#!/usr/bin/env python3

################################################################################
# SPDX-FileCopyrightText: Copyright (c) 2020-2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################

import sys
sys.path.append('../')
import gi
gi.require_version('Gst', '1.0')
from gi.repository import GObject, Gst
from common.is_aarch_64 import is_aarch64
from common.bus_call import bus_call

import pyds

PGIE_CLASS_ID_VEHICLE = 0
PGIE_CLASS_ID_BICYCLE = 1
PGIE_CLASS_ID_PERSON = 2
PGIE_CLASS_ID_ROADSIGN = 3


def osd_sink_pad_buffer_probe(pad,info,u_data):
    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
        # Retrieve list of NvDsObjectMeta objects in frame from an NvDsFrameMeta object. 
        # See NvDsFrameMeta documentation for more details.
        l_obj=frame_meta.obj_meta_list

        num_rects = frame_meta.num_obj_meta
        obj_counter = {
        PGIE_CLASS_ID_VEHICLE:0,
        PGIE_CLASS_ID_PERSON:0,
        PGIE_CLASS_ID_BICYCLE:0,
        PGIE_CLASS_ID_ROADSIGN:0
        }
        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
            # Retrieve class_id from NvDsObjectMeta (i.e. PGIE_CLASS_ID_VEHICLE, PGIE_CLASS_ID_PERSON, etc.) to update count
            obj_counter[obj_meta.class_id] += 1

            # Set border color of NvDsObjectMeta object's rect_params
            if obj_meta.class_id == 0:
                obj_meta.rect_params.border_color.set(1.0, 0.0, 1.0, 1.0) 
                obj_meta.rect_params.border_width = 4

                confidence = obj_meta.confidence

                obj_meta.text_params.display_text = "Confidence:" + '%.2f' % confidence + " :: Car " 


            try:
                l_obj=l_obj.next
            except StopIteration:
                break

        print("Frame Number=", frame_number, " :::: Vehicle_count=",obj_counter[PGIE_CLASS_ID_VEHICLE])

        # Get frame rate through this probe
        fps_streams["stream{0}".format(frame_meta.pad_index)].get_fps()
        try:
            l_frame=l_frame.next
        except StopIteration:
            break

    return Gst.PadProbeReturn.OK	


def main(args):
    # Check input arguments
    if len(args) != 2:
        sys.stderr.write("usage: %s <v4l2-device-path>\n" % args[0])
        sys.exit(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()

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

    # Source element for reading from the file
    print("Creating Source \n ")
    source = Gst.ElementFactory.make("nvarguscamerasrc", "src-elem")
    if not source:
        sys.stderr.write(" Unable to create Source \n")

    caps_v4l2src = Gst.ElementFactory.make("capsfilter", "v4l2src_caps")
    if not caps_v4l2src:
        sys.stderr.write(" Unable to create v4l2src capsfilter \n")


    print("Creating Video Converter \n")

    # Adding videoconvert -> nvvideoconvert as not all
    # raw formats are supported by nvvideoconvert;
    # Say YUYV is unsupported - which is the common
    # raw format for many logi usb cams
    # In case we have a camera with raw format supported in
    # nvvideoconvert, GStreamer plugins' capability negotiation
    # shall be intelligent enough to reduce compute by
    # videoconvert doing passthrough (TODO we need to confirm this)


    # videoconvert to make sure a superset of raw formats are supported
    vidconvsrc = Gst.ElementFactory.make("videoconvert", "convertor_src1")
    if not vidconvsrc:
        sys.stderr.write(" Unable to create videoconvert \n")

    # nvvideoconvert to convert incoming raw buffers to NVMM Mem (NvBufSurface API)
    nvvidconvsrc = Gst.ElementFactory.make("nvvideoconvert", "convertor_src2")
    if not nvvidconvsrc:
        sys.stderr.write(" Unable to create Nvvideoconvert \n")

    caps_vidconvsrc = Gst.ElementFactory.make("capsfilter", "nvmm_caps")
    if not caps_vidconvsrc:
        sys.stderr.write(" Unable to create capsfilter \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")

    # Use nvinfer to run inferencing on camera's output,
    # behaviour of inferencing is set through config file
    pgie = Gst.ElementFactory.make("nvinfer", "primary-inference")
    if not pgie:
        sys.stderr.write(" Unable to create pgie \n")

