scorevision: push artifact

miner.py

@@ -0,0 +1,1059 @@
+from pathlib import Path
+import math
+
+import cv2
+import numpy as np
+import onnxruntime as ort
+from numpy import ndarray
+from pydantic import BaseModel
+
+class BoundingBox(BaseModel):
+    x1: int
+    y1: int
+    x2: int
+    y2: int
+    cls_id: int
+    conf: float
+
+
+class TVFrameResult(BaseModel):
+    frame_id: int
+    boxes: list[BoundingBox]
+    keypoints: list[tuple[int, int]]
+
+
+class Miner:
+    """ONNX Runtime miner for road-sign detection (single class).
+
+    Post-processing: per-class confidence + rescue bonus, hard NMS,
+    cross-class dedup, sanity-box filter, optional TTA / tile merge.
+    """
+
+    class_names = ["road_sign"]
+    _model_class_order = ["road_sign"]
+
+    iou_thres = 0.8
+    cross_iou_thresh = 0.8
+    max_det = 150
+
+    use_secondary_merge = True
+    secondary_conf = 0.80
+    merge_iou = 0.2
+    dual_head_dedup_iou = 0.35
+    remove_contained_boxes = True
+    _conf_thres_array = np.array(
+    [0.37], dtype=np.float32
+    )
+    _bonus_array = np.array(
+    [0.2], dtype=np.float32
+    )
+
+    min_box_area = 4 * 4
+    min_side = 3
+    max_aspect_ratio = 12.0
+
+    tile_trigger_ratio = 1.4
+    tile_overlap_ratio = 0.20
+    # use_fast_postprocess = True
+
+    @staticmethod
+    def _ort_provider_chain() -> list[str]:
+        """Prefer GPU/DML providers when installed; always end with CPU fallback."""
+        available = set(ort.get_available_providers())
+        preferred = (
+            "CPUExecutionProvider",
+            "CUDAExecutionProvider",
+            "DmlExecutionProvider",
+        )
+        return [p for p in preferred if p in available] or ["CPUExecutionProvider"]
+
+    @staticmethod
+    def _ort_session_options() -> ort.SessionOptions:
+        sess_options = ort.SessionOptions()
+        sess_options.enable_cpu_mem_arena = True
+        sess_options.enable_mem_pattern = True
+        sess_options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
+        sess_options.intra_op_num_threads = 2
+        sess_options.inter_op_num_threads = 1
+        sess_options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
+        return sess_options
+
+    def __init__(self, path_hf_repo: Path) -> None:
+        model_path = path_hf_repo / "weights.onnx"
+        print("ORT version:", ort.__version__)
+
+        try:
+            ort.preload_dlls()
+            print("✅ onnxruntime.preload_dlls() success")
+        except Exception as e:
+            print(f"⚠️ preload_dlls failed: {e}")
+
+        print("ORT available providers BEFORE session:", ort.get_available_providers())
+
+        sess_options = self._ort_session_options()
+        providers = self._ort_provider_chain()
+        print(
+            f"ORT session config: providers={providers} "
+            f"intra_op_threads={sess_options.intra_op_num_threads}"
+        )
+        self.session = ort.InferenceSession(
+            str(model_path),
+            sess_options=sess_options,
+            providers=providers,
+        )
+
+        print("ORT session providers:", self.session.get_providers())
+
+        # Build cls_remap: for each model-emit index i,
+        #   cls_remap[i] = self.class_names.index(model_class_order[i])
+        # i.e. convert a model-side class id into the output class id that
+        # downstream code (BoundingBox.cls_id, the per-class threshold/bonus
+        # arrays) expects. The model-side order comes from the ONNX metadata
+        # when available, else falls back to the static _model_class_order.
+        model_class_order = self._read_model_class_order()
+        if model_class_order is None:
+            model_class_order = list(self._model_class_order)
+            print(f"cls order: no usable ONNX metadata, FALLBACK {model_class_order}")
+        else:
+            print(f"cls order: from ONNX metadata {model_class_order}")
+        self.cls_remap = np.array(
+            [self.class_names.index(n) for n in model_class_order],
+            dtype=np.int32,
+        )
+
+        for i, inp in enumerate(self.session.get_inputs()):
+            print(f"INPUT[{i}]: shape={inp.shape} type={inp.type}")
+        for i, out in enumerate(self.session.get_outputs()):
+            print(f"OUTPUT[{i}]: shape={out.shape} type={out.type}")
+
+        self.input_name = self.session.get_inputs()[0].name
+        self.output_names = [output.name for output in self.session.get_outputs()]
+        self.input_shape = self.session.get_inputs()[0].shape
+
+        # weights.onnx is exported at 1280x1280 (Ultralytics imgsz metadata),
+        # static (dynamic=False). The default is only the fallback for when the
+        # ONNX input dims aren't fixed; the real value is read from the session.
+        self.input_height = self._safe_dim(self.input_shape[2], default=1280)
+        self.input_width = self._safe_dim(self.input_shape[3], default=1280)
+
+        self.use_tta = False
+        self.use_tile_tta = False
+        # Soft-NMS (ported from carwash001): Gaussian score decay of overlapping
+        # boxes instead of hard removal. OFF by default to preserve the current
+        # deployed behaviour; flip on (and tune sigma) via tune_miner.py to see if
+        # it scores better — useful where signs cluster (gantries, sign assemblies).
