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7 Commits

Author SHA1 Message Date
Kwabena W Agyeman
991e501a00
Merge f6d183e5c0 into 7e59c080df 2025-10-28 13:51:40 -07:00
Ibrahim Abdelkader
7e59c080df
Merge pull request #2903 from openmv/fix_mp_float
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misc: clean up mp_obj_get_float.
2025-10-28 01:34:06 +03:00
iabdalkader
6bf3063a71 scripts/unittest: Fix line_segments.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-10-27 23:15:00 +01:00
iabdalkader
59bfecb2d7 lib/imlib: Use IMLIB_PI instead of M_PI.
Can be defined as double if needed.

Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-10-27 19:06:55 +01:00
iabdalkader
bab3d6bba0 modules: Use mp_obj_get_float_to_f/d.
Signed-off-by: iabdalkader <i.abdalkader@gmail.com>
2025-10-27 19:00:01 +01:00
Kwabena W. Agyeman
f6d183e5c0 scripts/examples: Add YOLOV8 person detector script. 2025-10-24 20:35:13 -07:00
Kwabena W. Agyeman
a3931e04b6 boards: Add YOLOV8 person detector. 2025-10-24 20:35:10 -07:00
21 changed files with 159 additions and 116 deletions

View File

@ -32,6 +32,12 @@
"alignment": 16,
"optimize": "Performance"
},
{
"type": "tflite",
"path": "{TOP}/lib/models/yolov8n_192.tflite",
"alignment": 16,
"optimize": "Performance"
},
{
"type": "tflite",
"path": "{TOP}/lib/models/blazeface_front_128.tflite",

View File

@ -14,6 +14,12 @@
"alignment": 32,
"profile": "default"
},
{
"type": "tflite",
"path": "{TOP}/lib/models/yolov8n_192.tflite",
"alignment": 32,
"profile": "default"
},
{
"type": "tflite",
"path": "{TOP}/lib/models/blazeface_front_128.tflite",

View File

@ -79,7 +79,7 @@ void imlib_edge_canny(image_t *src, rectangle_t *roi, int low_thresh, int high_t
// Find magnitude
int g = (int) fast_sqrtf(vx * vx + vy * vy);
// Find the direction and round angle to 0, 45, 90 or 135
int t = (int) fast_fabsf((atan2f(vy, vx) * 180.0f / M_PI));
int t = (int) fast_fabsf((atan2f(vy, vx) * 180.0f / IMLIB_PI));
if (t < 22) {
t = 0;
} else if (t < 67) {

View File

@ -497,7 +497,7 @@ void fft1d_phase(fft1d_controller_t *controller) {
for (int i = 0, j = 2 << controller->pow2; i < j; i += 2) {
float tmp_r = controller->data[i + 0];
float tmp_i = controller->data[i + 1];
controller->data[i + 0] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI * 1.5) : (M_PI * 0.5));
controller->data[i + 0] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (IMLIB_PI * 1.5f) : (IMLIB_PI * 0.5f));
controller->data[i + 1] = 0;
}
}
@ -507,7 +507,7 @@ void fft1d_log(fft1d_controller_t *controller) {
float tmp_r = controller->data[i + 0];
float tmp_i = controller->data[i + 1];
controller->data[i + 0] = fast_log(fast_sqrtf((tmp_r * tmp_r) + (tmp_i * tmp_i)));
controller->data[i + 1] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI * 1.5) : (M_PI * 0.5));
controller->data[i + 1] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (IMLIB_PI * 1.5f) : (IMLIB_PI * 0.5f));
}
}
@ -629,7 +629,7 @@ void fft2d_phase(fft2d_controller_t *controller) {
for (int i = 0, j = (1 << controller->h_pow2) * (1 << controller->w_pow2) * 2; i < j; i += 2) {
float tmp_r = controller->data[i + 0];
float tmp_i = controller->data[i + 1];
controller->data[i + 0] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI * 1.5) : (M_PI * 0.5));
controller->data[i + 0] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (IMLIB_PI * 1.5f) : (IMLIB_PI * 0.5f));
controller->data[i + 1] = 0;
}
}
@ -639,7 +639,7 @@ void fft2d_log(fft2d_controller_t *controller) {
float tmp_r = controller->data[i + 0];
float tmp_i = controller->data[i + 1];
controller->data[i + 0] = fast_log(fast_sqrtf((tmp_r * tmp_r) + (tmp_i * tmp_i)));
controller->data[i + 1] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI * 1.5) : (M_PI * 0.5));
controller->data[i + 1] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (IMLIB_PI * 1.5f) : (IMLIB_PI * 0.5f));
}
}

