Small fixes to AI Controller

- removed QtSerialPort from the Qt CONFIG parameters
- remove compiler warnings
- reduced logging
- fixed FPS to show what AI really analyzed
- RTSP reader tries to connect to the stream once per second until it succeeds

ai_controller/ai_controller.pro

@@ -1,4 +1,4 @@
-QT += core network serialport
+QT += core network
 QT -= gui
 CONFIG += concurrent console c++17
 MOC_DIR = moc

ai_controller/aiengine.cpp

@@ -3,7 +3,9 @@
 
 #include "aiengine.h"
 #include "aiengineinference.h"
+#ifdef SAVE_IMAGES
 #include "aiengineimagesaver.h"
+#endif
 
 #if defined(OPI5_BUILD)
 #include "src-opi5/aiengineinferenceopi5.h"
@@ -17,8 +19,11 @@
 
 
 
-AiEngine::AiEngine(QString modelPath, QObject *parent)
-    : QObject{parent}
+AiEngine::AiEngine(QString modelPath, QObject *parent) :
+    QObject{parent},
+    mRtspFrameCounter(0),
+    mInferenceFrameCounter(0)
+
 {
     mRtspListener = new AiEngineRtspListener(this);
     connect(mRtspListener, &AiEngineRtspListener::frameReceived, this, &AiEngine::frameReceivedSlot);
@@ -69,7 +74,7 @@ AiEngine::AiEngine(QString modelPath, QObject *parent)
 void AiEngine::start(void)
 {
     mRtspListener->startListening();
-    mElapsedTimer.start();
+    mRtspElapsedTimer.start();
 }
 
 
@@ -81,16 +86,15 @@ void AiEngine::stop(void)
 
 void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
 {
-    mFrameCounter++;
-    qDebug() << "FPS = " << (mFrameCounter / (mElapsedTimer.elapsed()/1000.0f));
-    //qDebug() << "DEBUG. inference frame counter:" << mFrameCounter;
+    mInferenceFrameCounter++;
+    float fps =mRtspElapsedTimer.elapsed() == 0 ? 0 : (mInferenceFrameCounter / (mRtspElapsedTimer.elapsed()/1000.0f));
+    printf("Analyzed %d/%d frames with AI. FPS=%.1f\n", mInferenceFrameCounter, mRtspFrameCounter, fps);
 
-    //qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();
     if (mGimbalClient != nullptr) {
         mGimbalClient->inferenceResultSlot(result);
     }
 
-    cv::imshow("Received Frame", result.frame);
+    cv::imshow("AI Engine", result.frame);
 
 #ifdef SAVE_IMAGES
     static int imageCounter = 0;
@@ -103,26 +107,17 @@ void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
 
 void AiEngine::frameReceivedSlot(cv::Mat frame)
 {
-    //qDebug() << "AiEngine got frame from RTSP listener in thread: " << QThread::currentThreadId();
-    //cv::imshow("Received Frame", frame);
-    static int framecounter = 0;
-    //qDebug() << "DEBUG. RTSP frame counter:" << framecounter;
+    mRtspFrameCounter++;
 
     if (mInference->isActive() == false) {
-        //qDebug() << "AiEngine. Inference thread is free. Sending frame to it.";
         emit inferenceFrame(frame);
-        framecounter++;
     }
 #ifdef OPI5_BUILD
     else if (mInference2->isActive() == false) {
-        //qDebug() << "AiEngine. Inference thread is free. Sending frame to it.";
         emit inferenceFrame2(frame);
-        framecounter++;
     }
     else if (mInference3->isActive() == false) {
-        //qDebug() << "AiEngine. Inference thread is free. Sending frame to it.";
         emit inferenceFrame3(frame);
-        framecounter++;
     }
 #endif
 }

ai_controller/aiengine.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <QObject>
 #include <QElapsedTimer>
+#include <QObject>
 #include <opencv2/core.hpp>
 #include <opencv2/videoio.hpp>
 #include "aienginertsplistener.h"
@@ -26,8 +26,9 @@ signals:
     void inferenceFrame3(cv::Mat frame);
 
 private:
-    QElapsedTimer mElapsedTimer;
-    uint32_t mFrameCounter = 0;
+    uint32_t mRtspFrameCounter;
+    uint32_t mInferenceFrameCounter;
+    QElapsedTimer mRtspElapsedTimer;
     AiEngineRtspListener *mRtspListener;
     AiEngineInference *mInference;
     AiEngineInference *mInference2;

ai_controller/aienginertsplistener.cpp

@@ -82,7 +82,11 @@ void AiEngineRtspListener::listenLoop(void)
 #else
     qDebug() << "AiEngineRtspListener loop running in thread: " << QThread::currentThreadId();
 
-    mCap.open(rtspVideoUrl.toStdString());
+    while (mCap.open(rtspVideoUrl.toStdString()) == false) {
+        qDebug() << "AiEngineRtspListener can't open video stream:" << rtspVideoUrl;
+        QThread::msleep(1000);
+    }
+
     cv::Mat frame;
 
     while (mIsListening) {

ai_controller/src-onnx-runtime/aiengineinferenceonnxruntime.cpp

@@ -13,7 +13,7 @@ AiEngineInferencevOnnxRuntime::AiEngineInferencevOnnxRuntime(QString modelPath,
     AiEngineInference{modelPath, parent},
     mPredictor(modelPath.toStdString(), confThreshold, iouThreshold, maskThreshold)
 {
-    qDebug() << "TUOMAS AiEngineInferencevOnnxRuntime() mModelPath=" << mModelPath;
+    qDebug() << "AiEngineInferencevOnnxRuntime() mModelPath=" << mModelPath;
     qDebug() << "AiEngineInferencevOnnxRuntime() mClassNames.size() =" << mClassNames.size();
 }
 
@@ -49,7 +49,6 @@ cv::Mat AiEngineInferencevOnnxRuntime::drawLabels(const cv::Mat &image, const st
             cv::Scalar(0, 0, 0),
             1,
             cv::LINE_AA);
-
     }
 
     return result;
@@ -58,8 +57,6 @@ cv::Mat AiEngineInferencevOnnxRuntime::drawLabels(const cv::Mat &image, const st
 
 void AiEngineInferencevOnnxRuntime::performInferenceSlot(cv::Mat frame)
 {
-    qDebug() << __PRETTY_FUNCTION__;
-
     try {
         mActive = true;
         cv::Mat scaledImage                  = resizeAndPad(frame);
@@ -106,11 +103,8 @@ void AiEngineInferencevOnnxRuntime::performInferenceSlot(cv::Mat frame)
             result.objects.append(object);
         }
 
-        if (result.objects.empty() == false) {
-            result.frame = drawLabels(scaledImage, detections);
-            emit resultsReady(result);
-        }
-
+        result.frame = drawLabels(scaledImage, detections);
+        emit resultsReady(result);
         mActive = false;
     }
     catch (const cv::Exception& e) {