@camstack/addon-vision 0.1.6 → 0.1.9

package/dist/chunk-JUQEW6ON.mjs

@@ -0,0 +1,256 @@
+import {
+  MLPACKAGE_FILES
+} from "./chunk-BP7H4NFS.mjs";
+import {
+  cropRegion,
+  resizeAndNormalize
+} from "./chunk-22BHCDT5.mjs";
+import {
+  resolveEngine
+} from "./chunk-2IOKI4ES.mjs";
+
+// src/catalogs/face-recognition-models.ts
+import { hfModelUrl } from "@camstack/types";
+var HF_REPO = "camstack/camstack-models";
+var FACE_EMBEDDING_LABELS = [
+  { id: "embedding", name: "Face Embedding" }
+];
+var FACE_RECOGNITION_MODELS = [
+  {
+    id: "arcface-r100",
+    name: "ArcFace R100",
+    description: "ArcFace ResNet-100 \u2014 high-accuracy face recognition embeddings",
+    inputSize: { width: 112, height: 112 },
+    inputLayout: "nhwc",
+    labels: FACE_EMBEDDING_LABELS,
+    formats: {
+      onnx: {
+        url: hfModelUrl(HF_REPO, "faceRecognition/arcface/onnx/camstack-arcface-arcface.onnx"),
+        sizeMB: 130
+      },
+      coreml: {
+        url: hfModelUrl(HF_REPO, "faceRecognition/arcface/coreml/camstack-arcface-r100.mlpackage"),
+        sizeMB: 65,
+        isDirectory: true,
+        files: MLPACKAGE_FILES,
+        runtimes: ["python"]
+      },
+      openvino: {
+        url: hfModelUrl(HF_REPO, "faceRecognition/arcface/openvino/camstack-arcface-r100.xml"),
+        sizeMB: 65,
+        runtimes: ["python"]
+      }
+    }
+  }
+];
+
+// src/shared/postprocess/arcface.ts
+function l2Normalize(vec) {
+  let sumSq = 0;
+  for (let i = 0; i < vec.length; i++) {
+    sumSq += vec[i] * vec[i];
+  }
+  const norm = Math.sqrt(sumSq);
+  if (norm === 0) return new Float32Array(vec.length);
+  const out = new Float32Array(vec.length);
+  for (let i = 0; i < vec.length; i++) {
+    out[i] = vec[i] / norm;
+  }
+  return out;
+}
+function cosineSimilarity(a, b) {
+  if (a.length !== b.length) throw new Error("Embedding length mismatch");
+  let dot = 0;
+  for (let i = 0; i < a.length; i++) {
+    dot += a[i] * b[i];
+  }
+  return dot;
+}
+
+// src/addons/face-recognition/index.ts
+var IDENTITY_LABEL = { id: "identity", name: "Identity" };
+var IDENTITY_LABELS = [IDENTITY_LABEL];
+var FACE_REC_CLASS_MAP = { mapping: {}, preserveOriginal: true };
+var REQUIRED_STEPS = [
+  { slot: "cropper", outputClasses: ["face"], description: "Requires a face detector" }
+];
+var FaceRecognitionAddon = class {
+  id = "face-recognition";
+  slot = "classifier";
+  inputClasses = ["face"];
+  outputClasses = ["identity:*"];
+  slotPriority = 0;
+  requiredSteps = REQUIRED_STEPS;
+  manifest = {
+    id: "face-recognition",
+    name: "Face Recognition",
+    version: "0.1.0",
+    description: "ArcFace-based face recognition \u2014 produces 512-d identity embeddings",
+    slot: "classifier",
+    labelOutputType: "face",
+    inputClasses: ["face"],
+    outputClasses: ["identity:*"],
+    requiredSteps: REQUIRED_STEPS,
+    supportsCustomModels: false,
+    mayRequirePython: false,
+    defaultConfig: {
+      modelId: "arcface-r100",
+      runtime: "node",
+      backend: "cpu"
+    }
+  };
+  engine = null;
+  modelEntry;
+  resolvedConfig = null;
+  ctx = null;
+  getModelRequirements() {
+    return FACE_RECOGNITION_MODELS.map((m) => ({
+      modelId: m.id,
+      name: m.name,
+      minRAM_MB: 400,
+      accuracyScore: 90,
+      formats: Object.keys(m.formats)
+    }));
+  }
+  configure(config) {
+    this.resolvedConfig = config;
+  }
+  async initialize(ctx) {
+    this.ctx = ctx;
+    const cfg = ctx.addonConfig;
+    const modelId = cfg["modelId"] ?? this.resolvedConfig?.modelId ?? "arcface-r100";
+    const entry = FACE_RECOGNITION_MODELS.find((m) => m.id === modelId);
+    if (!entry) {
+      throw new Error(`FaceRecognitionAddon: unknown modelId "${modelId}"`);
+    }
+    this.modelEntry = entry;
+  }
+  async classify(input) {
+    if (!this.engine) await this.ensureEngine();
+    const start = Date.now();
+    const { width: inputW, height: inputH } = this.modelEntry.inputSize;
+    const faceCrop = await cropRegion(input.frame.data, input.roi);
+    const layout = this.modelEntry.inputLayout ?? "nhwc";
+    const normalization = this.modelEntry.inputNormalization ?? "zero-one";
+    const normalized = await resizeAndNormalize(faceCrop, inputW, inputH, normalization, layout);
+    const rawEmbedding = await this.engine.run(normalized, [1, inputH, inputW, 3]);
+    const embedding = l2Normalize(rawEmbedding);
+    return {
+      classifications: [
+        {
+          class: "identity",
+          score: 1,
+          embedding
+        }
+      ],
+      inferenceMs: Date.now() - start,
+      modelId: this.modelEntry.id
+    };
+  }
+  async ensureEngine() {
+    const config = this.resolvedConfig;
+    const modelId = config?.modelId ?? this.modelEntry.id;
+    const runtime = config?.runtime === "python" ? "coreml" : config?.runtime === "node" ? "onnx" : "auto";
+    const backend = config?.backend ?? "cpu";
+    const format = config?.format ?? "onnx";
+    const entry = FACE_RECOGNITION_MODELS.find((m) => m.id === modelId) ?? this.modelEntry;
+    this.modelEntry = entry;
+    const modelsDir = this.ctx.models?.getModelsDir() ?? this.ctx.locationPaths.models;
+    if (this.ctx.models) {
+      await this.ctx.models.ensure(modelId, format);
+    }
+    const resolved = await resolveEngine({
+      runtime,
+      backend,
+      modelEntry: entry,
+      modelsDir,
+      models: this.ctx.models
+    });
+    this.engine = resolved.engine;
+  }
+  async shutdown() {
+    await this.engine?.dispose();
+  }
+  getConfigSchema() {
+    return {
+      sections: [
+        {
+          id: "model",
+          title: "Model",
+          columns: 1,
+          fields: [
+            {
+              key: "modelId",
+              label: "Model",
+              type: "model-selector",
+              catalog: [...FACE_RECOGNITION_MODELS],
+              allowCustom: false,
+              allowConversion: false,
+              acceptFormats: ["onnx", "coreml", "openvino"],
+              requiredMetadata: ["inputSize", "labels", "outputFormat"],
+              outputFormatHint: "embedding"
+            }
+          ]
+        },
+        {
+          id: "runtime",
+          title: "Runtime",
+          columns: 2,
+          fields: [
+            {
+              key: "runtime",
+              label: "Runtime",
+              type: "select",
+              options: [
+                { value: "auto", label: "Auto" },
+                { value: "onnx", label: "ONNX Runtime" },
+                { value: "coreml", label: "CoreML (Apple)" },
+                { value: "openvino", label: "OpenVINO (Intel)" }
+              ]
+            },
+            {
+              key: "backend",
+              label: "Backend",
+              type: "select",
+              showWhen: { field: "runtime", equals: "onnx" },
+              options: [
+                { value: "auto", label: "Auto" },
+                { value: "cpu", label: "CPU" },
+                { value: "coreml", label: "CoreML" },
+                { value: "cuda", label: "CUDA (NVIDIA)" }
+              ]
+            }
+          ]
+        }
+      ]
+    };
+  }
+  getClassMap() {
+    return FACE_REC_CLASS_MAP;
+  }
+  getModelCatalog() {
+    return [...FACE_RECOGNITION_MODELS];
+  }
+  getAvailableModels() {
+    return [];
+  }
+  getActiveLabels() {
+    return IDENTITY_LABELS;
+  }
+  async probe() {
+    return {
+      available: true,
+      runtime: this.engine?.runtime ?? "onnx",
+      device: this.engine?.device ?? "cpu",
+      capabilities: ["fp32"]
+    };
+  }
+};
+
+export {
+  l2Normalize,
+  cosineSimilarity,
+  FACE_RECOGNITION_MODELS,
+  FaceRecognitionAddon
+};
+//# sourceMappingURL=chunk-JUQEW6ON.mjs.map

package/dist/chunk-JUQEW6ON.mjs.map

@@ -0,0 +1 @@
+{"version":3,"sources":["../src/catalogs/face-recognition-models.ts","../src/shared/postprocess/arcface.ts","../src/addons/face-recognition/index.ts"],"sourcesContent":["import type { ModelCatalogEntry, LabelDefinition } from '@camstack/types'\nimport { hfModelUrl } from '@camstack/types'\nimport { MLPACKAGE_FILES } from './object-detection-models.js'\n\nconst HF_REPO = 'camstack/camstack-models'\n\nconst FACE_EMBEDDING_LABELS: readonly LabelDefinition[] = [\n  { id: 'embedding', name: 'Face Embedding' },\n] as const\n\nexport const FACE_RECOGNITION_MODELS: readonly ModelCatalogEntry[] = [\n  {\n    id: 'arcface-r100',\n    name: 'ArcFace R100',\n    description: 'ArcFace ResNet-100 — high-accuracy face recognition embeddings',\n    inputSize: { width: 112, height: 112 },\n    inputLayout: 'nhwc',\n    labels: FACE_EMBEDDING_LABELS,\n    formats: {\n      onnx: {\n        url: hfModelUrl(HF_REPO, 'faceRecognition/arcface/onnx/camstack-arcface-arcface.onnx'),\n        sizeMB: 130,\n      },\n      coreml: {\n        url: hfModelUrl(HF_REPO, 'faceRecognition/arcface/coreml/camstack-arcface-r100.mlpackage'),\n        sizeMB: 65,\n        isDirectory: true,\n        files: MLPACKAGE_FILES,\n        runtimes: ['python'],\n      },\n      openvino: {\n        url: hfModelUrl(HF_REPO, 'faceRecognition/arcface/openvino/camstack-arcface-r100.xml'),\n        sizeMB: 65,\n        runtimes: ['python'],\n      },\n    },\n  },\n] as const\n","/** L2 normalize a vector in-place, returning a new Float32Array */\nexport function l2Normalize(vec: Float32Array): Float32Array {\n  let sumSq = 0\n  for (let i = 0; i < vec.length; i++) {\n    sumSq += vec[i]! * vec[i]!\n  }\n  const norm = Math.sqrt(sumSq)\n  if (norm === 0) return new Float32Array(vec.length)\n\n  const out = new Float32Array(vec.length)\n  for (let i = 0; i < vec.length; i++) {\n    out[i] = vec[i]! / norm\n  }\n  return out\n}\n\n/** Cosine similarity between two embeddings (assumes they are already L2-normalized) */\nexport function cosineSimilarity(a: Float32Array, b: Float32Array): number {\n  if (a.length !== b.length) throw new Error('Embedding length mismatch')\n  let dot = 0\n  for (let i = 0; i < a.length; i++) {\n    dot += a[i]! * b[i]!