+        self.use_soft_nms = False
+        self.soft_nms_sigma = 0.5
+        self.soft_nms_score_thresh = 0.01
+
+        print(f"✅ ONNX model loaded from: {model_path}")
+        print(f"✅ ONNX providers: {self.session.get_providers()}")
+        print(f"✅ ONNX input shape={self.input_shape}")
+        print(f"✅ ONNX input size: {self.input_width}x{self.input_height}, "
+              f"use_tta={self.use_tta}, use_tile_tta={self.use_tile_tta}")
+        print("per-class conf: " + ", ".join(
+            f"{n}={t:.3f}" for n, t in zip(
+                self.class_names, self._conf_thres_array.tolist()
+            )
+        ))
+
+        self._warmup()
+
+    def _warmup(self, iters: int = 3) -> None:
+        try:
+            dummy = np.zeros((720, 1280, 3), dtype=np.uint8)
+            for _ in range(max(1, iters)):
+                self.predict_batch(batch_images=[dummy], offset=0, n_keypoints=0)
+            print(f"✅ warmup: {iters} dummy predict_batch call(s) done")
+        except Exception as e:
+            print(f"⚠️ warmup skipped: {e}")
+
+    def _read_model_class_order(self) -> "list[str] | None":
+        """Read the model's class order from Ultralytics ONNX metadata.
+
+        Returns the class names ordered by model-emit index, or None when the
+        metadata is missing/unparsable or doesn't match `class_names` as a set
+        (in which case the static _model_class_order fallback is used)."""
+        try:
+            import ast
+
+            meta = self.session.get_modelmeta().custom_metadata_map
+            names = ast.literal_eval(meta["names"])  # e.g. {0: 'road_sign'}
+            if isinstance(names, dict):
+                order = [str(names[i]) for i in sorted(names)]
+            else:
+                order = [str(n) for n in names]
+        except Exception as e:
+            print(f"cls order: could not read ONNX names metadata ({e})")
+            return None
+        if sorted(order) != sorted(self.class_names):
+            print(
+                f"cls order: ONNX names {order} do not match expected classes "
+                f"{self.class_names}; ignoring metadata"
+            )
+            return None
+        return order
+
+    def __repr__(self) -> str:
+        return (
+            f"ONNXRuntime(session={type(self.session).__name__}, "
+            f"providers={self.session.get_providers()})"
+        )
+
+    @staticmethod
+    def _safe_dim(value, default: int) -> int:
+        return value if isinstance(value, int) and value > 0 else default
+
+    def _letterbox(
+        self,
+        image: ndarray,
+        new_shape: tuple[int, int],
+        color=(114, 114, 114),
+    ) -> tuple[ndarray, float, tuple[float, float]]:
+        h, w = image.shape[:2]
+        new_w, new_h = new_shape
+
+        ratio = min(new_w / w, new_h / h)
+        resized_w = int(round(w * ratio))
+        resized_h = int(round(h * ratio))
+
+        if (resized_w, resized_h) != (w, h):
+            interp = cv2.INTER_CUBIC if ratio > 1.0 else cv2.INTER_LINEAR
+            image = cv2.resize(image, (resized_w, resized_h), interpolation=interp)
+
+        dw = (new_w - resized_w) / 2.0
+        dh = (new_h - resized_h) / 2.0
+
+        left = int(round(dw - 0.1))
+        right = int(round(dw + 0.1))
+        top = int(round(dh - 0.1))
+        bottom = int(round(dh + 0.1))
+
+        padded = cv2.copyMakeBorder(
+            image, top, bottom, left, right,
+            borderType=cv2.BORDER_CONSTANT, value=color,
+        )
+        return padded, ratio, (dw, dh)
+
+    def _preprocess(
+        self, image: ndarray
+    ) -> tuple[np.ndarray, float, tuple[float, float], tuple[int, int]]:
+        orig_h, orig_w = image.shape[:2]
+        img, ratio, pad = self._letterbox(
+            image, (self.input_width, self.input_height)
+        )
+        # Fused scale(1/255) + BGR->RGB swap + HWC->NCHW + contiguous float32 in
+        # one optimized OpenCV call (bit-identical to the cvtColor + astype/255 +
+        # transpose chain, but ~half the preprocess time).
+        blob = cv2.dnn.blobFromImage(img, scalefactor=1.0 / 255.0, swapRB=True)
+        return blob, ratio, pad, (orig_w, orig_h)
+
+    @staticmethod
+    def _clip_boxes(boxes: np.ndarray, image_size: tuple[int, int]) -> np.ndarray:
+        w, h = image_size
+        boxes[:, 0] = np.clip(boxes[:, 0], 0, w - 1)
+        boxes[:, 1] = np.clip(boxes[:, 1], 0, h - 1)
+        boxes[:, 2] = np.clip(boxes[:, 2], 0, w - 1)
+        boxes[:, 3] = np.clip(boxes[:, 3], 0, h - 1)
+        return boxes
+
+    @staticmethod
+    def _box_area(b: BoundingBox) -> int:
+        return max(0, b.x2 - b.x1) * max(0, b.y2 - b.y1)
+
+    @staticmethod
+    def _box_fully_contains(outer: BoundingBox, inner: BoundingBox) -> bool:
+        """True when outer strictly contains inner (outer area must be larger)."""
+        if (outer.x1 > inner.x1 or outer.y1 > inner.y1
+                or outer.x2 < inner.x2 or outer.y2 < inner.y2):
+            return False
+        outer_area = max(0, outer.x2 - outer.x1) * max(0, outer.y2 - outer.y1)
+        inner_area = max(0, inner.x2 - inner.x1) * max(0, inner.y2 - inner.y1)
+        return outer_area > inner_area
+
+    def _remove_contained_boxes(self, boxes: list[BoundingBox]) -> list[BoundingBox]:
+        """Drop smaller boxes fully contained inside a larger kept box."""
