Merge 513bede475 into 9ab78f496c

* Adds support for YOLO v9 models running on Google Coral

* fix format by using ruff instead of black

* Remove comment

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>

* Remove log message

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>

* revert to hard-coded settings. use ModelTypeEnum directly

* remove log messages. detect invalid output tensor count

* remove 1-tensor processing. add pre_process() function

* check for valid model type

* fix formatting

* remove unused import and variable

* remove tip that indicates other YOLO models may be supported.

---------

Co-authored-by: Nicolas Mowen <nickmowen213@gmail.com>

.github/workflows/ci.yml

@@ -136,7 +136,6 @@ jobs:
             *.cache-to=type=registry,ref=${{ steps.setup.outputs.cache-name }}-tensorrt,mode=max
       - name: AMD/ROCm general build
         env:
-          AMDGPU: gfx
           HSA_OVERRIDE: 0
         uses: docker/bake-action@v6
         with:

docker/rocm/Dockerfile

@@ -3,7 +3,6 @@
 # https://askubuntu.com/questions/972516/debian-frontend-environment-variable
 ARG DEBIAN_FRONTEND=noninteractive
 ARG ROCM=1
-ARG AMDGPU=gfx900
 ARG HSA_OVERRIDE_GFX_VERSION
 ARG HSA_OVERRIDE
 
@@ -11,7 +10,6 @@ ARG HSA_OVERRIDE
 FROM wget AS rocm
 
 ARG ROCM
-ARG AMDGPU
 
 RUN apt update -qq && \
     apt install -y wget gpg && \
@@ -36,7 +34,10 @@ FROM deps AS deps-prelim
 COPY docker/rocm/debian-backports.sources /etc/apt/sources.list.d/debian-backports.sources
 RUN apt-get update && \
     apt-get install -y libnuma1 && \
-    apt-get install -qq -y -t bookworm-backports mesa-va-drivers mesa-vulkan-drivers
+    apt-get install -qq -y -t bookworm-backports mesa-va-drivers mesa-vulkan-drivers && \
+    # Install C++ standard library headers for HIPRTC kernel compilation fallback
+    apt-get install -qq -y libstdc++-12-dev && \
+    rm -rf /var/lib/apt/lists/*
 
 WORKDIR /opt/frigate
 COPY --from=rootfs / /
@@ -54,12 +55,14 @@ RUN pip3 uninstall -y onnxruntime \
 FROM scratch AS rocm-dist
 
 ARG ROCM
-ARG AMDGPU
 
 COPY --from=rocm /opt/rocm-$ROCM/bin/rocminfo /opt/rocm-$ROCM/bin/migraphx-driver /opt/rocm-$ROCM/bin/
-COPY --from=rocm /opt/rocm-$ROCM/share/miopen/db/*$AMDGPU* /opt/rocm-$ROCM/share/miopen/db/
-COPY --from=rocm /opt/rocm-$ROCM/share/miopen/db/*gfx908* /opt/rocm-$ROCM/share/miopen/db/
-COPY --from=rocm /opt/rocm-$ROCM/lib/rocblas/library/*$AMDGPU* /opt/rocm-$ROCM/lib/rocblas/library/
+# Copy MIOpen database files for gfx10xx and gfx11xx only (RDNA2/RDNA3)
+COPY --from=rocm /opt/rocm-$ROCM/share/miopen/db/*gfx10* /opt/rocm-$ROCM/share/miopen/db/
+COPY --from=rocm /opt/rocm-$ROCM/share/miopen/db/*gfx11* /opt/rocm-$ROCM/share/miopen/db/
+# Copy rocBLAS library files for gfx10xx and gfx11xx only
+COPY --from=rocm /opt/rocm-$ROCM/lib/rocblas/library/*gfx10* /opt/rocm-$ROCM/lib/rocblas/library/
+COPY --from=rocm /opt/rocm-$ROCM/lib/rocblas/library/*gfx11* /opt/rocm-$ROCM/lib/rocblas/library/
 COPY --from=rocm /opt/rocm-dist/ /
 
 #######################################################################

docker/rocm/rocm.hcl

@@ -1,6 +1,3 @@
-variable "AMDGPU" {
-  default = "gfx900"
-}
 variable "ROCM" {
   default = "7.1.1"
 }
@@ -38,7 +35,6 @@ target rocm {
   }
   platforms = ["linux/amd64"]
   args = {
-    AMDGPU = AMDGPU,
     ROCM = ROCM,
     HSA_OVERRIDE_GFX_VERSION = HSA_OVERRIDE_GFX_VERSION,
     HSA_OVERRIDE = HSA_OVERRIDE

docker/rocm/rocm.mk

@@ -1,53 +1,15 @@
 BOARDS += rocm
 
-# AMD/ROCm is chunky so we build couple of smaller images for specific chipsets
-ROCM_CHIPSETS:=gfx900:9.0.0 gfx1030:10.3.0 gfx1100:11.0.0
-
 local-rocm: version
-	$(foreach chipset,$(ROCM_CHIPSETS), \
-		AMDGPU=$(word 1,$(subst :, ,$(chipset))) \
-		HSA_OVERRIDE_GFX_VERSION=$(word 2,$(subst :, ,$(chipset))) \
-		HSA_OVERRIDE=1 \
-		docker buildx bake --file=docker/rocm/rocm.hcl rocm \
-			--set rocm.tags=frigate:latest-rocm-$(word 1,$(subst :, ,$(chipset))) \
-			--load \
-	&&) true
-	
-	unset HSA_OVERRIDE_GFX_VERSION && \
-	HSA_OVERRIDE=0 \
-	AMDGPU=gfx \
 	docker buildx bake --file=docker/rocm/rocm.hcl rocm \
 		--set rocm.tags=frigate:latest-rocm \
 		--load
 
 build-rocm: version
-	$(foreach chipset,$(ROCM_CHIPSETS), \
-		AMDGPU=$(word 1,$(subst :, ,$(chipset))) \
-		HSA_OVERRIDE_GFX_VERSION=$(word 2,$(subst :, ,$(chipset))) \
-		HSA_OVERRIDE=1 \
-		docker buildx bake --file=docker/rocm/rocm.hcl rocm \
-			--set rocm.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-rocm-$(chipset) \
-	&&) true
-
-	unset HSA_OVERRIDE_GFX_VERSION && \
-	HSA_OVERRIDE=0 \
-	AMDGPU=gfx \
 	docker buildx bake --file=docker/rocm/rocm.hcl rocm \
 		--set rocm.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-rocm
 
 push-rocm: build-rocm
-	$(foreach chipset,$(ROCM_CHIPSETS), \
-		AMDGPU=$(word 1,$(subst :, ,$(chipset))) \
-		HSA_OVERRIDE_GFX_VERSION=$(word 2,$(subst :, ,$(chipset))) \
-		HSA_OVERRIDE=1 \
-		docker buildx bake --file=docker/rocm/rocm.hcl rocm \
-			--set rocm.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-rocm-$(chipset) \
-			--push \
-	&&) true
-
-	unset HSA_OVERRIDE_GFX_VERSION && \
-	HSA_OVERRIDE=0 \
-	AMDGPU=gfx \
 	docker buildx bake --file=docker/rocm/rocm.hcl rocm \
 		--set rocm.tags=$(IMAGE_REPO):${GITHUB_REF_NAME}-$(COMMIT_HASH)-rocm \
 		--push

docs/docs/configuration/object_detectors.md

@@ -13,7 +13,7 @@ Frigate supports multiple different detectors that work on different types of ha
 
 **Most Hardware**
 
-- [Coral EdgeTPU](#edge-tpu-detector): The Google Coral EdgeTPU is available in USB and m.2 format allowing for a wide range of compatibility with devices.
+- [Coral EdgeTPU](#edge-tpu-detector): The Google Coral EdgeTPU is available in USB, Mini PCIe, and m.2 formats allowing for a wide range of compatibility with devices.
 - [Hailo](#hailo-8): The Hailo8 and Hailo8L AI Acceleration module is available in m.2 format with a HAT for RPi devices, offering a wide range of compatibility with devices.
 - <CommunityBadge /> [MemryX](#memryx-mx3): The MX3 Acceleration module is available in m.2 format, offering broad compatibility across various platforms.
 - <CommunityBadge /> [DeGirum](#degirum): Service for using hardware devices in the cloud or locally. Hardware and models provided on the cloud on [their website](https://hub.degirum.com).
@@ -69,12 +69,10 @@ Frigate provides the following builtin detector types: `cpu`, `edgetpu`, `hailo8
 
 ## Edge TPU Detector
 
-The Edge TPU detector type runs a TensorFlow Lite model utilizing the Google Coral delegate for hardware acceleration. To configure an Edge TPU detector, set the `"type"` attribute to `"edgetpu"`.
+The Edge TPU detector type runs TensorFlow Lite models utilizing the Google Coral delegate for hardware acceleration. To configure an Edge TPU detector, set the `"type"` attribute to `"edgetpu"`.
 