\n  }\n  return dot\n}\n","import type {\n  IClassifierProvider,\n  IDetectionAddon,\n  AddonManifest,\n  AddonContext,\n  CropInput,\n  ClassifierOutput,\n  ConfigUISchema,\n  ClassMapDefinition,\n  ProbeResult,\n  ModelCatalogEntry,\n  DetectionModel,\n  LabelDefinition,\n  IInferenceEngine,\n  RequiredStep,\n  ModelRequirement,\n  ResolvedInferenceConfig,\n} from '@camstack/types'\nimport { FACE_RECOGNITION_MODELS } from '../../catalogs/face-recognition-models.js'\nimport { cropRegion, resizeAndNormalize } from '../../shared/image-utils.js'\nimport { l2Normalize } from '../../shared/postprocess/arcface.js'\nimport { resolveEngine } from '../../shared/engine-resolver.js'\n\nconst IDENTITY_LABEL: LabelDefinition = { id: 'identity', name: 'Identity' }\nconst IDENTITY_LABELS: readonly LabelDefinition[] = [IDENTITY_LABEL]\nconst FACE_REC_CLASS_MAP: ClassMapDefinition = { mapping: {}, preserveOriginal: true }\n\nconst REQUIRED_STEPS: readonly RequiredStep[] = [\n  { slot: 'cropper', outputClasses: ['face'], description: 'Requires a face detector' },\n]\n\nexport default class FaceRecognitionAddon implements IClassifierProvider, IDetectionAddon {\n  readonly id = 'face-recognition'\n  readonly slot = 'classifier' as const\n  readonly inputClasses = ['face'] as const\n  readonly outputClasses = ['identity:*'] as const\n  readonly slotPriority = 0\n  readonly requiredSteps = REQUIRED_STEPS\n  readonly manifest: AddonManifest = {\n    id: 'face-recognition',\n    name: 'Face Recognition',\n    version: '0.1.0',\n\n    description: 'ArcFace-based face recognition — produces 512-d identity embeddings',\n\n    slot: 'classifier',\n    labelOutputType: 'face',\n    inputClasses: ['face'],\n    outputClasses: ['identity:*'],\n    requiredSteps: REQUIRED_STEPS,\n    supportsCustomModels: false,\n    mayRequirePython: false,\n    defaultConfig: {\n      modelId: 'arcface-r100',\n      runtime: 'node',\n      backend: 'cpu',\n    },\n  }\n\n  private engine: IInferenceEngine | null = null\n  private modelEntry!: ModelCatalogEntry\n  private resolvedConfig: ResolvedInferenceConfig | null = null\n  private ctx: AddonContext | null = null\n\n  getModelRequirements(): ModelRequirement[] {\n    return FACE_RECOGNITION_MODELS.map((m) => ({\n      modelId: m.id,\n      name: m.name,\n      minRAM_MB: 400,\n      accuracyScore: 90,\n      formats: Object.keys(m.formats) as readonly string[],\n    }))\n  }\n\n  configure(config: ResolvedInferenceConfig): void {\n    this.resolvedConfig = config\n  }\n\n  async initialize(ctx: AddonContext): Promise<void> {\n    this.ctx = ctx\n    const cfg = ctx.addonConfig\n    const modelId = (cfg['modelId'] as string | undefined) ?? this.resolvedConfig?.modelId ?? 'arcface-r100'\n\n    const entry = FACE_RECOGNITION_MODELS.find((m) => m.id === modelId)\n    if (!entry) {\n      throw new Error(`FaceRecognitionAddon: unknown modelId \"${modelId}\"`)\n    }\n    this.modelEntry = entry\n  }\n\n  async classify(input: CropInput): Promise<ClassifierOutput> {\n    if (!this.engine) await this.ensureEngine()\n    const start = Date.now()\n    const { width: inputW, height: inputH } = this.modelEntry.inputSize\n\n    // Crop the face region\n    const faceCrop = await cropRegion(input.frame.data, input.roi)\n\n    // Resize to 112x112, NHWC layout (ArcFace expects NHWC)\n    const layout = this.modelEntry.inputLayout ?? 'nhwc'\n    const normalization = this.modelEntry.inputNormalization ?? 'zero-one'\n    const normalized = await resizeAndNormalize(faceCrop, inputW, inputH, normalization, layout)\n\n    // Run inference — output is 512-d embedding\n    const rawEmbedding = await this.engine!.run(normalized, [1, inputH, inputW, 3])\n\n    // L2 normalize the embedding\n    const embedding = l2Normalize(rawEmbedding)\n\n    return {\n      classifications: [\n        {\n          class: 'identity',\n          score: 1.0,\n          embedding,\n        },\n      ],\n      inferenceMs: Date.now() - start,\n      modelId: this.modelEntry.id,\n    }\n  }\n\n  private async ensureEngine(): Promise<void> {\n    const config = this.resolvedConfig\n    const modelId = config?.modelId ?? this.modelEntry.id\n    const runtime = config?.runtime === 'python' ? 'coreml' : (config?.runtime === 'node' ? 'onnx' : 'auto')\n    const backend = config?.backend ?? 'cpu'\n    const format = config?.format ?? 'onnx'\n\n    const entry = FACE_RECOGNITION_MODELS.find((m) => m.id === modelId) ?? this.modelEntry\n    this.modelEntry = entry\n\n    const modelsDir = this.ctx!.models?.getModelsDir() ?? this.ctx!.locationPaths.models\n\n    if (this.ctx!.models) {\n      await this.ctx!.models.ensure(modelId, format as any)\n    }\n\n    const resolved = await resolveEngine({\n      runtime: runtime as 'auto',\n      backend,\n      modelEntry: entry,\n      modelsDir,\n      models: this.ctx!.models,\n    })\n    this.engine = resolved.engine\n  }\n\n  async shutdown(): Promise<void> {\n    await this.engine?.dispose()\n  }\n\n  getConfigSchema(): ConfigUISchema {\n    return {\n      sections: [\n        {\n          id: 'model',\n          title: 'Model',\n          columns: 1,\n          fields: [\n            {\n              key: 'modelId',\n              label: 'Model',\n              type: 'model-selector',\n              catalog: [...FACE_RECOGNITION_MODELS],\n              allowCustom: false,\n              allowConversion: false,\n              acceptFormats: ['onnx', 'coreml', 'openvino'],\n              requiredMetadata: ['inputSize', 'labels', 'outputFormat'],\n              outputFormatHint: 'embedding',\n            },\n          ],\n        },\n        {\n          id: 'runtime',\n          title: 'Runtime',\n          columns: 2,\n          fields: [\n            {\n              key: 'runtime',\n              label: 'Runtime',\n              type: 'select',\n              options: [\n                { value: 'auto', label: 'Auto' },\n                { value: 'onnx', label: 'ONNX Runtime' },\n                { value: 'coreml', label: 'CoreML (Apple)' },\n                { value: 'openvino', label: 'OpenVINO (Intel)' },\n              ],\n            },\n            {\n              key: 'backend',\n              label: 'Backend',\n              type: 'select',\n              showWhen: { field: 'runtime', equals: 'onnx' },\n              options: [\n                { value: 'auto', label: 'Auto' },\n                { value: 'cpu', label: 'CPU' },\n                { value: 'coreml', label: 'CoreML' },\n                { value: 'cuda', label: 'CUDA (NVIDIA)' },\n              ],\n            },\n          ],\n        },\n      ],\n    }\n  }\n\n  getClassMap(): ClassMapDefinition {\n    return FACE_REC_CLASS_MAP\n  }\n\n  getModelCatalog(): ModelCatalogEntry[] {\n    return [...FACE_RECOGNITION_MODELS]\n  }\n\n  getAvailableModels(): DetectionModel[] {\n    return []\n  }\n\n  getActiveLabels(): readonly LabelDefinition[] {\n    return IDENTITY_LABELS\n  }\n\n  async probe(): Promise<ProbeResult> {\n    return {\n      available: true,\n      runtime: this.engine?.runtime ?? 'onnx',\n      device: this.engine?.device ?? 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package/dist/chunk-KUO2BVFY.mjs

