This project builds on the pre-existing generic GPU accelerated particle filter library to provide reference particle filters tailored for the RoboMaster robotics competition. The particle filter implementations provided by this library can either be used as reference when designing particle filters for real-time tracking applications or consumed directly as a Python library. Please refer to the generic GPU accelerated particle filter library's documentation for more details regarding the required steps to implement custom particle filters for real-time tracking applications.
Interactive scripts demonstrating the provided particle filters can be found under the demos directory. Below is a real-time demonstration of the provided reference plate_orbit particle filter with 1M particles. The provided interactive demonstration scripts can also be referred to as a reference when directly consuming this library a la carte.
- Initialize submodules with
git submodule update --init --recursive. - Ensure required build tools are installed (see
pyproject.toml) and CUDA is installed. - Run
python setup.py bdist_wheel, using the python version you intend to target. - Install the wheel with
python -m pip install dist/robomaster_particle_filters*.whlusing the same python version you used in the previous step.