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Copy pathdeepstream_parallel_app.cpp
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deepstream_parallel_app.cpp
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/*
* SPDX-FileCopyrightText: Copyright (c) 2018-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
* SPDX-License-Identifier: MIT
*
* 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.
*/
#include <gst/gst.h>
#include <glib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>
#include <sys/time.h>
#include <cuda_runtime_api.h>
#include <cstdint>
#include <opencv2/opencv.hpp>
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
#include <cuda.h>
#include <cuda_runtime.h>
#include <iostream>
#include <fstream>
#include "gstnvdsmeta.h"
#include "nvbufsurface.h"
#include "nvbufsurftransform.h"
#include "gstnvdsinfer.h"
#include "deepstream_common.h"
#include "nvds_obj_encode.h"
#include "nvds_yml_parser.h"
#include "gst-nvmessage.h"
#include <yaml-cpp/yaml.h>
#define _PATH_MAX 1024
#define FILE_NAME_SIZE (1024)
#define MAX_DISPLAY_LEN 64
#define PGIE_CLASS_ID_VEHICLE 0
#define PGIE_CLASS_ID_PERSON 2
/* By default, OSD process-mode is set to GPU_MODE. To change mode, set as:
* 0: CPU mode
* 1: GPU mode
*/
#define OSD_PROCESS_MODE 1
/* By default, OSD will not display text. To display text, change this to 1 */
#define OSD_DISPLAY_TEXT 0
/* The muxer output resolution must be set if the input streams will be of
* different resolution. The muxer will scale all the input frames to this
* resolution. */
#define MUXER_OUTPUT_WIDTH 1920
#define MUXER_OUTPUT_HEIGHT 1080
/* Muxer batch formation timeout, for e.g. 40 millisec. Should ideally be set
* based on the fastest source's framerate. */
#define MUXER_BATCH_TIMEOUT_USEC 40000
#define TILED_OUTPUT_WIDTH 1280
#define TILED_OUTPUT_HEIGHT 720
/* NVIDIA Decoder source pad memory feature. This feature signifies that source
* pads having this capability will push GstBuffers containing cuda buffers. */
#define GST_CAPS_FEATURES_NVMM "memory:NVMM"
/* Check for parsing error. */
#define RETURN_ON_PARSER_ERROR(parse_expr) \
if (NVDS_YAML_PARSER_SUCCESS != parse_expr) { \
g_printerr("Error in parsing configuration file.\n"); \
return -1; \
}
GST_DEBUG_CATEGORY (NVDS_APP);
gchar pgie_classes_str[6][32] = {"people"
"car",
"bus",
"motorcycle",
"lamp",
"truck"
};
static gboolean PERF_MODE = FALSE;
static gboolean USE_POSTPROCESS = FALSE;
static gboolean USE_SGIE = FALSE;
static gboolean USE_VIDEOTEMP = FALSE;
gint frame_number = 0, frame_count = 0;
#define CHECK_CUDA_STATUS(cuda_status,error_str) do { \
if ((cuda_status) != cudaSuccess) { \
g_print ("Error: %s in %s at line %d (%s)\n", \
error_str, __FILE__, __LINE__, cudaGetErrorName(cuda_status)); \
} \
} while (0)
#define DEBUG_STAGE 0
/* tiler_sink_pad_buffer_probe will extract metadata received on OSD sink pad
* and update params for drawing rectangle, object information etc. */
static GstPadProbeReturn
tiler_src_pad_buffer_probe (GstPad * pad, GstPadProbeInfo * info,
gpointer u_data)
{
if (DEBUG_STAGE){
g_print("tiler_src_pad_buffer_probe start");
}
GstBuffer *buf = (GstBuffer *) info->data;
guint num_rects = 0;
NvDsObjectMeta *obj_meta = NULL;
guint vehicle_count = 0;
guint person_count = 0;
NvDsMetaList * l_frame = NULL;
NvDsMetaList * l_obj = NULL;
NvDsDisplayMeta *display_meta = NULL;
NvDsBatchMeta *batch_meta = gst_buffer_get_nvds_batch_meta (buf);
#if 1
// Get original raw data
GstMapInfo in_map_info;
if (!gst_buffer_map (buf, &in_map_info, GST_MAP_READ)) {
g_print ("Error: Failed to map gst buffer\n");
gst_buffer_unmap (buf, &in_map_info);
return GST_PAD_PROBE_OK;
}
NvBufSurface *surface = (NvBufSurface *)in_map_info.data;
#endif
for (l_frame = batch_meta->frame_meta_list; l_frame != NULL;
l_frame = l_frame->next) {
NvDsFrameMeta *frame_meta = (NvDsFrameMeta *) (l_frame->data);
if (DEBUG_STAGE){
g_print("create surface\n");
}
//TODO for cuda device memory we need to use cudamemcpy