 The Edge TPU device can be specified using the `"device"` attribute according to the [Documentation for the TensorFlow Lite Python API](https://coral.ai/docs/edgetpu/multiple-edgetpu/#using-the-tensorflow-lite-python-api). If not set, the delegate will use the first device it finds.
 
-A TensorFlow Lite model is provided in the container at `/edgetpu_model.tflite` and is used by this detector type by default. To provide your own model, bind mount the file into the container and provide the path with `model.path`.
-
 :::tip
 
 See [common Edge TPU troubleshooting steps](/troubleshooting/edgetpu) if the Edge TPU is not detected.
@@ -146,6 +144,52 @@ detectors:
     device: pci
 ```
 
+### EdgeTPU Supported Models
+
+| Model                                 | Notes                                       |
+| ------------------------------------- | ------------------------------------------- |
+| [MobileNet v2](#ssdlite-mobilenet-v2) | Default model                               |
+| [YOLOv9](#yolo-v9)                    | More accurate but slower than default model |
+
+#### SSDLite MobileNet v2
+
+A TensorFlow Lite model is provided in the container at `/edgetpu_model.tflite` and is used by this detector type by default. To provide your own model, bind mount the file into the container and provide the path with `model.path`.
+
+A Tensorflow Lite is provided in the container at `/openvino-model/ssdlite_mobilenet_v2.xml` and is used by this detector type by default. The model comes from Intel's Open Model Zoo [SSDLite MobileNet V2](https://github.com/openvinotoolkit/open_model_zoo/tree/master/models/public/ssdlite_mobilenet_v2) and is converted to an INT8 precision model.
+
+#### YOLO v9
+
+[YOLOv9](https://github.com/dbro/frigate-detector-edgetpu-yolo9/releases/download/v1.0/yolov9-s-relu6-best_320_int8_edgetpu.tflite) models that are compiled for Tensorflow Lite and properly quantized are supported, but not included by default. To provide your own model, bind mount the file into the container and provide the path with `model.path`. Note that the model may require a custom label file (eg. [use this 17 label file](https://raw.githubusercontent.com/dbro/frigate-detector-edgetpu-yolo9/refs/heads/main/labels-coco17.txt) for the model linked above.)
+
+<details>
+  <summary>YOLOv9 Setup & Config</summary>
+
+:::warning
+
+If you are using a Frigate+ YOLOv9 model, you should not define any of the below `model` parameters in your config except for `path`. See [the Frigate+ model docs](/plus/first_model#step-3-set-your-model-id-in-the-config) for more information on setting up your model.
+
+:::
+
+After placing the downloaded files for the tflite model and labels in your config folder, you can use the following configuration:
+
+```yaml
+detectors:
+  coral:
+    type: edgetpu
+    device: usb
+
+model:
+  model_type: yolo-generic
+  width: 320 # <--- should match the imgsize of the model, typically 320
+  height: 320 # <--- should match the imgsize of the model, typically 320
+  path: /config/model_cache/yolov9-s-relu6-best_320_int8_edgetpu.tflite
+  labelmap_path: /labelmap/labels-coco-17.txt
+```
+
+Note that the labelmap uses a subset of the complete COCO label set that has only 17 objects.
+
+</details>
+
 ---
 
 ## Hailo-8

frigate/detectors/plugins/edgetpu_tfl.py

@@ -1,19 +1,20 @@
 import logging
+import math
 import os
 
+import cv2
 import numpy as np
 from pydantic import Field
 from typing_extensions import Literal
 
 from frigate.detectors.detection_api import DetectionApi
-from frigate.detectors.detector_config import BaseDetectorConfig
+from frigate.detectors.detector_config import BaseDetectorConfig, ModelTypeEnum
 
 try:
     from tflite_runtime.interpreter import Interpreter, load_delegate
 except ModuleNotFoundError:
     from tensorflow.lite.python.interpreter import Interpreter, load_delegate
 
-
 logger = logging.getLogger(__name__)
 
 DETECTOR_KEY = "edgetpu"
@@ -26,6 +27,10 @@ class EdgeTpuDetectorConfig(BaseDetectorConfig):
 
 class EdgeTpuTfl(DetectionApi):
     type_key = DETECTOR_KEY
+    supported_models = [
+        ModelTypeEnum.ssd,
+        ModelTypeEnum.yologeneric,
+    ]
 
     def __init__(self, detector_config: EdgeTpuDetectorConfig):
         device_config = {}
@@ -63,31 +68,294 @@ class EdgeTpuTfl(DetectionApi):
 
         self.tensor_input_details = self.interpreter.get_input_details()
         self.tensor_output_details = self.interpreter.get_output_details()
+        self.model_width = detector_config.model.width
+        self.model_height = detector_config.model.height
+
+        self.min_score = 0.4
+        self.max_detections = 20
+
         self.model_type = detector_config.model.model_type
