I'm a beginner in computer vision, and using an OAK-D device with Raspberry Pi (and currently Windows) to run DeepSort/Yolov5 for multi-object tracking on cars/ traffic scenarios as part of my undergrad engineering project. Unlike object detection, I haven't found any beginner-friendly material on performing object tracking using OAK-D with a Windows host machine/ Raspberry Pi. Can anyone share a beginner-friendly explanation on how to go about this? Can we run tracking on OAK or it has to run on the host device, or how do we segregate the part of the algorithm which runs on OAK and which runs on the host device? Is there any tutorial available for this?

I'd be grateful for any helpful response to this,

Thanks,

Zunnash.

  • erik replied to this.

    Thanks for getting back, Erik. I will check those links out and let you know.

    a month later

    Hi,

    I have implemented object tracking with OAK on Windows computer. But now I'm installing the setup on Raspberry Pi 4 using this tutorial by Luxonis on Youtube ( and the process takes too long and eventually crashes (I can detect the device connected and download the depthai repository but the examples don't run because of the missing packages, and they even crash when I do them manually one by one). Can you tell me what this problem could be related to, and how can I solve it?

    Thanks.

    • erik replied to this.

      Hi zunnash ,
      What's the crash that you get on the RPI - or what takes too long? It might be it's trying to get wheels that aren't available for RPi, so it tries to build them (and fails). But it would be helpful to know the actual terminal output.
      Thanks, Erik

        Basically, the installation process (sudo curl -fL https://docs.luxonis.com/install_dependencies.sh | bash) got to 80 percent a few times and then crashed. The error did say something about the wheels, but I'll share the exact output when I try again tomorrow.

        In case it's the wheels, what's the way to resolve it?

        We will be able to best suggest based on the output itself🙂

        13 days later

        Hi, so I used the Luxonis RPi OS image which had the dependencies preinstalled, that resolved those errors. But now I'm getting this error (IndexError: map::at) (I'm using my custom models). Can you please tell me what does this mean? I saw on another forum question someone resolved it by downgrading the OpenVino version, but how do you exactly do that?

        (I've tried giving both absolute and relative paths)

          Hi zunnash
          As @Andrevancalster mentioned in other thread (source), convert your model to ONNX using something like the
          torch.onnx.export function. Blobconverter/openvino tool optimizer does not yet support pytorch framework. You should then you will be able to select the openvino version and possibly solve your problem.

          Thanks,
          Jaka

            13 days later

            I'm getting the same issue using OAK-D CM4 PoE,
            using the yolov8 nano trained on person detection using the yolov8 custom notebook
            detection_nn.setBlobPath(nnPath)
            IndexError: map::at

              jakaskerl
              Yes i have seen the other thread
              but the thing is the camera which i'm using has a pi integrated
              it doesn't allow u to install openvino using pip
              i was checking how to install openvino on the pi but the last working package in the official website was 2020 which is no longer available in the site
              if anyone could tell me how to check which version I'm using and how to change it to the desired version on the pi that would be a great help.

              • erik replied to this.

                  krishnashravan Sorry could you provide full terminal output for this error? From my understanding, you uploaded blob to the CM4, and then with depthai specified the path, but it threw error?

                    File "/usr/lib/python3.9/threading.py", line 954, in bootstrap_inner
                        self.run()
                      File "/usr/lib/python3.9/threading.py", line 892, in run
                        self.                    target(*self.args, **self.kwargs)
                      File "/home/pi/demo/people/modules/VisionModule/main.py", line 209, in detect_and_count
                        pipeline = init_pipeline()
                      File "/home/pi/demo/people/modules/VisionModule/main.py", line 193, in init_pipeline
                        detection_nn.setBlobPath(nnPath)
                    IndexError: map::at
                    trying to run the yolov8 nano version on the camera
                    it worked in the oak-d camera but i'm getting that error when running on the CM4

                    • erik replied to this.

                      if customModel is True:

                              nnPath = str((parentDir / Path('../../data/' + model)).resolve().absolute())

                              print(nnPath)

                              detection_nn.setBlobPath(nnPath)

                              print("Custom Model" + nnPath + "Size: " + str(sizeX) + "x" + str(sizeY))
                      thats the code for getting the nnpath
                      the blob file path is correct

                      erik
                      this is on the pi
                      do u think its taking the wrong path
                      because in the oak d that same code is giving the correct path

                        krishnashravan This error went away with changing the depthai version. It occured with depthai 2.10 I think, but didn't appear while using depthai 2.11 and 2.12

                          I'd strongly suggest to use latest depthai version (2.22).