NvBufSurfaceMap (surface, -1, -1, NVBUF_MAP_READ);
/* Cache the mapped data for CPU access */
NvBufSurfaceSyncForCpu (surface, 0, 0); //will do nothing for unified memory type on dGPU
guint surface_height = surface->surfaceList[frame_meta->batch_id].height;
guint surface_width = surface->surfaceList[frame_meta->batch_id].width;
//Create Mat from NvMM memory, refer opencv API for how to create a Mat
cv::Mat nv12_mat = cv::Mat(surface_height*3/2, surface_width, CV_8UC1, surface->surfaceList[frame_meta->batch_id].mappedAddr.addr[0],
surface->surfaceList[frame_meta->batch_id].pitch);
cv::Mat gray;
// temp.copyTo(trans_mat);
// cv::Mat dstROI = trans_mat(cv::Rect(0, 0, fusion_mat.cols, fusion_mat.rows));
cv::cvtColor(nv12_mat, gray, cv::COLOR_YUV2GRAY_NV12);
NvBufSurface *inter_buf = nullptr;
NvBufSurfaceCreateParams create_params;
create_params.gpuId = surface->gpuId;
create_params.width = surface_width;
create_params.height = surface_height;
create_params.colorFormat = NVBUF_COLOR_FORMAT_GRAY8;
create_params.layout = NVBUF_LAYOUT_PITCH;
#ifdef __aarch64__
create_params.memType = NVBUF_MEM_DEFAULT;
#else
create_params.memType = NVBUF_MEM_CUDA_UNIFIED;
#endif
//Create another scratch RGBA NvBufSurface
if (NvBufSurfaceCreate (&inter_buf, 1,
&create_params) != 0) {
GST_ERROR ("Error: Could not allocate internal buffer ");
return GST_PAD_PROBE_OK;
}
if(NvBufSurfaceMap (inter_buf, 0, -1, NVBUF_MAP_READ_WRITE) != 0)
std::cout << "map error" << std::endl;
NvBufSurfaceSyncForCpu (inter_buf, -1, -1);
cv::Mat trans_mat = cv::Mat(surface_height, surface_width, CV_8UC1, inter_buf->surfaceList[frame_meta->batch_id].mappedAddr.addr[0],
inter_buf->surfaceList[0].pitch);
for (l_obj = frame_meta->obj_meta_list; l_obj != NULL;
l_obj = l_obj->next) {
obj_meta = (NvDsObjectMeta *) (l_obj->data);
if (obj_meta->class_id % 3 == 0) {
obj_meta->rect_params.border_color.red = 1.0;
obj_meta->rect_params.border_color.green = 0.0;
obj_meta->rect_params.border_color.blue = 0.0;
obj_meta->rect_params.border_color.alpha = 0.5;
}
if (obj_meta->class_id % 3 == 1) {
obj_meta->rect_params.border_color.red = 0.0;
obj_meta->rect_params.border_color.green = 1.0;
obj_meta->rect_params.border_color.blue = 0.0;
obj_meta->rect_params.border_color.alpha = 0.5;
}
if (obj_meta->class_id % 3 == 2) {
obj_meta->rect_params.border_color.red = 0.0;
obj_meta->rect_params.border_color.green = 0.0;
obj_meta->rect_params.border_color.blue = 1.0;
obj_meta->rect_params.border_color.alpha = 0.5;
}
if(obj_meta->rect_params.left > surface_width/2) continue;
cv::Mat dstROI = gray(cv::Rect(obj_meta->rect_params.left, obj_meta->rect_params.top,
obj_meta->rect_params.width, obj_meta->rect_params.height));
// cv::Mat weights = cv::Mat::ones(dstROI.size(), dstROI.type());
cv::GaussianBlur(dstROI, dstROI, cv::Size(3, 3), 0);
// cv::Mat edges;
// cv::Canny(dstROI, edges, 100, 255, 3, false);
// cv::addWeighted(dstROI, 1, weights, 30, 0, dstROI);
// Prewitt
const int kernel_size = 3;
int xarr[kernel_size][kernel_size] = {{1,1,1},{0,0,0},{-1,-1,-1}};
int yarr[kernel_size][kernel_size] = {{-1,0,1},{-1,0,1},{-1,0,1}};
cv::Mat kernelx = cv::Mat(kernel_size, kernel_size, CV_8U, xarr);
cv::Mat kernely = cv::Mat(kernel_size, kernel_size, CV_8U, yarr);
cv::Mat x,y;
cv::filter2D(dstROI, x, CV_8UC1, kernelx);
cv::filter2D(dstROI, y, CV_8UC1, kernely);
cv::convertScaleAbs(x, x);
cv::convertScaleAbs(y, y);
cv::addWeighted(x, 0.5, y, 0.5, 0, x);
cv::normalize(x, x, 0, 255, cv::NORM_MINMAX);
cv::threshold(x, x, 50, 255, cv::THRESH_TRUNC);
cv::addWeighted(dstROI, 1, x, 1, 0, dstROI);
num_rects++;
}
// gray.copyTo(trans_mat);
if(!DEBUG_STAGE)
g_print ("TILER: Frame Number = %d Number of objects = %d\n", frame_meta->frame_num, num_rects);
#if 0
/* To verify encoded metadata of cropped frames, we iterate through the
* user metadata of each frame and if a metadata of the type
* 'NVDS_CROP_IMAGE_META' is found then we write that to a file as
* implemented below.
