maskout_app.py

#!/usr/bin/env python3

################################################################################
# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
#
# Permission is hereby granted, free of charge, to any person obtaining a
# copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation
# the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the
# Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.  IN NO EVENT SHALL
# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
# DEALINGS IN THE SOFTWARE.
################################################################################

import sys
sys.path.append('../')
import gi
import configparser
gi.require_version('Gst', '1.0')
gi.require_version('GstRtspServer', '1.0')
from gi.repository import GObject, Gst, GstRtspServer
from gi.repository import GLib
from ctypes import *
import time
import sys
import math
import platform
from common.is_aarch_64 import is_aarch64
from common.bus_call import bus_call
from common.FPS import GETFPS
import numpy as np
import pyds
import cv2
import os
import os.path
from os import path

from utils.heatmap_generator import HMap
from utils.streamer import StreamServer
stream_server = StreamServer(host="0.0.0.0", zmq_port=5555)

fps_streams={}
frame_count={}
saved_count={}
HMAP = {}
global PGIE_CLASS_ID_VEHICLE
PGIE_CLASS_ID_VEHICLE=0
global PGIE_CLASS_ID_PERSON
PGIE_CLASS_ID_PERSON=2

MAX_DISPLAY_LEN=64
MUXER_OUTPUT_WIDTH=1280
MUXER_OUTPUT_HEIGHT=720
MUXER_BATCH_TIMEOUT_USEC=4000000
TILED_OUTPUT_WIDTH=1280
TILED_OUTPUT_HEIGHT=720
GST_CAPS_FEATURES_NVMM="memory:NVMM"

global ST
ST = time.time()
# pgie_classes_str= ["Vehicle", "TwoWheeler", "Person","RoadSign"]


# tiler_sink_pad_buffer_probe  will extract metadata received on tiler src pad
# and update params for drawing rectangle, object information etc.
def tiler_sink_pad_buffer_probe(pad,info,u_data):
    global ST
    frame_number=0
    num_rects=0
    gst_buffer = info.get_buffer()
    if not gst_buffer:
        print("Unable to get GstBuffer ")
        return
        
    # Retrieve batch metadata from the gst_buffer
    # Note that pyds.gst_buffer_get_nvds_batch_meta() expects the
    # C address of gst_buffer as input, which is obtained with hash(gst_buffer)
    batch_meta = pyds.gst_buffer_get_nvds_batch_meta(hash(gst_buffer))
    
    l_frame = batch_meta.frame_meta_list
    while l_frame is not None:
        try:
            # Note that l_frame.data needs a cast to pyds.NvDsFrameMeta
            # The casting is done by pyds.NvDsFrameMeta.cast()
            # The casting also keeps ownership of the underlying memory
            # in the C code, so the Python garbage collector will leave
            # it alone.
            frame_meta = pyds.NvDsFrameMeta.cast(l_frame.data)
        except StopIteration:
            break

        frame_number = frame_meta.frame_num
        l_obj = frame_meta.obj_meta_list
        # num_rects = frame_meta.num_obj_meta
        # is_first_obj = True
        while l_obj is not None:
            try: 
                # Casting l_obj.data to pyds.NvDsObjectMeta
                obj_meta=pyds.NvDsObjectMeta.cast(l_obj.data)
            except StopIteration:
                break

            # generate heatmap at intervals
            if time.time() - ST > 0.04:
                n_frame = pyds.get_nvds_buf_surface(hash(gst_buffer),frame_meta.batch_id)
                #convert python array into numy array format.
                frame_image = np.array(n_frame,copy=True,order='C')
                #covert the array into cv2 default color format
                frame_image = cv2.cvtColor(frame_image,cv2.COLOR_RGBA2BGR)
                #draw bounding boxes and other metadata
                frame_image = generate_heatmap(frame_image,obj_meta,obj_meta.confidence,frame_meta.pad_index)
                ST = time.time()

            try: 
                l_obj=l_obj.next
            except StopIteration:
                break

        # print("Frame Number=", frame_number, "Number of Objects=",num_rects,"Person_count=",obj_counter[PGIE_CLASS_ID_PERSON])
        
        # Get frame rate through this probe
        fps_streams["stream{0}".format(frame_meta.pad_index)].get_fps()

        try:
            l_frame=l_frame.next
            pass
        except StopIteration:
            break

    return Gst.PadProbeReturn.OK


def generate_heatmap(image,obj_meta,confidence, stream_idx):
    hmap = HMAP[stream_idx]
    rect_params = obj_meta.rect_params
    x1,y1,x2,y2 = int(rect_params.left), \
        int(rect_params.top), \
        int(rect_params.left) + int(rect_params.width), \
        int(rect_params.top) + int(rect_params.height)
    
    hmap.apply_color_map(x1,y1,x2,y2)
    # heatmap_frame = hmap.get_heatmap(image)
    stream_server.send(hmap.heatmap)
    # return heatmap_frame

def cb_newpad(decodebin, decoder_src_pad,data):
    print("In cb_newpad\n")
    caps=decoder_src_pad.get_current_caps()
    gststruct=caps.get_structure(0)
    gstname=gststruct.get_name()
    source_bin=data
    features=caps.get_features(0)

