robocars/robocar-oak-camera
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fix: bad pipeline configuration

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This commit is contained in:
Cyrille Nofficial 2022-11-02 17:33:36 +01:00
parent 30f9876c1d
commit befb4bacb3
2 changed files with 17 additions and 19 deletions
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3
camera/cli.py
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@ -88,7 +88,8 @@ def execute_from_command_line() -> None:
objects_threshold=args.objects_threshold)
pipeline = dai.Pipeline()
pipeline_controller = cam.PipelineController(frame_processor=frame_processor,
pipeline_controller = cam.PipelineController(pipeline=pipeline,
frame_processor=frame_processor,
object_processor=object_processor,
object_node=cam.ObjectDetectionNN(pipeline=pipeline),
camera=cam.CameraSource(pipeline=pipeline,

33
camera/depthai.py
View File

@ -196,22 +196,19 @@ class CameraSource(Source):
"""Image source based on camera preview"""
def __init__(self, pipeline: dai.Pipeline, img_width: int, img_height: int):
cam_rgb = pipeline.createColorCamera()
xout_rgb = pipeline.createXLinkOut()
xout_rgb.setStreamName("rgb")
self._cam_rgb = cam_rgb
self._xout_rgb = xout_rgb
self._cam_rgb = pipeline.createColorCamera()
self._xout_rgb = pipeline.createXLinkOut()
self._xout_rgb.setStreamName("rgb")
# Properties
cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
cam_rgb.setPreviewSize(width=img_width, height=img_height)
cam_rgb.setInterleaved(False)
cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
cam_rgb.setFps(30)
self._cam_rgb.setBoardSocket(dai.CameraBoardSocket.RGB)
self._cam_rgb.setPreviewSize(width=img_width, height=img_height)
self._cam_rgb.setInterleaved(False)
self._cam_rgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.RGB)
self._cam_rgb.setFps(30)
# link camera preview to output
cam_rgb.preview.link(xout_rgb.input)
self._cam_rgb.preview.link(self._xout_rgb.input)
def link(self, input_node: dai.Node.Input) -> None:
self._cam_rgb.preview.link(input_node)
@ -292,25 +289,25 @@ class PipelineController:
"""
def __init__(self, frame_processor: FrameProcessor,
object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN):
self._pipeline = self._configure_pipeline()
object_processor: ObjectProcessor, camera: Source, object_node: ObjectDetectionNN,
pipeline: dai.Pipeline):
self._frame_processor = frame_processor
self._object_processor = object_processor
self._camera = camera
self._object_node = object_node
self._stop = False
self._pipeline = pipeline
self._configure_pipeline()
def _configure_pipeline(self) -> dai.Pipeline:
def _configure_pipeline(self) -> None:
logger.info("configure pipeline")
pipeline = dai.Pipeline()
pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
self._pipeline.setOpenVINOVersion(version=dai.OpenVINO.VERSION_2021_4)
# Link preview to manip and manip to nn
self._camera.link(self._object_node.get_input())
logger.info("pipeline configured")
return pipeline
def run(self) -> None:
"""