update nn params

luxonis · Oct 4, 2024 · 47de5ab · 47de5ab
1 parent 76e2b66
commit 47de5ab
Showing 1 changed file with 7 additions and 3 deletions.
diff --git a/depthai_ros_driver/include/depthai_ros_driver/param_handlers/nn_param_handler.hpp b/depthai_ros_driver/include/depthai_ros_driver/param_handlers/nn_param_handler.hpp
@@ -107,11 +107,15 @@ class NNParamHandler : public BaseParamHandler {
         json data = json::parse(f);
         if(data.contains("model") && data.contains("nn_config")) {
             auto modelPath = getModelPath(data);
-            setImageManip(modelPath, imageManip);
+			modelPath = declareAndLogParam<std::string>("i_model_path", modelPath);
+			if(!getParam<bool>("i_disable_resize")) {
+				setImageManip(modelPath, imageManip);
+			}
             nn->setBlobPath(modelPath);
-            nn->setNumPoolFrames(4);
-            nn->setNumInferenceThreads(2);
+            nn->setNumPoolFrames(declareAndLogParam<int>("i_num_pool_frames", 4));
+            nn->setNumInferenceThreads(declareAndLogParam<int>("i_num_inference_threads", 2));
             nn->input.setBlocking(false);
+			declareAndLogParam<int>("i_max_q_size", 30);
             setNNParams(data, nn);
         }
     }