    # Need to check if the pad created by the decodebin is for video and not
    # audio.
    if(gstname.find("video")!=-1):
        # Link the decodebin pad only if decodebin has picked nvidia
        # decoder plugin nvdec_*. We do this by checking if the pad caps contain
        # NVMM memory features.
        if features.contains("memory:NVMM"):
            # Get the source bin ghost pad
            bin_ghost_pad=source_bin.get_static_pad("src")
            if not bin_ghost_pad.set_target(decoder_src_pad):
                sys.stderr.write("Failed to link decoder src pad to source bin ghost pad\n")
        else:
            sys.stderr.write(" Error: Decodebin did not pick nvidia decoder plugin.\n")

def decodebin_child_added(child_proxy,Object,name,user_data):
    print("Decodebin child added:", name, "\n")
    if(name.find("decodebin") != -1):
        Object.connect("child-added",decodebin_child_added,user_data)   
    if(is_aarch64() and name.find("nvv4l2decoder") != -1):
        print("Seting bufapi_version\n")
        Object.set_property("bufapi-version",True)

def create_source_bin(index,uri):
    print("Creating source bin")

    # Create a source GstBin to abstract this bin's content from the rest of the
    # pipeline
    bin_name="source-bin-%02d" %index
    print(bin_name)
    nbin=Gst.Bin.new(bin_name)
    if not nbin:
        sys.stderr.write(" Unable to create source bin \n")

    # Source element for reading from the uri.
    # We will use decodebin and let it figure out the container format of the
    # stream and the codec and plug the appropriate demux and decode plugins.
    uri_decode_bin=Gst.ElementFactory.make("uridecodebin", "uri-decode-bin")
    if not uri_decode_bin:
        sys.stderr.write(" Unable to create uri decode bin \n")
    # We set the input uri to the source element
    uri_decode_bin.set_property("uri",uri)
    # Connect to the "pad-added" signal of the decodebin which generates a
    # callback once a new pad for raw data has beed created by the decodebin
    uri_decode_bin.connect("pad-added",cb_newpad,nbin)
    uri_decode_bin.connect("child-added",decodebin_child_added,nbin)

    # We need to create a ghost pad for the source bin which will act as a proxy
    # for the video decoder src pad. The ghost pad will not have a target right
    # now. Once the decode bin creates the video decoder and generates the
    # cb_newpad callback, we will set the ghost pad target to the video decoder
    # src pad.
    Gst.Bin.add(nbin,uri_decode_bin)
    bin_pad=nbin.add_pad(Gst.GhostPad.new_no_target("src",Gst.PadDirection.SRC))
    if not bin_pad:
        sys.stderr.write(" Failed to add ghost pad in source bin \n")
        return None
    return nbin

def main(args):
    enable_osd = True

    for i in range(0,len(args)-1):
        global HMAP
        name = "stream{0}".format(i)
        HMAP[i] = HMap(MUXER_OUTPUT_WIDTH, MUXER_OUTPUT_HEIGHT, name, fade_interval=2)
        fps_streams[name]=GETFPS(i)
    number_sources=len(args)-1

    # Standard GStreamer initialization
    GObject.threads_init()
    Gst.init(None)

    # Create gstreamer elements */
    # Create Pipeline element that will form a connection of other elements
    print("Creating Pipeline \n ")
    pipeline = Gst.Pipeline()
    is_live = False

    if not pipeline:
        sys.stderr.write(" Unable to create Pipeline \n")
    print("Creating streamux \n ")

    # Create nvstreammux instance to form batches from one or more sources.
    streammux = Gst.ElementFactory.make("nvstreammux", "Stream-muxer")
    if not streammux:
        sys.stderr.write(" Unable to create NvStreamMux \n")