*/
char fileFrameNameString[FILE_NAME_SIZE];
const char *osd_string = "tiler";
/* For Demonstration Purposes we are writing metadata to jpeg images of
* the first 10 frames only.
* The files generated have an 'OSD' prefix. */
if (frame_number < 11) {
NvDsUserMetaList *usrMetaList = frame_meta->frame_user_meta_list;
FILE *file;
int stream_num = 0;
while (usrMetaList != NULL) {
NvDsUserMeta *usrMetaData = (NvDsUserMeta *) usrMetaList->data;
if (usrMetaData->base_meta.meta_type == NVDS_CROP_IMAGE_META) {
snprintf (fileFrameNameString, FILE_NAME_SIZE, "%s_frame_%d_%d.jpg",
osd_string, frame_number, stream_num++);
NvDsObjEncOutParams *enc_jpeg_image =
(NvDsObjEncOutParams *) usrMetaData->user_meta_data;
/* Write to File */
file = fopen (fileFrameNameString, "wb");
fwrite (enc_jpeg_image->outBuffer, sizeof (uint8_t),
enc_jpeg_image->outLen, file);
fclose (file);
}
else if(usrMetaData->base_meta.meta_type == NVDSINFER_TENSOR_OUTPUT_META){
NvDsInferTensorMeta *meta = (NvDsInferTensorMeta *) usrMetaData->user_meta_data;
for (unsigned int i = 0; i < meta->num_output_layers; i++) {
NvDsInferLayerInfo *info = &meta->output_layers_info[i];
info->buffer = meta->out_buf_ptrs_host[i];
if (meta->out_buf_ptrs_dev[i]) {
cudaMemcpy (meta->out_buf_ptrs_host[i], meta->out_buf_ptrs_dev[i],
info->inferDims.numElements * 4, cudaMemcpyDeviceToHost);
}
}
size_t ch = meta->output_layers_info->inferDims.d[0];
size_t height = meta->output_layers_info->inferDims.d[1];
size_t width = meta->output_layers_info->inferDims.d[2];
size_t o_count = meta->output_layers_info->inferDims.numElements;
// cvcore::Image<cvcore::ImageType::RGB_F32> img(width, height, width * sizeof(float), (float *) meta->output_layers_info[0].buffer, TRUE);
float *outputCoverageBuffer =(float *) meta->output_layers_info[0].buffer;
uint8_t* uint8Buffer = (uint8_t *)malloc(o_count*sizeof(uint8_t));
for(int o_index=0; o_index < o_count; o_index++){
// outputCoverageBuffer[o_index] *= 255.0f;
uint8Buffer[o_index] = static_cast<uint8_t>(std::min(std::max(outputCoverageBuffer[o_index] * 255.0f, 0.0f), 255.0f));
}
NvDsObjEncOutParams *enc_jpeg_image = (NvDsObjEncOutParams *)malloc(sizeof(NvDsObjEncOutParams));
enc_jpeg_image->outBuffer = uint8Buffer;
enc_jpeg_image->outLen = o_count;
snprintf (fileFrameNameString, FILE_NAME_SIZE, "%s_frame_%d_%d.jpg",
osd_string, frame_number, stream_num++);
file = fopen (fileFrameNameString, "wb");
fwrite (enc_jpeg_image->outBuffer, sizeof (uint8_t),
enc_jpeg_image->outLen, file);
fclose (file);
// g_print ("SIZE: %ld \n", sizeof(*outputCoverageBuffer));
// std::vector < NvDsInferLayerInfo >
// outputLayersInfo (meta->output_layers_info,
// meta->output_layers_info + meta->num_output_layers);
}
usrMetaList = usrMetaList->next;
}
}
#endif
#if 1
if (DEBUG_STAGE){
g_print("get output tensor\n");
}
NvDsUserMetaList *usrMetaList = frame_meta->frame_user_meta_list;
if (usrMetaList != NULL) {
NvDsUserMeta *usrMetaData = (NvDsUserMeta *) usrMetaList->data;
if(usrMetaData->base_meta.meta_type == NVDSINFER_TENSOR_OUTPUT_META){
NvDsInferTensorMeta *meta = (NvDsInferTensorMeta *) usrMetaData->user_meta_data;
for (unsigned int i = 0; i < meta->num_output_layers; i++) {
NvDsInferLayerInfo *info = &meta->output_layers_info[i];
info->buffer = meta->out_buf_ptrs_host[i];
if (meta->out_buf_ptrs_dev[i]) {
cudaMemcpy (meta->out_buf_ptrs_host[i], meta->out_buf_ptrs_dev[i],
info->inferDims.numElements * 4, cudaMemcpyDeviceToHost);
}
}
//Create image from NVDSINFER_TENSOR_OUTPUT_META
guint ch = meta->output_layers_info->inferDims.d[0];
guint fusion_height = meta->output_layers_info->inferDims.d[1];
guint fusion_width = meta->output_layers_info->inferDims.d[2];
guint o_count = meta->output_layers_info->inferDims.numElements;
