-collection/frontend/src/main.tsx @@ -0,0 +1,33 @@ +import {StrictMode} from 'react'; +import {createRoot} from 'react-dom/client'; +import './index.css'; +import '@luxonis/depthai-viewer-common/styles'; +import '@luxonis/common-fe-components/styles'; +import '@luxonis/depthai-pipeline-lib/styles'; +import App from './App.tsx'; +import {BrowserRouter, Route, Routes} from "react-router"; +import {DepthAIContext} from "@luxonis/depthai-viewer-common"; +import { NotificationProvider } from './Notifications.tsx'; + +// This function extracts the base path with app version from the current URL. +// This is essential for access via domain luxonis.app +function getBasePath(): string { + return window.location.pathname.match(/^\/\d+\.\d+\.\d+\/$/)?.[0] ?? '' +} + +createRoot(document.getElementById('root')!).render( + + + + + + }/> + + + + + , +); diff --git a/apps/data-collection/frontend/src/utils/SliderControl.tsx b/apps/data-collection/frontend/src/utils/SliderControl.tsx new file mode 100644 index 000000000..1e7694c3c --- /dev/null +++ b/apps/data-collection/frontend/src/utils/SliderControl.tsx @@ -0,0 +1,74 @@ +import { css } from "../../styled-system/css/css.mjs"; +import { ReactNode, useCallback } from "react"; + +export interface SliderControlProps { + label?: ReactNode; + value: number; + onChange: (v: number) => void; + onCommit?: (v: number) => void; + min?: number; + max?: number; + step?: number; + disabled?: boolean; + id?: string; + "aria-label"?: string; +} + +export function SliderControl({ + label, + value, + onChange, + onCommit, + min = 0, + max = 1, + step = 0.01, + disabled, + id, + ...aria +}: SliderControlProps) { + const commit = useCallback(() => onCommit?.(value), [onCommit, value]); + + return ( +
+ {label && } + onChange(parseFloat(e.target.value))} + onMouseUp={commit} + onTouchEnd={commit} + onBlur={commit} + onKeyUp={(e) => (e.key === "Enter" || e.key === " ") && commit()} + disabled={disabled} + className={css({ + width: "100%", + appearance: "none", + height: "4px", + borderRadius: "full", + backgroundColor: "gray.300", + "&::-webkit-slider-thumb": { + appearance: "none", + width: "12px", + height: "12px", + borderRadius: "full", + backgroundColor: "blue.500", + cursor: "pointer", + }, + "&::-moz-range-thumb": { + appearance: "none", + width: "12px", + height: "12px", + borderRadius: "full", + backgroundColor: "blue.500", + cursor: "pointer", + }, + })} + {...aria} + /> +
+ ); +} diff --git a/apps/data-collection/frontend/src/utils/classes/ClassSelector.tsx b/apps/data-collection/frontend/src/utils/classes/ClassSelector.tsx new file mode 100644 index 000000000..575e26a14 --- /dev/null +++ b/apps/data-collection/frontend/src/utils/classes/ClassSelector.tsx @@ -0,0 +1,78 @@ +import { Flex, Button, Input } from "@luxonis/common-fe-components"; +import { useRef, useState, useEffect } from "react"; +import { css } from "../../../styled-system/css/css.mjs"; +import { useConnection } from "@luxonis/depthai-viewer-common"; +import { useNotifications } from "../../Notifications.tsx"; + +interface ClassSelectorProps { + initialClasses?: string[]; +} + +export function ClassSelector({ initialClasses }: ClassSelectorProps) { + const inputRef = useRef(null); + const connection = useConnection(); + const [selectedClasses, setSelectedClasses] = useState(["person", "chair", "TV"]); + const { notify } = useNotifications(); + + // Update classes from backend config + useEffect(() => { + if (initialClasses && Array.isArray(initialClasses) && initialClasses.length > 0) { + console.log("[ClassSelector] Restoring classes from backend:", initialClasses); + setSelectedClasses([...initialClasses]); // Create new array to ensure update + } + }, [initialClasses]); + + const handleSendMessage = () => { + if (inputRef.current) { + const value = inputRef.current.value; + const updatedClasses = value + .split(',') + .map((c: string) => c.trim()) + .filter(Boolean); + + if (updatedClasses.length === 0) { + notify('Please enter at least one class (comma separated).', { type: 'warning', durationMs: 5000 }); + return; + } + if (!connection.connected) { + notify('Not connected to device. Unable to update classes.', { type: 'error' }); + return; + } + + console.log('Sending new class list to backend:', updatedClasses); + notify(`Updating ${updatedClasses.length} class${updatedClasses.length > 1 ? 'es' : ''}…`, { type: 'info' }); + + connection.daiConnection?.postToService( + // @ts-ignore - Custom service + "Class Update Service", + { classes : updatedClasses }, + () => { + console.log('Backend acknowledged class update'); + setSelectedClasses(updatedClasses); + notify(`Classes updated (${updatedClasses.join(', ')})`, { type: 'success', durationMs: 6000 }); + } + ); + + inputRef.current.value = ''; + } + }; + + return ( +
+ {/* Class List Display */} +

Update Classes with Text Input:

+
    + {selectedClasses.map((cls: string, idx: number) => ( +
  • {cls}
    • + ))} +
+ + + {/* Input + Button */} + + + + +
+ ); +} diff --git a/apps/data-collection/frontend/src/utils/classes/ConfidenceSlider.tsx b/apps/data-collection/frontend/src/utils/classes/ConfidenceSlider.tsx new file mode 100644 index 000000000..59a3379db --- /dev/null +++ b/apps/data-collection/frontend/src/utils/classes/ConfidenceSlider.tsx @@ -0,0 +1,46 @@ +import { useState, useEffect } from "react"; +import { useConnection } from "@luxonis/depthai-viewer-common"; +import { SliderControl } from "../SliderControl.tsx"; + +interface ConfidenceSliderProps { + initialValue?: number; + disabled?: boolean; +} + +export function ConfidenceSlider({ initialValue = 0.5, disabled }: ConfidenceSliderProps) { + const connection = useConnection(); + const [value, setValue] = useState(initialValue); + + // Update value from backend config + useEffect(() => { + if (initialValue !== undefined && Number.isFinite(initialValue)) { + console.log("[ConfidenceSlider] Restoring value from backend:", initialValue); + setValue(initialValue); + } + }, [initialValue]); + + const handleCommit = (new_threshold: number) => { + if (Number.isFinite(new_threshold)) { + connection.daiConnection?.postToService( + // @ts-ignore - Custom service + "Threshold Update Service", + { threshold: new_threshold }, + (resp: any) => console.log("[ConfidenceSlider] BE ack:", resp) + ); + } + }; + + return ( + + ); +} diff --git a/apps/data-collection/frontend/src/utils/classes/ImageUploader.tsx b/apps/data-collection/frontend/src/utils/classes/ImageUploader.tsx new file mode 100644 index 000000000..5df0bd676 --- /dev/null +++ b/apps/data-collection/frontend/src/utils/classes/ImageUploader.tsx @@ -0,0 +1,108 @@ +import { Button, Flex } from "@luxonis/common-fe-components"; +import { css } from "../../../styled-system/css/css.mjs"; +import { useState } from "react"; +import { useConnection } from "@luxonis/depthai-viewer-common"; +import { useNotifications } from "../../Notifications.tsx"; + +type Props = { + onDrawBBox?: () => void; +} + +export function ImageUploader({ onDrawBBox }: Props) { + const connection = useConnection(); + const [selectedFile, setSelectedFile] = useState(null); + const { notify } = useNotifications(); + + const handleFileSelect = (event: React.ChangeEvent) => { + const file: File | null = event.target.files?.