Stateful executor for a VisionSequence. More...

#include <VisionExecutor.hpp>

Collaboration diagram for MayaFlux::Kinesis::Vision::VisionExecutor:

Public Member Functions
void	reset ()
	Clear stored inter-frame state.

VisionResult	run (const VisionSequence &sequence, std::span< const float > frame, uint32_t w, uint32_t h)
	Execute a VisionSequence on one frame.

	VisionExecutor ()=default

Private Member Functions
void	ensure_slots (uint32_t w, uint32_t h)
	Ensure all slots are sized to n_pixels floats.

const std::vector< float > &	gaussian_kernel (float sigma)
	Return a reference to the precomputed 1D Gaussian kernel for sigma.

Eigen::Map< const Eigen::ArrayXf >	slot_map (size_t i, Eigen::Index n) const noexcept
	Zero-copy read-only Eigen::Map<const ArrayXf> over slot i.

Eigen::Map< Eigen::ArrayXf >	slot_map_mut (size_t i, Eigen::Index n) noexcept
	Zero-copy mutable Eigen::Map<ArrayXf> over slot i.

const std::vector< float > &	slot_vec (size_t i) const noexcept
	Const reference to the vector<float> inside slot i.

std::vector< float > &	slot_vec (size_t i) noexcept
	Mutable reference to the vector<float> inside slot i.

Private Attributes
std::vector< float >	m_curr_gray_cache

std::unordered_map< uint32_t, std::vector< float > >	m_kernel_cache

Kakshya::DataVariant	m_prev_gray { std::vector<float> {} }

std::vector< Keypoint >	m_prev_keypoints

uint32_t	m_slot_h { 0 }

uint32_t	m_slot_w { 0 }

std::array< Kakshya::DataVariant, k_slot_count >	m_slots

Static Private Attributes
static constexpr size_t	k_slot_count = 11

static constexpr size_t	k_slot_cur = 0

static constexpr size_t	k_slot_dx = 3

static constexpr size_t	k_slot_dy = 4

static constexpr size_t	k_slot_ixx = 5

static constexpr size_t	k_slot_ixy = 7

static constexpr size_t	k_slot_iyy = 6

static constexpr size_t	k_slot_nxt = 1

static constexpr size_t	k_slot_sxx = 8

static constexpr size_t	k_slot_sxy = 10

static constexpr size_t	k_slot_syy = 9

static constexpr size_t	k_slot_tmp = 2

Detailed Description

Stateful executor for a VisionSequence.

Owns a pool of DataVariant scratch slots (each holding vector<float>) sized to the working resolution. Steps read via Eigen::Map<const ArrayXf> and write via Eigen::Map<ArrayXf> into the next slot, then swap indices. No heap allocation occurs in steady state after the first frame at a given resolution.

Gaussian kernels are cached by sigma (keyed on bit-exact float) and reused across frames and across the three structure tensor smoothing passes in Harris.

One executor instance per pipeline. Not thread-safe.

Definition at line 95 of file VisionExecutor.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description