guint onechannel_size = fusion_height * fusion_width;
float *outputCoverageBuffer =(float *) meta->output_layers_info[0].buffer;
cv::Mat fusion_mat;
using image_type = uint8_t;
int image_format = CV_8UC1;
image_type* uint8Buffer = (image_type *)malloc(o_count * sizeof(image_type));
for(int o_index=0; o_index < o_count; o_index++){
uint8Buffer[o_index] = static_cast<uint8_t>(std::min(std::max(outputCoverageBuffer[o_index] * 255.0f, 0.0f), 255.0f));
}
fusion_mat = cv::Mat(fusion_height, fusion_width, image_format, uint8Buffer, fusion_width);
cv::resize(fusion_mat, fusion_mat,cv::Size(surface_width/2,surface_height/2));
// char file_name[128];
// sprintf(file_name, "resize_stream%2d_%03d_3.png", frame_meta->source_id, frame_number);
// cv::imwrite(file_name, fusion_mat);
#if 0
image_type* uint8Buffer_C1 = (image_type *)malloc(onechannel_size * sizeof(image_type));
image_type* uint8Buffer_C2 = (image_type *)malloc(onechannel_size * sizeof(image_type));
image_type* uint8Buffer_C3 = (image_type *)malloc(onechannel_size * sizeof(image_type));
for(int o_index=0; o_index < onechannel_size; o_index++){
uint8Buffer_C1[o_index] = uint8Buffer[o_index];
uint8Buffer_C2[o_index] = uint8Buffer[o_index + onechannel_size];
uint8Buffer_C3[o_index] = uint8Buffer[o_index + 2 * onechannel_size];
}
std::vector<cv::Mat> channels;
for(int idx=2;idx>=0;idx--){
cv::Mat dumpimg;
if (idx == 0) dumpimg = cv::Mat(fusion_height, fusion_width, image_format, uint8Buffer_C1);
else if (idx == 1) dumpimg = cv::Mat(fusion_height, fusion_width, image_format, uint8Buffer_C2);
else dumpimg = cv::Mat(fusion_height, fusion_width, image_format, uint8Buffer_C3);
channels.emplace_back(dumpimg);
}
cv::merge(channels, fusion_mat);
#endif
// 将源矩阵复制到目标矩阵的ROI区域
cv::Mat dstROI = gray(cv::Rect(0, fusion_height*2, fusion_width*2, fusion_height*2));
fusion_mat.copyTo(dstROI);
// cv::cvtColor(dstROInv12, temp, cv::COLOR_YUV2BGR_NV12);
// char file_name[128];
// sprintf(file_name, "fusion_stream%2d_%03d_3.png", frame_meta->source_id, frame_number);
// cv::imwrite(file_name, gray);
}
}
if (DEBUG_STAGE){
g_print("NvBufSurfTransformRect\n");
}
gray.copyTo(trans_mat);
NvBufSurfaceSyncForDevice(inter_buf, -1, -1);
inter_buf->numFilled = 1;
NvBufSurfTransformConfigParams transform_config_params;
NvBufSurfTransformParams transform_params;
NvBufSurfTransformRect src_rect;
NvBufSurfTransformRect dst_rect;
cudaStream_t cuda_stream;
CHECK_CUDA_STATUS (cudaStreamCreate (&cuda_stream),
"Could not create cuda stream");
// transform_config_params.input_buf_count = 2;
// transform_config_params.composite_flag = NVBUFSURF_TRANSFORM_COMPOSITE;
transform_config_params.compute_mode = NvBufSurfTransformCompute_Default;
transform_config_params.gpu_id = surface->gpuId;
transform_config_params.cuda_stream = cuda_stream;
/* Set the transform session parameters for the conversions executed in this
* thread. */
NvBufSurfTransform_Error err = NvBufSurfTransformSetSessionParams (&transform_config_params);
if (err != NvBufSurfTransformError_Success) {
std::cout <<"NvBufSurfTransformSetSessionParams failed with error "<< err << std::endl;
return GST_PAD_PROBE_OK;
}
/* Set the transform ROIs for source and destination, only do the color format conversion*/
src_rect = {0, 0, surface_width, surface_height };
dst_rect = {0, 0, surface_width, surface_height};
/* Set the transform parameters */
transform_params.src_rect = &src_rect;
transform_params.dst_rect = &dst_rect;
transform_params.transform_flag =
NVBUFSURF_TRANSFORM_FILTER | NVBUFSURF_TRANSFORM_CROP_SRC |
NVBUFSURF_TRANSFORM_CROP_DST;
transform_params.transform_filter = NvBufSurfTransformInter_Default;
/* Transformation format conversion, Transform rotated RGBA mat to NV12 memory in original input surface*/
