Added timestamps to outcoming messages (#19)

luxonis · Aug 14, 2024 · 4fffe46 · 4fffe46
1 parent e73f404
commit 4fffe46
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Showing 12 changed files with 12 additions and 0 deletions.
diff --git a/depthai_nodes/ml/parsers/image_output.py b/depthai_nodes/ml/parsers/image_output.py
@@ -75,5 +75,6 @@ def run(self):
                 image=image,
                 is_bgr=self.output_is_bgr,
             )
+            image_message.setTimestamp(output.getTimestamp())
 
             self.out.send(image_message)
diff --git a/depthai_nodes/ml/parsers/keypoints.py b/depthai_nodes/ml/parsers/keypoints.py
@@ -100,5 +100,6 @@ def run(self):
             keypoints /= self.scale_factor
 
             msg = create_keypoints_message(keypoints)
+            msg.setTimestamp(output.getTimestamp())
 
             self.out.send(msg)
diff --git a/depthai_nodes/ml/parsers/mediapipe_hand_landmarker.py b/depthai_nodes/ml/parsers/mediapipe_hand_landmarker.py
@@ -83,4 +83,5 @@ def run(self):
             hand_landmarks_msg = create_hand_keypoints_message(
                 landmarks, float(handedness), float(hand_score), self.score_threshold
             )
+            hand_landmarks_msg.setTimestamp(output.getTimestamp())
             self.out.send(hand_landmarks_msg)
diff --git a/depthai_nodes/ml/parsers/mediapipe_palm_detection.py b/depthai_nodes/ml/parsers/mediapipe_palm_detection.py
@@ -116,4 +116,5 @@ def run(self):
             scores = np.array(scores)[indices]
 
             detections_msg = create_detection_message(bboxes, scores, labels=None)
+            detections_msg.setTimestamp(output.getTimestamp())
             self.out.send(detections_msg)
diff --git a/depthai_nodes/ml/parsers/mlsd.py b/depthai_nodes/ml/parsers/mlsd.py
@@ -97,4 +97,5 @@ def run(self):
             )
 
             message = create_line_detection_message(lines, np.array(scores))
+            message.setTimestamp(output.getTimestamp())
             self.out.send(message)
diff --git a/depthai_nodes/ml/parsers/monocular_depth.py b/depthai_nodes/ml/parsers/monocular_depth.py
@@ -66,4 +66,5 @@ def run(self):
                 depth_map=depth_map,
                 depth_type=self.depth_type,
             )
+            depth_message.setTimestamp(output.getTimestamp())
             self.out.send(depth_message)
diff --git a/depthai_nodes/ml/parsers/scrfd.py b/depthai_nodes/ml/parsers/scrfd.py
@@ -173,4 +173,5 @@ def run(self):
             scores = scores[indices]
 
             detection_msg = create_detection_message(bboxes, scores, None, None)
+            detection_msg.setTimestamp(output.getTimestamp())
             self.out.send(detection_msg)
diff --git a/depthai_nodes/ml/parsers/segmentation.py b/depthai_nodes/ml/parsers/segmentation.py
@@ -89,4 +89,5 @@ def run(self):
             )
 
             imgFrame = create_segmentation_message(class_map)
+            imgFrame.setTimestamp(output.getTimestamp())
             self.out.send(imgFrame)
diff --git a/depthai_nodes/ml/parsers/superanimal_landmarker.py b/depthai_nodes/ml/parsers/superanimal_landmarker.py
@@ -80,5 +80,6 @@ def run(self):
             keypoints = keypoints[:, :2] / self.scale_factor
 
             msg = create_keypoints_message(keypoints, scores, self.score_threshold)
+            msg.setTimestamp(output.getTimestamp())
 
             self.out.send(msg)
diff --git a/depthai_nodes/ml/parsers/thermal_image.py b/depthai_nodes/ml/parsers/thermal_image.py
@@ -44,4 +44,5 @@ def run(self):
             thermal_map = output[0]
 
             thermal_message = create_thermal_message(thermal_map=thermal_map)
+            thermal_message.setTimestamp(output.getTimestamp())
             self.out.send(thermal_message)
diff --git a/depthai_nodes/ml/parsers/xfeat.py b/depthai_nodes/ml/parsers/xfeat.py
@@ -92,6 +92,7 @@ def run(self):
             if self.previous_results is not None:
                 mkpts0, mkpts1 = match(self.previous_results, result)
                 matched_points = create_tracked_features_message(mkpts0, mkpts1)
+                matched_points.setTimestamp(output.getTimestamp())
                 self.out.send(matched_points)
             else:
                 # save the result from first frame

diff --git a/depthai_nodes/ml/parsers/yunet.py b/depthai_nodes/ml/parsers/yunet.py
@@ -146,5 +146,6 @@ def run(self):
                 labels,
                 keypoints,
             )
+            detections_message.setTimestamp(output.getTimestamp())
 
             self.out.send(detections_message)