MLECO-2873: Object detection usecase follow-up

Change-Id: Ic14e93a50fb7b3f3cfd9497bac1280794cc0fc15
Signed-off-by: Isabella Gottardi <isabella.gottardi@arm.com>

12 files changed, 698 insertions, 750 deletions

diff --git a/source/use_case/img_class/src/MainLoop.cc b/source/use_case/img_class/src/MainLoop.cc
index ea9f14a..cab360b 100644
--- a/source/use_case/img_class/src/MainLoop.cc
+++ b/source/use_case/img_class/src/MainLoop.cc
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Arm Limited. All rights reserved.
+ * Copyright (c) 2021 - 2022 Arm Limited. All rights reserved.
  * SPDX-License-Identifier: Apache-2.0
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -46,7 +46,7 @@ void main_loop(hal_platform& platform)
     ImgClassClassifier classifier;  /* Classifier wrapper object. */
     caseContext.Set<arm::app::Classifier&>("classifier", classifier);
 
-    std::vector <std::string> labels;
+    std::vector<std::string> labels;
     GetLabelsVector(labels);
     caseContext.Set<const std::vector <std::string>&>("labels", labels);
 
@@ -88,4 +88,4 @@ void main_loop(hal_platform& platform)
         }
     } while (executionSuccessful && bUseMenu);
     info("Main loop terminated.\n");
-}
\ No newline at end of file
+}
diff --git a/source/use_case/object_detection/include/DetectionResult.hpp b/source/use_case/object_detection/include/DetectionResult.hpp
index 78895f7..aa74d90 100644
--- a/source/use_case/object_detection/include/DetectionResult.hpp
+++ b/source/use_case/object_detection/include/DetectionResult.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Arm Limited. All rights reserved.
+ * Copyright (c) 2022 Arm Limited. All rights reserved.
  * SPDX-License-Identifier: Apache-2.0
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -20,31 +20,41 @@
 
 namespace arm {
 namespace app {
+namespace object_detection {
 
     /**
      * @brief   Class representing a single detection result.
      */
     class DetectionResult {
     public:
-        double  m_normalisedVal{0.0};
-        int     m_x0{0};
-        int     m_y0{0};
-        int     m_w{0};
-        int     m_h{0};
-       
-        DetectionResult() = default;
-        ~DetectionResult() = default;
-        
+        /**
+         * @brief       Constructor
+         * @param[in]   normalisedVal   Result normalized value
+         * @param[in]   x0              Top corner x starting point
+         * @param[in]   y0              Top corner y starting point
+         * @param[in]   w               Detection result width
+         * @param[in]   h               Detection result height
+         **/
         DetectionResult(double normalisedVal,int x0,int y0, int w,int h) :
                 m_normalisedVal(normalisedVal),
                 m_x0(x0),
                 m_y0(y0),
                 m_w(w),
-                m_h(h) 
+                m_h(h)
             {
             }
+
+        DetectionResult() = default;
+        ~DetectionResult() = default;
+
+        double  m_normalisedVal{0.0};
+        int     m_x0{0};
+        int     m_y0{0};
+        int     m_w{0};
+        int     m_h{0};
     };
 
+} /* namespace object_detection */
 } /* namespace app */
 } /* namespace arm */
 
diff --git a/source/use_case/object_detection/include/DetectionUseCaseUtils.hpp b/source/use_case/object_detection/include/DetectionUseCaseUtils.hpp
deleted file mode 100644
index 8ef48ac..0000000
--- a/source/use_case/object_detection/include/DetectionUseCaseUtils.hpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Copyright (c) 2021 Arm Limited. All rights reserved.
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#ifndef DETECTION_USE_CASE_UTILS_HPP
-#define DETECTION_USE_CASE_UTILS_HPP
-
-#include "hal.h"
-#include "DetectionResult.hpp"
-#include "UseCaseHandler.hpp"       /* Handlers for different user options. */
-#include <inttypes.h>
-#include <vector>
-
-
-void DisplayDetectionMenu();
-
-namespace image{
-
-
-  /**
-   * @brief           Presents inference results using the data presentation
-   *                  object.
-   * @param[in]       platform    Reference to the hal platform object.
-   * @param[in]       results     Vector of detection results to be displayed.
-   * @return          true if successful, false otherwise.
-   **/
-  bool PresentInferenceResult(hal_platform & platform,
-                              const std::vector < arm::app::DetectionResult > & results);
-
-
-  /**
-   * @brief           Presents inference results along with the inference time using the data presentation
-   *                  object.
-   * @param[in]       platform    Reference to the hal platform object.
-   * @param[in]       results     Vector of detection results to be displayed.
-   * @param[in]       infTimeMs   Inference time in ms.
-   * @return          true if successful, false otherwise.
-   **/
-  bool PresentInferenceResult(hal_platform & platform,
-                              const std::vector < arm::app::DetectionResult > & results,
-                              const time_t infTimeMs);
-
-  /**
-  * @brief           Presents inference results along with the inference time using the data presentation
-  *                  object.
-  * @param[in]       platform    Reference to the hal platform object.
-  * @param[in]       results     Vector of detection results to be displayed.
-  * @param[in]       infTimeMs   Inference time in ms.
-  * @return          true if successful, false otherwise.
-  **/
-  bool PresentInferenceResult(hal_platform & platform,
-                              const std::vector < arm::app::DetectionResult > & results,
-                              bool profilingEnabled,
-                              const time_t infTimeMs = 0);
-  }
-
-
-
-
-#endif /* DETECTION_USE_CASE_UTILS_HPP */
diff --git a/source/use_case/object_detection/include/DetectorPostProcessing.hpp b/source/use_case/object_detection/include/DetectorPostProcessing.hpp
index 9a8549c..3e9c819 100644
--- a/source/use_case/object_detection/include/DetectorPostProcessing.hpp
+++ b/source/use_case/object_detection/include/DetectorPostProcessing.hpp
@@ -1,55 +1,194 @@
-/*

- * Copyright (c) 2022 Arm Limited. All rights reserved.

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the "License");

- * you may not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- *     http://www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an "AS IS" BASIS,

- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-#ifndef DETECTOR_POST_PROCESSING_HPP

-#define DETECTOR_POST_PROCESSING_HPP

-

-#include "UseCaseCommonUtils.hpp"

-#include "DetectionResult.hpp"

-

-namespace arm {

-namespace app {

-

-#if DISPLAY_RGB_IMAGE

-#define FORMAT_MULTIPLY_FACTOR 3

-#else

-#define FORMAT_MULTIPLY_FACTOR 1

-#endif /* DISPLAY_RGB_IMAGE */

-

-    /**

-     * @brief       Post processing part of Yolo object detection CNN

-     * @param[in]   img_in        Pointer to the input image,detection bounding boxes drown on it.

-     * @param[in]   model_output  Output tesnsors after CNN invoked

-     * @param[out]  results_out   Vector of detected results.

-     * @return      void

-     **/

-void RunPostProcessing(uint8_t *img_in,TfLiteTensor* model_output[2],std::vector<arm::app::DetectionResult> & results_out);

-

-

-    /**

-     * @brief       Converts RGB image to grayscale

-     * @param[in]   rgb    Pointer to RGB input image

-     * @param[out]  gray   Pointer to RGB out image

-     * @param[in]   im_w   Input image width

-     * @param[in]   im_h   Input image height

-     * @return      void

-     **/

-void RgbToGrayscale(const uint8_t *rgb,uint8_t *gray, int im_w,int im_h);

