Switch to LIVE_STREAM mode for real-time async inference

dead_bug_detector.py

@@ -1,5 +1,6 @@
 from __future__ import annotations
 
+import threading
 from dataclasses import dataclass
 from enum import Enum
 from pathlib import Path
@@ -106,9 +107,19 @@ class DeadBugDetector:
         self.extension_confirm_frames = extension_confirm_frames
         self.reset_confirm_frames = reset_confirm_frames
 
+        self._latest_result = None
+        self._result_lock = threading.Lock()
+        self._result_event = threading.Event()
+
+        def on_result(pose_result, _image, _timestamp_ms):
+            with self._result_lock:
+                self._latest_result = pose_result
+            self._result_event.set()
+
         options = PoseLandmarkerOptions(
             base_options=BaseOptions(model_asset_path=self.model_path),
-            running_mode=VisionRunningMode.VIDEO,
+            running_mode=VisionRunningMode.LIVE_STREAM,
+            result_callback=on_result,
             num_poses=1,
             min_pose_detection_confidence=0.5,
             min_pose_presence_confidence=0.5,
@@ -131,7 +142,13 @@ class DeadBugDetector:
         timestamp_ms = self._normalize_timestamp(timestamp_ms)
         rgb_frame = cv2.cvtColor(bgr_frame, cv2.COLOR_BGR2RGB)
         mp_image = mp.Image(image_format=mp.ImageFormat.SRGB, data=rgb_frame)
-        pose_result = self._landmarker.detect_for_video(mp_image, timestamp_ms)
+
+        self._result_event.clear()
+        self._landmarker.detect_async(mp_image, timestamp_ms)
+        self._result_event.wait(timeout=0.1)
+
+        with self._result_lock:
+            pose_result = self._latest_result
 
         annotated = bgr_frame.copy()
         if not pose_result.pose_landmarks: