autopilot/tmp/opi_rtsp/aiengine.cpp

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

#ifdef OPI5_BUILD
#include "src-opi5/aiengineinferenceopi5.h"
#else
#include "src-onnx/aiengineinferenceonnx.h"
#endif

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

#ifdef OPI5_BUILD
    mInference = new AiEngineInferenceOpi5(modelPath);
#else
    mInference = new AiEngineInferenceOnnx(modelPath);
#endif

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

    mGimbalControl =  new AiEngineGimbalControl(this);
}


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


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


void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
{
    //qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();

    mGimbalControl->inferenceResultSlot(result);
    //cv::imshow("Received Frame", result.frame);

//#ifndef OPI5_BUILD
    //cv::imshow("Received Frame", result.frame);
//#endif
}


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());
    }
}