+        if not boxes or not self.remove_contained_boxes:
+            return boxes
+
+        sorted_boxes = sorted(boxes, key=self._box_area, reverse=True)
+        kept: list[BoundingBox] = []
+        for b in sorted_boxes:
+            if any(self._box_fully_contains(k, b) for k in kept):
+                continue
+            kept.append(b)
+        return kept
+
+    def _finalize_boxes(
+        self,
+        boxes: list[BoundingBox],
+        image_size: tuple[int, int],
+    ) -> list[BoundingBox]:
+        """Expand boxes, then remove smaller boxes contained in larger ones."""
+
+        return self._remove_contained_boxes(boxes)
+
+    @staticmethod
+    def _xywh_to_xyxy(boxes: np.ndarray) -> np.ndarray:
+        out = np.empty_like(boxes)
+        out[:, 0] = boxes[:, 0] - boxes[:, 2] / 2.0
+        out[:, 1] = boxes[:, 1] - boxes[:, 3] / 2.0
+        out[:, 2] = boxes[:, 0] + boxes[:, 2] / 2.0
+        out[:, 3] = boxes[:, 1] + boxes[:, 3] / 2.0
+        return out
+
+    @staticmethod
+    def _hard_nms(
+        boxes: np.ndarray, scores: np.ndarray, iou_thresh: float
+    ) -> np.ndarray:
+        n = len(boxes)
+        if n == 0:
+            return np.array([], dtype=np.intp)
+        order = np.argsort(-scores)
+        keep: list[int] = []
+        while len(order) > 0:
+            i = int(order[0])
+            keep.append(i)
+            if len(order) == 1:
+                break
+            rest = order[1:]
+            xx1 = np.maximum(boxes[i, 0], boxes[rest, 0])
+            yy1 = np.maximum(boxes[i, 1], boxes[rest, 1])
+            xx2 = np.minimum(boxes[i, 2], boxes[rest, 2])
+            yy2 = np.minimum(boxes[i, 3], boxes[rest, 3])
+            inter = np.maximum(0.0, xx2 - xx1) * np.maximum(0.0, yy2 - yy1)
+            a_i = (max(0.0, boxes[i, 2] - boxes[i, 0]) *
+                   max(0.0, boxes[i, 3] - boxes[i, 1]))
+            a_r = (np.maximum(0.0, boxes[rest, 2] - boxes[rest, 0]) *
+                   np.maximum(0.0, boxes[rest, 3] - boxes[rest, 1]))
+            iou = inter / (a_i + a_r - inter + 1e-7)
+            order = rest[iou <= iou_thresh]
+        return np.array(keep, dtype=np.intp)
+
+    def _per_class_hard_nms(
+        self,
+        boxes: np.ndarray,
+        scores: np.ndarray,
+        cls_ids: np.ndarray,
+        iou_thresh: float,
+    ) -> np.ndarray:
+        if len(boxes) == 0:
+            return np.array([], dtype=np.intp)
+        all_keep: list[int] = []
+        for c in np.unique(cls_ids):
+            mask = cls_ids == c
+            indices = np.where(mask)[0]
+            keep = self._hard_nms(boxes[mask], scores[mask], iou_thresh)
+            all_keep.extend(indices[keep].tolist())
+        all_keep.sort()
+        return np.array(all_keep, dtype=np.intp)
+
+    def _soft_nms(
+        self,
+        boxes: np.ndarray,
+        scores: np.ndarray,
+        sigma: float = 0.5,
+        score_thresh: float = 0.01,
+    ) -> tuple[np.ndarray, np.ndarray]:
+        """Soft-NMS: Gaussian decay of overlapping scores instead of hard removal.
+        Returns (kept_original_indices, updated_scores). (Ported from carwash001.)"""
+        N = len(boxes)
+        if N == 0:
+            return np.array([], dtype=np.intp), np.array([], dtype=np.float32)
+        boxes = boxes.astype(np.float32, copy=True)
+        scores = scores.astype(np.float32, copy=True)
+        order = np.arange(N)
+        for i in range(N):
+            max_pos = i + int(np.argmax(scores[i:]))
+            boxes[[i, max_pos]] = boxes[[max_pos, i]]
+            scores[[i, max_pos]] = scores[[max_pos, i]]
+            order[[i, max_pos]] = order[[max_pos, i]]
+            if i + 1 >= N:
+                break
+            xx1 = np.maximum(boxes[i, 0], boxes[i + 1:, 0])
+            yy1 = np.maximum(boxes[i, 1], boxes[i + 1:, 1])
+            xx2 = np.minimum(boxes[i, 2], boxes[i + 1:, 2])
+            yy2 = np.minimum(boxes[i, 3], boxes[i + 1:, 3])
+            inter = np.maximum(0.0, xx2 - xx1) * np.maximum(0.0, yy2 - yy1)
+            area_i = max(0.0, float(
+                (boxes[i, 2] - boxes[i, 0]) * (boxes[i, 3] - boxes[i, 1])))
+            areas_j = (np.maximum(0.0, boxes[i + 1:, 2] - boxes[i + 1:, 0])
+                       * np.maximum(0.0, boxes[i + 1:, 3] - boxes[i + 1:, 1]))
+            iou = inter / (area_i + areas_j - inter + 1e-7)
+            scores[i + 1:] *= np.exp(-(iou ** 2) / sigma)
+        mask = scores > score_thresh
+        return order[mask], scores[mask]
+
+    def _per_class_soft_nms(
+        self,
+        boxes: np.ndarray,
+        scores: np.ndarray,
+        cls_ids: np.ndarray,
+        sigma: float = 0.5,
+        score_thresh: float = 0.01,
+    ) -> tuple[np.ndarray, np.ndarray]:
+        """Soft-NMS applied independently per class. Returns (kept_idx, updated_scores)."""