    pipeline.add(streammux)
    for i in range(number_sources):
        # os.mkdir(folder_name+"/stream_"+str(i))
        # frame_count["stream_"+str(i)]=0
        # saved_count["stream_"+str(i)]=0
        print("Creating source_bin ",i," \n ")
        uri_name=args[i+1]
        if uri_name.find("rtsp://") == 0 :
            is_live = True
        source_bin=create_source_bin(i, uri_name)
        if not source_bin:
            sys.stderr.write("Unable to create source bin \n")
        pipeline.add(source_bin)
        padname="sink_%u" %i
        sinkpad= streammux.get_request_pad(padname) 
        if not sinkpad:
            sys.stderr.write("Unable to create sink pad bin \n")
        srcpad=source_bin.get_static_pad("src")
        if not srcpad:
            sys.stderr.write("Unable to create src pad bin \n")
        srcpad.link(sinkpad)
    print("Creating Pgie \n ")
    pgie = Gst.ElementFactory.make("nvinfer", "primary-inference")
    if not pgie:
        sys.stderr.write(" Unable to create pgie \n")
    
    tracker = Gst.ElementFactory.make("nvtracker", "tracker")
    if not tracker:
        sys.stderr.write(" Unable to create tracker \n")
    
    #Set properties of tracker
    config = configparser.ConfigParser()
    config.read('model/tracker_config.txt')
    config.sections()

    for key in config['tracker']:
        if key == "enable" :
            tracker_enable = config.getint('tracker', key)
        if key == 'tracker-width' :
            tracker_width = config.getint('tracker', key)
            tracker.set_property('tracker-width', tracker_width)
        if key == 'tracker-height' :
            tracker_height = config.getint('tracker', key)
            tracker.set_property('tracker-height', tracker_height)
        if key == 'gpu-id' :
            tracker_gpu_id = config.getint('tracker', key)
            tracker.set_property('gpu_id', tracker_gpu_id)
        if key == 'll-lib-file' :
            tracker_ll_lib_file = config.get('tracker', key)
            tracker.set_property('ll-lib-file', tracker_ll_lib_file)
        if key == 'll-config-file' :
            tracker_ll_config_file = config.get('tracker', key)
            tracker.set_property('ll-config-file', tracker_ll_config_file)
        if key == 'enable-batch-process' :
            tracker_enable_batch_process = config.getint('tracker', key)
            tracker.set_property('enable_batch_process', tracker_enable_batch_process)
        
    # Add nvvidconv1 and filter1 to convert the frames to RGBA
    # which is easier to work with in Python.
    print("Creating nvvidconv1 \n ")
    nvvidconv1 = Gst.ElementFactory.make("nvvideoconvert", "convertor1")
    if not nvvidconv1:
        sys.stderr.write(" Unable to create nvvidconv1 \n")
    print("Creating filter1 \n ")
    caps1 = Gst.Caps.from_string("video/x-raw(memory:NVMM), format=RGBA")
    filter1 = Gst.ElementFactory.make("capsfilter", "filter1")
    if not filter1:
        sys.stderr.write(" Unable to get the caps filter1 \n")
    filter1.set_property("caps", caps1)
    print("Creating tiler \n ")
    tiler=Gst.ElementFactory.make("nvmultistreamtiler", "nvtiler")
    if not tiler:
        sys.stderr.write(" Unable to create tiler \n")
    print("Creating nvvidconv \n ")
    nvvidconv = Gst.ElementFactory.make("nvvideoconvert", "convertor")
    if not nvvidconv:
        sys.stderr.write(" Unable to create nvvidconv \n")
    print("Creating nvosd \n ")
    nvosd = Gst.ElementFactory.make("nvdsosd", "onscreendisplay")
    if not nvosd:
        sys.stderr.write(" Unable to create nvosd \n")
    
    nvvidconv_postosd = Gst.ElementFactory.make("nvvideoconvert", "convertor_postosd")
    if not nvvidconv_postosd:
        sys.stderr.write(" Unable to create nvvidconv_postosd \n")
    
    # Create a caps filter
    caps = Gst.ElementFactory.make("capsfilter", "filter")
    caps.set_property("caps", Gst.Caps.from_string("video/x-raw(memory:NVMM), format=I420"))
    
    # Make the encoder
    codec = "H264"
    encoder = Gst.ElementFactory.make("nvv4l2h264enc", "encoder")
    print("Creating H264 Encoder")
    if not encoder:
        sys.stderr.write(" Unable to create encoder")

    bitrate = 40_00_000
    encoder.set_property('bitrate', bitrate)
    if is_aarch64():
        encoder.set_property('preset-level', 1)
        encoder.set_property('insert-sps-pps', 1)
        encoder.set_property('bufapi-version', 1)
    
    # Make the payload-encode video into RTP packets
    rtppay = Gst.ElementFactory.make("rtph264pay", "rtppay")
    print("Creating H264 rtppay")
    if not rtppay:
        sys.stderr.write(" Unable to create rtppay")
    