-

-} /* namespace app */

-} /* namespace arm */

-

-#endif /* DETECTOR_POST_PROCESSING_HPP */

+/*
+ * Copyright (c) 2022 Arm Limited. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#ifndef DETECTOR_POST_PROCESSING_HPP
+#define DETECTOR_POST_PROCESSING_HPP
+
+#include "UseCaseCommonUtils.hpp"
+#include "DetectionResult.hpp"
+#include "YoloFastestModel.hpp"
+
+#include <forward_list>
+
+namespace arm {
+namespace app {
+namespace object_detection {
+
+    struct Branch {
+        int resolution;
+        int numBox;
+        const float* anchor;
+        int8_t* modelOutput;
+        float scale;
+        int zeroPoint;
+        size_t size;
+    };
+
+    struct Network {
+        int inputWidth;
+        int inputHeight;
+        int numClasses;
+        std::vector<Branch> branches;
+        int topN;
+    };
+
+
+    struct Box {
+        float x;
+        float y;
+        float w;
+        float h;
+    };
+
+    struct Detection {
+        Box bbox;
+        std::vector<float> prob;
+        float objectness;
+    };
+
+    /**
+     * @brief   Helper class to manage tensor post-processing for "object_detection"
+     *          output.
+     */
+    class DetectorPostprocessing {
+    public:
+        /**
+         * @brief       Constructor.
+         * @param[in]   threshold     Post-processing threshold.
+         * @param[in]   nms           Non-maximum Suppression threshold.
+         * @param[in]   numClasses    Number of classes.
+         * @param[in]   topN          Top N for each class.
+         **/
+        DetectorPostprocessing(float threshold = 0.5f,
+                                float nms = 0.45f,
+                                int numClasses = 1,
+                                int topN = 0);
+
+        /**
+         * @brief       Post processing part of Yolo object detection CNN.
+         * @param[in]   imgIn        Pointer to the input image,detection bounding boxes drown on it.
+         * @param[in]   imgRows      Number of rows in the input image.
+         * @param[in]   imgCols      Number of columns in the input image.
+         * @param[in]   modelOutput  Output tensors after CNN invoked.
+         * @param[out]  resultsOut   Vector of detected results.
+         **/
+        void RunPostProcessing(uint8_t* imgIn,
+                               uint32_t imgRows,
+                               uint32_t imgCols,
+                               TfLiteTensor* modelOutput0,
+                               TfLiteTensor* modelOutput1,
+                               std::vector<DetectionResult>& resultsOut);
+
+    private:
+        float m_threshold;  /* Post-processing threshold */
+        float m_nms;        /* NMS threshold */
+        int   m_numClasses; /* Number of classes */
+        int   m_topN;       /* TopN */
+
+        /**
+         * @brief       Calculate the Sigmoid function of the give value.
+         * @param[in]   x   Value.
+         * @return      Sigmoid value of the input.
+         **/
+        float Sigmoid(float x);
+
+        /**
+         * @brief       Insert the given Detection in the list.
+         * @param[in]   detections   List of detections.
+         * @param[in]   det          Detection to be inserted.
+         **/
+        void InsertTopNDetections(std::forward_list<Detection>& detections, Detection& det);
+
+        /**
+         * @brief        Given a Network calculate the detection boxes.
+         * @param[in]    net           Network.
+         * @param[in]    imageWidth    Original image width.
+         * @param[in]    imageHeight   Original image height.
+         * @param[in]    threshold     Detections threshold.
+         * @param[out]   detections    Detection boxes.
+         **/
+        void GetNetworkBoxes(Network& net,
+                             int imageWidth,
+                             int imageHeight,
+                             float threshold,
+                             std::forward_list<Detection>& detections);
+
+        /**
+         * @brief       Calculate the 1D overlap.
+         * @param[in]   x1Center   First center point.
+         * @param[in]   width1     First width.
+         * @param[in]   x2Center   Second center point.
+         * @param[in]   width2     Second width.
+         * @return      The overlap between the two lines.
+         **/
+        float Calculate1DOverlap(float x1Center, float width1, float x2Center, float width2);
+
+        /**
+         * @brief       Calculate the intersection between the two given boxes.
+         * @param[in]   box1   First box.
+         * @param[in]   box2   Second box.
+         * @return      The intersection value.
+         **/
+        float CalculateBoxIntersect(Box& box1, Box& box2);
+
+        /**
+         * @brief       Calculate the union between the two given boxes.
+         * @param[in]   box1   First box.
+         * @param[in]   box2   Second box.
+         * @return      The two given boxes union value.
+         **/
+        float CalculateBoxUnion(Box& box1, Box& box2);
+        /**
+         * @brief       Calculate the intersection over union between the two given boxes.
+         * @param[in]   box1   First box.
+         * @param[in]   box2   Second box.
+         * @return      The intersection over union value.
+         **/
+        float CalculateBoxIOU(Box& box1, Box& box2);
+
+        /**
+         * @brief       Calculate the Non-Maxima suppression on the given detection boxes.
+         * @param[in]   detections    Detection boxes.
+         * @param[in]   classes       Number of classes.
+         * @param[in]   iouThreshold  Intersection over union threshold.
+         * @return      true or false based on execution success.
+         **/
+        void  CalculateNMS(std::forward_list<Detection>& detections, int classes, float iouThreshold);
+
+        /**
+         * @brief       Draw on the given image a bounding box starting at (boxX, boxY).
+         * @param[in/out]   imgIn    Image.
+         * @param[in]       imWidth    Image width.
+         * @param[in]       imHeight   Image height.
+         * @param[in]       boxX       Axis X starting point.
+         * @param[in]       boxY       Axis Y starting point.
+         * @param[in]       boxWidth   Box width.
+         * @param[in]       boxHeight  Box height.
+         **/
+        void DrawBoxOnImage(uint8_t* imgIn,
+                            int imWidth,
+                            int imHeight,
+                            int boxX,
+                            int boxY,
+                            int boxWidth,
+                            int boxHeight);
+    };
+
+} /* namespace object_detection */
+} /* namespace app */
+} /* namespace arm */
+
+#endif /* DETECTOR_POST_PROCESSING_HPP */
diff --git a/source/use_case/object_detection/include/YoloFastestModel.hpp b/source/use_case/object_detection/include/YoloFastestModel.hpp
index f5709ea..2986a58 100644
--- a/source/use_case/object_detection/include/YoloFastestModel.hpp
+++ b/source/use_case/object_detection/include/YoloFastestModel.hpp
@@ -19,6 +19,11 @@
 
 #include "Model.hpp"
 
+extern const int originalImageSize;
+extern const int channelsImageDisplayed;
+extern const float anchor1[];
+extern const float anchor2[];
+
 namespace arm {
 namespace app {
 
diff --git a/source/use_case/object_detection/src/DetectionUseCaseUtils.cc b/source/use_case/object_detection/src/DetectionUseCaseUtils.cc
deleted file mode 100644
index 1713c7e..0000000
--- a/source/use_case/object_detection/src/DetectionUseCaseUtils.cc
+++ /dev/null
@@ -1,105 +0,0 @@
-/*
- * Copyright (c) 2022 Arm Limited. All rights reserved.
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#include "DetectionUseCaseUtils.hpp"
-#include "UseCaseCommonUtils.hpp"
-#include "InputFiles.hpp"
-#include <inttypes.h>
-
-
-void DisplayDetectionMenu()
-{
-    printf("\n\n");
-    printf("User input required\n");
-    printf("Enter option number from:\n\n");
-    printf("  %u. Run detection on next ifm\n", common::MENU_OPT_RUN_INF_NEXT);
-    printf("  %u. Run detection ifm at chosen index\n", common::MENU_OPT_RUN_INF_CHOSEN);
-    printf("  %u. Run detection on all ifm\n", common::MENU_OPT_RUN_INF_ALL);
-    printf("  %u. Show NN model info\n", common::MENU_OPT_SHOW_MODEL_INFO);
-    printf("  %u. List ifm\n\n", common::MENU_OPT_LIST_IFM);
-    printf("  Choice: ");
-    fflush(stdout);
-}
-
-
-bool image::PresentInferenceResult(hal_platform& platform,
-                                   const std::vector<arm::app::DetectionResult>& results)
-{
-    return PresentInferenceResult(platform, results, false);
-}
-
-bool image::PresentInferenceResult(hal_platform &platform,
-                                   const std::vector<arm::app::DetectionResult> &results,
-                                   const time_t infTimeMs)
-{
-    return PresentInferenceResult(platform, results, true, infTimeMs);
-}
-
-
-bool image::PresentInferenceResult(hal_platform &platform,
-                                   const std::vector<arm::app::DetectionResult> &results,
-                                   bool profilingEnabled,
-                                   const time_t infTimeMs)
-{
-    constexpr uint32_t dataPsnTxtStartX1 = 150;
-    constexpr uint32_t dataPsnTxtStartY1 = 30;
-
-
-    if(profilingEnabled)
-    {
-        platform.data_psn->set_text_color(COLOR_YELLOW);
-
-        /* If profiling is enabled, and the time is valid. */
-        info("Final results:\n");
-        info("Total number of inferences: 1\n");
-        if (infTimeMs)
-        {
-            std::string strInf =
-                    std::string{"Inference: "} +
-                    std::to_string(infTimeMs) +
-                    std::string{"ms"};
-            platform.data_psn->present_data_text(
-                    strInf.c_str(), strInf.size(),
-                    dataPsnTxtStartX1, dataPsnTxtStartY1, 0);
-        }
-    }
-    platform.data_psn->set_text_color(COLOR_GREEN);
-
-    if(!profilingEnabled) {
-        info("Final results:\n");
-        info("Total number of inferences: 1\n");
-    }
-
-    for (uint32_t i = 0; i < results.size(); ++i) {
-        
-        if(profilingEnabled) {
-            info("%" PRIu32 ")  (%f) -> %s {x=%d,y=%d,w=%d,h=%d}\n", i, 
-                 results[i].m_normalisedVal, "Detection box:",
-                 results[i].m_x0, results[i].m_y0, results[i].m_w, results[i].m_h );
-        }
-        else
-        {
-            info("%" PRIu32 ")  (%f) -> %s {x=%d,y=%d,w=%d,h=%d}\n", i, 
-                 results[i].m_normalisedVal, "Detection box:",
-                 results[i].m_x0, results[i].m_y0, results[i].m_w, results[i].m_h );
-        }
-    }
-
-    return true;
-}
-
-
-
diff --git a/source/use_case/object_detection/src/DetectorPostProcessing.cc b/source/use_case/object_detection/src/DetectorPostProcessing.cc
index e781b62..edfb137 100755..100644
--- a/source/use_case/object_detection/src/DetectorPostProcessing.cc
+++ b/source/use_case/object_detection/src/DetectorPostProcessing.cc
@@ -1,447 +1,348 @@
-/*

