6c8fd9318f
Replace the NotImplementedError stub with a working HailoPoseAdapter for Pi5 + Hailo-8. yolov8s_pose has no on-chip NMS, so the adapter does host-side DFL box decode + keypoint decode + greedy NMS + letterbox un-map + COCO-17 assembly (numpy decode ported from Hailo's MIT PoseEstPostProcessing, locked by a synthetic 9-tensor unit test; the HailoRT device wiring is gated + device-validated on bringup). daemon.main() gains a POSE_BACKEND switch (hailo|movenet).
64 lines
2.4 KiB
Python
64 lines
2.4 KiB
Python
"""TDD for HailoPoseAdapter — locks the yolov8s_pose host decode (DFL box + keypoint
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decode + NMS + COCO-17 assembly + letterbox un-mapping) WITHOUT hardware/hailort,
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by injecting a fake infer_fn that returns synthetic raw output tensors.
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yolov8s_pose emits 9 raw tensors (no on-chip NMS): per stride (8/16/32) a box(H,W,64
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DFL), score(H,W,1 already-sigmoid), and kpts(H,W,51 = 17*(x,y,score)).
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"""
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import numpy as np
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from edge.adapters.hailo_pose import HailoPoseAdapter
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INPUT = 640
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STRIDES = (8, 16, 32)
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def _blank_outputs():
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outs = []
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for s in STRIDES:
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size = INPUT // s
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outs.append(np.zeros((1, size, size, 64), np.float32)) # box DFL
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outs.append(np.zeros((1, size, size, 1), np.float32)) # class score (sigmoid'd)
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outs.append(np.zeros((1, size, size, 51), np.float32)) # keypoints
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return outs
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def _one_person_outputs():
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outs = _blank_outputs()
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# activate a single cell on the stride-8 map (size 80), grid cell (40, 40)
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box, score, kpts = outs[0], outs[1], outs[2]
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r = c = 40
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score[0, r, c, 0] = 0.9 # person prob (already sigmoid on-chip)
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# DFL: one-hot each of the 4 sides at bin index 2 -> distance = 2 cells * stride8 = 16 px
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b = box[0, r, c].reshape(4, 16)
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b[:, 2] = 50.0
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box[0, r, c] = b.reshape(64)
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# keypoints: raw x=y=0.5, raw score=3.0 for all 17 joints
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k = kpts[0, r, c].reshape(17, 3)
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k[:, 0] = 0.5
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k[:, 1] = 0.5
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k[:, 2] = 3.0
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kpts[0, r, c] = k.reshape(51)
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return outs
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def test_infer_maps_yolov8_pose_to_coco17_person():
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frame = np.zeros((640, 640, 3), np.uint8) # already 640x640 -> scale 1, no padding
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outs = _one_person_outputs()
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a = HailoPoseAdapter("unused.hef", infer_fn=lambda f: outs)
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persons = a.infer(frame)
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assert len(persons) == 1
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p = persons[0]
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assert len(p.keypoints) == 17
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# grid center = (40 + 0.5) * 8 = 324 ; box +/- 16 -> [308, 340]
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assert abs(p.bbox.x1 - 308) < 2 and abs(p.bbox.y1 - 308) < 2
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assert abs(p.bbox.x2 - 340) < 2 and abs(p.bbox.y2 - 340) < 2
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# keypoint decode: stride*(2*0.5 - 0.5) + 324 = 8*0.5 + 324 = 328
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assert abs(p.keypoints[0].x - 328) < 2 and abs(p.keypoints[0].y - 328) < 2
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# joint score sigmoided: sigmoid(3.0) ~= 0.9526
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assert abs(p.keypoints[0].conf - 0.9526) < 0.01
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def test_no_detection_returns_empty():
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a = HailoPoseAdapter("unused.hef", infer_fn=lambda f: _blank_outputs())
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assert a.infer(np.zeros((640, 640, 3), np.uint8)) == []
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