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Commit 77534e6

Browse files
fix vl53l5cx + EdgeImpulse class
1 parent d2bf9e0 commit 77534e6

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5 files changed

+243
-24
lines changed

5 files changed

+243
-24
lines changed

‎examples/VL53L5CX/VL53L5cxSimpleCapture/VL53L5cxSimpleCapture.ino

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -14,11 +14,11 @@ void setup() {
1414
// turn on high speed communication
1515
tof8x8.highFreq();
1616

17-
// truncate readings further than 2m to 2m
17+
// truncate readings at 2 meters
1818
tof8x8.truncateAt(2000);
1919

2020
// you may optionally rescale to a given range
21-
//tof8x8.setRange(0, 255);
21+
tof8x8.scale(0, 1);
2222

2323
if (!tof8x8.begin())
2424
eloquent::abort(Serial, "vl53l5cx not found");

‎examples/VL53L5CX/VL53L5cxStreamCapture/VL53L5cxStreamCapture.ino

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
#include <eloquent/modules/vl53l5cx/stream.h>
44

55
#define RESOLUTION 8*8
6-
#define NUM_FRAMES 10
6+
#define NUM_FRAMES 16
77

88

99
Eloquent::Modules::VL53L5CXStream<RESOLUTION, NUM_FRAMES> stream;
@@ -17,14 +17,14 @@ void setup() {
1717
// turn on high speed communication
1818
stream.highFreq();
1919

20-
// truncate readings further than 2m to 2m
20+
// truncate readings further than 2 meters
2121
stream.truncateAt(2000);
2222

2323
// you may optionally rescale to a given range
24-
//stream.setRange(0, 255);
24+
stream.setRange(0, 1);
2525

26-
// emit the "queue" event once every 2 frames
27-
stream.throttle(2);
26+
// emit the "queue" event once every 4 frames
27+
stream.throttle(4);
2828

2929
if (!stream.begin())
3030
eloquent::abort(Serial, "vl53l5cx not found");

‎src/eloquent/modules/VL53L5CX.h

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -118,7 +118,7 @@ namespace Eloquent {
118118
* @param i
119119
* @return
120120
*/
121-
uint16_t at(uint8_t i) {
121+
float at(uint8_t i) {
122122
if (!isOk())
123123
return 0;
124124

@@ -139,7 +139,7 @@ namespace Eloquent {
139139
* @param y
140140
* @return
141141
*/
142-
uint16_t at(uint8_t x, uint8_t y) {
142+
float at(uint8_t x, uint8_t y) {
143143
const uint8_t width = sqrt(_resolution);
144144

145145
return at(y * width + x);

‎src/eloquent/modules/vl53l5cx/stream.h

Lines changed: 14 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -50,7 +50,7 @@ namespace Eloquent {
5050
* @param i
5151
* @return
5252
*/
53-
uint8_t at(size_t i) {
53+
float at(size_t i) {
5454
return features[i];
5555
}
5656

@@ -61,7 +61,7 @@ namespace Eloquent {
6161
* @param z
6262
* @return
6363
*/
64-
uint8_t at(uint8_t x, uint8_t y, size_t z) {
64+
float at(uint8_t x, uint8_t y, size_t z) {
6565
uint8_t width = sqrt(resolution);
6666

6767
return at(z * resolution + y * width + x);
@@ -72,18 +72,20 @@ namespace Eloquent {
7272
* @return
7373
*/
7474
bool queue() {
75-
size_t head = _counter % frames;
76-
7775
if (!read())
7876
return false;
7977

8078
shift();
8179
_counter += 1;
8280

83-
for (uint16_t i = 0, j = resolution * (frames - 1); i < resolution; i++, j++)
84-
features[j] = _data.distance_mm[i];
81+
for (uint16_t i = 0, j = resolution * (frames - 1); i < resolution; i++, j++) {
82+
features[j] = VL53L5CX::at(i);
83+
}
8584

