Merge branch 'feat/data-aggregation' of https://github.com/tritonuas/obcpp into feat/data-aggregation

Author: WilyHyperion

include/cv/pipeline.hpp

@@ -3,6 +3,7 @@
 
 #include <cmath>
 #include <memory>
+#include <optional>
 #include <string>
 #include <utility>
 #include <vector>
@@ -29,14 +30,21 @@ struct PipelineResults {
 };
 
 struct PipelineParams {
-    // Added outputPath parameter with default empty string
-    explicit PipelineParams(std::string yoloModelPath, std::string outputPath = "",
+    // yoloModelPath is optional; when absent, no CV models will be loaded.
+    explicit PipelineParams(std::optional<std::string> yoloModelPath = std::nullopt,
+                            std::string outputPath = "",
                             bool do_preprocess = true)
         : yoloModelPath{std::move(yoloModelPath)},
           outputPath(std::move(outputPath)),
           do_preprocess(do_preprocess) {}
 
-    std::string yoloModelPath;
+    explicit PipelineParams(const std::string& yoloModelPath,
+                            std::string outputPath = "",
+                            bool do_preprocess = true)
+        : PipelineParams(std::optional<std::string>(yoloModelPath), std::move(outputPath),
+                         do_preprocess) {}
+
+    std::optional<std::string> yoloModelPath;
     bool do_preprocess;
     std::string outputPath;
 };

include/udp_squared

@@ -7,9 +7,18 @@
 
 // Pipeline constructor: initialize YOLO detector and the preprocess flag.
 Pipeline::Pipeline(const PipelineParams& p)
-    : yoloDetector(std::make_unique<YOLO>(p.yoloModelPath, 0.05f, 640, 640)),
-      outputPath(p.outputPath),
-      do_preprocess(p.do_preprocess) {}
+    : outputPath(p.outputPath),
+      do_preprocess(p.do_preprocess) {
+    if (p.yoloModelPath.has_value() && !p.yoloModelPath->empty()) {
+        yoloDetector = std::make_unique<YOLO>(*p.yoloModelPath, 0.05f, 640, 640);
+        LOG_F(INFO, "YOLO model loaded from path: %s", p.yoloModelPath->c_str());
+    } else {
+        yoloDetector.reset();
+        LOG_F(WARNING, "No CV models are loaded (no YOLO model path provided).");
+        LOG_F(WARNING, "CVAGGREGATOR WILL NOT BE WORKING AS INTENDED. USE AT YOUR OWN RISK.");
+        LOG_F(WARNING, "Provide a YOLO model path to enable detections.");
+    }
+}
 
 PipelineResults Pipeline::run(const ImageData& imageData) {
     LOG_F(INFO, "Running pipeline on an image");
@@ -88,7 +97,9 @@ PipelineResults Pipeline::run(const ImageData& imageData) {
 
     // 3) DRAW DETECTIONS ON THE IMAGE
     //    (this modifies processedImage in-place)
-    this->yoloDetector->drawAndPrintDetections(processedImage, yoloResults);
+    if (this->yoloDetector) {
+        this->yoloDetector->drawAndPrintDetections(processedImage, yoloResults);
+    }
 
     // Save the annotated image if an output path is specified
     if (!outputPath.empty()) {

protos

@@ -2,7 +2,7 @@
 #include "cv/aggregator.hpp"
 TEST(ModifyRuns, OverWriteData)
 {
-    PipelineParams params("/workspaces/obcpp/models/yolo11x.onnx",
+    PipelineParams params(std::nullopt,
                           "",
                           false);
     Pipeline pipeline(params);