@@ -0,0 +1,90 @@
+// src/shared/postprocess/yolo.ts
+function iou(a, b) {
+  const ax1 = a.x;
+  const ay1 = a.y;
+  const ax2 = a.x + a.w;
+  const ay2 = a.y + a.h;
+  const bx1 = b.x;
+  const by1 = b.y;
+  const bx2 = b.x + b.w;
+  const by2 = b.y + b.h;
+  const interX1 = Math.max(ax1, bx1);
+  const interY1 = Math.max(ay1, by1);
+  const interX2 = Math.min(ax2, bx2);
+  const interY2 = Math.min(ay2, by2);
+  const interW = Math.max(0, interX2 - interX1);
+  const interH = Math.max(0, interY2 - interY1);
+  const interArea = interW * interH;
+  if (interArea === 0) return 0;
+  const areaA = a.w * a.h;
+  const areaB = b.w * b.h;
+  const unionArea = areaA + areaB - interArea;
+  return unionArea === 0 ? 0 : interArea / unionArea;
+}
+function nms(boxes, iouThreshold) {
+  const indices = boxes.map((_, i) => i).sort((a, b) => boxes[b].score - boxes[a].score);
+  const kept = [];
+  const suppressed = /* @__PURE__ */ new Set();
+  for (const idx of indices) {
+    if (suppressed.has(idx)) continue;
+    kept.push(idx);
+    for (const other of indices) {
+      if (other === idx || suppressed.has(other)) continue;
+      if (iou(boxes[idx].bbox, boxes[other].bbox) > iouThreshold) {
+        suppressed.add(other);
+      }
+    }
+  }
+  return kept;
+}
+function yoloPostprocess(output, numClasses, numBoxes, options) {
+  const { confidence, iouThreshold, labels, scale, padX, padY, originalWidth, originalHeight } = options;
+  const candidates = [];
+  for (let i = 0; i < numBoxes; i++) {
+    const cx = output[0 * numBoxes + i];
+    const cy = output[1 * numBoxes + i];
+    const w = output[2 * numBoxes + i];
+    const h = output[3 * numBoxes + i];
+    let bestScore = -Infinity;
+    let bestClass = 0;
+    for (let j = 0; j < numClasses; j++) {
+      const score = output[(4 + j) * numBoxes + i];
+      if (score > bestScore) {
+        bestScore = score;
+        bestClass = j;
+      }
+    }
+    if (bestScore < confidence) continue;
+    const bbox = {
+      x: cx - w / 2,
+      y: cy - h / 2,
+      w,
+      h
+    };
+    candidates.push({ bbox, score: bestScore, classIdx: bestClass });
+  }
+  if (candidates.length === 0) return [];
+  const keptIndices = nms(candidates, iouThreshold);
+  return keptIndices.map((idx) => {
+    const { bbox, score, classIdx } = candidates[idx];
+    const label = labels[classIdx] ?? String(classIdx);
+    const x = Math.max(0, Math.min(originalWidth, (bbox.x - padX) / scale));
+    const y = Math.max(0, Math.min(originalHeight, (bbox.y - padY) / scale));
+    const x2 = Math.max(0, Math.min(originalWidth, (bbox.x + bbox.w - padX) / scale));
+    const y2 = Math.max(0, Math.min(originalHeight, (bbox.y + bbox.h - padY) / scale));
+    const finalBbox = { x, y, w: x2 - x, h: y2 - y };
+    return {
+      class: label,
+      originalClass: label,
+      score,
+      bbox: finalBbox
+    };
+  });
+}
+
+export {
+  iou,
+  nms,
+  yoloPostprocess
+};
+//# sourceMappingURL=chunk-KUO2BVFY.mjs.map

package/dist/{chunk-DE7I3VHO.mjs.map → chunk-KUO2BVFY.mjs.map}

@@ -1 +1 @@