- * Copyright (c) 2022 Arm Limited. All rights reserved.

- * SPDX-License-Identifier: Apache-2.0

- *

- * Licensed under the Apache License, Version 2.0 (the "License");

- * you may not use this file except in compliance with the License.

- * You may obtain a copy of the License at

- *

- *     http://www.apache.org/licenses/LICENSE-2.0

- *

- * Unless required by applicable law or agreed to in writing, software

- * distributed under the License is distributed on an "AS IS" BASIS,

- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

- * See the License for the specific language governing permissions and

- * limitations under the License.

- */

-#include "DetectorPostProcessing.hpp"

-#include <algorithm>

-#include <cmath>

-#include <stdint.h>

-#include <forward_list>

-

-

-typedef struct boxabs {

-    float left, right, top, bot;

-} boxabs;

-

-

-typedef struct branch {

-    int resolution;

-    int num_box;

-    float *anchor;

-    int8_t *tf_output;

-    float scale;

-    int zero_point;

-    size_t size;

-    float scale_x_y;

-} branch;

-

-typedef struct network {

-    int input_w;

-    int input_h;

-    int num_classes;

-    int num_branch;

-    branch *branchs;

-    int topN;

-} network;

-

-

-typedef struct box {

-    float x, y, w, h;

-} box;

-

-typedef struct detection{

-    box bbox;

-    float *prob;

-    float objectness;

-} detection;

-

-

-

-static int sort_class;

-

-static void free_dets(std::forward_list<detection> &dets){

-    std::forward_list<detection>::iterator it;

-    for ( it = dets.begin(); it != dets.end(); ++it ){

-        free(it->prob);

-    }

-}

-

-float sigmoid(float x)

-{

-    return 1.f/(1.f + exp(-x));

-} 

-

-static bool det_objectness_comparator(detection &pa, detection &pb)

-{

-    return pa.objectness < pb.objectness;

-}

-

-static void insert_topN_det(std::forward_list<detection> &dets, detection det)

-{

-    std::forward_list<detection>::iterator it;

-    std::forward_list<detection>::iterator last_it;

-    for ( it = dets.begin(); it != dets.end(); ++it ){

-        if(it->objectness > det.objectness)

-            break;

-        last_it = it;

-    }

-    if(it != dets.begin()){

-        dets.emplace_after(last_it, det);

-        free(dets.begin()->prob);

-        dets.pop_front();

-    }

-    else{

-        free(det.prob);

-    }

-}

-

-static std::forward_list<detection> get_network_boxes(network *net, int image_w, int image_h, float thresh, int *num)

-{

-    std::forward_list<detection> dets;

-    int i;

-    int num_classes = net->num_classes;

-    *num = 0;

-

-    for (i = 0; i < net->num_branch; ++i) {

-        int height  = net->branchs[i].resolution;

-        int width = net->branchs[i].resolution;

-        int channel  = net->branchs[i].num_box*(5+num_classes);

-

-        for (int h = 0; h < net->branchs[i].resolution; h++) {

-            for (int w = 0; w < net->branchs[i].resolution; w++) {

-                for (int anc = 0; anc < net->branchs[i].num_box; anc++) {

-                    

-                    // objectness score

-                    int bbox_obj_offset = h * width * channel + w * channel + anc * (num_classes + 5) + 4;

-                    float objectness = sigmoid(((float)net->branchs[i].tf_output[bbox_obj_offset] - net->branchs[i].zero_point) * net->branchs[i].scale);

-

-                    if(objectness > thresh){

-                        detection det;

-                        det.prob = (float*)calloc(num_classes, sizeof(float));

-                        det.objectness = objectness;

-                        //get bbox prediction data for each anchor, each feature point

-                        int bbox_x_offset = bbox_obj_offset -4;

-                        int bbox_y_offset = bbox_x_offset + 1;

-                        int bbox_w_offset = bbox_x_offset + 2;

-                        int bbox_h_offset = bbox_x_offset + 3;

-                        int bbox_scores_offset = bbox_x_offset + 5;

-                        //int bbox_scores_step = 1;

-                        det.bbox.x = ((float)net->branchs[i].tf_output[bbox_x_offset] - net->branchs[i].zero_point) * net->branchs[i].scale;

-                        det.bbox.y = ((float)net->branchs[i].tf_output[bbox_y_offset] - net->branchs[i].zero_point) * net->branchs[i].scale;

-                        det.bbox.w = ((float)net->branchs[i].tf_output[bbox_w_offset] - net->branchs[i].zero_point) * net->branchs[i].scale;

-                        det.bbox.h = ((float)net->branchs[i].tf_output[bbox_h_offset] - net->branchs[i].zero_point) * net->branchs[i].scale;

-                        

-

-                        float bbox_x, bbox_y;

-

-                        // Eliminate grid sensitivity trick involved in YOLOv4

-                        bbox_x = sigmoid(det.bbox.x); //* net->branchs[i].scale_x_y - (net->branchs[i].scale_x_y - 1) / 2;

-                        bbox_y = sigmoid(det.bbox.y); //* net->branchs[i].scale_x_y - (net->branchs[i].scale_x_y - 1) / 2;

-                        det.bbox.x = (bbox_x + w) / width;

-                        det.bbox.y = (bbox_y + h) / height;

-

-                        det.bbox.w = exp(det.bbox.w) * net->branchs[i].anchor[anc*2] / net->input_w;

-                        det.bbox.h = exp(det.bbox.h) * net->branchs[i].anchor[anc*2+1] / net->input_h;

-                        

-                        for (int s = 0; s < num_classes; s++) {

-                            det.prob[s] = sigmoid(((float)net->branchs[i].tf_output[bbox_scores_offset + s] - net->branchs[i].zero_point) * net->branchs[i].scale)*objectness;

-                            det.prob[s] = (det.prob[s] > thresh) ? det.prob[s] : 0;

-                        }

-

-                        //correct_yolo_boxes 

-                        det.bbox.x *= image_w;

-                        det.bbox.w *= image_w;

-                        det.bbox.y *= image_h;

-                        det.bbox.h *= image_h;

-

-                        if (*num < net->topN || net->topN <=0){

-                            dets.emplace_front(det);

-                            *num += 1;