    # Make the UDP sink
    updsink_port_num = 5400
    sink = Gst.ElementFactory.make("udpsink", "udpsink")
    if not sink:
        sys.stderr.write(" Unable to create udpsink")
    
    sink.set_property('host', '224.224.255.255')
    sink.set_property('port', updsink_port_num)
    sink.set_property('async', False)
    sink.set_property('sync', 1)

    if is_live:
        print("Atleast one of the sources is live")
        streammux.set_property('live-source', 1)

    streammux.set_property('width', MUXER_OUTPUT_WIDTH)
    streammux.set_property('height', MUXER_OUTPUT_HEIGHT)
    streammux.set_property('batch-size', number_sources)
    streammux.set_property('batched-push-timeout', 4000000)

    pgie.set_property('config-file-path', "model/primary_inference.cfg")
    pgie_batch_size=pgie.get_property("batch-size")

    if(pgie_batch_size != number_sources):
        print("WARNING: Overriding infer-config batch-size",pgie_batch_size," with number of sources ", number_sources," \n")
        pgie.set_property("batch-size",number_sources)

    tiler_rows=int(math.sqrt(number_sources))
    tiler_columns=int(math.ceil((1.0*number_sources)/tiler_rows))
    tiler.set_property("rows",tiler_rows)
    tiler.set_property("columns",tiler_columns)
    tiler.set_property("width", TILED_OUTPUT_WIDTH)
    tiler.set_property("height", TILED_OUTPUT_HEIGHT)

    sink.set_property("sync", 0)

    if not is_aarch64():
        # Use CUDA unified memory in the pipeline so frames
        # can be easily accessed on CPU in Python.
        mem_type = int(pyds.NVBUF_MEM_CUDA_UNIFIED)
        streammux.set_property("nvbuf-memory-type", mem_type)
        nvvidconv.set_property("nvbuf-memory-type", mem_type)
        nvvidconv1.set_property("nvbuf-memory-type", mem_type)
        tiler.set_property("nvbuf-memory-type", mem_type)

    print("Adding elements to Pipeline \n")
    pipeline.add(pgie)
    if tracker_enable:
        pipeline.add(tracker)
    pipeline.add(tiler)
    pipeline.add(nvvidconv)
    pipeline.add(filter1)
    pipeline.add(nvvidconv1)
    pipeline.add(nvosd)
    pipeline.add(nvvidconv_postosd)
    pipeline.add(caps)
    pipeline.add(encoder)
    pipeline.add(rtppay)
    pipeline.add(sink)

    # if is_aarch64():
    #     pipeline.add(transform)
    # pipeline.add(sink)

    print("Linking elements in the Pipeline \n")

    streammux.link(pgie)
    if tracker_enable:
        pgie.link(tracker)
        tracker.link(nvvidconv1)
    else:
        pgie.link(nvvidconv1)

    nvvidconv1.link(filter1)
    filter1.link(tiler)
    tiler.link(nvvidconv)

    if enable_osd:
        nvvidconv.link(nvosd)
        nvosd.link(nvvidconv_postosd)
    else:
        nvvidconv.link(nvvidconv_postosd)

    nvvidconv_postosd.link(caps)
    caps.link(encoder)
    encoder.link(rtppay)
    rtppay.link(sink)
    # create an event loop and feed gstreamer bus mesages to it
    loop = GObject.MainLoop()
    bus = pipeline.get_bus()
    bus.add_signal_watch()
    bus.connect ("message", bus_call, loop)

    # Start streaming
    rtsp_port_num = 8554
    server = GstRtspServer.RTSPServer.new()
    server.props.service = "%d" % rtsp_port_num
    server.attach(None)
    
    factory = GstRtspServer.RTSPMediaFactory.new()
    factory.set_launch( "( udpsrc name=pay0 port=%d buffer-size=524288 caps=\"application/x-rtp, media=video, clock-rate=90000, encoding-name=(string)%s, payload=96 \" )" % (updsink_port_num, codec))
    factory.set_shared(True)
    server.get_mount_points().add_factory("/ds-test", factory)
    
    print("\n *** DeepStream: Launched RTSP Streaming at rtsp://localhost:%d/ds-test ***\n\n" % rtsp_port_num)

    tiler_sink_pad=tiler.get_static_pad("sink")
    if not tiler_sink_pad:
        sys.stderr.write(" Unable to get src pad \n")
    else:
        tiler_sink_pad.add_probe(Gst.PadProbeType.BUFFER, tiler_sink_pad_buffer_probe, 0)

    # List the sources
    print("Now playing...")
    for i, source in enumerate(args[:-1]):
        if (i != 0):
            print(i, ": ", source)

    print("Starting pipeline \n")

    # start play back and listed to events		
    pipeline.set_state(Gst.State.PLAYING)
    try:
        loop.run()
    except:
        pass
    # cleanup
    print("Exiting app\n")
    pipeline.set_state(Gst.State.NULL)

if __name__ == '__main__':
    sys.exit(main(sys.argv))