-{"version":3,"sources":["../src/shared/postprocess/yolo.ts"],"sourcesContent":["import type { SpatialDetection, BoundingBox } from '@camstack/types'\n\nexport interface YoloPostprocessOptions {\n  readonly confidence: number\n  readonly iouThreshold: number\n  readonly labels: readonly string[]\n  readonly scale: number\n  readonly padX: number\n  readonly padY: number\n  readonly originalWidth: number\n  readonly originalHeight: number\n}\n\n/** Calculate IoU between two bounding boxes */\nexport function iou(a: BoundingBox, b: BoundingBox): number {\n  const ax1 = a.x\n  const ay1 = a.y\n  const ax2 = a.x + a.w\n  const ay2 = a.y + a.h\n\n  const bx1 = b.x\n  const by1 = b.y\n  const bx2 = b.x + b.w\n  const by2 = b.y + b.h\n\n  const interX1 = Math.max(ax1, bx1)\n  const interY1 = Math.max(ay1, by1)\n  const interX2 = Math.min(ax2, bx2)\n  const interY2 = Math.min(ay2, by2)\n\n  const interW = Math.max(0, interX2 - interX1)\n  const interH = Math.max(0, interY2 - interY1)\n  const interArea = interW * interH\n\n  if (interArea === 0) return 0\n\n  const areaA = a.w * a.h\n  const areaB = b.w * b.h\n  const unionArea = areaA + areaB - interArea\n\n  return unionArea === 0 ? 0 : interArea / unionArea\n}\n\n/** Non-maximum suppression — returns indices of kept boxes (sorted by score desc) */\nexport function nms(\n  boxes: ReadonlyArray<{ readonly bbox: BoundingBox; readonly score: number }>,\n  iouThreshold: number,\n): number[] {\n  const indices = boxes\n    .map((_, i) => i)\n    .sort((a, b) => (boxes[b]!.score) - (boxes[a]!.score))\n\n  const kept: number[] = []\n  const suppressed = new Set<number>()\n\n  for (const idx of indices) {\n    if (suppressed.has(idx)) continue\n    kept.push(idx)\n    for (const other of indices) {\n      if (other === idx || suppressed.has(other)) continue\n      if (iou(boxes[idx]!.bbox, boxes[other]!.bbox) > iouThreshold) {\n        suppressed.add(other)\n      }\n    }\n  }\n\n  return kept\n}\n\n/** Full YOLO v8/v9 postprocessing: filter → NMS → scale back to original coords */\nexport function yoloPostprocess(\n  output: Float32Array,\n  numClasses: number,\n  numBoxes: number,\n  options: YoloPostprocessOptions,\n): SpatialDetection[] {\n  const { confidence, iouThreshold, labels, scale, padX, padY, originalWidth, originalHeight } = options\n\n  interface Candidate {\n    readonly bbox: BoundingBox\n    readonly score: number\n    readonly classIdx: number\n  }\n\n  const candidates: Candidate[] = []\n\n  for (let i = 0; i < numBoxes; i++) {\n    // YOLO v8/v9 output layout: [1, 4+numClasses, numBoxes] stored row-major\n    const cx = output[0 * numBoxes + i]!\n    const cy = output[1 * numBoxes + i]!\n    const w = output[2 * numBoxes + i]!\n    const h = output[3 * numBoxes + i]!\n\n    let bestScore = -Infinity\n    let bestClass = 0\n\n    for (let j = 0; j < numClasses; j++) {\n      const score = output[(4 + j) * numBoxes + i]!\n      if (score > bestScore) {\n        bestScore = score\n        bestClass = j\n      }\n    }\n\n    if (bestScore < confidence) continue\n\n    // Convert cx,cy,w,h to x,y,w,h (top-left origin)\n    const bbox: BoundingBox = {\n      x: cx - w / 2,\n      y: cy - h / 2,\n      w,\n      h,\n    }\n\n    candidates.push({ bbox, score: bestScore, classIdx: bestClass })\n  }\n\n  if (candidates.length === 0) return []\n\n  const keptIndices = nms(candidates, iouThreshold)\n\n  return keptIndices.map((idx) => {\n    const { bbox, score, classIdx } = candidates[idx]!\n    const label = labels[classIdx] ?? 