Pass yoeo substruct directly to YOEO components instead of full config

Co-authored-by: Flova <[email protected]>

Author: Copilot

bitbots_vision/bitbots_vision/vision.py

@@ -80,7 +80,7 @@ def _dynamic_reconfigure_callback(self, params) -> SetParametersResult:
         return SetParametersResult(successful=True)
 
     def _configure_vision(self, config) -> None:
-        yoeo.YOEOObjectManager.configure(config)
+        yoeo.YOEOObjectManager.configure(config.yoeo)
 
         debug_image = debug.DebugImage(config.component_debug_image_active)
         self._debug_image = debug_image

bitbots_vision/bitbots_vision/vision_modules/yoeo/object_manager.py

@@ -73,19 +73,19 @@ def is_team_color_detection_supported(cls) -> bool:
         return cls._model_config.team_colors_are_provided()
 
     @classmethod
-    def configure(cls, config: parameters.Params) -> None:
+    def configure(cls, yoeo_config) -> None:
         if not cls._package_directory_set:
             logger.error("Package directory not set!")
 
-        framework = config.yoeo.framework
+        framework = yoeo_config.framework
         cls._verify_framework_parameter(framework)
 
-        model_path = cls._get_full_model_path(config.yoeo.model_path)
+        model_path = cls._get_full_model_path(yoeo_config.model_path)
         cls._verify_required_neural_network_files_exist(framework, model_path)
 
-        cls._configure_yoeo_instance(config, framework, model_path)
+        cls._configure_yoeo_instance(yoeo_config, framework, model_path)
 
-        cls._config = config
+        cls._config = yoeo_config
         cls._framework = framework
         cls._model_path = model_path
 
@@ -108,13 +108,13 @@ def _model_files_exist(cls, framework: str, model_path: str) -> bool:
         return cls._HANDLERS_BY_NAME[framework].model_files_exist(model_path)
 
     @classmethod
-    def _configure_yoeo_instance(cls, config: parameters.Params, framework: str, model_path: str) -> None:
+    def _configure_yoeo_instance(cls, yoeo_config, framework: str, model_path: str) -> None:
         if cls._new_yoeo_handler_is_needed(framework, model_path):
             cls._load_model_config(model_path)
             cls._instantiate_new_yoeo_handler(config, framework, model_path)
-        elif cls._yoeo_parameters_have_changed(config):
+        elif cls._yoeo_parameters_have_changed(yoeo_config):
             assert cls._yoeo_instance is not None, "YOEO handler instance not set!"
-            cls._yoeo_instance.configure(config)
+            cls._yoeo_instance.configure(yoeo_config)
 
     @classmethod
     def _new_yoeo_handler_is_needed(cls, framework: str, model_path: str) -> bool:
@@ -125,9 +125,9 @@ def _load_model_config(cls, model_path: str) -> None:
         cls._model_config = ModelConfigLoader.load_from(model_path)
 
     @classmethod
-    def _instantiate_new_yoeo_handler(cls, config: parameters.Params, framework: str, model_path: str) -> None:
+    def _instantiate_new_yoeo_handler(cls, yoeo_config, framework: str, model_path: str) -> None:
         cls._yoeo_instance = cls._HANDLERS_BY_NAME[framework](
-            config,
+            yoeo_config,
             model_path,
             cls._model_config.get_detection_classes(),
             cls._model_config.get_robot_class_ids(),
@@ -136,9 +136,9 @@ def _instantiate_new_yoeo_handler(cls, config: parameters.Params, framework: str
         logger.info(f"Using {cls._yoeo_instance.__class__.__name__}")
 
     @classmethod
-    def _yoeo_parameters_have_changed(cls, new_config: parameters.Params) -> bool:
+    def _yoeo_parameters_have_changed(cls, new_yoeo_config) -> bool:
         if cls._config is None:
             return True
 
         # Compare YOEO parameters using the hierarchical structure
-        return cls._config.yoeo != new_config.yoeo
+        return cls._config != new_yoeo_config

bitbots_vision/bitbots_vision/vision_modules/yoeo/yoeo_handlers.py

@@ -24,7 +24,7 @@ class IYOEOHandler(ABC):
     """
 
     @abstractmethod
-    def configure(self, config: parameters.Params) -> None:
+    def configure(self, yoeo_config) -> None:
         """
         Allows to (re-) configure the YOEO handler.
         """
@@ -100,7 +100,7 @@ class YOEOHandlerTemplate(IYOEOHandler):
 
     def __init__(
         self,
-        config: parameters.Params,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -119,12 +119,12 @@ def __init__(
         self._seg_class_names: list[str] = seg_class_names
         self._seg_masks: dict = dict()
 
-        self._use_caching: bool = config.caching
+        self._use_caching: bool = yoeo_config.caching
 
         logger.debug("Leaving YOEOHandlerTemplate constructor")
 