+        if len(boxes) == 0:
+            return np.array([], dtype=np.intp), np.array([], dtype=np.float32)
+        all_keep: list[int] = []
+        all_scores: list[float] = []
+        for c in np.unique(cls_ids):
+            indices = np.where(cls_ids == c)[0]
+            keep, updated = self._soft_nms(boxes[indices], scores[indices],
+                                           sigma, score_thresh)
+            for k, s in zip(keep, updated):
+                all_keep.append(int(indices[k])); all_scores.append(float(s))
+        if not all_keep:
+            return np.array([], dtype=np.intp), np.array([], dtype=np.float32)
+        return np.array(all_keep, dtype=np.intp), np.array(all_scores, dtype=np.float32)
+
+    def _cross_class_dedup_op(
+        self,
+        boxes: np.ndarray,
+        scores: np.ndarray,
+        cls_ids: np.ndarray,
+        iou_thresh: float,
+    ) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+        """Remove near-duplicate boxes across classes.
+
+        Order candidates by (score - per_class_threshold) margin, then by area;
+        keep the highest, suppress every other box with IoU > iou_thresh.
+        With a single road_sign class this is effectively a no-op, but the
+        method is kept so the pipeline stays compatible with the multi-class
+        miner template.
+        """
+        n = len(boxes)
+        if n <= 1:
+            return boxes, scores, cls_ids
+        boxes = np.asarray(boxes, dtype=np.float32)
+        scores = np.asarray(scores, dtype=np.float32)
+        cls_ids = np.asarray(cls_ids, dtype=np.int32)
+        areas = (np.maximum(0.0, boxes[:, 2] - boxes[:, 0]) *
+                 np.maximum(0.0, boxes[:, 3] - boxes[:, 1]))
+        margins = scores - self._conf_thres_array[cls_ids]
+        order = np.lexsort((-areas, -margins))
+        suppressed = np.zeros(n, dtype=bool)
+        keep: list[int] = []
+        for i in order:
+            if suppressed[i]:
+                continue
+            keep.append(int(i))
+            bi = boxes[i]
+            xx1 = np.maximum(bi[0], boxes[:, 0])
+            yy1 = np.maximum(bi[1], boxes[:, 1])
+            xx2 = np.minimum(bi[2], boxes[:, 2])
+            yy2 = np.minimum(bi[3], boxes[:, 3])
+            inter = np.maximum(0.0, xx2 - xx1) * np.maximum(0.0, yy2 - yy1)
+            a_i = max(1e-7, float((bi[2] - bi[0]) * (bi[3] - bi[1])))
+            iou = inter / (a_i + areas - inter + 1e-7)
+            dup = iou > iou_thresh
+            dup[i] = False
+            suppressed |= dup
+        keep_idx = np.array(keep, dtype=np.intp)
+        return boxes[keep_idx], scores[keep_idx], cls_ids[keep_idx]
+
+    @staticmethod
+    def _max_score_per_cluster(
+        post_boxes: np.ndarray,
+        post_cls: np.ndarray,
+        full_boxes: np.ndarray,
+        full_scores: np.ndarray,
+        full_cls: np.ndarray,
+        iou_thresh: float,
+    ) -> np.ndarray:
+        """For each kept (post-NMS) box, return the max score over the FULL
+        candidate set among same-class boxes with IoU >= iou_thresh.
+
+        Used after horizontal-flip TTA: a high-confidence flipped detection
+        can raise the score of the corresponding original detection.
+        """
+        n = len(post_boxes)
+        if n == 0:
+            return np.empty(0, dtype=np.float32)
+        full_areas = (np.maximum(0.0, full_boxes[:, 2] - full_boxes[:, 0]) *
+                      np.maximum(0.0, full_boxes[:, 3] - full_boxes[:, 1]))
+        out = np.empty(n, dtype=np.float32)
+        for i in range(n):
+            bi = post_boxes[i]
+            xx1 = np.maximum(bi[0], full_boxes[:, 0])
+            yy1 = np.maximum(bi[1], full_boxes[:, 1])
+            xx2 = np.minimum(bi[2], full_boxes[:, 2])
+            yy2 = np.minimum(bi[3], full_boxes[:, 3])
+            inter = np.maximum(0.0, xx2 - xx1) * np.maximum(0.0, yy2 - yy1)
+            a_i = max(0.0, float((bi[2] - bi[0]) * (bi[3] - bi[1])))
+            iou = inter / (a_i + full_areas - inter + 1e-7)
+            cluster = (iou >= iou_thresh) & (full_cls == post_cls[i])
+            out[i] = float(np.max(full_scores[cluster])) if np.any(cluster) else 0.0
+        return out
+
+    def _conf_filter_mask(
+        self, scores: np.ndarray, cls_ids: np.ndarray
+    ) -> np.ndarray:
+        """Boolean keep-mask: score >= per-class threshold, with a per-class
+        rescue -- if a class has zero boxes passing, admit its top-1 candidate
+        when its score >= (per-class threshold - per-class bonus)."""
+        if len(scores) == 0:
+            return np.zeros(0, dtype=bool)
+        thr = self._conf_thres_array[cls_ids]
+        keep = scores >= thr
+        for c in np.unique(cls_ids):
+            b = float(self._bonus_array[c])
+            if b <= 0.0:
+                continue
+            cm = cls_ids == c
+            if keep[cm].any():
+                continue
+            idx = np.where(cm)[0]
+            top = int(idx[int(np.argmax(scores[idx]))])
+            if scores[top] >= self._conf_thres_array[c] - b:
+                keep[top] = True
+        return keep
+
+    def _filter_sane_boxes(
+        self,
+        boxes: np.ndarray,
+        scores: np.ndarray,
+        cls_ids: np.ndarray,
+        orig_size: tuple[int, int],
+    ) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+        """Drop tiny / degenerate / image-spanning / extreme-AR boxes (FP)."""
+        if len(boxes) == 0:
+            return boxes, scores, cls_ids
+        orig_w, orig_h = orig_size
+        image_area = float(orig_w * orig_h)
+        keep = []
+        for i, box in enumerate(boxes):
+            x1, y1, x2, y2 = box.tolist()
+            bw = x2 - x1
+            bh = y2 - y1
+            if bw <= 0 or bh <= 0:
+                continue
+            if bw < self.min_side or bh < self.min_side:
+                continue
+            area = bw * bh
+            if area < self.min_box_area:
+                continue
+            if area > 0.95 * image_area:
+                continue
+            ar = max(bw / max(bh, 1e-6), bh / max(bw, 1e-6))
+            if ar > self.max_aspect_ratio:
+                continue
+            keep.append(i)
+        if not keep:
+            return (
+                np.empty((0, 4), dtype=np.float32),
+                np.empty((0,), dtype=np.float32),
+                np.empty((0,), dtype=np.int32),
+            )
+        k = np.array(keep, dtype=np.intp)
+        return boxes[k], scores[k], cls_ids[k]
+
+    def _per_view_pipeline(
+        self,
+        boxes: np.ndarray,
+        scores: np.ndarray,
+        cls_ids: np.ndarray,
+    ) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+        """Per-view post-processing pipeline: per-class NMS -> cap -> cross-class dedup."""
+        if len(boxes) > 1:
+            if self.use_soft_nms:
+                keep, new_scores = self._per_class_soft_nms(
+                    boxes, scores, cls_ids,
+                    self.soft_nms_sigma, self.soft_nms_score_thresh)
+                boxes, scores, cls_ids = boxes[keep], new_scores, cls_ids[keep]
+            else:
+                keep = self._per_class_hard_nms(boxes, scores, cls_ids, self.iou_thres)
+                boxes, scores, cls_ids = boxes[keep], scores[keep], cls_ids[keep]
+        if len(scores) > self.max_det:
+            top = np.argsort(-scores)[: self.max_det]
+            boxes, scores, cls_ids = boxes[top], scores[top], cls_ids[top]
+        if len(boxes) > 1:
+            boxes, scores, cls_ids = self._cross_class_dedup_op(
+                boxes, scores, cls_ids, self.cross_iou_thresh
+            )
+        return boxes, scores, cls_ids
+
+    @staticmethod
+    def _build_results(
+        boxes: np.ndarray, scores: np.ndarray, cls_ids: np.ndarray
+    ) -> list[BoundingBox]:
+        results: list[BoundingBox] = []
+        for box, conf, cls_id in zip(boxes, scores, cls_ids):
+            x1, y1, x2, y2 = box.tolist()
+            if x2 <= x1 or y2 <= y1:
+                continue
+            results.append(
+                BoundingBox(
+                    x1=int(math.floor(x1)),
+                    y1=int(math.floor(y1)),
+                    x2=int(math.ceil(x2)),
+                    y2=int(math.ceil(y2)),
+                    cls_id=int(cls_id),
+                    conf=float(conf),
+                )
+            )
+        return results
+
+    def _decode_final_dets(
+        self,
+        preds: np.ndarray,
+        ratio: float,
+        pad: tuple[float, float],
+        orig_size: tuple[int, int],
+    ) -> list[BoundingBox]:
+
+        # if self.use_fast_postprocess:
+        #     return self._decode_final_dets_fast(preds, ratio, pad, orig_size)
+
+        """Final-detection output path: rows shaped [x1, y1, x2, y2, conf, cls_id]."""
+        if preds.ndim == 3 and preds.shape[0] == 1:
+            preds = preds[0]
+        if preds.ndim != 2 or preds.shape[1] < 6:
+            raise ValueError(f"Unexpected ONNX final-det output shape: {preds.shape}")
+
+        boxes = preds[:, :4].astype(np.float32)
+        scores = preds[:, 4].astype(np.float32)
+        cls_ids = preds[:, 5].astype(np.int32)
+        cls_ids = self.cls_remap[cls_ids]
+        
+        keep = self._conf_filter_mask(scores, cls_ids)
+        boxes = boxes[keep]
+        scores = scores[keep]
+        cls_ids = cls_ids[keep]
+        if len(boxes) == 0:
+            return []
+
+        pad_w, pad_h = pad
+        boxes[:, [0, 2]] -= pad_w
+        boxes[:, [1, 3]] -= pad_h
+        boxes /= ratio
+        boxes = self._clip_boxes(boxes, orig_size)
+
+        boxes, scores, cls_ids = self._filter_sane_boxes(
+            boxes, scores, cls_ids, orig_size
+        )
+        if len(boxes) == 0:
+            return []
+        boxes, scores, cls_ids = self._per_view_pipeline(boxes, scores, cls_ids)
+        return self._build_results(boxes, scores, cls_ids)
+
+    def _decode_raw_yolo(
+        self,
+        preds: np.ndarray,
+        ratio: float,
+        pad: tuple[float, float],
+        orig_size: tuple[int, int],
+    ) -> list[BoundingBox]:
+        """Fallback raw-YOLO output path: per-anchor class logits."""