+        self.model_requires_int8 = self.tensor_input_details[0]["dtype"] == np.int8
+
+        if self.model_type == ModelTypeEnum.yologeneric:
+            logger.debug("Using YOLO preprocessing/postprocessing")
+
+            if len(self.tensor_output_details) not in [2, 3]:
+                logger.error(
+                    f"Invalid count of output tensors in YOLO model. Found {len(self.tensor_output_details)}, expecting 2 or 3."
+                )
+                raise
+
+            self.reg_max = 16  # = 64 dfl_channels // 4 # YOLO standard
+            self.min_logit_value = np.log(
+                self.min_score / (1 - self.min_score)
+            )  # for filtering
+            self._generate_anchors_and_strides()  # decode bounding box DFL
+            self.project = np.arange(
+                self.reg_max, dtype=np.float32
+            )  # for decoding bounding box DFL information
+
+            # Determine YOLO tensor indices and quantization scales for
+            # boxes and class_scores the tensor ordering and names are
+            # not reliable, so use tensor shape to detect which tensor
+            # holds boxes or class scores.
+            # The tensors have shapes (B, N, C)
+            # where N is the number of candidates (=2100 for 320x320)
+            # this may guess wrong if the number of classes is exactly 64
+            output_boxes_index = None
+            output_classes_index = None
+            for i, x in enumerate(self.tensor_output_details):
+                # the nominal index seems to start at 1 instead of 0
+                if len(x["shape"]) == 3 and x["shape"][2] == 64:
+                    output_boxes_index = i
+                elif len(x["shape"]) == 3 and x["shape"][2] > 1:
+                    # require the number of classes to be more than 1
+                    # to differentiate from (not used) max score tensor
+                    output_classes_index = i
+            if output_boxes_index is None or output_classes_index is None:
+                logger.warning("Unrecognized model output, unexpected tensor shapes.")
+                output_classes_index = (
+                    0
+                    if (output_boxes_index is None or output_classes_index == 1)
+                    else 1
+                )  # 0 is default guess
+                output_boxes_index = 1 if (output_boxes_index == 0) else 0
+
+            scores_details = self.tensor_output_details[output_classes_index]
+            self.scores_tensor_index = scores_details["index"]
+            self.scores_scale, self.scores_zero_point = scores_details["quantization"]
+            # calculate the quantized version of the min_score
+            self.min_score_quantized = int(
+                (self.min_logit_value / self.scores_scale) + self.scores_zero_point
+            )
+            self.logit_shift_to_positive_values = (
+                max(0, math.ceil((128 + self.scores_zero_point) * self.scores_scale))
+                + 1
+            )  # round up
+
+            boxes_details = self.tensor_output_details[output_boxes_index]
+            self.boxes_tensor_index = boxes_details["index"]
+            self.boxes_scale, self.boxes_zero_point = boxes_details["quantization"]
+
+        elif self.model_type == ModelTypeEnum.ssd:
+            logger.debug("Using SSD preprocessing/postprocessing")
+
+            # SSD model indices (4 outputs: boxes, class_ids, scores, count)
+            for x in self.tensor_output_details:
+                if len(x["shape"]) == 3:
+                    self.output_boxes_index = x["index"]
+                elif len(x["shape"]) == 1:
+                    self.output_count_index = x["index"]
+
+            self.output_class_ids_index = None
+            self.output_class_scores_index = None
+
+        else:
+            raise Exception(
+                f"{self.model_type} is currently not supported for edgetpu. See the docs for more info on supported models."
+            )
+
+    def _generate_anchors_and_strides(self):
+        # for decoding the bounding box DFL information into xy coordinates
+        all_anchors = []
+        all_strides = []
+        strides = (8, 16, 32)  # YOLO's small, medium, large detection heads
+
+        for stride in strides:
+            feat_h, feat_w = self.model_height // stride, self.model_width // stride
+
+            grid_y, grid_x = np.meshgrid(
+                np.arange(feat_h, dtype=np.float32),
+                np.arange(feat_w, dtype=np.float32),
+                indexing="ij",
+            )
+
+            grid_coords = np.stack((grid_x.flatten(), grid_y.flatten()), axis=1)
+            anchor_points = grid_coords + 0.5
+
+            all_anchors.append(anchor_points)
