alexrog / cpptopywrapper

cpptopywrapper

cpptopywrapper contains all of the code for the object tracking pipeline for the AutoDrone team.

Installation

Clone the repository using git clone

git clone https://github.com/alexrog/cpptopywrapper.git

Use the package manager pip to install the required packages.

pip install -r requirements.txt

Usage

In the file inference.py, there exists the function live_inference() which gets the live camera feed and performs an inference on it. The output of the nanodet.inference(frame) is of type BoundingBoxes which is defined in BoundingBoxes.py. The information contained in this class can be used to publish the bounding box to a ROS node. There is a function in the class called BoundingBoxes.ros_format(). The variable ros_format in inference.py contains the output to be published to the ros node. Add the publisher inside the if statement immediately after.

The initialize_model function is used to initialize the nanodet model. The parameters to this model are the file path to the nanodet model and the device to be used for inferencing: CPU or MYRIAD.

To run the live inferencing, ensure you are in the root directory of cpptopywrapper and run

python3 inference.py

Note: for live camera feed using imshow X forwarding must be enabled on ssh or you should be on the drone directly.