autopilot/tmp/opi_rtsp/aiengine.cpp

#include <QDebug>
#include <opencv2/highgui.hpp>
#include "aiengine.h"
#include "aiengineinference.h"
#include "aiengineinferenceonnx.h"


AiEngine::AiEngine(QString modelPath, QObject *parent)
    : QObject{parent}
{
    mRtspListener = new AiEngineRtspListener(this);
    connect(mRtspListener, &AiEngineRtspListener::frameReceived, this, &AiEngine::frameReceivedSlot);

    QThread *inferenceThread = new QThread(this);
    mInference               = new AiEngineInferenceOnnx(modelPath);
    mInference->moveToThread(inferenceThread);
    connect(mInference, &AiEngineInference::resultsReady, this, &AiEngine::inferenceResultsReceivedSlot, Qt::QueuedConnection);
    connect(this, &AiEngine::inferenceFrame, mInference, &AiEngineInference::performInferenceSlot, Qt::QueuedConnection);
    inferenceThread->start();
}


void AiEngine::start(void)
{
    mRtspListener->startListening();
}


void AiEngine::stop(void)
{
    mRtspListener->stopListening();
}


void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult results)
{
    (void)results;
    qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();
    cv::imshow("Received Frame", results.frame);
}


void AiEngine::frameReceivedSlot(cv::Mat frame)
{
    //qDebug() << "AiEngine got frame from RTSP listener in thread: " << QThread::currentThreadId();
    //cv::imshow("Received Frame", frame);

    if (mInference->isActive() == false) {
        qDebug() << "AiEngine. Inference thread is free. Sending frame to it.";
        emit inferenceFrame(frame.clone());
    }
}