+        if preds.ndim != 3 or preds.shape[0] != 1:
+            raise ValueError(f"Unexpected raw ONNX output shape: {preds.shape}")
+        preds = preds[0]
+        if preds.shape[0] <= 16 and preds.shape[1] > preds.shape[0]:
+            preds = preds.T
+        if preds.ndim != 2 or preds.shape[1] < 5:
+            raise ValueError(f"Unexpected raw output shape: {preds.shape}")
+
+        boxes_xywh = preds[:, :4].astype(np.float32)
+        cls_part = preds[:, 4:].astype(np.float32)
+        if cls_part.shape[1] == 1:
+            scores = cls_part[:, 0]
+            cls_ids = np.zeros(len(scores), dtype=np.int32)
+        else:
+            cls_ids = np.argmax(cls_part, axis=1).astype(np.int32)
+            scores = cls_part[np.arange(len(cls_part)), cls_ids]
+        cls_ids = self.cls_remap[cls_ids]
+
+        keep = self._conf_filter_mask(scores, cls_ids)
+        boxes_xywh = boxes_xywh[keep]
+        scores = scores[keep]
+        cls_ids = cls_ids[keep]
+        if len(boxes_xywh) == 0:
+            return []
+        boxes = self._xywh_to_xyxy(boxes_xywh)
+
+        pad_w, pad_h = pad
+        boxes[:, [0, 2]] -= pad_w
+        boxes[:, [1, 3]] -= pad_h
+        boxes /= ratio
+        boxes = self._clip_boxes(boxes, orig_size)
+
+        boxes, scores, cls_ids = self._filter_sane_boxes(
+            boxes, scores, cls_ids, orig_size
+        )
+        if len(boxes) == 0:
+            return []
+
+        boxes, scores, cls_ids = self._per_view_pipeline(boxes, scores, cls_ids)
+        return self._build_results(boxes, scores, cls_ids)
+
+    def _postprocess(
+        self,
+        output: np.ndarray,
+        ratio: float,
+        pad: tuple[float, float],
+        orig_size: tuple[int, int],
+    ) -> list[BoundingBox]:
+        if output.ndim == 2 and output.shape[1] >= 6:
+            return self._decode_final_dets(output, ratio, pad, orig_size)
+        if output.ndim == 3 and output.shape[0] == 1 and output.shape[2] == 6:
+            return self._decode_final_dets(output, ratio, pad, orig_size)
+        return self._decode_raw_yolo(output, ratio, pad, orig_size)
+
+    @staticmethod
+    def _iou_box(a: BoundingBox, b: BoundingBox) -> float:
+        x1 = max(a.x1, b.x1)
+        y1 = max(a.y1, b.y1)
+        x2 = min(a.x2, b.x2)
+        y2 = min(a.y2, b.y2)
+        inter = max(0, x2 - x1) * max(0, y2 - y1)
+        if inter <= 0:
+            return 0.0
+        area_a = max(0, a.x2 - a.x1) * max(0, a.y2 - a.y1)
+        area_b = max(0, b.x2 - b.x1) * max(0, b.y2 - b.y1)
+        union = area_a + area_b - inter
+        return float(inter / union) if union > 0 else 0.0
+
+    def _selective_merge(
+        self,
+        primary: list[BoundingBox],
+        secondary_boxes: list[BoundingBox],
+    ) -> list[BoundingBox]:
+        """Keep high-conf secondary boxes that do not overlap primary."""
+        if not secondary_boxes:
+            return []
+        merged: list[BoundingBox] = []
+        for a in secondary_boxes:
+            if a.conf < self.secondary_conf:
+                continue
+            if primary:
+                max_iou = max(self._iou_box(a, p) for p in primary)
+                if max_iou >= self.merge_iou:
+                    continue
+            merged.append(a)
+        return merged
+
+    def _harmonize_overlapping_heads(
+        self,
+        primary: list[BoundingBox],
+        secondary: list[BoundingBox],
+    ) -> list[BoundingBox]:
+        """Where primary and secondary overlap, keep primary geometry and partner score."""
+        if not primary or not secondary:
+            return primary
+
+        out: list[BoundingBox] = []
+        for p in primary:
+            partner_conf = p.conf
+            best_iou = 0.0
+            for s in secondary:
+                if s.cls_id != p.cls_id:
+                    continue
+                iou = self._iou_box(p, s)
+                if iou >= self.merge_iou and iou > best_iou:
+                    best_iou = iou
+                    partner_conf = s.conf if s.conf >= 0.90 else p.conf
+            out.append(
+                BoundingBox(
+                    x1=p.x1,
+                    y1=p.y1,
+                    x2=p.x2,
+                    y2=p.y2,
+                    cls_id=p.cls_id,
+                    conf=float(partner_conf),
+                )
+            )
+        return out
+
+    def _merge_dual_head_boxes(
+        self,
+        primary_boxes: list[BoundingBox],
+        secondary_boxes: list[BoundingBox],
+        orig_size: tuple[int, int],
+    ) -> list[BoundingBox]:
+        """Preserve primary boxes; append alex fill after extra-only dedupe.
+
+        `merge_iou` only gates cross-head exclusion in `_selective_merge`.
+        `dual_head_dedup_iou` only dedupes alex extras (never re-NMS primary).
+        Primary geometry/conf are left unchanged (no harmonize).