-                        }

-                        else if(*num ==  net->topN){

-                            dets.sort(det_objectness_comparator);

-                            insert_topN_det(dets,det);

-                            *num += 1;

-                        }else{

-                            insert_topN_det(dets,det);

-                        }

-                    }

-                }

-            }

-        }

-    }

-    if(*num > net->topN)

-        *num -=1;

-    return dets;

-}

-

-// init part

-

-static branch create_brach(int resolution, int num_box, float *anchor, int8_t *tf_output, size_t size, float scale, int zero_point)

-{

-    branch b;

-    b.resolution = resolution;

-    b.num_box = num_box;

-    b.anchor = anchor;

-    b.tf_output = tf_output;

-    b.size = size;

-    b.scale = scale;

-    b.zero_point = zero_point;

-    return b;

-}

-

-static network creat_network(int input_w, int input_h, int num_classes, int num_branch, branch* branchs, int topN)

-{

-    network net;

-    net.input_w = input_w;

-    net.input_h = input_h;

-    net.num_classes = num_classes;

-    net.num_branch = num_branch;

-    net.branchs = branchs;

-    net.topN = topN;

-    return net;

-}

-

-// NMS part

-

-static float Calc1DOverlap(float x1_center, float width1, float x2_center, float width2)

-{

-    float left_1 = x1_center - width1/2;

-    float left_2 = x2_center - width2/2;

-    float leftest;

-    if (left_1 > left_2) {

-        leftest = left_1;

-    } else {

-        leftest = left_2;    

-    }

-        

-    float right_1 = x1_center + width1/2;

-    float right_2 = x2_center + width2/2;

-    float rightest;

-    if (right_1 < right_2) {

-        rightest = right_1;

-    } else {

-        rightest = right_2;    

-    }

-        

-    return rightest - leftest;

-}

-

-

-static float CalcBoxIntersect(box box1, box box2)

-{

-    float width = Calc1DOverlap(box1.x, box1.w, box2.x, box2.w);

-    if (width < 0) return 0;

-    float height = Calc1DOverlap(box1.y, box1.h, box2.y, box2.h);

-    if (height < 0) return 0;

-    

-    float total_area = width*height;

-    return total_area;

-}

-

-

-static float CalcBoxUnion(box box1, box box2)

-{

-    float boxes_intersection = CalcBoxIntersect(box1, box2);

-    float boxes_union = box1.w*box1.h + box2.w*box2.h - boxes_intersection;

-    return boxes_union;

-}

-

-

-static float CalcBoxIOU(box box1, box box2)

-{

-    float boxes_intersection = CalcBoxIntersect(box1, box2); 

-    

-    if (boxes_intersection == 0) return 0;    

-    

-    float boxes_union = CalcBoxUnion(box1, box2);

-

-    if (boxes_union == 0) return 0;    

-    

-    return boxes_intersection / boxes_union;

-}

-

-

-static bool CompareProbs(detection &prob1, detection &prob2)

-{

-    return prob1.prob[sort_class] > prob2.prob[sort_class];

-}

-

-

-static void CalcNMS(std::forward_list<detection> &detections, int classes, float iou_threshold)

-{

-    int k;

-    

-    for (k = 0; k < classes; ++k) {

-        sort_class = k;

-        detections.sort(CompareProbs);

-        

-        for (std::forward_list<detection>::iterator it=detections.begin(); it != detections.end(); ++it){

-            if (it->prob[k] == 0) continue;

-            for (std::forward_list<detection>::iterator itc=std::next(it, 1); itc != detections.end(); ++itc){

-                if (itc->prob[k] == 0) continue;

-                if (CalcBoxIOU(it->bbox, itc->bbox) > iou_threshold) {

-                    itc->prob[k] = 0;

-                }

-            }

-        }

-    }

-}

-

-

-static void inline check_and_fix_offset(int im_w,int im_h,int *offset) 

-{

-    

-    if (!offset) return;    

-    

-    if ( (*offset) >= im_w*im_h*FORMAT_MULTIPLY_FACTOR)

-        (*offset) = im_w*im_h*FORMAT_MULTIPLY_FACTOR -1;

-    else if ( (*offset) < 0)

-            *offset =0;    

-    

-}

-

-

-static void DrawBoxOnImage(uint8_t *img_in,int im_w,int im_h,int bx,int by,int bw,int bh) 

-{

-    

-    if (!img_in) {

-        return;

-    }

-    

-    int offset=0;

-    for (int i=0; i < bw; i++) {        

-        /*draw two lines */

-        for (int line=0; line < 2; line++) {

-            /*top*/

-            offset =(i + (by + line)*im_w + bx)*FORMAT_MULTIPLY_FACTOR;

-            check_and_fix_offset(im_w,im_h,&offset);

-            img_in[offset] = 0xFF;  /* FORMAT_MULTIPLY_FACTOR for rgb or grayscale*/

-            /*bottom*/

-            offset = (i + (by + bh - line)*im_w + bx)*FORMAT_MULTIPLY_FACTOR;

-            check_and_fix_offset(im_w,im_h,&offset);

-            img_in[offset] = 0xFF;    

-        }                

-    }

-    

-    for (int i=0; i < bh; i++) {

-        /*draw two lines */

-        for (int line=0; line < 2; line++) {

-            /*left*/

-            offset = ((i + by)*im_w + bx + line)*FORMAT_MULTIPLY_FACTOR;

-            check_and_fix_offset(im_w,im_h,&offset);            

-            img_in[offset] = 0xFF;

-            /*right*/

-            offset = ((i + by)*im_w + bx + bw - line)*FORMAT_MULTIPLY_FACTOR;

-            check_and_fix_offset(im_w,im_h,&offset);            

-            img_in[offset] = 0xFF;    

-        }

-    }

-

-}

-

-

-void arm::app::RunPostProcessing(uint8_t *img_in,TfLiteTensor* model_output[2],std::vector<arm::app::DetectionResult> & results_out)

-{

-       

-    TfLiteTensor* output[2] = {nullptr,nullptr};

-    int input_w = INPUT_IMAGE_WIDTH;

-    int input_h = INPUT_IMAGE_HEIGHT;

-  

-    for(int anchor=0;anchor<2;anchor++)

-    {

-         output[anchor] = model_output[anchor];

-    }

-

-    /* init postprocessing 	 */

-    int num_classes = 1;

-    int num_branch = 2;

-    int topN = 0;

-

-    branch* branchs = (branch*)calloc(num_branch, sizeof(branch));

-

-    /*NOTE: anchors are different for any given input model size, estimated during training phase */

-    float anchor1[] = {38, 77, 47, 97, 61, 126};

-    float anchor2[] = {14, 26, 19, 37, 28, 55 };

-

-

-    branchs[0] = create_brach(INPUT_IMAGE_WIDTH/32, 3, anchor1, output[0]->data.int8, output[0]->bytes, ((TfLiteAffineQuantization*)(output[0]->quantization.params))->scale->data[0], ((TfLiteAffineQuantization*)(output[0]->quantization.params))->zero_point->data[0]);

-

-    branchs[1] = create_brach(INPUT_IMAGE_WIDTH/16, 3, anchor2, output[1]->data.int8, output[1]->bytes, ((TfLiteAffineQuantization*)(output[1]->quantization.params))->scale->data[0],((TfLiteAffineQuantization*)(output[1]->quantization.params))->zero_point->data[0]);

-

-    network net = creat_network(input_w, input_h, num_classes, num_branch, branchs,topN);

-    /* end init */

-

-    /* start postprocessing */

-    int nboxes=0;

-    float thresh = .5;//50%

-    float nms = .45;

-    int orig_image_width = ORIGINAL_IMAGE_WIDTH;

-    int orig_image_height = ORIGINAL_IMAGE_HEIGHT;

-    std::forward_list<detection> dets = get_network_boxes(&net, orig_image_width, orig_image_height, thresh, &nboxes);

-    /* do nms */

-    CalcNMS(dets, net.num_classes, nms);

-    uint8_t temp_unsuppressed_counter = 0;

-    int j;

-    for (std::forward_list<detection>::iterator it=dets.begin(); it != dets.end(); ++it){

-        float xmin = it->bbox.x - it->bbox.w / 2.0f;

