robocars/robocar-oak-camera
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refactor: minor clean

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This commit is contained in:
Cyrille Nofficial 2022-10-20 21:00:17 +02:00
parent c2875df304
commit 9b0b772786
1 changed files with 5 additions and 14 deletions
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19
camera/depthai.py
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@ -14,9 +14,9 @@ import events.events_pb2
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob" _NN_PATH = "/models/mobile_object_localizer_192x192_openvino_2021.4_6shave.blob"
NN_WIDTH = 192 _NN_WIDTH = 192
NN_HEIGHT = 192 _NN_HEIGHT = 192
class ObjectProcessor: class ObjectProcessor:
@ -200,11 +200,11 @@ class PipelineController:
logger.debug("wait for new frame") logger.debug("wait for new frame")
# Wait for frame # Wait for frame
in_rgb = _get_as_imgframe(q_rgb) # blocking call, will wait until a new data has arrived in_rgb: dai.ImgFrame = q_rgb.get() # blocking call, will wait until a new data has arrived
frame_msg, now = self._frame_processor.process(in_rgb) frame_msg, now = self._frame_processor.process(in_rgb)
# Read NN result # Read NN result
in_nn = _get_as_nndata(q_nn) in_nn: dai.NNData = q_nn.get()
self._object_processor.process(in_nn, frame_msg.id, now) self._object_processor.process(in_nn, frame_msg.id, now)
def stop(self): def stop(self):
@ -214,15 +214,6 @@ class PipelineController:
""" """
self._stop = True self._stop = True
def _get_as_nndata(queue: dai.DataOutputQueue) -> dai.NNData:
return queue.get()
def _get_as_imgframe(queue: dai.DataOutputQueue) -> dai.ImgFrame:
return queue.get()
def _bbox_to_object(bbox: np.array, score: float) -> events.events_pb2.Object: def _bbox_to_object(bbox: np.array, score: float) -> events.events_pb2.Object:
obj = events.events_pb2.Object() obj = events.events_pb2.Object()
obj.type = events.events_pb2.TypeObject.ANY obj.type = events.events_pb2.TypeObject.ANY