+        """
+        extra = self._selective_merge(primary_boxes, secondary_boxes)
+        if not extra:
+            return primary_boxes
+
+        deduped_extra = self._merge_views(
+            [extra], orig_size, iou_thresh=self.dual_head_dedup_iou
+        )
+        return primary_boxes + deduped_extra
+
+    def _merge_model_outputs(
+        self,
+        primary_out: np.ndarray,
+        secondary_out: np.ndarray,
+        ratio: float,
+        pad: tuple[float, float],
+        orig_size: tuple[int, int],
+    ) -> list[BoundingBox]:
+        """Primary detections plus optional non-overlapping secondary boxes."""
+        primary_boxes = self._postprocess(primary_out, ratio, pad, orig_size)
+        if not self.use_secondary_merge:
+            return primary_boxes
+        secondary_boxes = self._postprocess(secondary_out, ratio, pad, orig_size)
+        return self._merge_dual_head_boxes(
+            primary_boxes, secondary_boxes, orig_size
+        )
+
+    def _predict_single(self, image: np.ndarray) -> list[BoundingBox]:
+        if image is None:
+            raise ValueError("Input image is None")
+        if not isinstance(image, np.ndarray):
+            raise TypeError(f"Input is not numpy array: {type(image)}")
+        if image.ndim != 3:
+            raise ValueError(f"Expected HWC image, got shape={image.shape}")
+        if image.shape[0] <= 0 or image.shape[1] <= 0:
+            raise ValueError(f"Invalid image shape={image.shape}")
+        if image.shape[2] != 3:
+            raise ValueError(f"Expected 3 channels, got shape={image.shape}")
+        if image.dtype != np.uint8:
+            image = image.astype(np.uint8)
+
+        input_tensor, ratio, pad, orig_size = self._preprocess(image)
+        expected = (1, 3, self.input_height, self.input_width)
+        if input_tensor.shape != expected:
+            raise ValueError(
+                f"Bad input tensor shape={input_tensor.shape}, expected={expected}"
+            )
+
+        outputs = self.session.run(self.output_names, {self.input_name: input_tensor})
+        if len(outputs) < 2:
+            return self._postprocess(outputs[0], ratio, pad, orig_size)
+
+        out0, out1 = outputs[0], outputs[1]
+        # Drop batch dim when present ([1, N, 6] -> [N, 6]).
+        if isinstance(out0, np.ndarray) and out0.ndim == 3 and out0.shape[0] == 1:
+            out0 = out0[0]
+        if isinstance(out1, np.ndarray) and out1.ndim == 3 and out1.shape[0] == 1:
+            out1 = out1[0]
+        return self._merge_model_outputs(out0, out1, ratio, pad, orig_size)
+
+    def _predict_tta(self, image: np.ndarray) -> list[BoundingBox]:
+        """Horizontal-flip TTA.
+
+        Strategy:
+          1. Predict on original and on flipped image.
+          2. Map flipped boxes back to original coordinates.
+          3. Per-class hard NMS on the union.
+          4. For each kept box, compute the max same-class score across the
+             FULL union (not just the post-NMS subset) -- this lets a high-
+             confidence flipped detection raise a borderline original one.
+          5. Cross-class dedup to suppress same-physical-object multi-class.
+        """
+        boxes_orig = self._predict_single(image)
+        flipped = cv2.flip(image, 1)
+        boxes_flip = self._predict_single(flipped)
+        w = image.shape[1]
+        boxes_flip = [
+            BoundingBox(
+                x1=w - b.x2, y1=b.y1, x2=w - b.x1, y2=b.y2,
+                cls_id=b.cls_id, conf=b.conf,
+            )
+            for b in boxes_flip
+        ]
+        all_boxes = boxes_orig + boxes_flip
+        if not all_boxes:
+            return []
+
+        coords = np.array(
+            [[b.x1, b.y1, b.x2, b.y2] for b in all_boxes], dtype=np.float32
+        )
+        scores = np.array([b.conf for b in all_boxes], dtype=np.float32)
+        cls_ids = np.array([b.cls_id for b in all_boxes], dtype=np.int32)
+
+        hard_keep = self._per_class_hard_nms(coords, scores, cls_ids, self.iou_thres)
+        if len(hard_keep) == 0:
+            return []
+        if len(hard_keep) > self.max_det:
+            top = np.argsort(-scores[hard_keep])[: self.max_det]
+            hard_keep = hard_keep[top]
+
+        boosted = self._max_score_per_cluster(
+            coords[hard_keep], cls_ids[hard_keep],
+            coords, scores, cls_ids, self.iou_thres,
+        )
+
+        kept_coords = coords[hard_keep]
+        kept_cls = cls_ids[hard_keep]
+        if len(kept_coords) > 1:
+            kept_coords, boosted, kept_cls = self._cross_class_dedup_op(
+                kept_coords, boosted, kept_cls, self.cross_iou_thresh
+            )
+
+        return [
+            BoundingBox(
+                x1=int(math.floor(kept_coords[j, 0])),
+                y1=int(math.floor(kept_coords[j, 1])),
+                x2=int(math.ceil(kept_coords[j, 2])),
+                y2=int(math.ceil(kept_coords[j, 3])),
+                cls_id=int(kept_cls[j]),
+                conf=float(boosted[j]),
+            )
+            for j in range(len(kept_coords))
+        ]
+
+    def _predict_tiles(self, image: np.ndarray) -> list[BoundingBox]:
+        """Tile-based TTA for high-resolution images.
+
+        Splits the source image into two overlapping horizontal tiles, runs
+        single-pass inference on each at native scale, and translates boxes
+        back to the global frame. Useful when source width >> model input
+        width because letterboxing otherwise discards effective resolution
+        that small / distant signs depend on.
