Offloaded inference

Due to time constraints we couldn’t get inference to work on the Jetson Nano. As a workaround we simply ran inference on the GCS laptop instead of the Jetson’s GPU.

RGB images from the camera are streamed to the laptop over a websocket, similar to the web UI.

The inference script running on the laptop then returns the inferred path mask back (using the OFFLOADED_INFERENCE message type).

This works well and is actually very handy during development while testing different DNN setups.

The ROS node necessary for onboard inference is also included (untested) in the pathy ROS package. It should work plug-and-play if the Jetson’s Tensorflow and TensorRT python bindings work.