err = NvBufSurfTransform (inter_buf, surface, &transform_params);
if (err != NvBufSurfTransformError_Success) {
std::cout<< "NvBufSurfTransform failed with error %d while converting buffer" << err <<std::endl;
return GST_PAD_PROBE_OK;
}
// nvds_copy_obj_meta();
cudaStreamDestroy(cuda_stream);
NvBufSurfaceUnMap(inter_buf, 0, 0);
NvBufSurfaceDestroy(inter_buf);
NvBufSurfaceUnMap(surface, 0, 0);
gst_buffer_unmap(buf, &in_map_info);
#endif
}
if (DEBUG_STAGE){
g_print("tiler_src_pad_buffer_probe end\n");
}
frame_number++;
return GST_PAD_PROBE_OK;
}
/* tiler_sink_pad_buffer_probe will extract metadata received on OSD sink pad
* and update params for drawing rectangle, object information etc. */
static GstPadProbeReturn
pgie_src_pad_buffer_probe (GstPad * pad, GstPadProbeInfo * info,
gpointer u_data)
{
GstBuffer *buf = (GstBuffer *) info->data;
guint num_rects = 0;
NvDsObjectMeta *obj_meta = NULL;
guint vehicle_count = 0;
guint person_count = 0;
NvDsMetaList * l_frame = NULL;
NvDsMetaList * l_obj = NULL;
NvDsDisplayMeta *display_meta = NULL;
NvDsObjectMetaList* temp_ptr;
NvDsBatchMeta *batch_meta = gst_buffer_get_nvds_batch_meta (buf);
// Get original raw data
GstMapInfo in_map_info;
if (!gst_buffer_map (buf, &in_map_info, GST_MAP_READ)) {
g_print ("Error: Failed to map gst buffer\n");
gst_buffer_unmap (buf, &in_map_info);
return GST_PAD_PROBE_OK;
}
NvBufSurface *surface = (NvBufSurface *)in_map_info.data;
for (l_frame = batch_meta->frame_meta_list; l_frame != NULL;
l_frame = l_frame->next) {
NvDsFrameMeta *frame_meta = (NvDsFrameMeta *) (l_frame->data);
//TODO for cuda device memory we need to use cudamemcpy
if(frame_meta->batch_id == 0){
temp_ptr = frame_meta->obj_meta_list;
#if 0
NvBufSurfaceMap (surface, -1, -1, NVBUF_MAP_READ);
/* Cache the mapped data for CPU access */
NvBufSurfaceSyncForCpu (surface, -1, -1); //will do nothing for unified memory type on dGPU
guint surface_height = surface->surfaceList[frame_meta->batch_id].height;
guint surface_width = surface->surfaceList[frame_meta->batch_id].width;
//Create Mat from NvMM memory, refer opencv API for how to create a Mat
cv::Mat nv12_mat = cv::Mat(surface_height*3/2, surface_width, CV_8UC1, surface->surfaceList[frame_meta->batch_id].mappedAddr.addr[0],
surface->surfaceList[frame_meta->batch_id].pitch);
cv::Mat gray;
cv::cvtColor(nv12_mat, gray, cv::COLOR_YUV2GRAY_NV12);
NvBufSurface *inter_buf = nullptr;
NvBufSurfaceCreateParams create_params;
create_params.gpuId = surface->gpuId;
create_params.width = surface_width;
create_params.height = surface_height;
create_params.size = 0;
create_params.colorFormat = NVBUF_COLOR_FORMAT_GRAY8;
create_params.layout = NVBUF_LAYOUT_PITCH;
#ifdef __aarch64__
create_params.memType = NVBUF_MEM_DEFAULT;
#else
create_params.memType = NVBUF_MEM_CUDA_UNIFIED;
#endif
//Create another scratch RGBA NvBufSurface
if (NvBufSurfaceCreate (&inter_buf, 1,
&create_params) != 0) {
GST_ERROR ("Error: Could not allocate internal buffer ");
return GST_PAD_PROBE_OK;
}
if(NvBufSurfaceMap (inter_buf, 0, -1, NVBUF_MAP_READ_WRITE) != 0)
std::cout << "map error" << std::endl;
NvBufSurfaceSyncForCpu (inter_buf, -1, -1);
cv::Mat inter_mat = cv::Mat(surface_height, surface_width, CV_8UC1, inter_buf->surfaceList[0].mappedAddr.addr[0],
inter_buf->surfaceList[0].pitch);
for (l_obj = frame_meta->obj_meta_list; l_obj != NULL;
l_obj = l_obj->next) {
obj_meta = (NvDsObjectMeta *) (l_obj->data);
if (obj_meta->class_id == PGIE_CLASS_ID_VEHICLE) {
vehicle_count++;
num_rects++;
}
if (obj_meta->class_id == PGIE_CLASS_ID_PERSON) {
person_count++;
num_rects++;
}
cv::Mat dstROI = gray(cv::Rect(obj_meta->rect_params.left, obj_meta->rect_params.top,
obj_meta->rect_params.width, obj_meta->rect_params.height));