    # Use convertor to convert from NV12 to RGBA as required by nvosd
    nvvidconv = Gst.ElementFactory.make("nvvideoconvert", "convertor")
    if not nvvidconv:
        sys.stderr.write(" Unable to create nvvidconv \n")

    # Create OSD to draw on the converted RGBA buffer
    nvosd = Gst.ElementFactory.make("nvdsosd", "onscreendisplay")

    if not nvosd:
        sys.stderr.write(" Unable to create nvosd \n")

    # Finally render the osd output
    if is_aarch64():
        transform = Gst.ElementFactory.make("nvegltransform", "nvegl-transform")

    print("Creating EGLSink \n")
    sink = Gst.ElementFactory.make("nveglglessink", "nvvideo-renderer")
    if not sink:
        sys.stderr.write(" Unable to create egl sink \n")

    print("Playing cam %s " %args[1])
    caps_v4l2src.set_property('caps', Gst.Caps.from_string("video/x-raw, framerate=30/1"))
    caps_vidconvsrc.set_property('caps', Gst.Caps.from_string("video/x-raw(memory:NVMM)"))
    source.set_property('device', args[1])
    streammux.set_property('width', 1920)
    streammux.set_property('height', 1080)
    streammux.set_property('batch-size', 1)
    streammux.set_property('batched-push-timeout', 4000000)
    pgie.set_property('config-file-path', "configs/pgie_dashcamnet_config.txt")
    # Set sync = false to avoid late frame drops at the display-sink
    sink.set_property('sync', False)

    print("Adding elements to Pipeline \n")
    pipeline.add(source)
    pipeline.add(caps_v4l2src)
    pipeline.add(vidconvsrc)
    pipeline.add(nvvidconvsrc)
    pipeline.add(caps_vidconvsrc)
    pipeline.add(streammux)
    pipeline.add(pgie)
    pipeline.add(nvvidconv)
    pipeline.add(nvosd)
    pipeline.add(sink)
    if is_aarch64():
        pipeline.add(transform)

    # we link the elements together
    # v4l2src -> nvvideoconvert -> mux -> 
    # nvinfer -> nvvideoconvert -> nvosd -> video-renderer
    print("Linking elements in the Pipeline \n")
    source.link(caps_v4l2src)
    caps_v4l2src.link(vidconvsrc)
    vidconvsrc.link(nvvidconvsrc)
    nvvidconvsrc.link(caps_vidconvsrc)

    sinkpad = streammux.get_request_pad("sink_0")
    if not sinkpad:
        sys.stderr.write(" Unable to get the sink pad of streammux \n")
    srcpad = caps_vidconvsrc.get_static_pad("src")
    if not srcpad:
        sys.stderr.write(" Unable to get source pad of caps_vidconvsrc \n")
    srcpad.link(sinkpad)
    streammux.link(pgie)
    pgie.link(nvvidconv)
    nvvidconv.link(nvosd)
    if is_aarch64():
        nvosd.link(transform)
        transform.link(sink)
    else:
        nvosd.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)

    # Lets add probe to get informed of the meta data generated, we add probe to
    # the sink pad of the osd element, since by that time, the buffer would have
    # had got all the metadata.
    osdsinkpad = nvosd.get_static_pad("sink")
    if not osdsinkpad:
        sys.stderr.write(" Unable to get sink pad of nvosd \n")

    osdsinkpad.add_probe(Gst.PadProbeType.BUFFER, osd_sink_pad_buffer_probe, 0)

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

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


#!/usr/bin/env python3

################################################################################
# SPDX-FileCopyrightText: Copyright (c) 2020-2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
################################################################################

import sys
sys.path.append('../')
import gi
gi.require_version('Gst', '1.0')
from gi.repository import GObject, Gst
from common.is_aarch_64 import is_aarch64
from common.bus_call import bus_call

import pyds

PGIE_CLASS_ID_VEHICLE = 0
PGIE_CLASS_ID_BICYCLE = 1
PGIE_CLASS_ID_PERSON = 2
PGIE_CLASS_ID_ROADSIGN = 3


def osd_sink_pad_buffer_probe(pad,info,u_data):
    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
        # Retrieve list of NvDsObjectMeta objects in frame from an NvDsFrameMeta object. 
        # See NvDsFrameMeta documentation for more details.
        l_obj=frame_meta.obj_meta_list

        num_rects = frame_meta.num_obj_meta
        obj_counter = {
        PGIE_CLASS_ID_VEHICLE:0,
        PGIE_CLASS_ID_PERSON:0,
        PGIE_CLASS_ID_BICYCLE:0,
        PGIE_CLASS_ID_ROADSIGN:0
        }
        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
            # Retrieve class_id from NvDsObjectMeta (i.e. PGIE_CLASS_ID_VEHICLE, PGIE_CLASS_ID_PERSON, etc.) to update count
            obj_counter[obj_meta.class_id] += 1

