Add RKNN / Object Detection Pipeline (#1144)

Tested on Orange Pi 5 and Cool Pi 4B. Merge with parts of the OpenCV DNN PR. 

Adds support for YOLOv5s models for Rockchip CPUs with a NPU. Right now hard coded to a note model from alex_idk. Very much still incubating and largely untested.

photon-client/src/types/PhotonTrackingTypes.ts

@@ -54,6 +54,8 @@ export interface PhotonTarget {
   ambiguity: number;
   // -1 if not set
   fiducialId: number;
+  confidence: number;
+  classId: number;
   // undefined if 3d isn't enabled
   pose?: Transform3d;
 }
@@ -70,4 +72,6 @@ export interface PipelineResult {
   targets: PhotonTarget[];
   // undefined if multitag failed or non-tag pipeline
   multitagResult?: MultitagResult;
+  // Object detection class names -- empty if not doing object detection
+  classNames: string[];
 }

photon-client/src/types/PipelineTypes.ts

@@ -5,7 +5,8 @@ export enum PipelineType {
   Reflective = 2,
   ColoredShape = 3,
   AprilTag = 4,
-  Aruco = 5
+  Aruco = 5,
+  ObjectDetection = 6
 }
 
 export enum AprilTagFamily {
@@ -281,14 +282,39 @@ export const DefaultArucoPipelineSettings: ArucoPipelineSettings = {
   doSingleTargetAlways: false
 };
 
+export interface ObjectDetectionPipelineSettings extends PipelineSettings {
+  pipelineType: PipelineType.ObjectDetection;
+  confidence: number;
+  nms: number;
+  box_thresh: number;
+}
+export type ConfigurableObjectDetectionPipelineSettings = Partial<
+  Omit<ObjectDetectionPipelineSettings, "pipelineType">
+> &
+  ConfigurablePipelineSettings;
+export const DefaultObjectDetectionPipelineSettings: ObjectDetectionPipelineSettings = {
+  ...DefaultPipelineSettings,
+  pipelineType: PipelineType.ObjectDetection,
+  cameraGain: 20,
+  targetModel: TargetModel.InfiniteRechargeHighGoalOuter,
+  ledMode: true,
+  outputShowMultipleTargets: false,
+  cameraExposure: 6,
+  confidence: 0.9,
+  nms: 0.45,
+  box_thresh: 0.25
+};
+
 export type ActivePipelineSettings =
   | ReflectivePipelineSettings
   | ColoredShapePipelineSettings
   | AprilTagPipelineSettings
-  | ArucoPipelineSettings;
+  | ArucoPipelineSettings
+  | ObjectDetectionPipelineSettings;
 
 export type ActiveConfigurablePipelineSettings =
   | ConfigurableReflectivePipelineSettings
   | ConfigurableColoredShapePipelineSettings
   | ConfigurableAprilTagPipelineSettings
-  | ConfigurableArucoPipelineSettings;
+  | ConfigurableArucoPipelineSettings
+  | ConfigurableObjectDetectionPipelineSettings;

photon-client/src/types/SettingTypes.ts

@@ -7,6 +7,7 @@ export interface GeneralSettings {
   hardwareModel?: string;
   hardwarePlatform?: string;
   mrCalWorking: boolean;
+  rknnSupported: boolean;
 }
 
 export interface MetricData {

photon-client/src/types/WebsocketDataTypes.ts

@@ -101,5 +101,6 @@ export enum WebsocketPipelineType {
   Reflective = 0,
   ColoredShape = 1,
   AprilTag = 2,
-  Aruco = 3
+  Aruco = 3,
+  ObjectDetection = 4
 }