// cv::Mat weights = cv::Mat::ones(dstROI.size(), dstROI.type());
cv::GaussianBlur(dstROI, dstROI, cv::Size(3, 3), 0);
// cv::Mat edges;
// cv::Canny(dstROI, edges, 100, 255, 3, false);
// cv::addWeighted(dstROI, 1, weights, 30, 0, dstROI);
// Prewitt
const int kernel_size = 3;
int xarr[kernel_size][kernel_size] = {{1,1,1},{0,0,0},{-1,-1,-1}};
int yarr[kernel_size][kernel_size] = {{-1,0,1},{-1,0,1},{-1,0,1}};
cv::Mat kernelx = cv::Mat(kernel_size, kernel_size, CV_8U, xarr);
cv::Mat kernely = cv::Mat(kernel_size, kernel_size, CV_8U, yarr);
cv::Mat x,y;
cv::filter2D(dstROI, x, CV_8UC1, kernelx);
cv::filter2D(dstROI, y, CV_8UC1, kernely);
cv::convertScaleAbs(x, x);
cv::convertScaleAbs(y, y);
cv::addWeighted(x, 0.5, y, 0.5, 0, x);
cv::normalize(x, x, 0, 255, cv::NORM_MINMAX);
cv::threshold(x, x, 50, 255, cv::THRESH_TRUNC);
cv::addWeighted(dstROI, 1, x, 1, 0, dstROI);
}
gray.copyTo(inter_mat);
NvBufSurfaceSyncForDevice(inter_buf, -1, -1);
inter_buf->numFilled = 1;
NvBufSurfTransformConfigParams transform_config_params;
NvBufSurfTransformParams transform_params;
NvBufSurfTransformRect src_rect;
NvBufSurfTransformRect dst_rect;
cudaStream_t cuda_stream;
CHECK_CUDA_STATUS (cudaStreamCreate (&cuda_stream),
"Could not create cuda stream");
transform_config_params.compute_mode = NvBufSurfTransformCompute_Default;
transform_config_params.gpu_id = surface->gpuId;
transform_config_params.cuda_stream = cuda_stream;
/* Set the transform session parameters for the conversions executed in this
* thread. */
NvBufSurfTransform_Error err = NvBufSurfTransformSetSessionParams (&transform_config_params);
if (err != NvBufSurfTransformError_Success) {
std::cout <<"NvBufSurfTransformSetSessionParams failed with error "<< err << std::endl;
return GST_PAD_PROBE_OK;
}
/* Set the transform ROIs for source and destination, only do the color format conversion*/
src_rect = {0, 0, surface_width, surface_height};
dst_rect = {0, 0, surface_width, surface_height};
/* Set the transform parameters */
transform_params.src_rect = &src_rect;
transform_params.dst_rect = &dst_rect;
transform_params.transform_flag =
NVBUFSURF_TRANSFORM_FILTER | NVBUFSURF_TRANSFORM_CROP_SRC |
NVBUFSURF_TRANSFORM_CROP_DST;
transform_params.transform_filter = NvBufSurfTransformInter_Default;
/* Transformation format conversion, Transform rotated RGBA mat to NV12 memory in original input surface*/
err = NvBufSurfTransform (inter_buf, surface, &transform_params);
if (err != NvBufSurfTransformError_Success) {
std::cout<< "NvBufSurfTransform failed with error %d while converting buffer" << err <<std::endl;
return GST_PAD_PROBE_OK;
}
// access the surface modified by opencv
// cv::cvtColor(nv12_mat, rgba_mat, cv::COLOR_YUV2BGRA_NV12);
//dump the original NvbufSurface
NvBufSurfaceUnMap(inter_buf, 0, 0);
NvBufSurfaceUnMap(surface, 0, 0);
NvBufSurfaceDestroy(inter_buf);
cudaStreamDestroy(cuda_stream);
#endif
}
else{
if (temp_ptr!=NULL&& ((NvDsFrameMeta *)(l_frame->data))->obj_meta_list!=NULL)
nvds_copy_obj_meta_list(temp_ptr, (NvDsFrameMeta *)(l_frame->data));
}
if(!DEBUG_STAGE)
g_print ("PGIE: Frame Number = %d Number of objects = %d "
"Vehicle Count = %d Person Count = %d\n",
frame_meta->frame_num, num_rects, vehicle_count, person_count);
// #if 1
display_meta = nvds_acquire_display_meta_from_pool(batch_meta);
NvOSD_TextParams *txt_params = display_meta->text_params;
txt_params->display_text = (char *)g_malloc0 (MAX_DISPLAY_LEN);
// offset = snprintf(txt_params->display_text, MAX_DISPLAY_LEN, "Person = %d ", person_count);
// offset = snprintf(txt_params->display_text + offset , MAX_DISPLAY_LEN, "Vehicle = %d ", vehicle_count);
/* Now set the offsets where the string should appear */
txt_params->x_offset = 10;
txt_params->y_offset = 12;
/* Font , font-color and font-size */
txt_params->font_params.font_name = "Serif";
txt_params->font_params.font_size = 10;
txt_params->font_params.font_color.red = 1.0;
txt_params->font_params.font_color.green = 1.0;
txt_params->font_params.font_color.blue = 1.0;
txt_params->font_params.font_color.alpha = 1.0;
/* Text background color */
txt_params->set_bg_clr = 2;
txt_params->text_bg_clr.red = 1.0;
txt_params->text_bg_clr.green = 1.0;
txt_params->text_bg_clr.blue = 0.0;
txt_params->text_bg_clr.alpha = 1.0;
NvOSD_RectParams *rect_params = display_meta->rect_params;
rect_params->border_color.red = 1.0;
rect_params->border_color.green = 0.0;
rect_params->border_color.blue = 1.0;
rect_params->border_color.alpha = 1.0;
nvds_add_display_meta_to_frame(frame_meta, display_meta);
// #endif
}
gst_buffer_unmap (buf, &in_map_info);
return GST_PAD_PROBE_OK;
}
static GstPadProbeReturn
sgie_src_pad_buffer_probe (GstPad * pad, GstPadProbeInfo * info, gpointer ctx)
{
GstBuffer *buf = (GstBuffer *) info->data;
// guint num_rects = 0;
NvDsObjectMeta *obj_meta = NULL;
NvDsMetaList * l_frame = NULL;
NvDsMetaList * l_obj = NULL;
//NvDsDisplayMeta *display_meta = NULL;
GstMapInfo inmap = GST_MAP_INFO_INIT;
if (!gst_buffer_map (buf, &inmap, GST_MAP_READ)) {
GST_ERROR ("input buffer mapinfo failed");
return GST_PAD_PROBE_DROP;
}
NvBufSurface *ip_surf = (NvBufSurface *) inmap.data;
gst_buffer_unmap (buf, &inmap);
NvDsBatchMeta *batch_meta = gst_buffer_get_nvds_batch_meta (buf);
for (l_frame = batch_meta->frame_meta_list; l_frame != NULL;
l_frame = l_frame->next) {
NvDsFrameMeta *frame_meta = (NvDsFrameMeta *) (l_frame->data);
for (NvDsMetaList * l_user = frame_meta->frame_user_meta_list;
l_user != NULL; l_user = l_user->next) {
// if(frame_count <= 10) {
// NvDsObjEncUsrArgs frameData = { 0 };
// /* Preset */
// frameData.isFrame = 1;
// /* To be set by user */
// frameData.saveImg = TRUE;
// frameData.attachUsrMeta = TRUE;
// /* Set if Image scaling Required */
// frameData.scaleImg = FALSE;
// frameData.scaledWidth = 0;
// frameData.scaledHeight = 0;
// /* Quality */
// frameData.quality = 80;
// /* Main Function Call */
// nvds_obj_enc_process ((NvDsObjEncCtxHandle)ctx, &frameData, ip_surf, NULL, frame_meta);
// }
}
if (frame_count < 3){
NvDsUserMetaList *usrMetaList = frame_meta->frame_user_meta_list;
FILE *file;
if(usrMetaList == NULL) continue;
NvDsUserMeta *usrMetaData = (NvDsUserMeta *) usrMetaList->data;
if(usrMetaData->base_meta.meta_type != NVDSINFER_TENSOR_OUTPUT_META) continue;
int stream_num = 0;
char fileFrameNameString[FILE_NAME_SIZE];
const char *osd_string = "sgie";
// NvDsUserMetaList *usrMetaList = frame_meta->frame_user_meta_list;
// NvDsUserMeta *usrMetaData = (NvDsUserMeta *)user_meta->user_meta_data;
NvDsInferTensorMeta *meta = (NvDsInferTensorMeta *) usrMetaData->user_meta_data;
for (unsigned int i = 0; i < meta->num_output_layers; i++) {
NvDsInferLayerInfo *info = &meta->output_layers_info[i];
info->buffer = meta->out_buf_ptrs_host[i];
if (meta->out_buf_ptrs_dev[i]) {
cudaMemcpy (meta->out_buf_ptrs_host[i], meta->out_buf_ptrs_dev[i],
info->inferDims.numElements * 4, cudaMemcpyDeviceToHost);
}
}
size_t ch = meta->output_layers_info->inferDims.d[0];
size_t height = meta->output_layers_info->inferDims.d[1];
size_t width = meta->output_layers_info->inferDims.d[2];
size_t o_count = meta->output_layers_info->inferDims.numElements;
// cvcore::Image<cvcore::ImageType::RGB_F32> img(width, height, width * sizeof(float), (float *) meta->output_layers_info[0].buffer, TRUE);
float *outputCoverageBuffer =(float *) meta->output_layers_info[0].buffer;
using image_type = uint8_t;
int image_format = CV_8UC1;
image_type* uint8Buffer = (image_type *)malloc(o_count * sizeof(image_type));
