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Now i find solution and want to share with you:
    def callback(self, infer_request, info):
    
    frame, input_hw = info  

    res = infer_request.get_output_tensor(0).data
    
    detections = self.postprocess(pred_boxes=res, input_hw=input_hw, orig_img=frame)

    self.det_storage.append(detections[0]["det"])
    
        

def draw_bounding_boxes(self, frame: Any) -> Any:
    
    frame_copy = frame.copy()
    
    fg_mask = self.back_sub.apply(frame_copy)
    
    preprocess_image = self.preprocess_image(frame_copy)
    
    input_tensor = self.image_to_tensor(preprocess_image)
    
    input_hw = input_tensor.shape[2:]
    
    infer_queue = AsyncInferQueue(self.model, 4)  
    
    infer_queue.set_callback(self.callback) 
    
    infer_queue.start_async(inputs={0: input_tensor}, userdata=(frame_copy, input_hw))

    infer_queue.wait_all()  

    
    model_detections = self.det_storage.pop(0)
    
    detections = []
    
    for result in model_detections:
79288440