-        float xmax = it->bbox.x + it->bbox.w / 2.0f;

-        float ymin = it->bbox.y - it->bbox.h / 2.0f;

-        float ymax = it->bbox.y + it->bbox.h / 2.0f;

-

-        if (xmin < 0) xmin = 0;

-        if (ymin < 0) ymin = 0;

-        if (xmax > orig_image_width) xmax = orig_image_width;

-        if (ymax > orig_image_height) ymax = orig_image_height;

-

-        float bx = xmin;

-        float by = ymin;

-        float bw = xmax - xmin;

-        float bh = ymax - ymin;

-

-        for (j = 0; j <  net.num_classes; ++j) {

-            if (it->prob[j] > 0) {

-

-                arm::app::DetectionResult tmp_result = {};

-                

-                tmp_result.m_normalisedVal = it->prob[j];

-                tmp_result.m_x0=bx;

-                tmp_result.m_y0=by;

-                tmp_result.m_w=bw;

-                tmp_result.m_h=bh;

-                

-                results_out.push_back(tmp_result);

-

-                DrawBoxOnImage(img_in,orig_image_width,orig_image_height,bx,by,bw,bh);

-                

-                temp_unsuppressed_counter++;

-            }

-        }

-    }

-

-    free_dets(dets);

-    free(branchs);

-

-}

-

-void arm::app::RgbToGrayscale(const uint8_t *rgb,uint8_t *gray, int im_w,int im_h) 

-{

-    float R=0.299;

-    float G=0.587; 

-    float B=0.114; 

-    for (int i=0; i< im_w*im_h; i++ ) {

-

-        uint32_t  int_gray = rgb[i*3 + 0]*R + rgb[i*3 + 1]*G+ rgb[i*3 + 2]*B;

-        /*clip if need */

-        if (int_gray <= UINT8_MAX) {

-            gray[i] =  int_gray;

-        } else {

-            gray[i] = UINT8_MAX;