+            all_strides.append(np.full((feat_h * feat_w, 1), stride, dtype=np.float32))
+
+        self.anchors = np.concatenate(all_anchors, axis=0)
+        self.anchor_strides = np.concatenate(all_strides, axis=0)
+
+    def determine_indexes_for_non_yolo_models(self):
+        """Legacy method for SSD models."""
+        if (
+            self.output_class_ids_index is None
+            or self.output_class_scores_index is None
+        ):
+            for i in range(4):
+                index = self.tensor_output_details[i]["index"]
+                if (
+                    index != self.output_boxes_index
+                    and index != self.output_count_index
+                ):
+                    if (
+                        np.mod(np.float32(self.interpreter.tensor(index)()[0][0]), 1)
+                        == 0.0
+                    ):
+                        self.output_class_ids_index = index
+                    else:
+                        self.output_scores_index = index
+
+    def pre_process(self, tensor_input):
+        if self.model_requires_int8:
+            tensor_input = np.bitwise_xor(tensor_input, 128).view(
+                np.int8
+            )  # shift by -128
+        return tensor_input
 
     def detect_raw(self, tensor_input):
+        tensor_input = self.pre_process(tensor_input)
+
         self.interpreter.set_tensor(self.tensor_input_details[0]["index"], tensor_input)
         self.interpreter.invoke()
 
-        boxes = self.interpreter.tensor(self.tensor_output_details[0]["index"])()[0]
-        class_ids = self.interpreter.tensor(self.tensor_output_details[1]["index"])()[0]
-        scores = self.interpreter.tensor(self.tensor_output_details[2]["index"])()[0]
-        count = int(
-            self.interpreter.tensor(self.tensor_output_details[3]["index"])()[0]
-        )
+        if self.model_type == ModelTypeEnum.yologeneric:
+            # Multi-tensor YOLO model with (non-standard B(H*W)C output format).
+            # (the comments indicate the shape of tensors,
+            # using "2100" as the anchor count (for image size of 320x320),
+            # "NC" as number of classes,
+            # "N" as the count that survive after min-score filtering)
+            # TENSOR A) class scores (1, 2100, NC) with logit values
+            # TENSOR B) box coordinates (1, 2100, 64) encoded as dfl scores
+            # Recommend that the model clamp the logit values in tensor (A)
+            # to the range [-4,+4] to preserve precision from [2%,98%]
+            # and because NMS requires the min_score parameter to be >= 0
 
-        detections = np.zeros((20, 6), np.float32)
+            # don't dequantize scores data yet, wait until the low-confidence
+            # candidates are filtered out from the overall result set.
+            # This reduces the work and makes post-processing faster.
+            # this method works with raw quantized numbers when possible,
+            # which relies on the value of the scale factor to be >0.
+            # This speeds up max and argmax operations.
+            # Get max confidence for each detection and create the mask
+            detections = np.zeros(
+                (self.max_detections, 6), np.float32
+            )  # initialize zero results
+            scores_output_quantized = self.interpreter.get_tensor(
+                self.scores_tensor_index
+            )[0]  # (2100, NC)
+            max_scores_quantized = np.max(scores_output_quantized, axis=1)  # (2100,)
+            mask = max_scores_quantized >= self.min_score_quantized  # (2100,)
 
-        for i in range(count):
-            if scores[i] < 0.4 or i == 20:
-                break
-            detections[i] = [
-                class_ids[i],
-                float(scores[i]),
-                boxes[i][0],
-                boxes[i][1],
-                boxes[i][2],
-                boxes[i][3],
+            if not np.any(mask):
+                return detections  # empty results
+
+            max_scores_filtered_shiftedpositive = (
+                (max_scores_quantized[mask] - self.scores_zero_point)
+                * self.scores_scale
+            ) + self.logit_shift_to_positive_values  # (N,1) shifted logit values
+            scores_output_quantized_filtered = scores_output_quantized[mask]
+
+            # dequantize boxes. NMS needs them to be in float format
+            # remove candidates with probabilities < threshold
+            boxes_output_quantized_filtered = (
+                self.interpreter.get_tensor(self.boxes_tensor_index)[0]
+            )[mask]  # (N, 64)
+            boxes_output_filtered = (
+                boxes_output_quantized_filtered.astype(np.float32)