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+{"version":3,"sources":["../src/shared/postprocess/yolo.ts"],"sourcesContent":["import type { SpatialDetection, BoundingBox } from '@camstack/types'\n\nexport interface YoloPostprocessOptions {\n  readonly confidence: number\n  readonly iouThreshold: number\n  readonly labels: readonly string[]\n  readonly scale: number\n  readonly padX: number\n  readonly padY: number\n  readonly originalWidth: number\n  readonly originalHeight: number\n}\n\n/** Calculate IoU between two bounding boxes */\nexport function iou(a: BoundingBox, b: BoundingBox): number {\n  const ax1 = a.x\n  const ay1 = a.y\n  const ax2 = a.x + a.w\n  const ay2 = a.y + a.h\n\n  const bx1 = b.x\n  const by1 = b.y\n  const bx2 = b.x + b.w\n  const by2 = b.y + b.h\n\n  const interX1 = Math.max(ax1, bx1)\n  const interY1 = Math.max(ay1, by1)\n  const interX2 = Math.min(ax2, bx2)\n  const interY2 = Math.min(ay2, by2)\n\n  const interW = Math.max(0, interX2 - interX1)\n  const interH = Math.max(0, interY2 - interY1)\n  const interArea = interW * interH\n\n  if (interArea === 0) return 0\n\n  const areaA = a.w * a.h\n  const areaB = b.w * b.h\n  const unionArea = areaA + areaB - interArea\n\n  return unionArea === 0 ? 0 : interArea / unionArea\n}\n\n/** Non-maximum suppression — returns indices of kept boxes (sorted by score desc) */\nexport function nms(\n  boxes: ReadonlyArray<{ readonly bbox: BoundingBox; readonly score: number }>,\n  iouThreshold: number,\n): number[] {\n  const indices = boxes\n    .map((_, i) => i)\n    .sort((a, b) => (boxes[b]!.score) - (boxes[a]!.score))\n\n  const kept: number[] = []\n  const suppressed = new Set<number>()\n\n  for (const idx of indices) {\n    if (suppressed.has(idx)) continue\n    kept.push(idx)\n    for (const other of indices) {\n      if (other === idx || suppressed.has(other)) continue\n      if (iou(boxes[idx]!.bbox, boxes[other]!.bbox) > iouThreshold) {\n        suppressed.add(other)\n      }\n    }\n  }\n\n  return kept\n}\n\n/** Full YOLO v8/v9 postprocessing: filter → NMS → scale back to original coords */\nexport function yoloPostprocess(\n  output: Float32Array,\n  numClasses: number,\n  numBoxes: number,\n  options: YoloPostprocessOptions,\n): SpatialDetection[] {\n  const { confidence, iouThreshold, labels, scale, padX, padY, originalWidth, originalHeight } = options\n\n  interface Candidate {\n    readonly bbox: BoundingBox\n    readonly score: number\n    readonly classIdx: number\n  }\n\n  const candidates: Candidate[] = []\n\n  for (let i = 0; i < numBoxes; i++) {\n    // YOLO v8/v9 output layout: [1, 4+numClasses, numBoxes] stored row-major\n    const cx = output[0 * numBoxes + i]!\n    const cy = output[1 * numBoxes + i]!\n    const w = output[2 * numBoxes + i]!\n    const h = output[3 * numBoxes + i]!\n\n    let bestScore = -Infinity\n    let bestClass = 0\n\n    for (let j = 0; j < numClasses; j++) {\n      const score = output[(4 + j) * numBoxes + i]!\n      if (score > bestScore) {\n        bestScore = score\n        bestClass = j\n      }\n    }\n\n    if (bestScore < confidence) continue\n\n    // Convert cx,cy,w,h to x,y,w,h (top-left origin)\n    const bbox: BoundingBox = {\n      x: cx - w / 2,\n      y: cy - h / 2,\n      w,\n      h,\n    }\n\n    candidates.push({ bbox, score: bestScore, classIdx: bestClass })\n  }\n\n  if (candidates.length === 0) return []\n\n  const keptIndices = nms(candidates, iouThreshold)\n\n  return keptIndices.map((idx) => {\n    const { bbox, score, classIdx } = candidates[idx]!\n    const label = labels[classIdx] ?? 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