Implement YOLO, Preprocess, Pipeline, Aggregator, update Mapping

[kimichenn]

Should be merged concurrently with tritonuas/gcs#150 tritonuas/protos#10 tritonuas/udp_squared#2 (things will break if we don't)

Closes master issue #219 with subissues #243 #244 #245 #246
Combines PR #234 and #236

To summarize, these are all of the changes

The CV models should be placed under models/ and they can be found here

YOLO:

• Implement YOLO
• Integration test tests a single image and draws the bounding boxes

Preprocess:

• Crops 20 px from the right to account for Daniel's green bar
• Preprocess is implemented in pipeline and mapping (on by default, you can pass in arg to disable it)
• Integration test tests a single image and crop accordingly

Pipeline:

• Update CV Pipeline such that it only goes through preprocess, YOLO, and localization
• Remove saliency, classification, matching, and segmentation
• Remove extraneous dependencies
• Integration test simulates 1 run-through of the pipeline
• Pipeline #243

Aggregator:

• Spawns multiple instances of pipeline and run them parallel
• Commented one too many things to stop matching from throwing errors.
  • DO NOT merge this PR until we find solutions to all the commented code
• Integration test spawns pipeline instances and attempts to go through the aggregator folder for input images.
• Aggregator #244

GCS Routes:

• Removed old routes
• get/targets/all sends down everything that the aggregator has processed so far (and clears the queue)
• post/targets/matched is used after we manually matched the targets in GCS
• Task: Modify GCS Networking for pipeline #245

Mapping:

• Bypass a stupid OpenCV assertion error
• Now properly gets the correct images during second pass
• Implement preprocess in mapping

Misc:

• Added onnxruntime as a dependency for loading models.
• Lines 210 and 351 in build/_deps/onnxruntime-src/include/onnxruntime_cxx_api.h are automatically commented when downloading the dependency to stop the compilation from throwing errors.
• Updated airdrop prep and airdrop approach to use the new map instead. This also means we stop using UDP squared for dropping.
• Renamed all bottle instances to airdrop
• Uses the proto from feat/protoupdate branch (Update Protos Struct #246 Update Airdrop protobuf structs protos#9)

[Copilot]

Copilot reviewed 42 out of 49 changed files in this pull request and generated no comments.

Files not reviewed (7)

• CMakeLists.txt: Language not supported
• configs/dev.json: Language not supported
• configs/jetson.json: Language not supported
• deps/onnxruntime/onnxruntime.cmake: Language not supported
• src/CMakeLists.txt: Language not supported
• src/core/CMakeLists.txt: Language not supported
• src/cv/CMakeLists.txt: Language not supported

Comments suppressed due to low confidence (1)

include/network/gcs_routes.hpp:188

• [nitpick] The route handle name 'oh, shit' is unprofessional and may not be appropriate for production code. Consider renaming it to a more descriptive and professional identifier.

DEF_GCS_HANDLE(Get, oh, shit);