View File

@ -23,6 +23,7 @@
*
* Fast approximate math functions.
*/
#include "imlib.h"
#include "fmath.h"
const float __atanf_lut[4] = {
@ -87,11 +88,11 @@ inline float fast_atanf(float xx) {
/* range reduction */
if (x > 2.414213562373095f) {
/* tan 3pi/8 */
y = M_PI_2;
y = IMLIB_PI_2;
x = -(1.0f / x);
} else if (x > 0.4142135623730950f) {
/* tan pi/8 */
y = M_PI_4;
y = IMLIB_PI_4;
x = (x - 1.0f) / (x + 1.0f);
} else {
y = 0.0f;
@ -117,18 +118,18 @@ float fast_atan2f(float y, float x) {
}
if (x < 0 && y >= 0) {
return M_PI - fast_atanf(-y / x);
return IMLIB_PI - fast_atanf(-y / x);
}
if (x < 0 && y < 0) {
return M_PI + fast_atanf(y / x);
return IMLIB_PI + fast_atanf(y / x);
}
if (x > 0 && y < 0) {
return 2 * M_PI - fast_atanf(-y / x);
return 2 * IMLIB_PI - fast_atanf(-y / x);
}
return (y == 0) ? 0 : ((y > 0) ? M_PI : -M_PI);
return (y == 0) ? 0 : ((y > 0) ? IMLIB_PI : -IMLIB_PI);
}
float fast_log2(float x) {

View File

@ -78,7 +78,7 @@ void imlib_find_hog(image_t *src, rectangle_t *roi, int cell_size) {
k += m * m;
// Find and quantize gradient degree
// TODO atan2f is swapped for visualization
int t = ((int) fast_fabsf((atan2f(vx, vy) * 180.0f / M_PI))) / 20;
int t = ((int) fast_fabsf((atan2f(vx, vy) * 180.0f / IMLIB_PI))) / 20;
t = (t == 9)? 0 : t;
// hog[((cy/cell_size) * x_cells + (cx/cell_size)) * N_BINS + t] += m;

View File

@ -52,11 +52,9 @@
// Enables 78 TensofFlow Lite operators.
#define IMLIB_TF_FULLOPS (2)
#ifndef M_PI
#define M_PI 3.14159265f
#define M_PI_2 1.57079632f
#define M_PI_4 0.78539816f
#endif
#define IMLIB_PI 3.14159265358979323846f
#define IMLIB_PI_2 1.57079632679489661923f
#define IMLIB_PI_4 0.78539816339744830962f
#define IM_LOG2_2(x) (((x) & 0x2ULL) ? (2) : 1) // NO ({ ... }) !
#define IM_LOG2_4(x) (((x) & 0xCULL) ? (2 + IM_LOG2_2((x) >> 2)) : IM_LOG2_2(x)) // NO ({ ... }) !
@ -117,8 +115,8 @@
#define UINT64_T_MASK (UINT64_T_BITS - 1)
#define UINT64_T_SHIFT IM_LOG2(UINT64_T_MASK)
#define IM_DEG2RAD(x) (((x) * M_PI) / 180)
#define IM_RAD2DEG(x) (((x) * 180) / M_PI)
#define IM_DEG2RAD(x) (((x) * IMLIB_PI) / 180.0f)
#define IM_RAD2DEG(x) (((x) * 180.0f) / IMLIB_PI)
int imlib_ksize_to_n(int ksize);

View File

@ -342,7 +342,7 @@ static int comp_angle(image_t *img, kp_t *kp, float *a, float *b) {
m_01 += v * v_sum;
}
int angle = (int) (atan2f((float) m_01, (float) m_10) * (180.0f / M_PI));
int angle = (int) (atan2f((float) m_01, (float) m_10) * (180.0f / IMLIB_PI));
if (angle < 0) {
angle += 360;
}

View File

@ -35,9 +35,9 @@ void imlib_logpolar_int(image_t *dst, image_t *src, rectangle_t *roi, bool linea
if (!linear) {
rho_scale = fast_log(rho_scale);
}
const float m_pi_1_5 = 1.5f * M_PI;
const float m_pi_1_5 = 1.5f * IMLIB_PI;
const float m_pi_1_5_d = IM_RAD2DEG(m_pi_1_5);
const float m_pi_2_0 = 2.0f * M_PI;
const float m_pi_2_0 = 2.0f * IMLIB_PI;
const float m_pi_2_0_d = IM_RAD2DEG(m_pi_2_0);
const int m_pi_2_0_d_i = m_pi_2_0_d;
float theta_scale_d = m_pi_2_0_d / (w - 2);
@ -423,7 +423,7 @@ void imlib_phasecorrelate(image_t *img0,
float w_2 = roi0->w / 2.0f;
float h_2 = roi0->h / 2.0f;
float rho_scale = fast_log(fast_sqrtf((w_2 * w_2) + (h_2 * h_2))) / roi0->h;
float theta_scale = (2 * M_PI) / roi0->w;
float theta_scale = (2.0f * IMLIB_PI) / roi0->w;
*rotation = f_off_x * theta_scale;
*scale = (f_off_y * rho_scale) + 1;
@ -637,7 +637,7 @@ void imlib_phasecorrelate(image_t *img0,
float w_2 = roi0->w / 2.0f;
float h_2 = roi0->h / 2.0f;
float rho_scale = fast_log(fast_sqrtf((w_2 * w_2) + (h_2 * h_2))) / roi0->h;
float theta_scale = (2 * M_PI) / roi0->w;
float theta_scale = (2.0f * IMLIB_PI) / roi0->w;
*rotation = *x_translation * theta_scale;
*scale = (*y_translation * rho_scale) + 1;

Binary file not shown.

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@ -0,0 +1 @@
person

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@ -1012,8 +1012,8 @@ static mp_obj_t py_omv_csi_ioctl(size_t n_args, const mp_obj_t *args) {
case OMV_CSI_IOCTL_LEPTON_SET_RANGE:
if (n_args >= 3) {
// GCC will not let us pass floats to ... so we have to pass float pointers instead.
float min = mp_obj_get_float(args[1]);
float max = mp_obj_get_float(args[2]);
float min = mp_obj_get_float_to_f(args[1]);
float max = mp_obj_get_float_to_f(args[2]);
error = omv_csi_ioctl(csi, request, &min, &max);
}
break;

View File

@ -1091,8 +1091,8 @@ static mp_obj_t py_csi_ioctl(size_t n_args, const mp_obj_t *args) {
case OMV_CSI_IOCTL_LEPTON_SET_RANGE:
if (n_args == 2) {
// GCC will not let us pass floats to ... so we have to pass float pointers instead.
float min = mp_obj_get_float(args[0]);
float max = mp_obj_get_float(args[1]);
float min = mp_obj_get_float_to_f(args[0]);
float max = mp_obj_get_float_to_f(args[1]);
error = omv_csi_ioctl(self->csi, request, &min, &max);
}
break;
@ -1238,7 +1238,7 @@ static mp_obj_t py_csi_ioctl(size_t n_args, const mp_obj_t *args) {
case OMV_CSI_IOCTL_GENX320_CALIBRATE: {
if (n_args == 2) {
error = omv_csi_ioctl(self->csi, request, mp_obj_get_int(args[0]),
(double) mp_obj_get_float(args[1]));
mp_obj_get_float_to_d(args[1]));
if (error > 0) {
ret_obj = mp_obj_new_int(error);
}

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@ -126,7 +126,7 @@ static void fir_fill_image_float_obj(image_t *img, mp_obj_t *data, float min, fl
uint8_t *row_pointer = ((uint8_t *) img->data) + row_offset;
for (int x = 0; x < img->w; x++) {
float raw = mp_obj_get_float(raw_row[x]);
float raw = mp_obj_get_float_to_f(raw_row[x]);
if (raw < min) {
raw = min;

View File

@ -162,10 +162,10 @@ rectangle_t py_helper_arg_to_roi(const mp_obj_t arg, const image_t *img) {
void py_helper_arg_to_scale(const mp_obj_t arg_x_scale, const mp_obj_t arg_y_scale,
float *x_scale, float *y_scale) {
if (arg_x_scale != mp_const_none) {
*x_scale = mp_obj_get_float(arg_x_scale);
*x_scale = mp_obj_get_float_to_f(arg_x_scale);
}
if (arg_y_scale != mp_const_none) {
*y_scale = mp_obj_get_float(arg_y_scale);
*y_scale = mp_obj_get_float_to_f(arg_y_scale);
}
if (arg_x_scale == mp_const_none && arg_y_scale != mp_const_none) {
@ -183,11 +183,11 @@ void py_helper_arg_to_minmax(const mp_obj_t minmax, float *min, float *max,
if (minmax != mp_const_none) {
mp_obj_t *arg_scale;
mp_obj_get_array_fixed_n(minmax, 2, &arg_scale);
min_out = mp_obj_get_float(arg_scale[0]);
max_out = mp_obj_get_float(arg_scale[1]);
min_out = mp_obj_get_float_to_f(arg_scale[0]);
max_out = mp_obj_get_float_to_f(arg_scale[1]);
} else if (array && array_size) {
for (int i = 0; i < array_size; i++) {
float t = mp_obj_get_float(array[i]);
float t = mp_obj_get_float_to_f(array[i]);
if (t < min_out) {
min_out = t;
}
@ -203,7 +203,7 @@ void py_helper_arg_to_minmax(const mp_obj_t minmax, float *min, float *max,
float py_helper_arg_to_float(const mp_obj_t arg, float default_value) {
if (arg != mp_const_none) {
return mp_obj_get_float(arg);
return mp_obj_get_float_to_f(arg);
}
return default_value;
}
@ -213,7 +213,7 @@ void py_helper_arg_to_float_array(const mp_obj_t arg, float *array, size_t size)
mp_obj_t *arg_array;
mp_obj_get_array_fixed_n(arg, size, &arg_array);
for (int i = 0; i < size; i++) {
array[i] = mp_obj_get_float(arg_array[i]);
array[i] = mp_obj_get_float_to_f(arg_array[i]);
}
}
}
@ -303,27 +303,14 @@ float py_helper_keyword_float(size_t n_args, const mp_obj_t *args, size_t arg_in
mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
if (kw_arg) {
default_val = mp_obj_get_float(kw_arg->value);
default_val = mp_obj_get_float_to_f(kw_arg->value);
} else if (n_args > arg_index) {
default_val = mp_obj_get_float(args[arg_index]);
default_val = mp_obj_get_float_to_f(args[arg_index]);
}
return default_val;
}
bool py_helper_keyword_float_maybe(size_t n_args, const mp_obj_t *args, size_t arg_index,
mp_map_t *kw_args, mp_obj_t kw, float *value) {
mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
if (kw_arg) {
return mp_obj_get_float_maybe(kw_arg->value, value);
} else if (n_args > arg_index) {
return mp_obj_get_float_maybe(args[arg_index], value);
}
return false;
}
void py_helper_keyword_int_array(size_t n_args, const mp_obj_t *args, size_t arg_index,
mp_map_t *kw_args, mp_obj_t kw, int *x, int size) {
mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
@ -354,8 +341,8 @@ float *py_helper_keyword_corner_array(size_t n_args, const mp_obj_t *args, size_
for (int i = 0; i < 4; i++) {
mp_obj_t *arg_point;
mp_obj_get_array_fixed_n(arg_array[i], 2, &arg_point);
corners[(i * 2) + 0] = mp_obj_get_float(arg_point[0]);
corners[(i * 2) + 1] = mp_obj_get_float(arg_point[1]);
corners[(i * 2) + 0] = mp_obj_get_float_to_f(arg_point[0]);
corners[(i * 2) + 1] = mp_obj_get_float_to_f(arg_point[1]);
}
return corners;
} else if (n_args > arg_index) {
@ -365,8 +352,8 @@ float *py_helper_keyword_corner_array(size_t n_args, const mp_obj_t *args, size_
for (int i = 0; i < 4; i++) {
mp_obj_t *arg_point;
mp_obj_get_array_fixed_n(arg_array[i], 2, &arg_point);
corners[(i * 2) + 0] = mp_obj_get_float(arg_point[0]);
corners[(i * 2) + 1] = mp_obj_get_float(arg_point[1]);
corners[(i * 2) + 0] = mp_obj_get_float_to_f(arg_point[0]);
corners[(i * 2) + 1] = mp_obj_get_float_to_f(arg_point[1]);
}
return corners;
}

View File

@ -59,8 +59,6 @@ bool py_helper_keyword_int_maybe(size_t n_args, const mp_obj_t *args, size_t arg
mp_map_t *kw_args, mp_obj_t kw, int *value);
float py_helper_keyword_float(size_t n_args, const mp_obj_t *args, size_t arg_index,
mp_map_t *kw_args, mp_obj_t kw, float default_val);
bool py_helper_keyword_float_maybe(size_t n_args, const mp_obj_t *args, size_t arg_index,
mp_map_t *kw_args, mp_obj_t kw, float *value);
void py_helper_keyword_int_array(size_t n_args, const mp_obj_t *args, size_t arg_index,
mp_map_t *kw_args, mp_obj_t kw, int *x, int size);
void py_helper_keyword_float_array(size_t n_args, const mp_obj_t *args, size_t arg_index,