-        }

-

-    }

-

-}

-

+/*
+ * Copyright (c) 2022 Arm Limited. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include "DetectorPostProcessing.hpp"
+
+#include <algorithm>
+#include <cmath>
+
+namespace arm {
+namespace app {
+namespace object_detection {
+
+DetectorPostprocessing::DetectorPostprocessing(
+    const float threshold,
+    const float nms,
+    int numClasses,
+    int topN)
+    :   m_threshold(threshold),
+        m_nms(nms),
+        m_numClasses(numClasses),
+        m_topN(topN)
+{}
+
+void DetectorPostprocessing::RunPostProcessing(
+    uint8_t* imgIn,
+    uint32_t imgRows,
+    uint32_t imgCols,
+    TfLiteTensor* modelOutput0,
+    TfLiteTensor* modelOutput1,
+    std::vector<DetectionResult>& resultsOut)
+{
+    /* init postprocessing */
+    Network net {
+        .inputWidth = static_cast<int>(imgCols),
+        .inputHeight = static_cast<int>(imgRows),
+        .numClasses = m_numClasses,
+        .branches = {
+            Branch {
+                .resolution = static_cast<int>(imgCols/32),
+                .numBox = 3,
+                .anchor = anchor1,
+                .modelOutput = modelOutput0->data.int8,
+                .scale = ((TfLiteAffineQuantization*)(modelOutput0->quantization.params))->scale->data[0],
+                .zeroPoint = ((TfLiteAffineQuantization*)(modelOutput0->quantization.params))->zero_point->data[0],
+                .size = modelOutput0->bytes
+            },
+            Branch {
+                .resolution = static_cast<int>(imgCols/16),
+                .numBox = 3,
+                .anchor = anchor2,
+                .modelOutput = modelOutput1->data.int8,
+                .scale = ((TfLiteAffineQuantization*)(modelOutput1->quantization.params))->scale->data[0],
+                .zeroPoint = ((TfLiteAffineQuantization*)(modelOutput1->quantization.params))->zero_point->data[0],
+                .size = modelOutput1->bytes
+            }
+        },
+        .topN = m_topN
+    };
+    /* End init */
+
+    /* Start postprocessing */
+    int originalImageWidth = originalImageSize;
+    int originalImageHeight = originalImageSize;
+
+    std::forward_list<Detection> detections;
+    GetNetworkBoxes(net, originalImageWidth, originalImageHeight, m_threshold, detections);
+
+    /* Do nms */
+    CalculateNMS(detections, net.numClasses, m_nms);
+
+    for (auto& it: detections) {
+        float xMin = it.bbox.x - it.bbox.w / 2.0f;
+        float xMax = it.bbox.x + it.bbox.w / 2.0f;
+        float yMin = it.bbox.y - it.bbox.h / 2.0f;
+        float yMax = it.bbox.y + it.bbox.h / 2.0f;
+
+        if (xMin < 0) {
+            xMin = 0;
+        }
+        if (yMin < 0) {
+            yMin = 0;
+        }
+        if (xMax > originalImageWidth) {
+            xMax = originalImageWidth;
+        }
+        if (yMax > originalImageHeight) {
+            yMax = originalImageHeight;
+        }
+
+        float boxX = xMin;
+        float boxY = yMin;
+        float boxWidth = xMax - xMin;
+        float boxHeight = yMax - yMin;
+
+        for (int j = 0; j < net.numClasses; ++j) {
+            if (it.prob[j] > 0) {
+
+                DetectionResult tmpResult = {};
+                tmpResult.m_normalisedVal = it.prob[j];
+                tmpResult.m_x0 = boxX;
+                tmpResult.m_y0 = boxY;
+                tmpResult.m_w = boxWidth;
+                tmpResult.m_h = boxHeight;
+
+                resultsOut.push_back(tmpResult);
+
+                /* TODO: Instead of draw on the image, return the boxes and draw on the LCD */
+                DrawBoxOnImage(imgIn, originalImageWidth, originalImageHeight, boxX, boxY, boxWidth, boxHeight);;
+            }
+        }
+    }
+}
+
+float DetectorPostprocessing::Sigmoid(float x)
+{
+    return 1.f/(1.f + exp(-x));
+}
+
+void DetectorPostprocessing::InsertTopNDetections(std::forward_list<Detection>& detections, Detection& det)
+{
+    std::forward_list<Detection>::iterator it;
+    std::forward_list<Detection>::iterator last_it;
+    for ( it = detections.begin(); it != detections.end(); ++it ) {
+        if(it->objectness > det.objectness)
+            break;
+        last_it = it;
+    }
+    if(it != detections.begin()) {
+        detections.emplace_after(last_it, det);
+        detections.pop_front();
+    }
+}
+
+void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int imageHeight, float threshold, std::forward_list<Detection>& detections)
+{
+    int numClasses = net.numClasses;
+    int num = 0;
+    auto det_objectness_comparator = [](Detection& pa, Detection& pb) {
+        return pa.objectness < pb.objectness;
+    };
+    for (size_t i = 0; i < net.branches.size(); ++i) {
+        int height   = net.branches[i].resolution;
+        int width    = net.branches[i].resolution;
+        int channel  = net.branches[i].numBox*(5+numClasses);
+
+        for (int h = 0; h < net.branches[i].resolution; h++) {
+            for (int w = 0; w < net.branches[i].resolution; w++) {
+                for (int anc = 0; anc < net.branches[i].numBox; anc++) {
+
+                    /* Objectness score */
+                    int bbox_obj_offset = h * width * channel + w * channel + anc * (numClasses + 5) + 4;
+                    float objectness = Sigmoid(((float)net.branches[i].modelOutput[bbox_obj_offset] - net.branches[i].zeroPoint) * net.branches[i].scale);
+
+                    if(objectness > threshold) {
+                        Detection det;
+                        det.objectness = objectness;
+                        /* Get bbox prediction data for each anchor, each feature point */
+                        int bbox_x_offset = bbox_obj_offset -4;
+                        int bbox_y_offset = bbox_x_offset + 1;
+                        int bbox_w_offset = bbox_x_offset + 2;
+                        int bbox_h_offset = bbox_x_offset + 3;
+                        int bbox_scores_offset = bbox_x_offset + 5;
+
+                        det.bbox.x = ((float)net.branches[i].modelOutput[bbox_x_offset] - net.branches[i].zeroPoint) * net.branches[i].scale;
+                        det.bbox.y = ((float)net.branches[i].modelOutput[bbox_y_offset] - net.branches[i].zeroPoint) * net.branches[i].scale;
+                        det.bbox.w = ((float)net.branches[i].modelOutput[bbox_w_offset] - net.branches[i].zeroPoint) * net.branches[i].scale;
+                        det.bbox.h = ((float)net.branches[i].modelOutput[bbox_h_offset] - net.branches[i].zeroPoint) * net.branches[i].scale;
+
+
+                        float bbox_x, bbox_y;
+
+                        /* Eliminate grid sensitivity trick involved in YOLOv4 */
+                        bbox_x = Sigmoid(det.bbox.x);
+                        bbox_y = Sigmoid(det.bbox.y);
+                        det.bbox.x = (bbox_x + w) / width;
+                        det.bbox.y = (bbox_y + h) / height;
+
+                        det.bbox.w = exp(det.bbox.w) * net.branches[i].anchor[anc*2] / net.inputWidth;
+                        det.bbox.h = exp(det.bbox.h) * net.branches[i].anchor[anc*2+1] / net.inputHeight;
+
+                        for (int s = 0; s < numClasses; s++) {
+                            float sig = Sigmoid(((float)net.branches[i].modelOutput[bbox_scores_offset + s] - net.branches[i].zeroPoint) * net.branches[i].scale)*objectness;
+                            det.prob.emplace_back((sig > threshold) ? sig : 0);
+                        }
+
+                        /* Correct_YOLO_boxes */
+                        det.bbox.x *= imageWidth;
+                        det.bbox.w *= imageWidth;
+                        det.bbox.y *= imageHeight;
+                        det.bbox.h *= imageHeight;
+
+                        if (num < net.topN || net.topN <=0) {
+                            detections.emplace_front(det);
+                            num += 1;
+                        } else if (num == net.topN) {
+                            detections.sort(det_objectness_comparator);
+                            InsertTopNDetections(detections,det);
+                            num += 1;
+                        } else {
+                            InsertTopNDetections(detections,det);
+                        }
+                    }
+                }
+            }
+        }
+    }
+    if(num > net.topN)
+        num -=1;
+}
+
+float DetectorPostprocessing::Calculate1DOverlap(float x1Center, float width1, float x2Center, float width2)
+{
+    float left_1 = x1Center - width1/2;
+    float left_2 = x2Center - width2/2;
+    float leftest = left_1 > left_2 ? left_1 : left_2;
+
+    float right_1 = x1Center + width1/2;
+    float right_2 = x2Center + width2/2;
+    float rightest = right_1 < right_2 ? right_1 : right_2;
+
+    return rightest - leftest;
+}
+
+float DetectorPostprocessing::CalculateBoxIntersect(Box& box1, Box& box2)
+{
+    float width = Calculate1DOverlap(box1.x, box1.w, box2.x, box2.w);
+    if (width < 0) {
+        return 0;
+    }
+    float height = Calculate1DOverlap(box1.y, box1.h, box2.y, box2.h);
+    if (height < 0) {
+        return 0;
+    }
+
+    float total_area = width*height;
+    return total_area;
+}
+
+float DetectorPostprocessing::CalculateBoxUnion(Box& box1, Box& box2)
+{
+    float boxes_intersection = CalculateBoxIntersect(box1, box2);
+    float boxes_union = box1.w * box1.h + box2.w * box2.h - boxes_intersection;
+    return boxes_union;
+}
+
+
+float DetectorPostprocessing::CalculateBoxIOU(Box& box1, Box& box2)
+{
+    float boxes_intersection = CalculateBoxIntersect(box1, box2);
+    if (boxes_intersection == 0) {
+        return 0;
+    }
+
+    float boxes_union = CalculateBoxUnion(box1, box2);
+    if (boxes_union == 0) {
+        return 0;
+    }
+
+    return boxes_intersection / boxes_union;
+}
+
+void DetectorPostprocessing::CalculateNMS(std::forward_list<Detection>& detections, int classes, float iouThreshold)
+{
+    int idxClass{0};
+    auto CompareProbs = [idxClass](Detection& prob1, Detection& prob2) {
+        return prob1.prob[idxClass] > prob2.prob[idxClass];
+    };
+
+    for (idxClass = 0; idxClass < classes; ++idxClass) {
+        detections.sort(CompareProbs);
+
+        for (std::forward_list<Detection>::iterator it=detections.begin(); it != detections.end(); ++it) {
+            if (it->prob[idxClass] == 0) continue;
+            for (std::forward_list<Detection>::iterator itc=std::next(it, 1); itc != detections.end(); ++itc) {
+                if (itc->prob[idxClass] == 0) {
+                    continue;
+                }
+                if (CalculateBoxIOU(it->bbox, itc->bbox) > iouThreshold) {
+                    itc->prob[idxClass] = 0;
+                }
+            }
+        }
+    }
+}
+
+void DetectorPostprocessing::DrawBoxOnImage(uint8_t* imgIn, int imWidth, int imHeight, int boxX,int boxY, int boxWidth, int boxHeight)
+{
+    auto CheckAndFixOffset = [](int im_width,int im_height,int& offset) {
+        if ( (offset) >= im_width*im_height*channelsImageDisplayed) {
+            offset = im_width * im_height * channelsImageDisplayed -1;
+        }
+        else if ( (offset) < 0) {
+            offset = 0;
+        }
+    };
+
+    /* Consistency checks */
+    if (!imgIn) {
+        return;
+    }
+
+    int offset=0;
+    for (int i=0; i < boxWidth; i++) {
+        /* Draw two horizontal lines */
+        for (int line=0; line < 2; line++) {
+            /*top*/
+            offset =(i + (boxY + line)*imWidth + boxX) * channelsImageDisplayed; /* channelsImageDisplayed for rgb or grayscale*/
+            CheckAndFixOffset(imWidth,imHeight,offset);
+            imgIn[offset] = 0xFF;
+            /*bottom*/
+            offset = (i + (boxY + boxHeight - line)*imWidth + boxX) * channelsImageDisplayed;
+            CheckAndFixOffset(imWidth,imHeight,offset);
+            imgIn[offset] = 0xFF;
+        }
+    }
+
+    for (int i=0; i < boxHeight; i++) {
+        /* Draw two vertical lines */
+        for (int line=0; line < 2; line++) {
+            /*left*/
+            offset = ((i + boxY)*imWidth + boxX + line)*channelsImageDisplayed;
+            CheckAndFixOffset(imWidth,imHeight,offset);
+            imgIn[offset] = 0xFF;
+            /*right*/
+            offset = ((i + boxY)*imWidth + boxX + boxWidth - line)*channelsImageDisplayed;
+            CheckAndFixOffset(imWidth,imHeight, offset);
+            imgIn[offset] = 0xFF;
+        }
+    }
+
+}
+
+} /* namespace object_detection */
+} /* namespace app */
+} /* namespace arm */
diff --git a/source/use_case/object_detection/src/MainLoop.cc b/source/use_case/object_detection/src/MainLoop.cc
index b0fbf96..d8fc7f5 100644
--- a/source/use_case/object_detection/src/MainLoop.cc
+++ b/source/use_case/object_detection/src/MainLoop.cc
@@ -14,14 +14,28 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-#include "hal.h"                    /* Brings in platform definitions. */
-#include "InputFiles.hpp"           /* For input images. */
-#include "YoloFastestModel.hpp"     /* Model class for running inference. */
-#include "UseCaseHandler.hpp"       /* Handlers for different user options. */
-#include "UseCaseCommonUtils.hpp"   /* Utils functions. */
-#include "DetectionUseCaseUtils.hpp"   /* Utils functions specific to object detection. */
+#include "hal.h"                      /* Brings in platform definitions. */
+#include "InputFiles.hpp"             /* For input images. */
+#include "YoloFastestModel.hpp"       /* Model class for running inference. */
+#include "UseCaseHandler.hpp"         /* Handlers for different user options. */
+#include "UseCaseCommonUtils.hpp"     /* Utils functions. */
+#include "DetectorPostProcessing.hpp" /* Post-processing class. */
 
