This week I was focused on setting up the pi for integration. This involved porting the model to it, setting up all the libraries, getting an idea of mounting, and getting some benchmarks.
I wanted to get some performance benchmarks of our CV model on the pi. Previously, I found that the latency on the model was about 4 seconds on the initial pass, which was too slow for our uses. However, when running it in a loop, it seems to be at around .8-1s per frame, which is exactly what we were looking for. Seeing the anomaly on a cold start is good, because we don’t have to switch to a jetson.
The libraries were being weird, and I ended up needing to reflash the Pi OS, after which all the image taking software worked well. I also hooked up some decent debugging tools, so we can see the (mis)predictions correctly.
For mounting, we discovered some of the issues with the Pi and batteries, particularly I found that we need the camera to be pretty high up and the ribbon connector means the pi will probably be near the top of the housing.