View File

@ -1496,10 +1496,10 @@ static mp_obj_t py_image_draw_arrow(size_t n_args, const mp_obj_t *args, mp_map_
float vx = -uy;
float vy = ux;
int a0x = fast_roundf(arg_x1 - (arg_s * ux) + (arg_s * vx * 0.5));
int a0y = fast_roundf(arg_y1 - (arg_s * uy) + (arg_s * vy * 0.5));
int a1x = fast_roundf(arg_x1 - (arg_s * ux) - (arg_s * vx * 0.5));
int a1y = fast_roundf(arg_y1 - (arg_s * uy) - (arg_s * vy * 0.5));
int a0x = fast_roundf(arg_x1 - (arg_s * ux) + (arg_s * vx * 0.5f));
int a0y = fast_roundf(arg_y1 - (arg_s * uy) + (arg_s * vy * 0.5f));
int a1x = fast_roundf(arg_x1 - (arg_s * ux) - (arg_s * vx * 0.5f));
int a1y = fast_roundf(arg_y1 - (arg_s * uy) - (arg_s * vy * 0.5f));
imlib_draw_line(arg_img, arg_x0, arg_y0, arg_x1, arg_y1, arg_c, arg_thickness);
imlib_draw_line(arg_img, arg_x1, arg_y1, a0x, a0y, arg_c, arg_thickness);
@ -1949,7 +1949,7 @@ static mp_obj_t py_ccm(mp_obj_t img_obj, mp_obj_t ccm_obj) {
offset = offset || (row_len == 4);
if ((row_len == 3) || (row_len == 4)) {
for (size_t j = 0; j < row_len; j++) {
ccm[(i * 4) + j] = mp_obj_get_float(row_items[j]);
ccm[(i * 4) + j] = mp_obj_get_float_to_f(row_items[j]);
}
} else {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Unexpected matrix dimensions!"));
@ -1959,7 +1959,7 @@ static mp_obj_t py_ccm(mp_obj_t img_obj, mp_obj_t ccm_obj) {
} else if (len == 9) {
for (size_t i = 0; i < 3; i++) {
for (size_t j = 0; j < 3; j++) {
ccm[(i * 4) + j] = mp_obj_get_float(items[(i * 3) + j]);
ccm[(i * 4) + j] = mp_obj_get_float_to_f(items[(i * 3) + j]);
}
}
// Form [rr, rg, rb, ro, gr, gg, gb, go, br, bg, bb, bo]
@ -1967,7 +1967,7 @@ static mp_obj_t py_ccm(mp_obj_t img_obj, mp_obj_t ccm_obj) {
} else if (len == 12 || len == 16) {
offset = true;
for (size_t i = 0; i < 12; i++) {
ccm[i] = mp_obj_get_float(items[i]);
ccm[i] = mp_obj_get_float_to_f(items[i]);
}
} else {
mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Unexpected matrix dimensions!"));
@ -2687,10 +2687,10 @@ static void py_similarity_print(const mp_print_t *print, mp_obj_t self_in, mp_pr
py_similarity_obj_t *self = self_in;
mp_printf(print,
"{\"mean\":%f, \"stdev\":%f, \"min\":%f, \"max\":%f}",
(double) mp_obj_get_float(self->avg),
(double) mp_obj_get_float(self->std),
(double) mp_obj_get_float(self->min),
(double) mp_obj_get_float(self->max));
mp_obj_get_float_to_d(self->avg),
mp_obj_get_float_to_d(self->std),
mp_obj_get_float_to_d(self->min),
mp_obj_get_float_to_d(self->max));
}
static mp_obj_t py_similarity_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value) {
@ -3425,19 +3425,19 @@ mp_obj_t py_histogram_get_percentile(mp_obj_t self_in, mp_obj_t percentile) {
hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
for (int i = 0; i < hist.LBinCount; i++) {
hist.LBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
hist.LBins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
}
for (int i = 0; i < hist.ABinCount; i++) {
hist.ABins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
hist.ABins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
}
for (int i = 0; i < hist.BBinCount; i++) {
hist.BBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
hist.BBins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
}
percentile_t p;
imlib_get_percentile(&p, ((py_histogram_obj_t *) self_in)->pixfmt, &hist, mp_obj_get_float(percentile));
imlib_get_percentile(&p, ((py_histogram_obj_t *) self_in)->pixfmt, &hist, mp_obj_get_float_to_f(percentile));
fb_alloc_free_till_mark();
py_percentile_obj_t *o = m_new_obj(py_percentile_obj_t);
@ -3463,15 +3463,15 @@ mp_obj_t py_histogram_get_threshold(mp_obj_t self_in) {
hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
for (int i = 0; i < hist.LBinCount; i++) {
hist.LBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
hist.LBins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
}
for (int i = 0; i < hist.ABinCount; i++) {
hist.ABins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
hist.ABins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
}
for (int i = 0; i < hist.BBinCount; i++) {
hist.BBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
hist.BBins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
}
