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v2.0.0 Add support for ESP32S2 and update ESP-IDF to 4.4 (#4996)

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This is very much still work in progress and much more will change before the final 2.0.0

Some APIs have changed. New libraries have been added. LittleFS included.

Co-authored-by: Seon Rozenblum <seonr@3sprockets.com>
Co-authored-by: Me No Dev <me-no-dev@users.noreply.github.com>
Co-authored-by: geeksville <kevinh@geeksville.com>
Co-authored-by: Mike Dunston <m_dunston@comcast.net>
Co-authored-by: Unexpected Maker <seon@unexpectedmaker.com>
Co-authored-by: Seon Rozenblum <seonr@3sprockets.com>
Co-authored-by: microDev <70126934+microDev1@users.noreply.github.com>
Co-authored-by: tobozo <tobozo@users.noreply.github.com>
Co-authored-by: bobobo1618 <bobobo1618@users.noreply.github.com>
Co-authored-by: lorol <lorolouis@gmail.com>
Co-authored-by: geeksville <kevinh@geeksville.com>
Co-authored-by: Limor "Ladyada" Fried <limor@ladyada.net>
Co-authored-by: Sweety <switi.mhaiske@espressif.com>
Co-authored-by: Loick MAHIEUX <loick111@gmail.com>
Co-authored-by: Larry Bernstone <lbernstone@gmail.com>
Co-authored-by: Valerii Koval <valeros@users.noreply.github.com>
Co-authored-by: 快乐的我531 <2302004040@qq.com>
Co-authored-by: chegewara <imperiaonline4@gmail.com>
Co-authored-by: Clemens Kirchgatterer <clemens@1541.org>
Co-authored-by: Aron Rubin <aronrubin@gmail.com>
Co-authored-by: Pete Lewis <601236+lewispg228@users.noreply.github.com>
This commit is contained in:
Me No Dev
2021-04-05 14:23:58 +03:00
committed by GitHub
parent 46d5afb17f
commit 5502879a5b
5209 changed files with 826360 additions and 322816 deletions
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tools/sdk/esp32s2/include/esp-face/pose_estimation/include/pe_forward.h Normal file
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/*
* ESPRESSIF MIT License
*
* Copyright (c) 2018 <ESPRESSIF SYSTEMS (SHANGHAI) PTE LTD>
*
* Permission is hereby granted for use on ESPRESSIF SYSTEMS products only, in which case,
* it is free of charge, to any person obtaining a copy of this software and associated
* documentation files (the "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the Software is furnished
* to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all copies or
* substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
*/
#pragma once
#if __cplusplus
extern "C"
{
#endif
#include "image_util.h"
#include "dl_lib_matrix3d.h"
#include "hd_model.h"
#include "hp_model.h"
#define INPUT_EXPONENT -10
#define SCORE_THRESHOLD 0.5
#define NMS_THRESHOLD 0.45
#if CONFIG_HD_LITE1
#define HP_TARGET_SIZE 128
#else
#define HP_TARGET_SIZE 128
#endif
typedef struct
{
int target_size; /*!< The input size of hand detection network */
fptp_t score_threshold; /*!< score threshold， used to filter candidates by score */
fptp_t nms_threshold; /*!< nms threshold， used to filter out overlapping boxes */
} hd_config_t;
/**
* @brief Get the default hand detection network configuration
*
* @return hd_config_t The default configuration
*/
static inline hd_config_t hd_init_config()
{
hd_config_t hd_config;
hd_config.target_size = 96;
hd_config.score_threshold = SCORE_THRESHOLD;
hd_config.nms_threshold = NMS_THRESHOLD;
return hd_config;
}
typedef struct tag_od_box_list
{
fptp_t *score; /*!< The confidence score of the class corresponding to the box */
qtp_t *cls; /*!< The class corresponding to the box */
box_t *box; /*!< (x1, y1, x2, y2) of the boxes */
int len; /*!< The number of the boxes */
} od_box_array_t;
typedef struct tag_od_image_box
{
struct tag_od_image_box *next; /*!< Next od_image_box_t */
fptp_t score; /*!< The confidence score of the class corresponding to the box */
qtp_t cls; /*!< The class corresponding to the box */
box_t box; /*!< (x1, y1, x2, y2) of the boxes */
} od_image_box_t;
typedef struct tag_od_image_list
{
od_image_box_t *head; /*!< The current head of the od_image_list */
od_image_box_t *origin_head; /*!< The original head of the od_image_list */
int len; /*!< Length of the od_image_list */
} od_image_list_t;
/**
* @brief Sort the resulting box lists by their confidence score.
*
* @param image_sorted_list The sorted box list.
* @param insert_list The box list that have not been sorted.
*/
void od_image_sort_insert_by_score(od_image_list_t *image_sorted_list, const od_image_list_t *insert_list);
/**
* @brief Filter out the resulting boxes whose confidence score is lower than the threshold and convert the boxes to the actual boxes on the original image.((x, y, w, h) -> (x1, y1, x2, y2))
*
* @param score Confidence score of the boxes.
* @param cls Class of the boxes.
* @param boxes (x, y, w, h) of the boxes. x and y are the center coordinates.
* @param height Height of the detection output feature map.
* @param width Width of the detection output feature map.
* @param anchor_number Anchor number of the detection output feature map.
* @param score_threshold Threshold of the confidence score.
* @param resize_scale Resize scale: target_size/orignal_size.
* @param padding_w Width padding in preporcess.
* @param padding_h Height padding in preporcess.
* @return od_image_list_t* Resulting valid boxes.
*/
od_image_list_t *od_image_get_valid_boxes(fptp_t *score,
fptp_t *cls,
fptp_t *boxes,
int height,
int width,
int anchor_number,
fptp_t score_threshold,
fptp_t resize_scale,
int padding_w,
int padding_h);
/**
* @brief Run NMS algorithm
*
* @param image_list The input boxes list
* @param nms_threshold NMS threshold
*/
void od_image_nms_process(od_image_list_t *image_list, fptp_t nms_threshold);
/**
* @brief Do hand detection, return box infomation.
*
* @param image Image matrix, rgb888 format
* @param hd_config Configuration of hand detection
* @return od_box_array_t* A list of boxes, score and class.
*/
od_box_array_t *hand_detection_forward(dl_matrix3du_t *image, hd_config_t hd_config);
/**
* @brief Do hand pose estimation, return 21 landmarks of each hand.
*
* @param image Image matrix, rgb888 format
* @param od_boxes The output of the hand detection network
* @param target_size The input size of hand pose estimation network
* @return dl_matrix3d_t* The coordinates of 21 landmarks on the input image for each hand, size (n, 1, 21, 2)
*/
dl_matrix3d_t *handpose_estimation_forward(dl_matrix3du_t *image, od_box_array_t *od_boxes, int target_size);
#if __cplusplus
}
#endif