86-
if (_counter % _throttle != 1)
85+
if (_counter < frames)
86+
return false;
87+
88+
if ((_counter % _throttle) != 1)
8789
return false;
8890

8991
return true;
@@ -100,7 +102,7 @@ namespace Eloquent {
100102
void printTo(Printer &printer, char delimiter = ',', char end = '\n') {
101103
printer.print(at(0));
102104

103-
for (uint8_t i = 1; i < resolution * frames; i++) {
105+
for (uint16_t i = 1; i < resolution * frames; i++) {
104106
printer.print(delimiter);
105107
printer.print(at(i));
106108
}
@@ -118,7 +120,10 @@ namespace Eloquent {
118120
* Shift data to the left by one frame
119121
*/
120122
void shift() {
121-
memcpy(features, features + resolution, resolution * (frames - 1));
123+
//memcpy(features, features + resolution, resolution * (frames - 1));
124+
125+
for (uint16_t i = 0; i < getLength(); i++)
126+
features[i] = features[i + resolution];
122127
}
123128
};
124129
}

‎src/eloquent/tinyml/edgeimpulse/impulse.h

Lines changed: 220 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -14,26 +14,240 @@ namespace Eloquent {
1414
class Impulse {
1515
public:
1616

17+
/**
18+
* Constructor
19+
* @param debugOn
20+
*/
21+
Impulse(bool debugOn = false) :
22+
_errorCode(0),
23+
_debug(debugOn),
24+
_idx(-1),
25+
_maxAnomaly(1) {
26+
27+
}
28+
29+
/**
30+
* Check if everything is ok
31+
* @return
32+
*/
33+
bool isOk() {
34+
return _errorCode == 0;
35+
}
36+
1737
/**
1838
*
1939
* @param features
2040
* @return
2141
*/
22-
uint8_t predict(float *features) {
23-
return 0;
42+
int8_t predict(float *features) {
43+
_idx = -1;
44+
_errorCode = numpy::signal_from_buffer(features, EI_CLASSIFIER_DSP_INPUT_FRAME_SIZE, &_signal);
45+
46+
if (!isOk()) {
47+
return error("numpy::signal_from_buffer");
48+
}
49+
50+
_errorCode = run_classifier(&_signal, &_result, _debug);
51+
52+
if (!isOk()) {
53+
return error("run_classifier");
54+
}
55+
56+
#if EI_CLASSIFIER_HAS_ANOMALY == 1
57+
if (isAnomaly())
58+
return error("anomaly");
59+
#endif
60+
61+
// find argmax of scores
62+
_idx = 0;
63+
float proba = _result.classification[0].value;
64+
65+
for (size_t ix = 1; ix < EI_CLASSIFIER_LABEL_COUNT; ix++) {
66+
float p = _result.classification[ix].value;
67+
68+
if (p > proba) {
69+
_idx = ix;
70+
proba = p;
71+
}
72+
73+
if (proba >= 0.5) {
74+
break;
75+
}
76+
}
77+
78+
return _idx;
2479
}
2580

81+
/**
82+
* Predict class label
83+
* @param features
84+
* @return
85+
*/
2686
String predictLabel(float *features) {
27-
predict(features);
28-
29-
return getLabel();
87+
return getLabelOf(predict(features));
3088
}
3189

90+
/**
91+
* Get label of current prediction
92+
* @return
93+
*/
3294
String getLabel() {
33-
return "";
95+
return getLabelOf(_idx);
96+
}
97+
98+
/**
99+
* Get probability of current prediction
100+
* @return
101+
*/
102+
float getProba() {
103+
return getProbaOf(_idx);
104+
}
105+
106+
/**
107+
* Get label of given class id
108+
* @param idx
109+
* @return
110+
*/
111+
String getLabelOf(int8_t idx) {
112+
if (idx < 0)
113+
return "";
114+
115+
if (idx >= EI_CLASSIFIER_LABEL_COUNT)
116+
return "OUT OF RANGE";
117+
118+
return _result.classification[idx].label;
34119
}
35120