threshold_t t;
@ -3501,15 +3501,15 @@ mp_obj_t py_histogram_get_statistics(mp_obj_t self_in) {
hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
for (int i = 0; i < hist.LBinCount; i++) {
hist.LBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
hist.LBins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
}
for (int i = 0; i < hist.ABinCount; i++) {
hist.ABins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
hist.ABins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
}
for (int i = 0; i < hist.BBinCount; i++) {
hist.BBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
hist.BBins[i] = mp_obj_get_float_to_f(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
}
statistics_t stats;
@ -3984,13 +3984,13 @@ static void py_blob_print(const mp_print_t *print, mp_obj_t self_in, mp_print_ki
mp_obj_get_int(self->w),
mp_obj_get_int(self->h),
mp_obj_get_int(self->pixels),
fast_roundf(mp_obj_get_float(self->cx)),
fast_roundf(mp_obj_get_float(self->cy)),
(double) mp_obj_get_float(self->rotation),
fast_roundf(mp_obj_get_float_to_f(self->cx)),
fast_roundf(mp_obj_get_float_to_f(self->cy)),
mp_obj_get_float_to_d(self->rotation),
mp_obj_get_int(self->code),
mp_obj_get_int(self->count),
mp_obj_get_int(self->perimeter),
(double) mp_obj_get_float(self->roundness));
mp_obj_get_float_to_d(self->roundness));
}
static mp_obj_t py_blob_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value) {
@ -4012,8 +4012,8 @@ static mp_obj_t py_blob_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
case 2: return self->w;
case 3: return self->h;
case 4: return self->pixels;
case 5: return mp_obj_new_int(fast_roundf(mp_obj_get_float(self->cx)));
case 6: return mp_obj_new_int(fast_roundf(mp_obj_get_float(self->cy)));
case 5: return mp_obj_new_int(fast_roundf(mp_obj_get_float_to_f(self->cx)));
case 6: return mp_obj_new_int(fast_roundf(mp_obj_get_float_to_f(self->cy)));
case 7: return self->rotation;
case 8: return self->code;
case 9: return self->count;
@ -4068,7 +4068,7 @@ mp_obj_t py_blob_pixels(mp_obj_t self_in) {
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_pixels_obj, py_blob_pixels);
mp_obj_t py_blob_cx(mp_obj_t self_in) {
return mp_obj_new_int(fast_roundf(mp_obj_get_float(((py_blob_obj_t *) self_in)->cx)));
return mp_obj_new_int(fast_roundf(mp_obj_get_float_to_f(((py_blob_obj_t *) self_in)->cx)));
}
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cx_obj, py_blob_cx);
@ -4078,7 +4078,7 @@ mp_obj_t py_blob_cxf(mp_obj_t self_in) {
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cxf_obj, py_blob_cxf);
mp_obj_t py_blob_cy(mp_obj_t self_in) {
return mp_obj_new_int(fast_roundf(mp_obj_get_float(((py_blob_obj_t *) self_in)->cy)));
return mp_obj_new_int(fast_roundf(mp_obj_get_float_to_f(((py_blob_obj_t *) self_in)->cy)));
}
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cy_obj, py_blob_cy);
@ -4093,7 +4093,7 @@ mp_obj_t py_blob_rotation(mp_obj_t self_in) {
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_rotation_obj, py_blob_rotation);
mp_obj_t py_blob_rotation_deg(mp_obj_t self_in) {
return mp_obj_new_int((mp_int_t) IM_RAD2DEG(mp_obj_get_float(((py_blob_obj_t *) self_in)->rotation)));
return mp_obj_new_int((mp_int_t) IM_RAD2DEG(mp_obj_get_float_to_f(((py_blob_obj_t *) self_in)->rotation)));
}
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_rotation_deg_obj, py_blob_rotation_deg);
@ -4123,7 +4123,7 @@ mp_obj_t py_blob_roundness(mp_obj_t self_in) {
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_roundness_obj, py_blob_roundness);
mp_obj_t py_blob_elongation(mp_obj_t self_in) {
return mp_obj_new_float(1 - mp_obj_get_float(((py_blob_obj_t *) self_in)->roundness));
return mp_obj_new_float(1 - mp_obj_get_float_to_f(((py_blob_obj_t *) self_in)->roundness));
}
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_elongation_obj, py_blob_elongation);
@ -4146,7 +4146,7 @@ static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_density_obj, py_blob_density);
mp_obj_t py_blob_compactness(mp_obj_t self_in) {
int pixels = mp_obj_get_int(((py_blob_obj_t *) self_in)->pixels);
float perimeter = mp_obj_get_int(((py_blob_obj_t *) self_in)->perimeter);
