Preload the bodipix model so that hopefully now it's quicker.

MBTMBTMBT · Jul 3, 2024 · 79b88cf · 79b88cf
1 parent 3c20212
commit 79b88cf
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/common/vision/lasr_vision_bodypix/src/lasr_vision_bodypix/bodypix.py b/common/vision/lasr_vision_bodypix/src/lasr_vision_bodypix/bodypix.py
@@ -23,7 +23,11 @@
 import rospkg
 
 # model cache
-loaded_models = {}
+# preload resnet 50 model so that it won't waste the time 
+# doing that in the middle of the task.
+loaded_models = {
+    "resnet50": load_model(BodyPixModelPaths.RESNET50_FLOAT_STRIDE_16)
+}
 r = rospkg.RosPack()