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69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
#include <QDebug>
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#include <opencv2/highgui.hpp>
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#include "aiengine.h"
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#include "aiengineinference.h"
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#ifdef OPI5_BUILD
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#include "src-opi5/aiengineinferenceopi5.h"
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#else
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#include "src-onnx/aiengineinferenceonnx.h"
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#endif
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AiEngine::AiEngine(QString modelPath, QObject *parent)
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: QObject{parent}
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{
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mRtspListener = new AiEngineRtspListener(this);
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connect(mRtspListener, &AiEngineRtspListener::frameReceived, this, &AiEngine::frameReceivedSlot);
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#ifdef OPI5_BUILD
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mInference = new AiEngineInferenceOpi5(modelPath);
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#else
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mInference = new AiEngineInferenceOnnx(modelPath);
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#endif
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QThread *inferenceThread = new QThread(this);
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mInference->moveToThread(inferenceThread);
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connect(mInference, &AiEngineInference::resultsReady, this, &AiEngine::inferenceResultsReceivedSlot, Qt::QueuedConnection);
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connect(this, &AiEngine::inferenceFrame, mInference, &AiEngineInference::performInferenceSlot, Qt::QueuedConnection);
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inferenceThread->start();
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mGimbalControl = new AiEngineGimbalControl(this);
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}
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void AiEngine::start(void)
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{
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mRtspListener->startListening();
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}
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void AiEngine::stop(void)
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{
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mRtspListener->stopListening();
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}
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void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
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{
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//qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();
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mGimbalControl->inferenceResultSlot(result);
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cv::imshow("Received Frame", result.frame);
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//#ifndef OPI5_BUILD
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//cv::imshow("Received Frame", result.frame);
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//#endif
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}
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void AiEngine::frameReceivedSlot(cv::Mat frame)
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{
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//qDebug() << "AiEngine got frame from RTSP listener in thread: " << QThread::currentThreadId();
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//cv::imshow("Received Frame", frame);
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if (mInference->isActive() == false) {
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//qDebug() << "AiEngine. Inference thread is free. Sending frame to it.";
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emit inferenceFrame(frame.clone());
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}
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}
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