robocars/robocar-oak-camera
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feat(object-detection): apply detection on big image

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Cyrille Nofficial 2024-01-13 18:28:21 +01:00
parent d4f8a12577
commit 87c1ee96e3
1 changed files with 16 additions and 2 deletions
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18
camera/oak_pipeline.py
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@ -22,6 +22,9 @@ _NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
_NN_WIDTH = 192
_NN_HEIGHT = 192
_PREVIEW_WIDTH = 640
_PREVIEW_HEIGHT = 480
class ObjectProcessor:
"""
@ -203,13 +206,15 @@ class CameraSource(Source):
# Properties
self._cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
self._cam_rgb.setPreviewSize(width=img_width, height=img_height)
self._cam_rgb.setPreviewSize(width=_PREVIEW_WIDTH, height=_PREVIEW_HEIGHT)
self._cam_rgb.setInterleaved(False)
self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
self._cam_rgb.setFps(fps)
self._resize_manip = self._configure_manip(pipeline=pipeline, img_width=img_width, img_height=img_height)
# link camera preview to output
self._cam_rgb.preview.link(self._xout_rgb.input)
self._cam_rgb.preview.link(self._resize_manip.inputImage)
self._resize_manip.out.link(self._xout_rgb.input)
def link(self, input_node: dai.Node.Input) -> None:
self._cam_rgb.preview.link(input_node)
@ -217,6 +222,15 @@ class CameraSource(Source):
def get_stream_name(self) -> str:
return self._xout_rgb.getStreamName()
@staticmethod
def _configure_manip(pipeline: dai.Pipeline, img_width: int, img_height: int) -> dai.node.ImageManip:
# Resize image
manip = pipeline.createImageManip()
manip.initialConfig.setResize(img_width, img_height)
manip.initialConfig.setFrameType(dai.ImgFrame.Type.RGB888p)
manip.initialConfig.setKeepAspectRatio(False)
return manip
@dataclass
class MqttConfig: