Realtime Detection

These are packages for using Intel RealSense D457 with ROS and YOLOx with AidLite
on AIBox 6490 to do objects' realtime detection.

Devices

Computer Unit: AIBox QCS6490
YOLO Version: YOLOX
Camera: Realsense D457(rgb)

Dependency

• ROS noetic
• AidLite SDK for C++
• glog && gflags
• OpenCV(4.2.0 recommended)

Installation Instructions

Realsense SDK

You can install librealsense and realsense according to the steps in realsense-ros.

Realtime Detection

git clone https://github.com/zzzzyp-sgg/realtime_detection.git  
mkdir build && cd build  
cmake ..  
make -j4  

Usage Instructions

After launch realsense camera, you can start the detection node in ROS:

# rember to source devel/setup.bash
rosrun realtime_detection d457test_node [config_file]

We provide a simple example and the YOLOx model file is from: yolox-ti-lite_tflite.
This is currently a sample version and more detailed features are still under development.