121+
/**
122+
* Get probability of given class id
123+
* @param idx
124+
* @return
125+
*/
126+
float getProbaOf(int8_t idx) {
127+
if (idx < 0)
128+
return 0;
129+
130+
if (idx >= EI_CLASSIFIER_LABEL_COUNT)
131+
return 0;
132+
133+
return _result.classification[idx].value;
134+
}
135+
136+
/**
137+
* Get time spent on DSP
138+
* @return
139+
*/
140+
uint16_t getDspTiming() {
141+
return _result.timing.dsp;
142+
}
143+
144+
/**
145+
* Get time spent on classification
146+
* @return
147+
*/
148+
uint16_t getClassificationTiming() {
149+
return _result.timing.classification;
150+
}
151+
152+
/**
153+
* Debug classification result to given printer
154+
* @tparam Printer
155+
* @param printer
156+
*/
157+
template<class Printer>
158+
void printTo(Printer &printer) {
159+
printer.print("EdgeImpulse classification results\n");
160+
printer.print("----------------------------------\n");
161+
printer.print(" > Class scores\n");
162+
163+
for (uint8_t i = 0; i < EI_CLASSIFIER_LABEL_COUNT; i++) {
164+
printer.print(" > ");
165+
printer.print(getLabelOf(i));
166+
printer.print(": ");
167+
printer.print(getProbaOf(i));
168+
printer.print("\n");
169+
}
170+
171+
#if EI_CLASSIFIER_HAS_ANOMALY == 1
172+
printer.print(" > Anomaly: ");
173+
printer.print(getAnomalyScore());
174+
printer.print("\n");
175+
#endif
176+
177+
printer.print(" > Timing\n");
178+
printer.print(" > DSP: ");
179+
printer.print(getDspTiming());
180+
printer.print(" ms\n");
181+
printer.print(" > Classification: ");
182+
printer.print(getClassificationTiming());
183+
printer.print(" ms\n");
184+
185+
#if EI_CLASSIFIER_HAS_ANOMALY == 1
186+
printer.print(" > Anomaly: ");
187+
printer.print(getAnomalyTiming());
188+
printer.print(" ms\n");
189+
#endif
190+
191+
printer.print(" > Error: ");
192+
printer.print(isOk() ? "OK" : _errorMessage);
193+
printer.print("(");
194+
printer.print(_errorCode);
195+
printer.print(")\n");
196+
}
197+
198+
#if EI_CLASSIFIER_HAS_ANOMALY == 1
199+
200+
/**
201+
* Set max allowed anomaly score
202+
*/
203+
void setMaxAnomalyScore(float score) {
204+
_maxAnomaly = score;
205+
}
206+
207+
/**
208+
* Check if current prediction is an anomaly
209+
*/
210+
bool isAnomaly() {
211+
return !isOk() || getAnomalyScore() > _maxAnomaly;
212+
}
213+
214+
/**
215+
* Get time spent on anomaly detection
216+
* @return
217+
*/
218+
uint16_t getAnomalyTiming() {
219+
return _result.timing.anomaly;
220+
}
221+
222+
/**
223+
* Get anomaly score
224+
* @return
225+
*/
226+
float getAnomalyScore() {
227+
return _result.anomaly;
228+
}
229+
#endif
230+
36231
protected:
232+
bool _debug;
233+
int _errorCode;
234+
float _maxAnomaly;
235+
String _errorMessage;
236+
signal_t _signal;
237+
ei_impulse_result_t _result;
238+
int8_t _idx;
239+
240+
241+
/**
242+
* Return error
243+
* @param errorMessage
244+
* @return
245+
*/
246+
int8_t error(const char *errorMessage) {
247+
_errorMessage = String(errorMessage);
248+
249+
return -1;
250+
}
37251
};
38252
}
39253
}

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