Sanitize NN output (NaN, Infinite); handle corrupted frames

[SzabolcsGergely]

Discard NN output if it is NaN or Infinite.
Internal frame queue size was reduced from 100 to 30.

[ConnorChristie]

@szabi-luxonis I just pulled this latest code down and am now getting compilation errors in tensor_entry.hpp due to the new usage of isnan and isinf.

In file included from /root/build/3rdparty/depthai-api/host/core/pipeline/../nnet/nnet_packet.hpp:9:0,
                 from /root/build/3rdparty/depthai-api/host/core/pipeline/cnn_host_pipeline.hpp:8,
                 from /root/build/3rdparty/depthai-api/host/core/pipeline/cnn_host_pipeline.cpp:3:
/root/build/3rdparty/depthai-api/host/core/pipeline/../nnet/tensor_entry.hpp: In member function 'bool TensorEntry::checkValidTensorEntry() const':
/root/build/3rdparty/depthai-api/host/core/pipeline/../nnet/tensor_entry.hpp:53:33: error: 'isnan' was not declared in this scope
             if(isnan(tensorValue) || isinf(tensorValue))
                                 ^
/root/build/3rdparty/depthai-api/host/core/pipeline/../nnet/tensor_entry.hpp:53:55: error: 'isinf' was not declared in this scope
             if(isnan(tensorValue) || isinf(tensorValue))
                                                       ^
CMakeFiles/cpp_drone_depthai.dir/build.make:218: recipe for target 'CMakeFiles/cpp_drone_depthai.dir/3rdparty/depthai-api/host/core/pipeline/cnn_host_pipeline.cpp.o' failed
make[2]: *** [CMakeFiles/cpp_drone_depthai.dir/3rdparty/depthai-api/host/core/pipeline/cnn_host_pipeline.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /root/build/3rdparty/depthai-api/host/core/../core/pipeline/../nnet/nnet_packet.hpp:9:0,
                 from /root/build/3rdparty/depthai-api/host/core/../core/pipeline/cnn_host_pipeline.hpp:8,
                 from /root/build/depthai_core.hpp:5,
                 from /root/build/depthai_core.cpp:1:
/root/build/3rdparty/depthai-api/host/core/../core/pipeline/../nnet/tensor_entry.hpp: In member function 'bool TensorEntry::checkValidTensorEntry() const':
/root/build/3rdparty/depthai-api/host/core/../core/pipeline/../nnet/tensor_entry.hpp:53:33: error: 'isnan' was not declared in this scope
             if(isnan(tensorValue) || isinf(tensorValue))
                                 ^
/root/build/3rdparty/depthai-api/host/core/../core/pipeline/../nnet/tensor_entry.hpp:53:55: error: 'isinf' was not declared in this scope
             if(isnan(tensorValue) || isinf(tensorValue))
                                                       ^

Is this working on your end because I have to add an include to math.h for it to work.

[SzabolcsGergely]

@ConnorChristie yes, it does, on all 3 OSes (Linux, MacOS, Windows). But I should have included math.h, I will fix it next week.
If i understand correctly you are building cpp code, right ? It's something that we have on our roadmap, to update our outdated host code in host/app

[ConnorChristie]

@szabi-luxonis Thank you and yes, I am building a C++ app. And I can't wait for the C++ side of the API to come. I currently have to copy and paste the python initialization logic that's done inside of py_bindings.cpp to something like this: https://github.com/ConnorChristie/drone-depthai/blob/master/depthai_core.cpp since I don't want to have to include the python binding in my final binary.

[themarpe]

@ConnorChristie if you are not relying on latest features, there is a branch called "refactor" which addresses the issue of having logic in python bindings among other things. It is still under development, so changes in API are expected. I'll also update it with upstream changes from master in a close future, as it is currently a bit behind.