[0] || null; + setSelectedFile(file); + if (file) { + notify(`Selected: ${file.name}`, { type: 'info', durationMs: 2000 }); + } + }; + + const handleUpload = () => { + if (!selectedFile) { + notify('Please choose an image first', { type: 'warning' }); + return; + } + if (!connection.connected) { + notify('Not connected to device. Unable to upload image.', { type: 'error' }); + return; + } + + const reader = new FileReader(); + reader.onload = () => { + const fileData = reader.result; + + console.log("Uploading image to backend:", selectedFile.name); + const sizeKb = Math.max(1, Math.round((selectedFile.size || 0) / 1024)); + notify(`Uploading ${selectedFile.name} (${sizeKb} KB)…`, { type: 'info' }); + + // @ts-ignore - Custom service + (connection as any).daiConnection?.postToService( + "Image Upload Service", + { + filename: selectedFile.name, + type: selectedFile.type, + data: fileData + }, + (resp: any) => { + console.log("[ImageUpload] Service ack:", resp); + notify(`Image uploaded: ${selectedFile.name}`, { type: 'success', durationMs: 6000 }); + } + ); + }; + + reader.readAsDataURL(selectedFile); + }; + + return ( +
+

Update Classes with Image Input:

+ Important: reset view before drawing a bounding box + + {/* Clickable file selection area */} + + + {/* Hidden file input */} + + + {/* Upload / Draw buttons */} + + + OR + + +
+ ); +} diff --git a/apps/data-collection/frontend/src/utils/conditions/ConditionCard.tsx b/apps/data-collection/frontend/src/utils/conditions/ConditionCard.tsx new file mode 100644 index 000000000..6c252e120 --- /dev/null +++ b/apps/data-collection/frontend/src/utils/conditions/ConditionCard.tsx @@ -0,0 +1,44 @@ +import { ReactNode } from "react"; +import { css } from "../../../styled-system/css/css.mjs"; + +interface ConditionCardProps { + title: string; + enabled: boolean; + onToggle: (val: boolean) => void; + disabled?: boolean; + description?: string; + children?: ReactNode; +} + +export function ConditionCard({ + title, + enabled, + onToggle, + disabled, + description, + children, +}: ConditionCardProps) { + const Divider = () => ( +
+ ); + + return ( +
+ +
+ + onToggle(e.target.checked)} + disabled={!!disabled} + className={css({ width: "5", height: "5", cursor: disabled ? "not-allowed" : "pointer" })} + /> +
+ {enabled && description && ( +

{description}

+ )} + {enabled && children} +
+ ); +} diff --git a/apps/data-collection/frontend/src/utils/conditions/CooldownMinutesInput.tsx b/apps/data-collection/frontend/src/utils/conditions/CooldownMinutesInput.tsx new file mode 100644 index 000000000..ad8e8f742 --- /dev/null +++ b/apps/data-collection/frontend/src/utils/conditions/CooldownMinutesInput.tsx @@ -0,0 +1,56 @@ +import { css } from "../../../styled-system/css/css.mjs"; + +interface CooldownMinutesInputProps { + label?: string; + value: string; + onChange: (v: string) => void; + onBlur?: () => void; + valid: boolean; + disabled?: boolean; + ariaLabel?: string; +} + +export function CooldownMinutesInput({ + label = "Cooldown (minutes)", + value, + onChange, + onBlur, + valid, + disabled, + ariaLabel, +}: CooldownMinutesInputProps) { + return ( + + ); +} diff --git a/apps/data-collection/frontend/src/utils/conditions/EdgeBufferPercentInput.tsx b/apps/data-collection/frontend/src/utils/conditions/EdgeBufferPercentInput.tsx new file mode 100644 index 000000000..38fe594c4 --- /dev/null +++ b/apps/data-collection/frontend/src/utils/conditions/EdgeBufferPercentInput.tsx @@ -0,0 +1,48 @@ +import { css } from "../../../styled-system/css/css.mjs"; + +interface EdgeBufferPercentInputProps { + value: string; + onChange: (v: string) => void; + onBlur?: () => void; + valid: boolean; + disabled?: boolean; +} + +export function EdgeBufferPercentInput({ + value, + onChange, + onBlur, + valid, + disabled, +}: EdgeBufferPercentInputProps) { + return ( + + ); +} diff --git a/apps/data-collection/frontend/src/utils/conditions/SnapCollectionButton.tsx b/apps/data-collection/frontend/src/utils/conditions/SnapCollectionButton.tsx new file mode 100644 index 000000000..2d7058b3d --- /dev/null +++ b/apps/data-collection/frontend/src/utils/conditions/SnapCollectionButton.tsx @@ -0,0 +1,30 @@ +import { Button } from "@luxonis/common-fe-components"; +import { css } from "../../../styled-system/css/css.mjs"; + +interface SnapActionButtonProps { + running: boolean; + busy: boolean; + disabled?: boolean; + onClick: () => void; +} + +export function SnapCollectionButton({ running, busy, disabled, onClick }: SnapActionButtonProps) { + return ( + + ); +} diff --git a/apps/data-collection/frontend/src/utils/conditions/SnapConditionsPanel.tsx b/apps/data-collection/frontend/src/utils/conditions/SnapConditionsPanel.tsx new file mode 100644 index 000000000..54400e851 --- /dev/null +++ b/apps/data-collection/frontend/src/utils/conditions/SnapConditionsPanel.tsx @@ -0,0 +1,330 @@ +import { useMemo, useState, useEffect } from "react"; +import { css } from "../../../styled-system/css/css.mjs"; +import { useConnection } from "@luxonis/depthai-viewer-common"; +import { useNotifications } from "../../Notifications.tsx"; +import { ConditionCard } from "./ConditionCard.tsx"; +import { CooldownMinutesInput } from "./CooldownMinutesInput.tsx"; +import { EdgeBufferPercentInput } from "./EdgeBufferPercentInput.tsx"; +import { SnapCollectionButton } from "./SnapCollectionButton.tsx"; +import { SliderControl } from "../SliderControl.tsx"; + +interface SnappingConfig { + running: boolean; + timed: { enabled: boolean; cooldown: number }; + noDetections: { enabled: boolean; cooldown: number }; + lowConfidence: { enabled: boolean; threshold: number; cooldown: number }; + lostMid: { enabled: boolean; cooldown: number; margin: number }; +} + +interface SnapConditionsPanelProps { + initialConfig?: SnappingConfig; +} + +export function SnapConditionsPanel({ initialConfig }: SnapConditionsPanelProps) { + const connection = useConnection(); + const { notify } = useNotifications(); + + const [running, setRunning] = useState(false); + const [busy, setBusy] = useState(false); + + // helpers + const hasTooManyDecimals = (s: string) => /\.\d{2,}$/.test(s.trim()); + const oneDecimalOrInt = (s: string) => /^\d+(\.\d{0,1})?$/.test(s.trim()); + const asFloat = (s: string) => Number.parseFloat(s.trim()); + + // Timing (default 5.0m) + const [timingEnabled, setTimingEnabled] = useState(false); + const [timingStr, setTimingStr] = useState("5.0"); + const timingMin = useMemo(() => asFloat(timingStr), [timingStr]); + const timingValid = !timingEnabled || + (timingStr !== "" && oneDecimalOrInt(timingStr) && Number.isFinite(timingMin) && timingMin > 0); + + // No detections (default 5.0m) + const [noDetEnabled, setNoDetEnabled] = useState(false); + const [noDetStr, setNoDetStr] = useState("5.0"); + const noDetMin = useMemo(() => asFloat(noDetStr), [noDetStr]); + const noDetValid = !noDetEnabled || + (noDetStr !== "" && oneDecimalOrInt(noDetStr) && Number.isFinite(noDetMin) && noDetMin >= 0); + + // Low confidence (default 5.0m) + const [lowConfEnabled, setLowConfEnabled] = useState(false); + const [lowConfStr, setLowConfStr] = useState("5.0"); + const lowConfMin = useMemo(() => asFloat(lowConfStr), [lowConfStr]); + const lowConfValid = !lowConfEnabled || + (lowConfStr !== "" && oneDecimalOrInt(lowConfStr) && Number.isFinite(lowConfMin) && lowConfMin >= 0); + const [lowConfThreshold, setLowConfThreshold] = useState(0.30); // slider 0..1 + + // Lost in middle (default 5.0m cooldown; 20% edge) + const [lostMidEnabled, setLostMidEnabled] = useState(false); + const [lostMidStr, setLostMidStr] = useState("5.0"); + const lostMidMin = useMemo(() => asFloat(lostMidStr), [lostMidStr]); + const lostMidValid = !lostMidEnabled || + (lostMidStr !== "" && oneDecimalOrInt(lostMidStr) && Number.isFinite(lostMidMin) && lostMidMin >= 0); + + const [lostMidPctStr, setLostMidPctStr] = useState("20"); + const lostMidPct = useMemo(() => Number.parseFloat(lostMidPctStr), [lostMidPctStr]); + const lostMidPctValid = Number.isFinite(lostMidPct) && lostMidPct >= 0 && lostMidPct <= 49; + + const anyInvalid = !timingValid || !noDetValid || !lowConfValid || !lostMidValid || !lostMidPctValid; + const disabledControls = busy || running; + + // Restore state from initialConfig when available + useEffect(() => { + if (!initialConfig) { + console.log("[SnapConditionsPanel] No initialConfig provided"); + return; + } + + console.log("[SnapConditionsPanel] Restoring config from backend:", initialConfig); + setRunning(initialConfig.running); + + // Timing + if (initialConfig.timed) { + setTimingEnabled(initialConfig.timed.enabled); + if (initialConfig.timed.cooldown > 0) { + setTimingStr(initialConfig.timed.cooldown.toFixed(1)); + } + } + + // No detections + if (initialConfig.noDetections) { + setNoDetEnabled(initialConfig.noDetections.enabled); + if (initialConfig.noDetections.cooldown > 0) { + setNoDetStr(initialConfig.noDetections.cooldown.toFixed(1)); + } + } + + // Low confidence + if (initialConfig.lowConfidence) { + setLowConfEnabled(initialConfig.lowConfidence.enabled); + if (initialConfig.lowConfidence.threshold !== undefined) { + setLowConfThreshold(initialConfig.lowConfidence.threshold); + } + if (initialConfig.lowConfidence.cooldown > 0) { + setLowConfStr(initialConfig.lowConfidence.cooldown.toFixed(1)); + } + } + + // Lost in middle + if (initialConfig.lostMid) { + setLostMidEnabled(initialConfig.lostMid.enabled); + if (initialConfig.lostMid.cooldown > 0) { + setLostMidStr(initialConfig.lostMid.cooldown.toFixed(1)); + } + if (initialConfig.lostMid.margin !== undefined) { + const marginPercent = Math.round(initialConfig.lostMid.margin * 100); + setLostMidPctStr(marginPercent.toString()); + } + } + }, [initialConfig]); + + const warnIfTooManyDecimals = (label: string, value: string) => { + if (value.trim() !== "" && hasTooManyDecimals(value)) { + notify(`${label} allows at most one decimal place.`, { type: "warning" }); + } + }; + + const postToService = (payload: any, onDone?: () => void) => { + (connection as any).daiConnection?.postToService("Snap Collection Service", payload, (_resp: any) => { + onDone?.