refactor: split event loop process
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Cyrille Nofficial
parent
c3396b13ac
commit
b50b54be34
@ -103,67 +103,63 @@ class FramePublisher:
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if self._stop:
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return
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try:
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logger.debug("wait for new frame")
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in_rgb = q_rgb.get() # blocking call, will wait until a new data has arrived
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im_resize = in_rgb.getCvFrame()
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is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
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byte_im = im_buf_arr.tobytes()
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now = datetime.datetime.now()
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frame_msg = events.events_pb2.FrameMessage()
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frame_msg.id.name = "robocar-oak-camera-oak"
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frame_msg.id.id = str(int(now.timestamp() * 1000))
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frame_msg.id.created_at.FromDatetime(now)
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frame_msg.frame = byte_im
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logger.debug("publish frame event to %s", self._frame_topic)
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self._mqtt_client.publish(topic=self._frame_topic,
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payload=frame_msg.SerializeToString(),
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qos=0,
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retain=False)
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in_nn = q_nn.get()
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# get outputs
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detection_boxes = np.array(in_nn.getLayerFp16("ExpandDims")).reshape((100, 4))
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detection_scores = np.array(in_nn.getLayerFp16("ExpandDims_2")).reshape((100,))
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# keep boxes bigger than threshold
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mask = detection_scores >= self._objects_threshold
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boxes = detection_boxes[mask]
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scores = detection_scores[mask]
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if boxes.shape[0] > 0:
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objects_msg = events.events_pb2.ObjectsMessage()
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objs = []
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for i in range(boxes.shape[0]):
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bbox = boxes[i]
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logger.debug("new object detected: %s", str(bbox))
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obj = events.events_pb2.Object()
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obj.type = events.events_pb2.TypeObject.ANY
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obj.top = bbox[0].astype(float)
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obj.right = bbox[3].astype(float)
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obj.bottom = bbox[2].astype(float)
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obj.left = bbox[1].astype(float)
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obj.confidence = scores[i].astype(float)
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objs.append(obj)
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objects_msg.objects.extend(objs)
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objects_msg.frame_ref.name = frame_msg.id.name
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objects_msg.frame_ref.id = frame_msg.id.id
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objects_msg.frame_ref.created_at.FromDatetime(now)
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logger.debug("publish object event to %s", self._frame_topic)
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self._mqtt_client.publish(topic=self._objects_topic,
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payload=objects_msg.SerializeToString(),
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qos=0,
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retain=False)
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self._loop_on_camera_events(q_nn, q_rgb)
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# pylint: disable=broad-except # bad frame or event must not stop loop
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except Exception as excpt:
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logger.exception("unexpected error: %s", str(excpt))
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except Exception as ex:
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logger.exception("unexpected error: %s", str(ex))
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def _loop_on_camera_events(self, q_nn: dai.DataOutputQueue, q_rgb: dai.DataOutputQueue):
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logger.debug("wait for new frame")
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# Wait for frame
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in_rgb = _get_as_imgframe(q_rgb) # blocking call, will wait until a new data has arrived
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frame_msg, now = self._read_and_publish_frame(in_rgb)
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# Read NN result
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in_nn = _get_as_nndata(q_nn)
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# get outputs
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detection_boxes = np.array(in_nn.getLayerFp16("ExpandDims")).reshape((100, 4))
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detection_scores = np.array(in_nn.getLayerFp16("ExpandDims_2")).reshape((100,))
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# keep boxes bigger than threshold
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mask = detection_scores >= self._objects_threshold
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boxes = detection_boxes[mask]
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scores = detection_scores[mask]
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if boxes.shape[0] > 0:
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self._publish_objects(boxes, frame_msg, now, scores)
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def _read_and_publish_frame(self, in_rgb: dai.ImgFrame) -> (events.events_pb2.FrameMessage, datetime.datetime):
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im_resize = in_rgb.getCvFrame()
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is_success, im_buf_arr = cv2.imencode(".jpg", im_resize)
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byte_im = im_buf_arr.tobytes()
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now = datetime.datetime.now()
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frame_msg = events.events_pb2.FrameMessage()
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frame_msg.id.name = "robocar-oak-camera-oak"
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frame_msg.id.id = str(int(now.timestamp() * 1000))
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frame_msg.id.created_at.FromDatetime(now)
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frame_msg.frame = byte_im
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logger.debug("publish frame event to %s", self._frame_topic)
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self._mqtt_client.publish(topic=self._frame_topic,
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payload=frame_msg.SerializeToString(),
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qos=0,
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retain=False)
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return frame_msg, now
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def _publish_objects(self, boxes, frame_msg, now, scores):
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objects_msg = events.events_pb2.ObjectsMessage()
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objs = []
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for i in range(boxes.shape[0]):
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logger.debug("new object detected: %s", str(boxes[i]))
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objs.append(_bbox_to_object(boxes[i], scores[i].astype(float)))
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objects_msg.objects.extend(objs)
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objects_msg.frame_ref.name = frame_msg.id.name
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objects_msg.frame_ref.id = frame_msg.id.id
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objects_msg.frame_ref.created_at.FromDatetime(now)
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logger.debug("publish object event to %s", self._frame_topic)
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self._mqtt_client.publish(topic=self._objects_topic,
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payload=objects_msg.SerializeToString(),
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qos=0,
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retain=False)
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def stop(self):
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"""
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@ -171,3 +167,22 @@ class FramePublisher:
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:return:
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"""
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self._stop = True
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def _get_as_nndata(queue: dai.DataOutputQueue) -> dai.NNData:
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return queue.get()
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def _get_as_imgframe(queue: dai.DataOutputQueue) -> dai.ImgFrame:
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return queue.get()
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def _bbox_to_object(bbox: np.array, score: float) -> events.events_pb2.Object:
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obj = events.events_pb2.Object()
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obj.type = events.events_pb2.TypeObject.ANY
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obj.top = bbox[0].astype(float)
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obj.right = bbox[3].astype(float)
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obj.bottom = bbox[2].astype(float)
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obj.left = bbox[1].astype(float)
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obj.confidence = score
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return obj
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