            # Set border color of NvDsObjectMeta object's rect_params
            if obj_meta.class_id == 0:
                obj_meta.rect_params.border_color.set(1.0, 0.0, 1.0, 1.0) 
                obj_meta.rect_params.border_width = 4

                confidence = obj_meta.confidence

                obj_meta.text_params.display_text = "Confidence:" + '%.2f' % confidence + " :: Car " 


            try:
                l_obj=l_obj.next
            except StopIteration:
                break

        print("Frame Number=", frame_number, " :::: Vehicle_count=",obj_counter[PGIE_CLASS_ID_VEHICLE])

        # Get frame rate through this probe
        fps_streams["stream{0}".format(frame_meta.pad_index)].get_fps()
        try:
            l_frame=l_frame.next
        except StopIteration:
            break

    return Gst.PadProbeReturn.OK	


def main(args):
    # Check input arguments
    if len(args) != 2:
        sys.stderr.write("usage: %s <v4l2-device-path>\n" % args[0])
        sys.exit(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()

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

    # Source element for reading from the file
    print("Creating Source \n ")
    source = Gst.ElementFactory.make("nvarguscamerasrc", "src-elem")
    if not source:
        sys.stderr.write(" Unable to create Source \n")

    caps_v4l2src = Gst.ElementFactory.make("capsfilter", "v4l2src_caps")
    if not caps_v4l2src:
        sys.stderr.write(" Unable to create v4l2src capsfilter \n")


    print("Creating Video Converter \n")

    # Adding videoconvert -> nvvideoconvert as not all
    # raw formats are supported by nvvideoconvert;
    # Say YUYV is unsupported - which is the common
    # raw format for many logi usb cams
    # In case we have a camera with raw format supported in
    # nvvideoconvert, GStreamer plugins' capability negotiation
    # shall be intelligent enough to reduce compute by
    # videoconvert doing passthrough (TODO we need to confirm this)


    # videoconvert to make sure a superset of raw formats are supported
    vidconvsrc = Gst.ElementFactory.make("videoconvert", "convertor_src1")
    if not vidconvsrc:
        sys.stderr.write(" Unable to create videoconvert \n")

    # nvvideoconvert to convert incoming raw buffers to NVMM Mem (NvBufSurface API)
    nvvidconvsrc = Gst.ElementFactory.make("nvvideoconvert", "convertor_src2")
    if not nvvidconvsrc:
        sys.stderr.write(" Unable to create Nvvideoconvert \n")

    caps_vidconvsrc = Gst.ElementFactory.make("capsfilter", "nvmm_caps")
    if not caps_vidconvsrc:
        sys.stderr.write(" Unable to create capsfilter \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")

    # Use nvinfer to run inferencing on camera's output,
    # behaviour of inferencing is set through config file
    pgie = Gst.ElementFactory.make("nvinfer", "primary-inference")
    if not pgie:
        sys.stderr.write(" Unable to create pgie \n")

    # Use convertor to convert from NV12 to RGBA as required by nvosd
    nvvidconv = Gst.ElementFactory.make("nvvideoconvert", "convertor")
    if not nvvidconv:
        sys.stderr.write(" Unable to create nvvidconv \n")

    # Create OSD to draw on the converted RGBA buffer
    nvosd = Gst.ElementFactory.make("nvdsosd", "onscreendisplay")

    if not nvosd:
        sys.stderr.write(" Unable to create nvosd \n")

    # Finally render the osd output
    if is_aarch64():
        transform = Gst.ElementFactory.make("nvegltransform", "nvegl-transform")

    print("Creating EGLSink \n")
    sink = Gst.ElementFactory.make("nveglglessink", "nvvideo-renderer")
    if not sink:
        sys.stderr.write(" Unable to create egl sink \n")

    print("Playing cam %s " %args[1])
    caps_v4l2src.set_property('caps', Gst.Caps.from_string("video/x-raw, framerate=30/1"))
    caps_vidconvsrc.set_property('caps', Gst.Caps.from_string("video/x-raw(memory:NVMM)"))
    source.set_property('device', args[1])
    streammux.set_property('width', 1920)
    streammux.set_property('height', 1080)
    streammux.set_property('batch-size', 1)
    streammux.set_property('batched-push-timeout', 4000000)
    pgie.set_property('config-file-path', "configs/pgie_dashcamnet_config.txt")
    # Set sync = false to avoid late frame drops at the display-sink
    sink.set_property('sync', False)

    print("Adding elements to Pipeline \n")
    pipeline.add(source)
    pipeline.add(caps_v4l2src)
    pipeline.add(vidconvsrc)
    pipeline.add(nvvidconvsrc)
    pipeline.add(caps_vidconvsrc)
    pipeline.add(streammux)
    pipeline.add(pgie)
    pipeline.add(nvvidconv)
    pipeline.add(nvosd)
    pipeline.add(sink)
    if is_aarch64():
        pipeline.add(transform)

    # we link the elements together
    # v4l2src -> nvvideoconvert -> mux -> 
    # nvinfer -> nvvideoconvert -> nvosd -> video-renderer
    print("Linking elements in the Pipeline \n")
    source.link(caps_v4l2src)
    caps_v4l2src.link(vidconvsrc)
    vidconvsrc.link(nvvidconvsrc)
    nvvidconvsrc.link(caps_vidconvsrc)

    sinkpad = streammux.get_request_pad("sink_0")
    if not sinkpad:
        sys.stderr.write(" Unable to get the sink pad of streammux \n")
    srcpad = caps_vidconvsrc.get_static_pad("src")
    if not srcpad:
        sys.stderr.write(" Unable to get source pad of caps_vidconvsrc \n")
    srcpad.link(sinkpad)
    streammux.link(pgie)
    pgie.link(nvvidconv)
    nvvidconv.link(nvosd)
    if is_aarch64():
        nvosd.link(transform)
        transform.link(sink)
    else:
        nvosd.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)

    # Lets add probe to get informed of the meta data generated, we add probe to
    # the sink pad of the osd element, since by that time, the buffer would have
    # had got all the metadata.
    osdsinkpad = nvosd.get_static_pad("sink")
    if not osdsinkpad:
        sys.stderr.write(" Unable to get sink pad of nvosd \n")

    osdsinkpad.add_probe(Gst.PadProbeType.BUFFER, osd_sink_pad_buffer_probe, 0)

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

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


#!/usr/bin/env python3 ################################################################################ # SPDX-FileCopyrightText: Copyright (c) 2020-2021 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # SPDX-License-Identifier: Apache-2.0 # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. ################################################################################ # 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) # 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. # Retrieve list of NvDsObjectMeta objects in frame from an NvDsFrameMeta object. # See NvDsFrameMeta documentation for more details. # Casting l_obj.data to pyds.NvDsObjectMeta # Retrieve class_id from NvDsObjectMeta (i.e. PGIE_CLASS_ID_VEHICLE, PGIE_CLASS_ID_PERSON, etc.) to update count # Set border color of NvDsObjectMeta object's rect_params # Get frame rate through this probe # Check input arguments # Standard GStreamer initialization # Create gstreamer elements # Create Pipeline element that will form a connection of other elements # Source element for reading from the file # Adding videoconvert -> nvvideoconvert as not all # raw formats are supported by nvvideoconvert; # Say YUYV is unsupported - which is the common # raw format for many logi usb cams # In case we have a camera with raw format supported in # nvvideoconvert, GStreamer plugins' capability negotiation # shall be intelligent enough to reduce compute by # videoconvert doing passthrough (TODO we need to confirm this) # videoconvert to make sure a superset of raw formats are supported # nvvideoconvert to convert incoming raw buffers to NVMM Mem (NvBufSurface API) # Create nvstreammux instance to form batches from one or more sources. # Use nvinfer to run inferencing on camera's output, # behaviour of inferencing is set through config file # Use convertor to convert from NV12 to RGBA as required by nvosd # Create OSD to draw on the converted RGBA buffer # Finally render the osd output # Set sync = false to avoid late frame drops at the display-sink # we link the elements together # v4l2src -> nvvideoconvert -> mux -> # nvinfer -> nvvideoconvert -> nvosd -> video-renderer # create an event loop and feed gstreamer bus mesages to it # Lets add probe to get informed of the meta data generated, we add probe to # the sink pad of the osd element, since by that time, the buffer would have # had got all the metadata. # start play back and listen to events # cleanup