(); + }); + }; + + const postConfig = (runFlag: boolean) => { + const marginFrac = Math.max(0, Math.min(49, lostMidPct || 0)) / 100; + + const payload = runFlag + ? { + timed: { enabled: timingEnabled, cooldown: timingEnabled ? timingMin * 60 : 0 }, + noDetections: { enabled: noDetEnabled, cooldown: noDetEnabled ? noDetMin * 60 : undefined }, + lowConfidence: lowConfEnabled + ? { enabled: true, threshold: lowConfThreshold, cooldown: lowConfMin * 60 } + : { enabled: false }, + lostMid: lostMidEnabled + ? { enabled: true, cooldown: lostMidMin * 60, margin: marginFrac } + : { enabled: false }, + } + : { + timed: { enabled: false}, + noDetections: { enabled: false }, + lowConfidence: { enabled: false }, + lostMid: { enabled: false }, + }; + + postToService(payload, () => { + setBusy(false); + setRunning(runFlag); + notify(runFlag ? "Snapping started." : "Snapping stopped.", { type: "success" }); + }); + }; + + // live updates while running + const pushLowConfUpdate = () => { + if (!connection.connected || !running || !lowConfEnabled || !lowConfValid) return; + postToService({ + lowConfidence: { enabled: true, threshold: lowConfThreshold, cooldown: lowConfMin * 60 }, + }); + }; + + const pushLostMidUpdate = () => { + if (!connection.connected || !running || !lostMidEnabled || !lostMidValid || !lostMidPctValid) return; + const marginFrac = Math.max(0, Math.min(49, lostMidPct || 0)) / 100; + postToService({ + lostMid: { enabled: true, cooldown: lostMidMin * 60, margin: marginFrac }, + }); + }; + + const handleStartStop = () => { + if (!connection.connected) { + notify("Not connected to device.", { type: "error" }); + return; + } + if (busy) return; + + // validations before starting + if (!running) { + if (timingEnabled && !timingValid) { + notify("Please enter a positive timing cooldown (minutes, max 1 decimal).", { type: "error" }); + return; + } + if (noDetEnabled && !noDetValid) { + notify("Please enter a non-negative no-detections cooldown (minutes, max 1 decimal).", { type: "error" }); + return; + } + if (lowConfEnabled) { + if (!lowConfValid) { + notify("Please enter a non-negative low-confidence cooldown (minutes, max 1 decimal).", { type: "error" }); + return; + } + if (!(lowConfThreshold >= 0 && lowConfThreshold <= 1)) { + notify("Confidence threshold must be between 0.00 and 1.00.", { type: "error" }); + return; + } + } + if (lostMidEnabled) { + if (!lostMidValid) { + notify("Please enter a non-negative lost-in-middle cooldown (minutes, max 1 decimal).", { type: "error" }); + return; + } + if (!lostMidPctValid) { + notify("Edge buffer must be between 0% and 49%.", { type: "error" }); + return; + } + } + } + + setBusy(true); + notify(!running ? "Starting snapping…" : "Stopping snapping…", { type: "info" }); + postConfig(!running); + }; + + return ( +
+ {/* Timing */} + + warnIfTooManyDecimals("Timing cooldown", timingStr)} + valid={timingValid} + disabled={disabledControls} + /> + + + {/* No detections */} + + warnIfTooManyDecimals("No-detections cooldown", noDetStr)} + valid={noDetValid} + disabled={disabledControls} + /> + + + {/* Low confidence */} + + pushLowConfUpdate()} + min={0} + max={1} + step={0.01} + disabled={disabledControls} + aria-label="Low confidence threshold" + /> + + warnIfTooManyDecimals("Low-confidence cooldown", lowConfStr)} + valid={lowConfValid} + disabled={disabledControls} + /> + + + {/* Lost in middle */} + + + { + if (lostMidStr.trim() !== "" && /\.\d{2,}$/.test(lostMidStr)) { + notify("Lost-in-middle cooldown allows at most one decimal place.", { type: "warning" }); + } + pushLostMidUpdate(); + }} + valid={lostMidValid} + disabled={disabledControls} + /> + + + {/* Start / Stop */} +