return mp_obj_new_float(IM_DIV((pixels * 4 * M_PI), (perimeter * perimeter)));
return mp_obj_new_float(IM_DIV((pixels * 4.0f * IMLIB_PI), (perimeter * perimeter)));
}
static MP_DEFINE_CONST_FUN_OBJ_1(py_blob_compactness_obj, py_blob_compactness);
@ -4382,7 +4382,7 @@ mp_obj_t py_blob_enclosed_ellipse(mp_obj_t self_in) {
if (l0 >= l1) {
r = IM_RAD2DEG(fast_atan2f(m0y - m2y, m0x - m2x));
} else {
r = IM_RAD2DEG(fast_atan2f(m1y - m3y, m1x - m3x) + M_PI_2);
r = IM_RAD2DEG(fast_atan2f(m1y - m3y, m1x - m3x) + IMLIB_PI_2);
}
return mp_obj_new_tuple(5, (mp_obj_t []) {mp_obj_new_int(cx),
@ -5193,16 +5193,16 @@ static void py_apriltag_print(const mp_print_t *print, mp_obj_t self_in, mp_prin
mp_obj_get_int(self->family),
mp_obj_get_int(self->cx),
mp_obj_get_int(self->cy),
(double) mp_obj_get_float(self->rotation),
(double) mp_obj_get_float(self->decision_margin),
mp_obj_get_float_to_d(self->rotation),
mp_obj_get_float_to_d(self->decision_margin),
mp_obj_get_int(self->hamming),
(double) mp_obj_get_float(self->goodness),
(double) mp_obj_get_float(self->x_translation),
(double) mp_obj_get_float(self->y_translation),
(double) mp_obj_get_float(self->z_translation),
(double) mp_obj_get_float(self->x_rotation),
(double) mp_obj_get_float(self->y_rotation),
(double) mp_obj_get_float(self->z_rotation));
mp_obj_get_float_to_d(self->goodness),
mp_obj_get_float_to_d(self->x_translation),
mp_obj_get_float_to_d(self->y_translation),
mp_obj_get_float_to_d(self->z_translation),
mp_obj_get_float_to_d(self->x_rotation),
mp_obj_get_float_to_d(self->y_rotation),
mp_obj_get_float_to_d(self->z_rotation));
}
static void py_apriltag_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
@ -5272,13 +5272,13 @@ static void py_apriltag_attr(mp_obj_t self_in, qstr attr, mp_obj_t *dest) {
}
break;
case MP_QSTR_cx:
dest[0] = mp_obj_new_int(fast_roundf(mp_obj_get_float(self->cx)));
dest[0] = mp_obj_new_int(fast_roundf(mp_obj_get_float_to_f(self->cx)));
break;
case MP_QSTR_cxf:
dest[0] = self->cx;
break;
case MP_QSTR_cy:
dest[0] = mp_obj_new_int(fast_roundf(mp_obj_get_float(self->cy)));
dest[0] = mp_obj_new_int(fast_roundf(mp_obj_get_float_to_f(self->cy)));
break;
case MP_QSTR_cyf:
dest[0] = self->cy;
@ -5422,7 +5422,7 @@ static void py_datamatrix_print(const mp_print_t *print, mp_obj_t self_in, mp_pr
mp_obj_get_int(self->w),
mp_obj_get_int(self->h),
mp_obj_str_get_str(self->payload),
(double) mp_obj_get_float(self->rotation),
mp_obj_get_float_to_d(self->rotation),
mp_obj_get_int(self->rows),
mp_obj_get_int(self->columns),
mp_obj_get_int(self->capacity),
@ -5620,7 +5620,7 @@ static void py_barcode_print(const mp_print_t *print, mp_obj_t self_in, mp_print
mp_obj_get_int(self->h),
mp_obj_str_get_str(self->payload),
mp_obj_get_int(self->type),
(double) mp_obj_get_float(self->rotation),
mp_obj_get_float_to_d(self->rotation),
mp_obj_get_int(self->quality));
}
@ -5789,11 +5789,11 @@ static void py_displacement_print(const mp_print_t *print, mp_obj_t self_in, mp_
py_displacement_obj_t *self = self_in;
mp_printf(print,
"{\"x_translation\":%f, \"y_translation\":%f, \"rotation\":%f, \"scale\":%f, \"response\":%f}",
(double) mp_obj_get_float(self->x_translation),
(double) mp_obj_get_float(self->y_translation),
(double) mp_obj_get_float(self->rotation),
(double) mp_obj_get_float(self->scale),
(double) mp_obj_get_float(self->response));
mp_obj_get_float_to_d(self->x_translation),
mp_obj_get_float_to_d(self->y_translation),
mp_obj_get_float_to_d(self->rotation),
mp_obj_get_float_to_d(self->scale),
mp_obj_get_float_to_d(self->response));
}
static mp_obj_t py_displacement_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value) {
@ -5904,7 +5904,7 @@ static MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_displacement_obj, 2, py_image_fi
static mp_obj_t py_image_find_template(size_t n_args, const mp_obj_t *args, mp_map_t *kw_args) {
image_t *arg_img = py_helper_arg_to_image(args[0], ARG_IMAGE_GRAYSCALE);
image_t *arg_template = py_helper_arg_to_image(args[1], ARG_IMAGE_GRAYSCALE);
float arg_thresh = mp_obj_get_float(args[2]);
float arg_thresh = mp_obj_get_float_to_f(args[2]);
rectangle_t roi;
py_helper_keyword_rectangle_roi(arg_img, n_args, args, 3, kw_args, &roi);

