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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
|
@@ -5,13 +5,16 @@ | |
| <name>EI-SDK</name> | ||
| <license>LICENSE-apache-2.0.txt</license> | ||
| <description>Edge Impulse SDK</description> | ||
| <url>https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.60.13/</url> | ||
| <url>https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.61.7/</url> | ||
| <supportContact>[email protected]</supportContact> | ||
| <repository type="git">https://github.com/edgeimpulse/edge-impulse-sdk-pack.git</repository> | ||
| <releases> | ||
| <release version="1.60.13" tag="v1.60.13" date="2024-10-29" url="https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.60.13/EdgeImpulse.EI-SDK.1.60.13.pack"> | ||
| <release version="1.61.7" tag="v1.61.7" date="2024-11-06" url="https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.61.7/EdgeImpulse.EI-SDK.1.61.7.pack"> | ||
| EI-SDK | ||
| </release> | ||
| <release version="1.60.13" tag="v1.60.13" date="2024-10-29" url="https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.60.13/EdgeImpulse.EI-SDK.1.60.13.pack"> | ||
| EI-SDK | ||
| </release> | ||
| <release version="1.60.9" tag="v1.60.9" date="2024-10-24" url="https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.60.9/EdgeImpulse.EI-SDK.1.60.9.pack"> | ||
| EI-SDK | ||
| </release> | ||
|
|
@@ -98,9 +101,6 @@ | |
| </release> | ||
| <release version="1.50.13" tag="v1.50.13" date="2024-05-30" url="https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.50.13/EdgeImpulse.EI-SDK.1.50.13.pack"> | ||
| EI-SDK | ||
| </release> | ||
| <release version="1.50.11" tag="v1.50.11" date="2024-05-27" url="https://github.com/edgeimpulse/edge-impulse-sdk-pack/releases/download/v1.50.11/EdgeImpulse.EI-SDK.1.50.11.pack"> | ||
| EI-SDK | ||
| </release> | ||
| </releases> | ||
| <keywords> | ||
|
|
@@ -146,7 +146,7 @@ | |
| </packages> | ||
| </requirements> | ||
| <components> | ||
| <component Cclass="EdgeImpulse" Cgroup="SDK" Cversion="1.60.13"> | ||
| <component Cclass="EdgeImpulse" Cgroup="SDK" Cversion="1.61.7"> | ||
| <description>Edge Impulse SDK</description> | ||
| <!-- short component description --> | ||
| <files> | ||
|
|
@@ -403,9 +403,11 @@ | |
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/inferencing_engines/memryx.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/inferencing_engines/engines.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/ei_performance_calibration.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/ei_postprocessing_types.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/ei_postprocessing_common.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/ei_postprocessing.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/ei_object_counting.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/ei_object_tracking.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/tinyEKF/tinyekf_custom.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/third_party/ruy/ruy/profiler/instrumentation.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/third_party/gemmlowp/internal/detect_platform.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/third_party/gemmlowp/fixedpoint/fixedpoint_neon.h"/> | ||
|
|
@@ -656,6 +658,9 @@ | |
| <file category="header" name="edgeimpulse/edge-impulse-sdk/porting/espressif/ESP-NN/include/esp_nn_ansi_c.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/porting/espressif/ESP-NN/src/common/common_functions.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/porting/espressif/ESP-NN/src/softmax/softmax_common.h"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/alignment/ei_alignment.hpp"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/alignment/rectangular_lsap.hpp"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/classifier/postprocessing/tinyEKF/tinyekf.hpp"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/dsp/config.hpp"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/dsp/numpy.hpp"/> | ||
| <file category="header" name="edgeimpulse/edge-impulse-sdk/dsp/memory.hpp"/> | ||
|
|
||
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138 changes: 138 additions & 0 deletions
138
edgeimpulse/edge-impulse-sdk/classifier/postprocessing/alignment/ei_alignment.hpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,138 @@ | ||
| #pragma once | ||
|
|
||
| #include <vector> | ||
| #include <tuple> | ||
| #include <set> | ||
| #include <algorithm> | ||
| #include <cmath> | ||
| #include "rectangular_lsap.hpp" | ||
|
|
||
| #if !defined(STANDALONE) | ||
| #include "edge-impulse-sdk/classifier/ei_classifier_types.h" | ||
| #endif | ||
|
|
||
| __attribute__((unused)) static bool compare_tuples(std::tuple<int, int, float> a, std::tuple<int, int, float> b) { | ||
| return std::get<2>(a) < std::get<2>(b); | ||
| } | ||
|
|
||
| float intersection_over_union(const ei_impulse_result_bounding_box_t bbox1, const ei_impulse_result_bounding_box_t bbox2) { | ||
| uint32_t x_left = std::max(bbox1.x, bbox2.x); | ||
| uint32_t y_top = std::max(bbox1.y, bbox2.y); | ||
| uint32_t x_right = std::min(bbox1.x + bbox1.width, bbox2.x + bbox2.width); | ||
