postprocessing: Add initial support for IMX500 postprocessing

Add postprocessing stages using the IMX500 inference output. MobileNet
SSD object inference and PoseNet pose estimation software stages have
been implemented in this commit.

Signed-off-by: Naushir Patuck <[email protected]>

assets/imx500_mobilenet_ssd.json

@@ -0,0 +1,123 @@
+{
+    "imx500_object_detection":
+    {
+        "max_detections" : 5,
+        "threshold" : 0.6,
+        "network_file": "/usr/share/imx500-models/imx500_network_ssd_mobilenetv2_fpnlite_320x320_pp.rpk",
+
+        "save_input_tensor":
+        {
+            "filename": "/home/pi/input_tensor.raw",
+            "num_tensors": 10,
+            "norm_val": [384, 384, 384, 0],
+            "norm_shift": [0, 0, 0, 0]
+        },
+
+        "temporal_filter":
+        {
+            "tolerance": 0.1,
+            "factor": 0.2,
+            "visible_frames": 4,
+            "hidden_frames": 2
+        },
+
+        "classes":
+        [
+            "person",
+            "bicycle",
+            "car",
+            "motorcycle",
+            "airplane",
+            "bus",
+            "train",
+            "truck",
+            "boat",
+            "traffic light",
+            "fire hydrant",
+            "-",
+            "stop sign",
+            "parking meter",
+            "bench",
+            "bird",
+            "cat",
+            "dog",
+            "horse",
+            "sheep",
+            "cow",
+            "elephant",
+            "bear",
+            "zebra",
+            "giraffe",
+            "-",
+            "backpack",
+            "umbrella",
+            "-",
+            "-",
+            "handbag",
+            "tie",
+            "suitcase",
+            "frisbee",
+            "skis",
+            "snowboard",
+            "sports ball",
+            "kite",
+            "baseball bat",
+            "baseball glove",
+            "skateboard",
+            "surfboard",
+            "tennis racket",
+            "bottle",
+            "-",
+            "wine glass",
+            "cup",
+            "fork",
+            "knife",
+            "spoon",
+            "bowl",
+            "banana",
+            "apple",
+            "sandwich",
+            "orange",
+            "broccoli",
+            "carrot",
+            "hot dog",
+            "pizza",
+            "donut",
+            "cake",
+            "chair",
+            "couch",
+            "potted plant",
+            "bed",
+            "-",
+            "dining table",
+            "-",
+            "-",
+            "toilet",
+            "-",
+            "tv",
+            "laptop",
+            "mouse",
+            "remote",
+            "keyboard",
+            "cell phone",
+            "microwave",
+            "oven",
+            "toaster",
+            "sink",
+            "refrigerator",
+            "-",
+            "book",
+            "clock",
+            "vase",
+            "scissors",
+            "teddy bear",
+            "hair drier",
+            "toothbrush"
+        ]
+    },
+
+    "object_detect_draw_cv":
+    {
+        "line_thickness" : 2
+    }
+}

assets/imx500_posenet.json

@@ -0,0 +1,29 @@
+{
+    "imx500_posenet":
+    {
+        "max_detections" : 5,
+        "threshold" : 0.4,
+        "offset_refinement_steps": 5,
+        "nms_radius": 10.0,
+        "network_file": "/usr/share/imx500-models/imx500_network_posenet.rpk",
+
+        "save_input_tensor":
+        {
+            "filename": "/home/pi/posenet_input_tensor.raw",
+            "num_tensors": 10
+        },
+
+        "temporal_filter":
+        {
+            "tolerance": 0.3,
+            "factor": 0.3,
+            "visible_frames": 8,
+            "hidden_frames": 2
+        }
+    },
+
+    "plot_pose_cv":
+    {
+        "confidence_threshold" : 0.2
+    }    
+}

meson.build

@@ -80,5 +80,6 @@ summary({
             'OpenCV postprocessing' : enable_opencv,
             'TFLite postprocessing' : enable_tflite,
             'Hailo postprocessing' : enable_hailo,
+            'IMX500 postprocessing' : get_option('enable_imx500'),
         },
         bool_yn : true, section : 'Build configuration')

meson_options.txt

@@ -43,3 +43,13 @@ option('download_hailo_models',
         type : 'boolean',
         value : true,
         description : 'Download and install the Hailo postprocessing models')
+
+option('enable_imx500',
+        type : 'boolean',
+        value : true,
+        description : 'Enable IMX500 postprocessing support')
+
+option('download_imx500_models',
+        type : 'boolean',
+        value : true,
+        description : 'Download and install the IMX500 postprocessing models')