+ = 0 && lowConfThreshold <= 1))} + onClick={handleStartStop} + /> +
+
+ ); +} diff --git a/apps/data-collection/frontend/src/vite-env.d.ts b/apps/data-collection/frontend/src/vite-env.d.ts new file mode 100644 index 000000000..11f02fe2a --- /dev/null +++ b/apps/data-collection/frontend/src/vite-env.d.ts @@ -0,0 +1 @@ +/// diff --git a/apps/data-collection/frontend/src/window.d.ts b/apps/data-collection/frontend/src/window.d.ts new file mode 100644 index 000000000..f02d957b7 --- /dev/null +++ b/apps/data-collection/frontend/src/window.d.ts @@ -0,0 +1,7 @@ +declare global { + interface Window { + __basePath: string; + } +} + +export {}; diff --git a/apps/data-collection/frontend/tsconfig.app.json b/apps/data-collection/frontend/tsconfig.app.json new file mode 100644 index 000000000..8f9007000 --- /dev/null +++ b/apps/data-collection/frontend/tsconfig.app.json @@ -0,0 +1,30 @@ +{ + "compilerOptions": { + "composite": true, + "tsBuildInfoFile": "./node_modules/.tmp/example.app.tsbuildinfo", + "target": "ESNext", + "useDefineForClassFields": true, + "lib": [ + "ESNext", + "WebWorker", + "DOM", + "DOM.Iterable" + ], + "module": "ESNext", + "skipLibCheck": true, + "moduleResolution": "bundler", + "allowImportingTsExtensions": true, + "resolveJsonModule": true, + "isolatedModules": true, + "moduleDetection": "force", + "noEmit": true, + "jsx": "react-jsx", + "strict": true, + "noUnusedLocals": true, + "noUnusedParameters": true, + "noFallthroughCasesInSwitch": true + }, + "include": [ + "src" + ] +} diff --git a/apps/data-collection/frontend/tsconfig.json b/apps/data-collection/frontend/tsconfig.json new file mode 100644 index 000000000..fb1241881 --- /dev/null +++ b/apps/data-collection/frontend/tsconfig.json @@ -0,0 +1,7 @@ +{ + "files": [], + "references": [ + { "path": "./tsconfig.app.json" }, + { "path": "./tsconfig.node.json" } + ] +} diff --git a/apps/data-collection/frontend/tsconfig.node.json b/apps/data-collection/frontend/tsconfig.node.json new file mode 100644 index 000000000..29ead3807 --- /dev/null +++ b/apps/data-collection/frontend/tsconfig.node.json @@ -0,0 +1,13 @@ +{ + "compilerOptions": { + "composite": true, + "tsBuildInfoFile": "./node_modules/.tmp/tsconfig-example.node.tsbuildinfo", + "skipLibCheck": true, + "module": "ESNext", + "moduleResolution": "bundler", + "allowSyntheticDefaultImports": true, + "strict": true, + "noEmit": true + }, + "include": ["vite.config.ts"] +} diff --git a/apps/data-collection/frontend/vite.config.ts b/apps/data-collection/frontend/vite.config.ts new file mode 100644 index 000000000..5c678f860 --- /dev/null +++ b/apps/data-collection/frontend/vite.config.ts @@ -0,0 +1,22 @@ +import react from '@vitejs/plugin-react'; +import { defineConfig } from 'vite'; + +// https://vite.dev/config/ +export default defineConfig({ + base: "", + plugins: [react(),], + // This is needed by FoxGlove + define: { + global: {}, + }, + worker: { + format: "es", + }, + build: { + rollupOptions: { + output: { + format: "esm", + }, + }, + }, +}); diff --git a/apps/data-collection/oakapp.toml b/apps/data-collection/oakapp.toml new file mode 100644 index 000000000..6bb45cf34 --- /dev/null +++ b/apps/data-collection/oakapp.toml @@ -0,0 +1,33 @@ +identifier = "com.example.apps.data-collection" +entrypoint = ["bash", "-c", "/usr/bin/runsvdir -P /etc/service"] +app_version = "1.0.0" + +prepare_container = [ + { type = "COPY", source = "./backend/src/requirements.txt", target = "./backend/src/requirements.txt" }, + { type = "RUN", command = "python3.12 -m pip install -r /app/backend/src/requirements.txt --break-system-packages"}, +] + +prepare_build_container = [{type = "RUN", command = "bash -c 'curl -o- https://raw.githubusercontent.com/nvm-sh/nvm/v0.40.3/install.sh | bash && . \"$HOME/.nvm/nvm.sh\" && nvm install 24'"}] +build_steps = [ + "mkdir -p /etc/service/backend", + "cp /app/backend-run.sh /etc/service/backend/run", + "chmod +x /etc/service/backend/run", +] + +depthai_models = { yaml_path = "./backend/src/depthai_models" } + +[static_frontend] +dist_path = "./frontend/dist" + +[static_frontend.build] +source_path = "./frontend" +steps = ["bash -c 'cd /app/frontend/src && export NODE_OPTIONS=--max-old-space-size=4096 && . $HOME/.nvm/nvm.sh && npm install && npm run build'"] + +[base_image] +api_url = "https://registry-1.docker.io" +service = "registry.docker.io" +oauth_url = "https://auth.docker.io/token" +auth_type = "repository" +auth_name = "luxonis/oakapp-base" +image_name = "luxonis/oakapp-base" +image_tag = "1.2.4" \ No newline at end of file diff --git a/integrations/hub-snaps-events/main.py b/integrations/hub-snaps-events/main.py index e6102a169..92bfaf3c0 100644 --- a/integrations/hub-snaps-events/main.py +++ b/integrations/hub-snaps-events/main.py @@ -45,15 +45,17 @@ def custom_snap_process( dets_labels_str = [label_map[det.label] for det in detections] dets_confs = [det.confidence for det in detections] - extra_data = { + extras = { "model": model, "detection_xyxy": str(dets_xyxy), "detection_label": str(dets_labels), "detection_label_str": str(dets_labels_str), "detection_confidence": str(dets_confs), } + + file_group = [dai.FileData(frame, "rgb"), dai.FileData(det_data, "detections")] if producer.sendSnap( - name="rgb", frame=frame, data=[], tags=["demo"], extra_data=extra_data + name="rgb", file_group=file_group, tags=["demo"], extras=extras ): print("Snap sent!") @@ -106,8 +108,8 @@ def custom_snap_process( ) snaps_producer = pipeline.create(SnapsProducer).build( - nn_with_parser.passthrough, - det_process_filter.out, + frame=nn_with_parser.passthrough, + msg=det_process_filter.out, time_interval=args.time_interval, process_fn=partial( custom_snap_process, @@ -115,6 +117,7 @@ def custom_snap_process( model=nn_archive.getConfigV1().model.metadata.name, ), ) + snaps_producer.setUrl("https://events.cloud-stg.luxonis.com") # TODO: Remove visualizer.addTopic("Video", nn_with_parser.passthrough, "images") visualizer.addTopic("Visualizations", det_process_filter.out, "images") diff --git a/integrations/hub-snaps-events/requirements.txt b/integrations/hub-snaps-events/requirements.txt index e23fe95d2..cb0fe3c4a 100644 --- a/integrations/hub-snaps-events/requirements.txt +++ b/integrations/hub-snaps-events/requirements.txt @@ -1,4 +1,8 @@ -depthai==3.0.0 -depthai-nodes==0.3.4 +# depthai==3.0.0 +--extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local +--pre +depthai==3.0.0.dev0+c74b28c8e4ccdc9869fbfa99d73b95ac0893249e +#depthai-nodes==0.3.4 +depthai-nodes @ git+https://github.com/luxonis/depthai-nodes.git@feat/dai_dev_req python-dotenv diff --git a/tests/constants.py b/tests/constants.py index bc7c4e0c8..38f52b982 100644 --- a/tests/constants.py +++ b/tests/constants.py @@ -28,6 +28,10 @@ "reason": "Not supported for peripheral", "mode": ["peripheral"], }, + "apps/data-collection": { + "reason": "Not supported for peripheral", + "mode": ["peripheral"], + }, "integrations/roboflow-integration": { "reason": "Can't run without arguments (e.g. roboflow api-key)", "mode": "all",