 
+static void DisplayDetectionMenu()
+{
+    printf("\n\n");
+    printf("User input required\n");
+    printf("Enter option number from:\n\n");
+    printf("  %u. Run detection on next ifm\n", common::MENU_OPT_RUN_INF_NEXT);
+    printf("  %u. Run detection ifm at chosen index\n", common::MENU_OPT_RUN_INF_CHOSEN);
+    printf("  %u. Run detection on all ifm\n", common::MENU_OPT_RUN_INF_ALL);
+    printf("  %u. Show NN model info\n", common::MENU_OPT_SHOW_MODEL_INFO);
+    printf("  %u. List ifm\n\n", common::MENU_OPT_LIST_IFM);
+    printf("  Choice: ");
+    fflush(stdout);
+}
+
 void main_loop(hal_platform& platform)
 {
     arm::app::YoloFastestModel model;  /* Model wrapper object. */
@@ -40,8 +54,10 @@ void main_loop(hal_platform& platform)
     caseContext.Set<hal_platform&>("platform", platform);
     caseContext.Set<arm::app::Model&>("model", model);
     caseContext.Set<uint32_t>("imgIndex", 0);
+    arm::app::object_detection::DetectorPostprocessing postp;
+    caseContext.Set<arm::app::object_detection::DetectorPostprocessing&>("postprocess", postp);
+
 
-    
     /* Loop. */
     bool executionSuccessful = true;
     constexpr bool bUseMenu = NUMBER_OF_FILES > 1 ? true : false;
diff --git a/source/use_case/object_detection/src/UseCaseHandler.cc b/source/use_case/object_detection/src/UseCaseHandler.cc
index 45df4f8..ce3ef06 100644
--- a/source/use_case/object_detection/src/UseCaseHandler.cc
+++ b/source/use_case/object_detection/src/UseCaseHandler.cc
@@ -18,19 +18,23 @@
 #include "InputFiles.hpp"
 #include "YoloFastestModel.hpp"
 #include "UseCaseCommonUtils.hpp"
-#include "DetectionUseCaseUtils.hpp"
 #include "DetectorPostProcessing.hpp"
 #include "hal.h"
 
 #include <inttypes.h>
 
-
-/* used for presentation, original images are read-only"*/
-static uint8_t g_image_buffer[INPUT_IMAGE_WIDTH*INPUT_IMAGE_HEIGHT*FORMAT_MULTIPLY_FACTOR] IFM_BUF_ATTRIBUTE = {}; 
-
 namespace arm {
 namespace app {
 
+    /**
+     * @brief           Presents inference results along using the data presentation
+     *                  object.
+     * @param[in]       platform           Reference to the hal platform object.
+     * @param[in]       results            Vector of detection results to be displayed.
+     * @return          true if successful, false otherwise.
+     **/
+    static bool PresentInferenceResult(hal_platform& platform,
+                                    const std::vector<arm::app::object_detection::DetectionResult>& results);
 
     /* Object detection classification handler. */
     bool ObjectDetectionHandler(ApplicationContext& ctx, uint32_t imgIndex, bool runAll)
@@ -48,7 +52,7 @@ namespace app {
         platform.data_psn->clear(COLOR_BLACK);
 
         auto& model = ctx.Get<Model&>("model");
-        
+
         /* If the request has a valid size, set the image index. */
         if (imgIndex < NUMBER_OF_FILES) {
             if (!SetAppCtxIfmIdx(ctx, imgIndex, "imgIndex")) {
@@ -76,9 +80,10 @@ namespace app {
 
         const uint32_t nCols = inputShape->data[arm::app::YoloFastestModel::ms_inputColsIdx];
         const uint32_t nRows = inputShape->data[arm::app::YoloFastestModel::ms_inputRowsIdx];
-        const uint32_t nPresentationChannels = FORMAT_MULTIPLY_FACTOR;
+        const uint32_t nPresentationChannels = channelsImageDisplayed;
 
-        std::vector<DetectionResult> results;
+        /* Get pre/post-processing objects. */
+        auto& postp = ctx.Get<object_detection::DetectorPostprocessing&>("postprocess");
 
         do {
             /* Strings for presentation/logging. */
@@ -86,19 +91,23 @@ namespace app {
 
             const uint8_t* curr_image = get_img_array(ctx.Get<uint32_t>("imgIndex"));
 
-            /* Copy over the data  and convert to gryscale */
-#if DISPLAY_RGB_IMAGE
-            memcpy(g_image_buffer,curr_image, INPUT_IMAGE_WIDTH*INPUT_IMAGE_HEIGHT*FORMAT_MULTIPLY_FACTOR);
-#else 
-            RgbToGrayscale(curr_image,g_image_buffer,INPUT_IMAGE_WIDTH,INPUT_IMAGE_HEIGHT);
-#endif /*DISPLAY_RGB_IMAGE*/
-            
-            RgbToGrayscale(curr_image,inputTensor->data.uint8,INPUT_IMAGE_WIDTH,INPUT_IMAGE_HEIGHT);
-
+            /* Copy over the data and convert to grayscale */
+            auto* dstPtr = static_cast<uint8_t*>(inputTensor->data.uint8);
+            const size_t copySz = inputTensor->bytes < IMAGE_DATA_SIZE ?
+                                inputTensor->bytes : IMAGE_DATA_SIZE;
+
+            /* Copy of the image used for presentation, original images are read-only */
+            std::vector<uint8_t> g_image_buffer(nCols*nRows*channelsImageDisplayed);
+            if (nPresentationChannels == 3) {
+                memcpy(g_image_buffer.data(),curr_image, nCols * nRows * channelsImageDisplayed);
+            } else {
+                image::RgbToGrayscale(curr_image, g_image_buffer.data(), nCols * nRows);
+            }
+            image::RgbToGrayscale(curr_image, dstPtr, copySz);
 
             /* Display this image on the LCD. */
             platform.data_psn->present_data_image(
-                g_image_buffer,
+                g_image_buffer.data(),
                 nCols, nRows, nPresentationChannels,
                 dataPsnImgStartX, dataPsnImgStartY, dataPsnImgDownscaleFactor);
 
@@ -125,27 +134,27 @@ namespace app {
                                     dataPsnTxtInfStartX, dataPsnTxtInfStartY, 0);
 
             /* Detector post-processing*/
-            TfLiteTensor* output_arr[2] = {nullptr,nullptr};
-            output_arr[0] = model.GetOutputTensor(0);
-            output_arr[1] = model.GetOutputTensor(1);
-            RunPostProcessing(g_image_buffer,output_arr,results);
+            std::vector<object_detection::DetectionResult> results;
+            TfLiteTensor* modelOutput0 = model.GetOutputTensor(0);
+            TfLiteTensor* modelOutput1 = model.GetOutputTensor(1);
+            postp.RunPostProcessing(
+                g_image_buffer.data(),
+                nRows,
+                nCols,
+                modelOutput0,
+                modelOutput1,
+                results);
 
             platform.data_psn->present_data_image(
-                g_image_buffer,
+                g_image_buffer.data(),
                 nCols, nRows, nPresentationChannels,
                 dataPsnImgStartX, dataPsnImgStartY, dataPsnImgDownscaleFactor);
 
-            /*Detector post-processing*/
-
-
-            /* Add results to context for access outside handler. */
-            ctx.Set<std::vector<DetectionResult>>("results", results);
-
 #if VERIFY_TEST_OUTPUT
             arm::app::DumpTensor(outputTensor);
 #endif /* VERIFY_TEST_OUTPUT */
 
-            if (!image::PresentInferenceResult(platform, results)) {
+            if (!PresentInferenceResult(platform, results)) {
                 return false;
             }
 
