├── .gitignore ├── .gitmodules ├── LICENSE ├── LICENSE_README.md ├── README.md ├── dataset_collection_framework ├── GAP8_streamer │ ├── inc │ │ └── frame_streamer.h │ └── wifi_jpeg_streamer │ │ ├── Makefile │ │ ├── config.ini │ │ └── wifi_frame_streamer.c ├── README.md ├── conda_deps.yml ├── crazyflie_firmware_patches │ └── dataset_collection_app │ │ ├── Makefile │ │ ├── current_platform.mk │ │ ├── datasetcollector.c │ │ └── datasetcollector.h ├── dataset_collector_python │ ├── CrazyflieCameraStreamer.py │ ├── CrazyflieCommunicator.py │ ├── CrazyflieController.py │ ├── DatasetLogger.py │ ├── UI │ │ ├── controlConfigDialog.py │ │ ├── controlConfigDialog.ui │ │ ├── coordinate_system.jpg │ │ ├── create_ui_python_code.sh │ │ ├── datasetcollector.ui │ │ ├── datasetcollector_ui.py │ │ ├── logConfigDialog.py │ │ └── logConfigDialog.ui │ ├── control_config.json │ ├── dataset_tools │ │ ├── UI │ │ │ ├── create_ui_python_code.sh │ │ │ ├── imageViewer.ui │ │ │ └── imageViewerUI.py │ │ ├── count_images_dataset.sh │ │ ├── dataset_partitioning.py │ │ ├── dataset_post_processing.py │ │ ├── image_viewer.py │ │ ├── image_viewer_cv.py │ │ └── save_all_videos.sh │ ├── datasetcollector_main.py │ ├── default_config.json │ ├── draw_binary_digits.py │ ├── ds_logger.py │ └── logger_app.py ├── external │ └── .gitkeep ├── gap_sdk_setup.md └── images │ ├── LED_correct_synch.png │ ├── Log_config.png │ ├── gamepad_mapping.png │ └── gui_connected_with_comments.png ├── dataset_visualizer ├── README.md ├── dataset_visualizer │ ├── acquisition_visualizer.py │ ├── classes.py │ ├── dataset_partitioning.py │ ├── dataset_post_processing.py │ ├── image_visualizer.py │ ├── main.py │ ├── metadata_visualizer.py │ ├── plot_statistics.py │ ├── stats_config.json │ └── video.py ├── imgs │ ├── dataset_visualizer.png │ └── dataset_visualizer_grid_view.png └── setup.py ├── imgs ├── PULP_drone.png └── pulp_dronet_evolution.png ├── pulp-dronet-v1 ├── .editorconfig ├── LICENSE.apache.md ├── LICENSE_README.md ├── PULP-Shield │ ├── GAP8 │ │ ├── BOM1.BomDoc │ │ ├── Doc │ │ │ └── GAP_Shield.PDF │ │ ├── Fabrication │ │ │ ├── Assembly Drawings │ │ │ │ └── AssemblyDrawings.PDF │ │ │ ├── BOM │ │ │ │ └── Purchasing List-BOM1.xls │ │ │ ├── Gerber │ │ │ │ ├── PCB1-macro.APR_LIB │ │ │ │ ├── PCB1.EXTREP │ │ │ │ ├── PCB1.GBL │ │ │ │ ├── PCB1.GBO │ │ │ │ ├── PCB1.GBP │ │ │ │ ├── PCB1.GBS │ │ │ │ ├── PCB1.GP1 │ │ │ │ ├── PCB1.GP2 │ │ │ │ ├── PCB1.GTL │ │ │ │ ├── PCB1.GTO │ │ │ │ ├── PCB1.GTP │ │ │ │ ├── PCB1.GTS │ │ │ │ ├── PCB1.REP │ │ │ │ ├── PCB1.RUL │ │ │ │ └── PCB1.apr │ │ │ ├── NC Drill │ │ │ │ ├── PCB1-BoardEdgeRout.TXT │ │ │ │ ├── PCB1.DRR │ │ │ │ ├── PCB1.LDP │ │ │ │ └── PCB1.TXT │ │ │ └── Pick Place │ │ │ │ └── Pick Place for PCB1.txt │ │ ├── GAP_Shield.OutJob │ │ ├── GAP_Shield.PrjPcb │ │ ├── GAP_Shield.PrjPcbStructure │ │ ├── GAPandPeripherals.Harness │ │ ├── GAPandPeripherals.SchDoc │ │ ├── PCB1.PcbDoc │ │ ├── Power.Harness │ │ ├── Power.SchDoc │ │ └── __Previews │ │ │ ├── GAPandPeripherals.SchDocPreview │ │ │ └── Power.SchDocPreview │ └── jtag-convboard │ │ ├── BOM1.BomDoc │ │ ├── CHANGELOG.md │ │ ├── JTAGconv.PcbDoc │ │ ├── JTAGconv.PrjPcb │ │ ├── JTAGconv.PrjPcbStructure │ │ ├── JTAGconv.SchDoc │ │ └── Project Outputs for JTAGconv │ │ ├── Fabrication Data │ │ ├── Gerber_v1.1 │ │ │ ├── JTAGconv_v1.1.EXTREP │ │ │ ├── JTAGconv_v1.1.GBL │ │ │ ├── JTAGconv_v1.1.GBO │ │ │ ├── JTAGconv_v1.1.GBS │ │ │ ├── JTAGconv_v1.1.GD1 │ │ │ ├── JTAGconv_v1.1.GTL │ │ │ ├── JTAGconv_v1.1.GTO │ │ │ ├── JTAGconv_v1.1.GTS │ │ │ ├── JTAGconv_v1.1.REP │ │ │ ├── JTAGconv_v1.1.RUL │ │ │ ├── JTAGconv_v1.1.apr │ │ │ └── JTAGconv_v1.APR_LIB │ │ └── NC Drill_v1.1 │ │ │ ├── JTAGconv-BoardEdgeRout.TXT │ │ │ ├── JTAGconv_v1.1.DRR │ │ │ ├── JTAGconv_v1.1.LDP │ │ │ └── JTAGconv_v1.1.TXT │ │ └── Project Documentation │ │ ├── Assembly_v1.1.PDF │ │ ├── BOM_v1.1_raw.xlsx │ │ ├── JTAGconv_v1.1.PDF │ │ ├── JTAGconv_v1.1_complete.PDF │ │ └── PCBPrints_v1.1.PDF ├── README.md ├── bin │ ├── PULPDroNet_GAPuino │ └── PULPDroNet_PULPShield ├── imgs │ ├── PULP_dataset.png │ ├── PULP_drone.png │ ├── PULP_proto.png │ └── PULP_setup.png ├── src │ ├── Makefile │ ├── PULPDronet.c │ ├── PULPDronetGenerator.c │ ├── PULPDronetKernels.c │ ├── PULPDronetKernels.h │ ├── PULPDronetKernelsInit.c │ ├── PULPDronetKernelsInit.h │ ├── Utils.h │ ├── config.h │ ├── config.ini │ └── run_dataset.sh └── weights │ ├── WeightsPULPDroNet.raw │ └── binary │ ├── bias_conv2d_1.hex │ ├── bias_conv2d_10.hex │ ├── bias_conv2d_2.hex │ ├── bias_conv2d_3.hex │ ├── bias_conv2d_4.hex │ ├── bias_conv2d_5.hex │ ├── bias_conv2d_6.hex │ ├── bias_conv2d_7.hex │ ├── bias_conv2d_8.hex │ ├── bias_conv2d_9.hex │ ├── bias_dense_1.hex │ ├── bias_dense_2.hex │ ├── weights_conv2d_1.hex │ ├── weights_conv2d_10.hex │ ├── weights_conv2d_2.hex │ ├── weights_conv2d_3.hex │ ├── weights_conv2d_4.hex │ ├── weights_conv2d_5.hex │ ├── weights_conv2d_6.hex │ ├── weights_conv2d_7.hex │ ├── weights_conv2d_8.hex │ ├── weights_conv2d_9.hex │ ├── weights_dense_1.hex │ └── weights_dense_2.hex ├── pulp-dronet-v2 ├── LICENSE.apache.md ├── README.md ├── conda_deps.yml ├── config.py ├── dataset │ └── .gitkeep ├── evaluation.py ├── gapflow │ ├── Makefile │ ├── README.md │ ├── common.mk │ ├── common │ │ ├── model_decl.mk │ │ └── model_rules.mk │ ├── images │ │ ├── frame_1.pgm │ │ ├── frame_2.pgm │ │ ├── frame_3.pgm │ │ ├── frame_4.pgm │ │ ├── frame_5.pgm │ │ ├── frame_6.pgm │ │ ├── frame_7.pgm │ │ ├── frame_8.pgm │ │ └── frame_9.pgm │ ├── main.c │ ├── main.h │ ├── network.h │ ├── nntool_input │ │ ├── models_onnx │ │ │ ├── model_original.onnx │ │ │ └── model_original_himax.onnx │ │ ├── nntool_model_eval.py │ │ ├── nntool_scripts │ │ │ ├── nntool_script_deployment │ │ │ └── nntool_script_model_eval │ │ └── quantization_files │ │ │ ├── 1479425441182877835.jpg │ │ │ ├── 1479425441232704425.jpg │ │ │ ├── 1479425441282730750.jpg │ │ │ ├── 1479425443382879593.jpg │ │ │ ├── 1479425443432903742.jpg │ │ │ ├── 1479425443582977575.jpg │ │ │ ├── 1479425443682982187.jpg │ │ │ ├── 1479425443782898808.jpg │ │ │ ├── 1479425443833012205.jpg │ │ │ ├── 1479425444633286162.jpg │ │ │ ├── 1479425445983503068.jpg │ │ │ ├── 1479425447083596868.jpg │ │ │ ├── 1479425447133467484.jpg │ │ │ ├── 1479425448133784412.jpg │ │ │ ├── 1479425448633847925.jpg │ │ │ ├── 1479425451134304083.jpg │ │ │ ├── frame_00001.jpg │ │ │ ├── frame_00013.jpg │ │ │ ├── frame_00014.jpg │ │ │ ├── frame_00015.jpg │ │ │ ├── frame_00016.jpg │ │ │ ├── frame_00017.jpg │ │ │ ├── frame_00018.jpg │ │ │ ├── frame_00032.jpg │ │ │ ├── frame_00033.jpg │ │ │ ├── frame_00034.jpg │ │ │ ├── frame_00035.jpg │ │ │ ├── frame_00036.jpg │ │ │ ├── frame_00037.jpg │ │ │ ├── frame_00038.jpg │ │ │ ├── frame_00058.jpg │ │ │ ├── frame_00064.jpg │ │ │ ├── frame_00078.jpg │ │ │ ├── frame_00079.jpg │ │ │ ├── frame_00121.jpg │ │ │ ├── frame_00131.jpg │ │ │ ├── frame_00135.jpg │ │ │ ├── frame_00136.jpg │ │ │ ├── frame_00139.jpg │ │ │ ├── frame_00140.jpg │ │ │ ├── frame_00143.jpg │ │ │ ├── frame_00151.jpg │ │ │ ├── frame_00158.jpg │ │ │ ├── frame_00164.jpg │ │ │ ├── frame_00191.jpg │ │ │ ├── frame_00192.jpg │ │ │ ├── frame_00193.jpg │ │ │ ├── frame_00194.jpg │ │ │ └── frame_00195.jpg │ └── onnx_converter.py ├── model │ ├── dronet_v2_gapflow.py │ ├── dronet_v2_gapflow_original.pth │ ├── dronet_v2_gapflow_original_himax.pth │ ├── dronet_v2_nemo_dory.py │ ├── dronet_v2_nemo_dory_original.pth │ └── dronet_v2_nemo_dory_original_himax.pth ├── nemo-dory │ └── quantize.py ├── testing.py ├── training.py └── utility.py └── tiny-pulp-dronet-v3 ├── README.md ├── classes.py ├── conda_deps.yml ├── config.py ├── dataset ├── testing │ └── .gitkeep └── training │ └── .gitkeep ├── drone-applications ├── crazyflie-dronet-app │ ├── Makefile │ ├── current_platform.mk │ ├── inc │ │ ├── config_dronet.h │ │ ├── uart_dma_pulp.h │ │ └── uart_dma_setup.h │ └── src │ │ ├── app_dronet.c │ │ └── uart_dma_pulp.c ├── external │ └── .gitkeep └── gap8-dronet-app │ ├── pulp-dronet-v3 │ ├── DORY_network │ │ ├── ConvBNRelu0_weights.hex │ │ ├── ConvBNRelu10_weights.hex │ │ ├── ConvBNRelu11_weights.hex │ │ ├── ConvBNRelu12_weights.hex │ │ ├── ConvBNRelu2_weights.hex │ │ ├── ConvBNRelu3_weights.hex │ │ ├── ConvBNRelu4_weights.hex │ │ ├── ConvBNRelu6_weights.hex │ │ ├── ConvBNRelu7_weights.hex │ │ ├── ConvBNRelu8_weights.hex │ │ ├── MatMul14_weights.hex │ │ ├── inc │ │ │ ├── dory.h │ │ │ ├── layerAddRelu13.h │ │ │ ├── layerAddRelu5.h │ │ │ ├── layerAddRelu9.h │ │ │ ├── layerConvBNRelu0.h │ │ │ ├── layerConvBNRelu10.h │ │ │ ├── layerConvBNRelu11.h │ │ │ ├── layerConvBNRelu12.h │ │ │ ├── layerConvBNRelu2.h │ │ │ ├── layerConvBNRelu3.h │ │ │ ├── layerConvBNRelu4.h │ │ │ ├── layerConvBNRelu6.h │ │ │ ├── layerConvBNRelu7.h │ │ │ ├── layerConvBNRelu8.h │ │ │ ├── layerMatMul14_last.h │ │ │ ├── layerMaxPool1.h │ │ │ ├── mchan_test.h │ │ │ ├── mem_controller.h │ │ │ ├── network.h │ │ │ ├── pulp_nn_kernels.h │ │ │ └── pulp_nn_utils.h │ │ ├── inputs.hex │ │ └── src │ │ │ ├── dory.c │ │ │ ├── layerAddRelu13.c │ │ │ ├── layerAddRelu5.c │ │ │ ├── layerAddRelu9.c │ │ │ ├── layerConvBNRelu0.c │ │ │ ├── layerConvBNRelu10.c │ │ │ ├── layerConvBNRelu11.c │ │ │ ├── layerConvBNRelu12.c │ │ │ ├── layerConvBNRelu2.c │ │ │ ├── layerConvBNRelu3.c │ │ │ ├── layerConvBNRelu4.c │ │ │ ├── layerConvBNRelu6.c │ │ │ ├── layerConvBNRelu7.c │ │ │ ├── layerConvBNRelu8.c │ │ │ ├── layerMatMul14_last.c │ │ │ ├── layerMaxPool1.c │ │ │ ├── main.c │ │ │ ├── mem_controller.c │ │ │ ├── network.c │ │ │ ├── pulp_nn_add.c │ │ │ ├── pulp_nn_avgpool.c │ │ │ ├── pulp_nn_conv_Co_parallel.c │ │ │ ├── pulp_nn_conv_HoWo_parallel.c │ │ │ ├── pulp_nn_conv_Ho_parallel.c │ │ │ ├── pulp_nn_depthwise_3x3_s1.c │ │ │ ├── pulp_nn_depthwise_generic.c │ │ │ ├── pulp_nn_depthwise_generic_less_4_weights.c │ │ │ ├── pulp_nn_linear.c │ │ │ ├── pulp_nn_linear_out_32.c │ │ │ ├── pulp_nn_matmul.c │ │ │ ├── pulp_nn_maxpool.c │ │ │ ├── pulp_nn_pointwise_Co_parallel.c │ │ │ ├── pulp_nn_pointwise_HoWo_parallel.c │ │ │ ├── pulp_nn_pointwise_Ho_parallel.c │ │ │ └── pulp_nn_utils.c │ └── Makefile │ └── tiny-pulp-dronet-v3 │ ├── DORY_network │ ├── ConvBNRelu0_weights.hex │ ├── ConvBNRelu11_weights.hex │ ├── ConvBNRelu13_weights.hex │ ├── ConvBNRelu3_weights.hex │ ├── ConvBNRelu5_weights.hex │ ├── ConvBNRelu7_weights.hex │ ├── ConvBNRelu9_weights.hex │ ├── ConvDWBNRelu10_weights.hex │ ├── ConvDWBNRelu12_weights.hex │ ├── ConvDWBNRelu2_weights.hex │ ├── ConvDWBNRelu4_weights.hex │ ├── ConvDWBNRelu6_weights.hex │ ├── ConvDWBNRelu8_weights.hex │ ├── MatMul14_weights.hex │ ├── inc │ │ ├── dory.h │ │ ├── layerConvBNRelu0.h │ │ ├── layerConvBNRelu11.h │ │ ├── layerConvBNRelu13.h │ │ ├── layerConvBNRelu3.h │ │ ├── layerConvBNRelu7.h │ │ ├── layerConvBNRelu9.h │ │ ├── layerConvDWBNRelu10.h │ │ ├── layerConvDWBNRelu12.h │ │ ├── layerConvDWBNRelu2.h │ │ ├── layerConvDWBNRelu4.h │ │ ├── layerConvDWBNRelu6.h │ │ ├── layerConvDWBNRelu8.h │ │ ├── layerMatMul14_last.h │ │ ├── layerMaxPool1.h │ │ ├── mchan_test.h │ │ ├── mem_controller.h │ │ ├── network.h │ │ ├── pulp_nn_kernels.h │ │ └── pulp_nn_utils.h │ ├── inputs.hex │ └── src │ │ ├── dory.c │ │ ├── layerConvBNRelu0.c │ │ ├── layerConvBNRelu11.c │ │ ├── layerConvBNRelu13.c │ │ ├── layerConvBNRelu3.c │ │ ├── layerConvBNRelu7.c │ │ ├── layerConvBNRelu9.c │ │ ├── layerConvDWBNRelu10.c │ │ ├── layerConvDWBNRelu12.c │ │ ├── layerConvDWBNRelu2.c │ │ ├── layerConvDWBNRelu4.c │ │ ├── layerConvDWBNRelu6.c │ │ ├── layerConvDWBNRelu8.c │ │ ├── layerMatMul14_last.c │ │ ├── layerMaxPool1.c │ │ ├── main.c │ │ ├── mem_controller.c │ │ ├── network.c │ │ ├── pulp_nn_add.c │ │ ├── pulp_nn_avgpool.c │ │ ├── pulp_nn_conv_Co_parallel.c │ │ ├── pulp_nn_conv_HoWo_parallel.c │ │ ├── pulp_nn_conv_Ho_parallel.c │ │ ├── pulp_nn_depthwise_3x3_s1.c │ │ ├── pulp_nn_depthwise_generic.c │ │ ├── pulp_nn_depthwise_generic_less_4_weights.c │ │ ├── pulp_nn_linear.c │ │ ├── pulp_nn_linear_out_32.c │ │ ├── pulp_nn_matmul.c │ │ ├── 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