| uint32_t y_bottom = std::min(bbox1.y + bbox1.height, bbox2.y + bbox2.height); | ||
|
|
||
| if (x_right < x_left || y_bottom < y_top) { | ||
| return 0.0; | ||
| } | ||
|
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| uint32_t intersection_area = (x_right - x_left) * (y_bottom - y_top); | ||
| uint32_t bbox1_area = bbox1.width * bbox1.height; | ||
| uint32_t bbox2_area = bbox2.width * bbox2.height; | ||
|
|
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| return static_cast<float>(intersection_area) / static_cast<float>(bbox1_area + bbox2_area - intersection_area); | ||
| } | ||
|
|
||
| class JonkerVolgenantAlignment { | ||
| public: | ||
| JonkerVolgenantAlignment(float iou_threshold) : iou_threshold(iou_threshold) { | ||
| } | ||
|
|
||
| std::vector<std::tuple<int, int, float>> align(const std::vector<ei_impulse_result_bounding_box_t> traces, | ||
| const std::vector<ei_impulse_result_bounding_box_t> detections) { | ||
|
|
||
| if (traces.empty() || detections.empty()) { | ||
| return {}; | ||
| } | ||
|
|
||
| std::vector<double> cost_mtx(traces.size() * detections.size()); | ||
| for (size_t trace_idx = 0; trace_idx < traces.size(); ++trace_idx) { | ||
| for (size_t detection_idx = 0; detection_idx < detections.size(); ++detection_idx) { | ||
| float iou = intersection_over_union(traces[trace_idx], detections[detection_idx]); | ||
| float cost = 1 - iou; | ||
| EI_LOGD("t_idx=%zu d_idx=%zu cost=%.6f\n", trace_idx, detection_idx, cost); | ||
| cost_mtx[trace_idx * detections.size() + detection_idx] = cost; | ||
| } | ||
| } | ||
|
|
||
| int64_t *alignments_a = new int64_t[traces.size()]; | ||
| int64_t *alignments_b = new int64_t[detections.size()]; | ||
|
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| solve(traces.size(), detections.size(), cost_mtx.data(), false, alignments_a, alignments_b); | ||
| EI_LOGD("detections size %zu\n", detections.size()); | ||
| EI_LOGD("traces size %zu\n", traces.size()); | ||
|
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||
| for (size_t i = 0; i < traces.size(); i++) { | ||
| EI_LOGD("alignments_a[%zu] %lld\n", i, alignments_a[i]); | ||
| } | ||
|
|
||
| for (size_t i = 0; i < detections.size(); i++) { | ||
| EI_LOGD("alignments_b[%zu] %lld\n", i, alignments_b[i]); | ||
| } | ||
|
|
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| std::vector<std::tuple<int, int, float>> matches; | ||
|
|
||
| for (size_t i = 0; i < traces.size(); i++) { | ||
| size_t trace_idx = i; | ||
| size_t detection_idx = alignments_b[alignments_a[i]]; | ||
| float iou = 1 - cost_mtx[trace_idx * detections.size() + detection_idx]; | ||
| if (iou > iou_threshold) { | ||
| matches.emplace_back(trace_idx, detection_idx, iou); | ||
| } | ||
| } | ||
| delete[] alignments_a; | ||
| delete[] alignments_b; | ||
| return matches; | ||
| } | ||
|
|
||
| float iou_threshold; | ||
| }; | ||
|
|
||
| class GreedyAlignment { | ||
| public: | ||
| GreedyAlignment(float iou_threshold) : iou_threshold(iou_threshold) { | ||
| } | ||
| std::vector<std::tuple<int, int, float>> align(const std::vector<ei_impulse_result_bounding_box_t> traces, | ||
| const std::vector<ei_impulse_result_bounding_box_t> detections) { | ||
|
|
||
| if (traces.empty() || detections.empty()) { | ||
| return {}; | ||
| } | ||
|
|
||
| std::vector<std::tuple<int, int, float>> alignments; | ||
| for (size_t trace_idx = 0; trace_idx < traces.size(); ++trace_idx) { | ||
| for (size_t detection_idx = 0; detection_idx < detections.size(); ++detection_idx) { | ||
| float iou = intersection_over_union(traces[trace_idx], detections[detection_idx]); | ||
| float cost = 1 - iou; | ||
| EI_LOGD("t_idx=%zu d_idx=%zu cost=%.6f\n", trace_idx, detection_idx, cost); | ||
| if (iou > iou_threshold) { | ||
| alignments.emplace_back(trace_idx, detection_idx, cost); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| std::sort(alignments.begin(), alignments.end(), compare_tuples); | ||
| EI_LOGD("alignments.size() %zu\n", alignments.size()); | ||
| std::vector<std::tuple<int, int, float>> matches; | ||
| std::set<int> trace_idxs_matched; | ||
| std::set<int> detection_idxs_matched; | ||
|
|
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| for (size_t i = 0; i < alignments.size(); i++) { | ||
| uint32_t trace_idx = std::get<0>(alignments[i]); | ||
| uint32_t detection_idx = std::get<1>(alignments[i]); | ||
| float cost = std::get<2>(alignments[i]); | ||
|
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| if (trace_idxs_matched.find(trace_idx) == trace_idxs_matched.end() && detection_idxs_matched.find(detection_idx) == detection_idxs_matched.end()) { | ||
| // (1 - cost) to get iou | ||
| matches.emplace_back(trace_idx, detection_idx, 1 - cost); | ||
| trace_idxs_matched.insert(trace_idx); | ||
| if (trace_idxs_matched.size() == traces.size()) return matches; | ||
| detection_idxs_matched.insert(detection_idx); | ||
| if (detection_idxs_matched.size() == detections.size()) return matches; | ||
| } | ||
| } | ||
|
|
||
| return matches; | ||
| } | ||
|
|
||
| float iou_threshold; | ||
| }; |
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