View File

@ -84,7 +84,7 @@ static void py_ml_process_input(py_ml_model_obj_t *model, mp_obj_t arg) {
void *input_buffer = ml_backend_get_input(model, i);
size_t input_size = py_ml_tuple_sum(MP_OBJ_TO_PTR(model->input_shape->items[i]));
mp_obj_tuple_t *input_shape = MP_OBJ_TO_PTR(model->input_shape->items[i]);
float input_scale = 1.0f / mp_obj_get_float(model->input_scale->items[i]);
float input_scale = 1.0f / mp_obj_get_float_to_f(model->input_scale->items[i]);
int input_zero_point = mp_obj_get_int(model->input_zero_point->items[i]);
int input_dtype = mp_obj_get_int(model->input_dtype->items[i]);
mp_obj_t input_arg = input_list->items[i];
@ -157,7 +157,7 @@ static mp_obj_t py_ml_process_output(py_ml_model_obj_t *model, bool deep_copy) {
void *model_output = ml_backend_get_output(model, i);
size_t size = py_ml_tuple_sum(MP_OBJ_TO_PTR(model->output_shape->items[i]));
mp_obj_tuple_t *output_shape = MP_OBJ_TO_PTR(model->output_shape->items[i]);
float output_scale = mp_obj_get_float(model->output_scale->items[i]);
float output_scale = mp_obj_get_float_to_f(model->output_scale->items[i]);
int output_zero_point = mp_obj_get_int(model->output_zero_point->items[i]);
int output_dtype = mp_obj_get_int(model->output_dtype->items[i]);

View File

@ -89,7 +89,7 @@ static void tof_fill_image_float_obj(image_t *img, mp_obj_t *data, float min, fl
uint8_t *row_pointer = ((uint8_t *) img->data) + row_offset;
for (int x = 0; x < img->w; x++) {
float raw = mp_obj_get_float(raw_row[x]);
float raw = mp_obj_get_float_to_f(raw_row[x]);
if (raw < min) {
raw = min;

View File

@ -0,0 +1,46 @@
# This work is licensed under the MIT license.
# Copyright (c) 2013-2025 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# TensorFlow Lite YOLO V8 Example
#
# This example runs a YOLO V8 person detection model.
#
# NOTE: This exaxmple requires an OpenMV Cam with an NPU like the AE3 or N6 to run real-time.
import csi
import time
import ml
from ml.postprocessing.ultralytics import YoloV8
# Initialize the sensor.
csi0 = csi.CSI()
csi0.reset()
csi0.pixformat(csi.RGB565)
csi0.framesize(csi.VGA)
csi0.window((400, 400))
# Load YOLO V8 model from ROM FS.
model = ml.Model("/rom/yolov8n_192.tflite", postprocess=YoloV8(threshold=0.4))
print(model)
# Visualization parameters.
n = len(model.labels)
model_class_colors = [(int(255 * i // n), int(255 * (n - i - 1) // n), 255) for i in range(n)]
clock = time.clock()
while True:
clock.tick()
img = csi0.snapshot()
# boxes is a list of list per class of ((x, y, w, h), score) tuples
boxes = model.predict([img])
# Draw bounding boxes around the detected objects
for i, class_detections in enumerate(boxes):
rects = [r for r, score in class_detections]
labels = [model.labels[i] for j in range(len(rects))]
colors = [model_class_colors[i] for j in range(len(rects))]
ml.utils.draw_predictions(img, rects, labels, colors, format=None)
print(clock.fps(), "fps")

View File

@ -8,7 +8,7 @@ def unittest(data_path, temp_path):
and lines[0][0:] == (24, 74, 56, 74, 32, 18, 90, 74)
and lines[1][0:] == (54, 38, 26, 38, 28, 13, 90, 38)
and lines[2][0:] == (104, 70, 114, 76, 12, 2, 121, 6)
and lines[3][0:] == (109, 37, 100, 46, 13, 14, 45, 103)
and lines[4][0:] == (135, 44, 128, 37, 10, 1, 135, -64)
and lines[5][0:] == (129, 73, 137, 64, 12, 8, 42, 145)
and lines[3][0:] == (139, 51, 133, 41, 12, 2, 149, -93)
and lines[4][0:] == (109, 37, 100, 46, 13, 14, 45, 103)
and lines[5][0:] == (129, 73, 137, 64, 12, 6, 42, 145)
)