+                - self.boxes_zero_point
+            ) * self.boxes_scale
+
+            # 2. Decode DFL to distances (ltrb)
+            dfl_distributions = boxes_output_filtered.reshape(
+                -1, 4, self.reg_max
+            )  # (N, 4, 16)
+
+            # Softmax over the 16 bins
+            dfl_max = np.max(dfl_distributions, axis=2, keepdims=True)
+            dfl_exp = np.exp(dfl_distributions - dfl_max)
+            dfl_probs = dfl_exp / np.sum(dfl_exp, axis=2, keepdims=True)  # (N, 4, 16)
+
+            # Weighted sum: (N, 4, 16) * (16,) -> (N, 4)
+            distances = np.einsum("pcr,r->pc", dfl_probs, self.project)
+
+            # Calculate box corners in pixel coordinates
+            anchors_filtered = self.anchors[mask]
+            anchor_strides_filtered = self.anchor_strides[mask]
+            x1y1 = (
+                anchors_filtered - distances[:, [0, 1]]
+            ) * anchor_strides_filtered  # (N, 2)
+            x2y2 = (
+                anchors_filtered + distances[:, [2, 3]]
+            ) * anchor_strides_filtered  # (N, 2)
+            boxes_filtered_decoded = np.concatenate((x1y1, x2y2), axis=-1)  # (N, 4)
+
+            # 9. Apply NMS. Use logit scores here to defer sigmoid()
+            # until after filtering out redundant boxes
+            # Shift the logit scores to be non-negative (required by cv2)
+            indices = cv2.dnn.NMSBoxes(
+                bboxes=boxes_filtered_decoded,
+                scores=max_scores_filtered_shiftedpositive,
+                score_threshold=(
+                    self.min_logit_value + self.logit_shift_to_positive_values
+                ),
+                nms_threshold=0.4,  # should this be a model config setting?
+            )
+            num_detections = len(indices)
+            if num_detections == 0:
+                return detections  # empty results
+
+            nms_indices = np.array(indices, dtype=np.int32).ravel()  # or .flatten()
+            if num_detections > self.max_detections:
+                nms_indices = nms_indices[: self.max_detections]
+                num_detections = self.max_detections
+            kept_logits_quantized = scores_output_quantized_filtered[nms_indices]
+            class_ids_post_nms = np.argmax(kept_logits_quantized, axis=1)
+
+            # Extract the final boxes and scores using fancy indexing
+            final_boxes = boxes_filtered_decoded[nms_indices]
+            final_scores_logits = (
+                max_scores_filtered_shiftedpositive[nms_indices]
+                - self.logit_shift_to_positive_values
+            )  # Unshifted logits
+
+            # Detections array format: [class_id, score, ymin, xmin, ymax, xmax]
+            detections[:num_detections, 0] = class_ids_post_nms
+            detections[:num_detections, 1] = 1.0 / (
+                1.0 + np.exp(-final_scores_logits)
+            )  # sigmoid
+            detections[:num_detections, 2] = final_boxes[:, 1] / self.model_height
+            detections[:num_detections, 3] = final_boxes[:, 0] / self.model_width
+            detections[:num_detections, 4] = final_boxes[:, 3] / self.model_height
+            detections[:num_detections, 5] = final_boxes[:, 2] / self.model_width
+            return detections
+
+        elif self.model_type == ModelTypeEnum.ssd:
+            self.determine_indexes_for_non_yolo_models()
+            boxes = self.interpreter.tensor(self.tensor_output_details[0]["index"])()[0]
+            class_ids = self.interpreter.tensor(
+                self.tensor_output_details[1]["index"]
+            )()[0]
+            scores = self.interpreter.tensor(self.tensor_output_details[2]["index"])()[
+                0
             ]
+            count = int(
+                self.interpreter.tensor(self.tensor_output_details[3]["index"])()[0]
+            )
 
-        return detections
+            detections = np.zeros((self.max_detections, 6), np.float32)
+
+            for i in range(count):
+                if scores[i] < self.min_score:
+                    break
+                if i == self.max_detections:
+                    logger.debug(f"Too many detections ({count})!")
+                    break
+                detections[i] = [
+                    class_ids[i],
+                    float(scores[i]),
+                    boxes[i][0],
+                    boxes[i][1],
+                    boxes[i][2],
+                    boxes[i][3],
+                ]
+
+            return detections
+
+        else:
+            raise Exception(
+                f"{self.model_type} is currently not supported for edgetpu. See the docs for more info on supported models."
+            )