@@ -158,5 +167,24 @@ namespace app {
         return true;
     }
 
+
+    static bool PresentInferenceResult(hal_platform& platform,
+                                       const std::vector<arm::app::object_detection::DetectionResult>& results)
+    {
+        platform.data_psn->set_text_color(COLOR_GREEN);
+
+        /* If profiling is enabled, and the time is valid. */
+        info("Final results:\n");
+        info("Total number of inferences: 1\n");
+
+        for (uint32_t i = 0; i < results.size(); ++i) {
+            info("%" PRIu32 ") (%f) -> %s {x=%d,y=%d,w=%d,h=%d}\n", i,
+                results[i].m_normalisedVal, "Detection box:",
+                results[i].m_x0, results[i].m_y0, results[i].m_w, results[i].m_h );
+        }
+
+        return true;
+    }
+
 } /* namespace app */
 } /* namespace arm */
diff --git a/source/use_case/object_detection/usecase.cmake b/source/use_case/object_detection/usecase.cmake
index 15bf534..42c4f2c 100644
--- a/source/use_case/object_detection/usecase.cmake
+++ b/source/use_case/object_detection/usecase.cmake
@@ -22,13 +22,18 @@ USER_OPTION(${use_case}_FILE_PATH "Directory with custom image files to use, or
 USER_OPTION(${use_case}_IMAGE_SIZE "Square image size in pixels. Images will be resized to this size."
     192
     STRING)
-    
-add_compile_definitions(DISPLAY_RGB_IMAGE=1)
-add_compile_definitions(INPUT_IMAGE_WIDTH=${${use_case}_IMAGE_SIZE})
-add_compile_definitions(INPUT_IMAGE_HEIGHT=${${use_case}_IMAGE_SIZE})
-add_compile_definitions(ORIGINAL_IMAGE_WIDTH=${${use_case}_IMAGE_SIZE})
-add_compile_definitions(ORIGINAL_IMAGE_HEIGHT=${${use_case}_IMAGE_SIZE})
 
+USER_OPTION(${use_case}_ANCHOR_1 "First anchor array estimated during training."
+    "{38, 77, 47, 97, 61, 126}"
+    STRING)
+
+USER_OPTION(${use_case}_ANCHOR_2 "Second anchor array estimated during training."
+    "{14, 26, 19, 37, 28, 55 }"
+    STRING)
+
+USER_OPTION(${use_case}_CHANNELS_IMAGE_DISPLAYED "Channels' image displayed on the LCD. Select 1 if grayscale, 3 if RGB."
+    3
+    BOOL)
 
 # Generate input files
 generate_images_code("${${use_case}_FILE_PATH}"
@@ -36,7 +41,6 @@ generate_images_code("${${use_case}_FILE_PATH}"
                      ${INC_GEN_DIR}
                      "${${use_case}_IMAGE_SIZE}")
 
-
 USER_OPTION(${use_case}_ACTIVATION_BUF_SZ "Activation buffer size for the chosen model"
     0x00082000
     STRING)
@@ -47,6 +51,19 @@ else()
     set(DEFAULT_MODEL_PATH      ${DEFAULT_MODEL_DIR}/yolo-fastest_192_face_v4.tflite)
 endif()
 
+set(${use_case}_ORIGINAL_IMAGE_SIZE
+    ${${use_case}_IMAGE_SIZE}
+    CACHE STRING
+    "Original image size - for the post processing step to upscale the box co-ordinates.")
+
+set(EXTRA_MODEL_CODE
+    "extern const int originalImageSize = ${${use_case}_ORIGINAL_IMAGE_SIZE};"
+    "extern const int channelsImageDisplayed = ${${use_case}_CHANNELS_IMAGE_DISPLAYED};"
+    "/* NOTE: anchors are different for any given input model size, estimated during training phase */"
+    "extern const float anchor1[] = ${${use_case}_ANCHOR_1};"
+    "extern const float anchor2[] = ${${use_case}_ANCHOR_2};"
+    )
+
 USER_OPTION(${use_case}_MODEL_TFLITE_PATH "NN models file to be used in the evaluation application. Model files must be in tflite format."
     ${DEFAULT_MODEL_PATH}
     FILEPATH
@@ -56,4 +73,5 @@ USER_OPTION(${use_case}_MODEL_TFLITE_PATH "NN models file to be used in the eval
 generate_tflite_code(
     MODEL_PATH ${${use_case}_MODEL_TFLITE_PATH}
     DESTINATION ${SRC_GEN_DIR}
+    EXPRESSIONS ${EXTRA_MODEL_CODE}
     )
diff --git a/source/use_case/vww/include/VisualWakeWordModel.hpp b/source/use_case/vww/include/VisualWakeWordModel.hpp
index ee3a7bf..1ed9202 100644
--- a/source/use_case/vww/include/VisualWakeWordModel.hpp
+++ b/source/use_case/vww/include/VisualWakeWordModel.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2021 Arm Limited. All rights reserved.
+ * Copyright (c) 2021 - 2022 Arm Limited. All rights reserved.
  * SPDX-License-Identifier: Apache-2.0
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -24,6 +24,12 @@ namespace app {
 
     class VisualWakeWordModel : public Model {
 
+    public:
+        /* Indices for the expected model - based on input tensor shape */
+        static constexpr uint32_t ms_inputRowsIdx     = 1;
+        static constexpr uint32_t ms_inputColsIdx     = 2;
+        static constexpr uint32_t ms_inputChannelsIdx = 3;
+
     protected:
         /** @brief   Gets the reference to op resolver interface class. */
         const tflite::MicroOpResolver& GetOpResolver() override;
diff --git a/source/use_case/vww/src/UseCaseHandler.cc b/source/use_case/vww/src/UseCaseHandler.cc
index dbfe92b..e4dc479 100644
--- a/source/use_case/vww/src/UseCaseHandler.cc
+++ b/source/use_case/vww/src/UseCaseHandler.cc
@@ -50,8 +50,6 @@ namespace app {
         constexpr uint32_t dataPsnTxtInfStartX = 150;
         constexpr uint32_t dataPsnTxtInfStartY = 70;
 
-        time_t infTimeMs = 0;
-
         auto& model = ctx.Get<Model&>("model");
 
         /* If the request has a valid size, set the image index. */
@@ -78,9 +76,13 @@ namespace app {
             return false;
         }
         TfLiteIntArray* inputShape = model.GetInputShape(0);
-        const uint32_t nCols = inputShape->data[2];
-        const uint32_t nRows = inputShape->data[1];
-        const uint32_t nChannels = (inputShape->size == 4) ? inputShape->data[3] : 1;
+        const uint32_t nCols = inputShape->data[arm::app::VisualWakeWordModel::ms_inputColsIdx];
+        const uint32_t nRows = inputShape->data[arm::app::VisualWakeWordModel::ms_inputRowsIdx];
+        if (arm::app::VisualWakeWordModel::ms_inputChannelsIdx >= static_cast<uint32_t>(inputShape->size)) {
+            printf_err("Invalid channel index.\n");
+            return false;
+        }
+        const uint32_t nChannels = inputShape->data[arm::app::VisualWakeWordModel::ms_inputChannelsIdx];
 
         std::vector<ClassificationResult> results;
 
@@ -163,7 +165,11 @@ namespace app {
             return false;
         }
 
-        const uint32_t nChannels = (inputTensor->dims->size == 4) ? inputTensor->dims->data[3] : 1;
+        if (arm::app::VisualWakeWordModel::ms_inputChannelsIdx >= static_cast<uint32_t>(inputTensor->dims->size)) {
+            printf_err("Invalid channel index.\n");
+            return false;
+        }
+        const uint32_t nChannels = inputTensor->dims->data[arm::app::VisualWakeWordModel::ms_inputChannelsIdx];
 
         const uint8_t* srcPtr = get_img_array(imIdx);
         auto* dstPtr = static_cast<uint8_t *>(inputTensor->data.data);
@@ -172,11 +178,7 @@ namespace app {
              * Visual Wake Word model accepts only one channel =>
              * Convert image to grayscale here
              **/
-            for (size_t i = 0; i < copySz; ++i, srcPtr += 3) {
-                *dstPtr++ = 0.2989*(*srcPtr) +
-                            0.587*(*(srcPtr+1)) +
-                            0.114*(*(srcPtr+2));
-            }
+            image::RgbToGrayscale(srcPtr, dstPtr, copySz);
         } else {
             memcpy(inputTensor->data.data, srcPtr, copySz);
         }
@@ -186,4 +188,4 @@ namespace app {
     }
 
 } /* namespace app */
-} /* namespace arm */   
\ No newline at end of file
+} /* namespace arm */