-    def configure(self, config: parameters.Params) -> None:
-        self._use_caching = config.caching
+    def configure(self, yoeo_config) -> None:
+        self._use_caching = yoeo_config.caching
 
     def get_available_detection_class_names(self) -> list[str]:
         return self._det_class_names
@@ -213,7 +213,7 @@ class YOEOHandlerONNX(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: parameters.Params,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -240,8 +240,8 @@ def __init__(
         self._det_postprocessor: utils.IDetectionPostProcessor = utils.DefaultDetectionPostProcessor(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config.yoeo.conf_threshold,
-            nms_thresh=config.yoeo.nms_threshold,
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
         self._seg_postprocessor: utils.ISegmentationPostProcessor = utils.DefaultSegmentationPostProcessor(
@@ -250,13 +250,13 @@ def __init__(
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
 
-    def configure(self, config: parameters.Params) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
         self._det_postprocessor.configure(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config.yoeo.conf_threshold,
-            nms_thresh=config.yoeo.nms_threshold,
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
 
@@ -286,7 +286,7 @@ class YOEOHandlerOpenVino(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: parameters.Params,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -322,8 +322,8 @@ def __init__(
         self._det_postprocessor: utils.IDetectionPostProcessor = utils.DefaultDetectionPostProcessor(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config.yoeo.conf_threshold,
-            nms_thresh=config.yoeo.nms_threshold,
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
         self._seg_postprocessor: utils.ISegmentationPostProcessor = utils.DefaultSegmentationPostProcessor(
@@ -339,13 +339,13 @@ def _select_device(self) -> str:
             device = "CPU"
         return device
 
-    def configure(self, config: parameters.Params) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
         self._det_postprocessor.configure(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer.shape[2],
-            conf_thresh=config.yoeo.conf_threshold,
-            nms_thresh=config.yoeo.nms_threshold,
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
 
@@ -374,7 +374,7 @@ class YOEOHandlerPytorch(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: parameters.Params,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -400,8 +400,8 @@ def __init__(
         logger.debug(f"Loading files...\n\t{config_path}\n\t{weights_path}")
         self._model = torch_models.load_model(config_path, weights_path)
 
-        self._conf_thresh: float = config.yoeo.conf_threshold
-        self._nms_thresh: float = config.yoeo.nms_threshold
+        self._conf_thresh: float = yoeo_config.conf_threshold
+        self._nms_thresh: float = yoeo_config.nms_threshold
         self._group_config: torch_GroupConfig = self._update_group_config()
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
@@ -411,10 +411,10 @@ def _update_group_config(self):
 
         return self.torch_group_config(group_ids=robot_class_ids, surrogate_id=robot_class_ids[0])
 
-    def configure(self, config: parameters.Params) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
-        self._conf_thresh = config.yoeo.conf_threshold
-        self._nms_thresh = config.yoeo.nms_threshold
+        self._conf_thresh = yoeo_config.conf_threshold
+        self._nms_thresh = yoeo_config.nms_threshold
         self._group_config = self._update_group_config()
 
     @staticmethod
@@ -448,7 +448,7 @@ class YOEOHandlerTVM(YOEOHandlerTemplate):
 
     def __init__(
         self,
-        config: parameters.Params,
+        yoeo_config,
         model_directory: str,
         det_class_names: list[str],
         det_robot_class_ids: list[int],
@@ -487,8 +487,8 @@ def __init__(
         self._det_postprocessor: utils.IDetectionPostProcessor = utils.DefaultDetectionPostProcessor(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer_shape[2],
-            conf_thresh=config.yoeo.conf_threshold,
-            nms_thresh=config.yoeo.nms_threshold,
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
         self._seg_postprocessor: utils.ISegmentationPostProcessor = utils.DefaultSegmentationPostProcessor(
@@ -497,13 +497,13 @@ def __init__(
 
         logger.debug(f"Leaving {self.__class__.__name__} constructor")
 
-    def configure(self, config: parameters.Params) -> None:
+    def configure(self, yoeo_config) -> None:
         super().configure(config)
         self._det_postprocessor.configure(
             image_preprocessor=self._img_preprocessor,
             output_img_size=self._input_layer_shape[2],
-            conf_thresh=config.yoeo.conf_threshold,
-            nms_thresh=config.yoeo.nms_threshold,
+            conf_thresh=yoeo_config.conf_threshold,
+            nms_thresh=yoeo_config.nms_threshold,
             robot_class_ids=self.get_robot_class_ids(),
         )
 

bitbots_vision/config/vision_parameters.yaml

@@ -106,6 +106,11 @@ bitbots_vision:
       description: "The neural network framework that should be used"
       validation:
         one_of<>: [["pytorch", "openvino", "onnx", "tvm"]]
+    
+    caching:
+      type: bool
+      default_value: true
+      description: "Used to deactivate caching for profiling reasons"
 
   # Ball detection parameters
   ball_candidate_rating_threshold:
@@ -120,10 +125,4 @@ bitbots_vision:
     default_value: 1
     description: "The maximum number of balls that should be published"
     validation:
-      bounds<>: [0, 50]
-
-  # Caching parameter
-  caching:
-    type: bool
-    default_value: true
-    description: "Used to deactivate caching for profiling reasons"
+      bounds<>: [0, 50]