# Work — Abdalrahman Ibrahim

Projects in C++, ROS2, computer vision, and on-device ML.

10 projects total.

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## YOLOs-CPP

**Creator & Maintainer · 2025 · active**

Header-only C++ library for real-time YOLO inference — detection, segmentation, pose, OBB — no Python, no runtime bloat

**Stack:** C++17, ONNX Runtime, OpenCV, CUDA, YOLOv5–v12, Quantization (INT8/FP16)
**Tags:** C++, Computer Vision, ONNX Runtime, Object Detection, Edge AI, Robotics, Real-Time Inference
**GitHub:** <https://github.com/Geekgineer/YOLOs-CPP>
**Demo:** <https://www.youtube.com/watch?v=Ax5vaYJ-mVQ>
**Detail:** <https://geekgineer.com/work/yolos-cpp>
**Markdown:** <https://geekgineer.com/work/yolos-cpp.md>

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## YOLOs-CPP-TensorRT

**Creator & Maintainer · 2026 · active**

Header-only C++ YOLO library for NVIDIA TensorRT — GPU preprocessing, CUDA Graph replay, sub-2ms latency, 530+ FPS

**Stack:** C++17, TensorRT ≥10, CUDA ≥12, OpenCV, CUDA Graph
**Tags:** C++, TensorRT, Computer Vision, CUDA, Object Detection, Edge AI, Real-Time Inference
**GitHub:** <https://github.com/Geekgineer/YOLOs-CPP-TensorRT>
**Detail:** <https://geekgineer.com/work/yolos-cpp-rt>
**Markdown:** <https://geekgineer.com/work/yolos-cpp-rt.md>

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## ros2_yolos_cpp

**Creator & Maintainer · 2024 · active**

Production-grade ROS2 nodes for YOLO inference — detection, segmentation, pose, OBB, classification with lifecycle management

**Stack:** C++17, ROS2 (Humble / Jazzy), ONNX Runtime, OpenCV, vision_msgs, sensor_msgs
**Tags:** C++, ROS2, Computer Vision, Robotics, Object Detection, Real-Time Inference
**GitHub:** <https://github.com/Geekgineer/ros2_yolos_cpp>
**Detail:** <https://geekgineer.com/work/ros2-yolos-cpp>
**Markdown:** <https://geekgineer.com/work/ros2-yolos-cpp.md>

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## motcpp

**Creator & Maintainer · 2024 · active**

10 SOTA multi-object trackers in modern C++17 — 10–100× faster than Python, unified API, ONNX ReID backend

**Stack:** C++17, ONNX Runtime, OpenCV, Eigen3, ByteTrack, BoostTrack, GoogleTest
**Tags:** C++, Multi-Object Tracking, Computer Vision, ONNX Runtime, Robotics, Real-Time Inference, Edge AI
**GitHub:** <https://github.com/Geekgineer/motcpp>
**Detail:** <https://geekgineer.com/work/motcpp>
**Markdown:** <https://geekgineer.com/work/motcpp.md>

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## SmolVLM2-ROS2

**Creator & Maintainer · 2025 · active**

On-device Vision-Language Model for robotics — SmolVLM2 running via ONNX Runtime inside a ROS2 node for scene understanding and spatial reasoning

**Stack:** C++17, Python, ROS2, ONNX Runtime, SmolVLM2, Transformers
**Tags:** VLM, ROS2, On-device ML, ONNX Runtime, Robotics, Computer Vision, Generative AI
**GitHub:** <https://github.com/Geekgineer/SmolVLM2-ROS2>
**Detail:** <https://geekgineer.com/work/smolvlm2-ros2>
**Markdown:** <https://geekgineer.com/work/smolvlm2-ros2.md>

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## Depths-CPP

**Creator & Maintainer · 2024 · active**

Header-only C++ monocular depth estimation — Depth Anything v2 via ONNX Runtime, real-time on CPU and GPU

**Stack:** C++17, ONNX Runtime, OpenCV, Depth Anything v2, CUDA
**Tags:** C++, Depth Estimation, Computer Vision, ONNX Runtime, Edge AI, Monocular Depth
**GitHub:** <https://github.com/Geekgineer/Depths-CPP>
**Detail:** <https://geekgineer.com/work/depths-cpp>
**Markdown:** <https://geekgineer.com/work/depths-cpp.md>

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## CloudPeek

**Creator & Maintainer · 2024 · maintained**

Single-header C++ point cloud viewer — OpenGL 3.3 rendering, arcball camera, no PCL or Open3D required

**Stack:** C++17, OpenGL 3.3, GLFW, GLEW
**Tags:** C++, Point Cloud, LiDAR, 3D Vision, Robotics, Visualisation
**GitHub:** <https://github.com/Geekgineer/CloudPeek>
**Detail:** <https://geekgineer.com/work/cloudpeek>
**Markdown:** <https://geekgineer.com/work/cloudpeek.md>

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## dynamic_lidar_interpolation

**Creator & Maintainer · 2024 · maintained**

ROS2 C++ package for real-time LiDAR point cloud interpolation — five methods from nearest-neighbour to spline, tested on Velodyne and Ouster

**Stack:** C++17, ROS2, PCL, Eigen3, Point Cloud Processing
**Tags:** C++, ROS2, LiDAR, Point Cloud, Sensor Fusion, Robotics
**GitHub:** <https://github.com/Geekgineer/dynamic_lidar_interpolation>
**Detail:** <https://geekgineer.com/work/dynamic-lidar-interpolation>
**Markdown:** <https://geekgineer.com/work/dynamic-lidar-interpolation.md>

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## ros2_bag_exporter

**Creator & Maintainer · 2024 · maintained**

C++ ROS2 package that exports bag files to images, PCD, IMU, GPS, and CSV — YAML-configured, sqlite3 and MCAP support

**Stack:** C++17, ROS2, rosbag2, OpenCV, PCL, YAML-CPP
**Tags:** C++, ROS2, Data Engineering, Dataset Creation, Robotics
**GitHub:** <https://github.com/Geekgineer/ros2_bag_exporter>
**Detail:** <https://geekgineer.com/work/ros2-bag-exporter>
**Markdown:** <https://geekgineer.com/work/ros2-bag-exporter.md>

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## kokoro-onnx-cpp

**Creator & Maintainer · 2025 · active**

On-device text-to-speech in C++ — Kokoro TTS running via ONNX Runtime for low-latency voice synthesis on embedded and robot hardware

**Stack:** C++17, ONNX Runtime, Kokoro TTS, HiFi-GAN, Audio Processing
**Tags:** C++, TTS, ONNX Runtime, On-device ML, Audio, Edge AI, Robotics
**GitHub:** <https://github.com/Geekgineer/kokoro-onnx-cpp>
**Detail:** <https://geekgineer.com/work/kokoro-onnx-cpp>
**Markdown:** <https://geekgineer.com/work/kokoro-onnx-cpp.md>

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