+
+        Returns an empty list if the image isn't wide enough to benefit; the
+        caller falls back to the regular pipeline in that case.
+        """
+        h, w = image.shape[:2]
+        if w < int(self.input_width * self.tile_trigger_ratio):
+            return []
+
+        overlap = int(w * self.tile_overlap_ratio)
+        mid = w // 2
+        x_left_end = min(w, mid + overlap // 2)
+        x_right_start = max(0, mid - overlap // 2)
+
+        left = image[:, :x_left_end]
+        right = image[:, x_right_start:]
+
+        boxes_left = self._predict_single(left)
+        boxes_right = self._predict_single(right)
+
+        shifted_right = [
+            BoundingBox(
+                x1=b.x1 + x_right_start,
+                y1=b.y1,
+                x2=b.x2 + x_right_start,
+                y2=b.y2,
+                cls_id=b.cls_id,
+                conf=b.conf,
+            )
+            for b in boxes_right
+        ]
+        return boxes_left + shifted_right
+
+    def _merge_views(
+        self,
+        view_boxes: list[list[BoundingBox]],
+        image_size: tuple[int, int],
+        iou_thresh: float | None = None,
+    ) -> list[BoundingBox]:
+        """Merge boxes from multiple views (single / hflip / tiles).
+
+        Same logic as `_predict_tta`'s tail: per-class hard NMS to dedupe,
+        then for each kept box take the max same-class score across the full
+        candidate union — a high-confidence detection in any view boosts
+        borderline matches in others.
+        """
+        nms_iou = self.iou_thres if iou_thresh is None else float(iou_thresh)
+        all_boxes: list[BoundingBox] = []
+        for vb in view_boxes:
+            all_boxes.extend(vb)
+        if not all_boxes:
+            return []
+
+        coords = np.array(
+            [[b.x1, b.y1, b.x2, b.y2] for b in all_boxes], dtype=np.float32
+        )
+        scores = np.array([b.conf for b in all_boxes], dtype=np.float32)
+        cls_ids = np.array([b.cls_id for b in all_boxes], dtype=np.int32)
+
+        coords = self._clip_boxes(coords, image_size)
+
+        hard_keep = self._per_class_hard_nms(coords, scores, cls_ids, nms_iou)
+        if len(hard_keep) == 0:
+            return []
+        if len(hard_keep) > self.max_det:
+            top = np.argsort(-scores[hard_keep])[: self.max_det]
+            hard_keep = hard_keep[top]
+
+        boosted = self._max_score_per_cluster(
+            coords[hard_keep], cls_ids[hard_keep],
+            coords, scores, cls_ids, nms_iou,
+        )
+
+        kept_coords = coords[hard_keep]
+        kept_cls = cls_ids[hard_keep]
+        if len(kept_coords) > 1:
+            kept_coords, boosted, kept_cls = self._cross_class_dedup_op(
+                kept_coords, boosted, kept_cls, self.cross_iou_thresh
+            )
+
+        return [
+            BoundingBox(
+                x1=int(math.floor(kept_coords[j, 0])),
+                y1=int(math.floor(kept_coords[j, 1])),
+                x2=int(math.ceil(kept_coords[j, 2])),
+                y2=int(math.ceil(kept_coords[j, 3])),
+                cls_id=int(kept_cls[j]),
+                conf=float(boosted[j]),
+            )
+            for j in range(len(kept_coords))
+        ]
+
+    def _predict_full(self, image: np.ndarray) -> list[BoundingBox]:
+        """Top-level per-frame prediction with all enabled augmentations.
+
+        - `use_tta=True`: original + horizontal flip
+        - `use_tile_tta=True` AND image wide enough: two overlapping tiles
+        All views are merged via per-class NMS + cluster-max score boost.
+        """
+        h, w = image.shape[:2]
+        image_size = (w, h)
+
+        if not self.use_tta and not self.use_tile_tta:
+            return self._finalize_boxes(self._predict_single(image), image_size)
+
+        views: list[list[BoundingBox]] = []
+        if self.use_tta:
+            views.append(self._predict_single(image))
+            flipped = cv2.flip(image, 1)
+            flipped_dets = self._predict_single(flipped)
+            views.append([
+                BoundingBox(
+                    x1=w - b.x2, y1=b.y1, x2=w - b.x1, y2=b.y2,
+                    cls_id=b.cls_id, conf=b.conf,
+                )
+                for b in flipped_dets
+            ])
+        else:
+            views.append(self._predict_single(image))
+
+        if self.use_tile_tta:
+            tile_boxes = self._predict_tiles(image)
+            if tile_boxes:
+                views.append(tile_boxes)
+
+        return self._finalize_boxes(self._merge_views(views, image_size), image_size)
+
+    def predict_batch(
+        self,
+        batch_images: list[ndarray],
+        offset: int,
+        n_keypoints: int,
+    ) -> list[TVFrameResult]:
+        results: list[TVFrameResult] = []
+        for frame_number_in_batch, image in enumerate(batch_images):
+            try:
+                boxes = self._predict_full(image)
+            except Exception as e:
+                print(
+                    f"⚠️ Inference failed for frame "
+                    f"{offset + frame_number_in_batch}: {e}"
+                )
+                boxes = []
+            results.append(
+                TVFrameResult(
+                    frame_id=offset + frame_number_in_batch,
+                    boxes=boxes,
+                    keypoints=[(0, 0) for _ in range(max(0, int(n_keypoints)))],
+                )
+            )
+        return results