image_type* uint8Buffer_C1 = (image_type *)malloc(height * width * sizeof(image_type));
image_type* uint8Buffer_C2 = (image_type *)malloc(height * width * sizeof(image_type));
image_type* uint8Buffer_C3 = (image_type *)malloc(height * width * sizeof(image_type));
// std::ofstream outputFile("float_array.txt");
// for (int i = 0; i < o_count; ++i) {
// outputFile << outputCoverageBuffer[i] << std::endl; // 每个数字后面添加换行符
// }
for(int o_index=0; o_index < o_count; o_index++){
// outputCoverageBuffer[o_index] *= 255.0f;
uint8Buffer[o_index] = static_cast<uint8_t>(std::min(std::max(outputCoverageBuffer[o_index] * 255.0f, 0.0f), 255.0f));
// uint8Buffer[o_index] = outputCoverageBuffer[o_index] * 255.0f;
}
// for(int o_index=0; o_index < height * width; o_index++){
// uint8Buffer_C1[o_index] = uint8Buffer[o_index];
// uint8Buffer_C2[o_index] = uint8Buffer[o_index + height * width];
// uint8Buffer_C3[o_index] = uint8Buffer[o_index + 2 * height * width];
// }
// std::vector<cv::Mat> channels;
// for(int idx=2;idx>=0;idx--){
// snprintf (fileFrameNameString, FILE_NAME_SIZE, "%s_frame_%d_%d_c%d.jpg",
// osd_string, frame_number, stream_num++, idx);
// cv::Mat dumpimg;
// if (idx == 0) dumpimg = cv::Mat(height, width, image_format, uint8Buffer_C1);
// else if (idx == 1) dumpimg = cv::Mat(height, width, image_format, uint8Buffer_C2);
// else dumpimg = cv::Mat(height, width, image_format, uint8Buffer_C3);
// channels.emplace_back(dumpimg);
// // cv::imwrite(fileFrameNameString, dumpimg);
// }
// cv::Mat rgbimg;
// cv::merge(channels, rgbimg);
// snprintf (fileFrameNameString, FILE_NAME_SIZE, "%s_frame_%d_%d_rgb.png",
// osd_string, frame_number, stream_num++);
// cv::imwrite(fileFrameNameString, rgbimg);
// NvDsObjEncOutParams *enc_jpeg_image = (NvDsObjEncOutParams *)malloc(sizeof(NvDsObjEncOutParams));
// enc_jpeg_image->outBuffer = uint8Buffer;
// enc_jpeg_image->outLen = o_count;
// file = fopen (fileFrameNameString, "wb");
// fwrite (enc_jpeg_image->outBuffer, sizeof (uint8_t),
// enc_jpeg_image->outLen, file);
// fclose (file);
}
g_print ("SGIE: Frame Number = %d\n", frame_meta->frame_num);
}
frame_count++;
return GST_PAD_PROBE_OK;
}
static gboolean
bus_call (GstBus * bus, GstMessage * msg, gpointer data)
{
GMainLoop *loop = (GMainLoop *) data;
switch (GST_MESSAGE_TYPE (msg)) {
case GST_MESSAGE_EOS:
g_print ("End of stream\n");
g_main_loop_quit (loop);
break;
case GST_MESSAGE_WARNING:
{
gchar *debug;
GError *error;
gst_message_parse_warning (msg, &error, &debug);
g_printerr ("WARNING from element %s: %s\n",
GST_OBJECT_NAME (msg->src), error->message);
g_free (debug);
g_printerr ("Warning: %s\n", error->message);
g_error_free (error);
break;
}
case GST_MESSAGE_ERROR:
{
gchar *debug;
GError *error;
gst_message_parse_error (msg, &error, &debug);
g_printerr ("ERROR from element %s: %s\n",
GST_OBJECT_NAME (msg->src), error->message);
if (debug)
g_printerr ("Error details: %s\n", debug);
g_free (debug);
g_error_free (error);
g_main_loop_quit (loop);
break;
}
case GST_MESSAGE_ELEMENT:
{
if (gst_nvmessage_is_stream_eos (msg)) {
guint stream_id;
if (gst_nvmessage_parse_stream_eos (msg, &stream_id)) {
g_print ("Got EOS from stream %d\n", stream_id);
}
}
break;
}
default:
break;
}
return TRUE;
}
static void
cb_newpad (GstElement * decodebin, GstPad * decoder_src_pad, gpointer data)
{
GstCaps *caps = gst_pad_get_current_caps (decoder_src_pad);
if (!caps) {
caps = gst_pad_query_caps (decoder_src_pad, NULL);
}
const GstStructure *str = gst_caps_get_structure (caps, 0);
const gchar *name = gst_structure_get_name (str);
GstElement *source_bin = (GstElement *) data;
GstCapsFeatures *features = gst_caps_get_features (caps, 0);
/* Need to check if the pad created by the decodebin is for video and not
* audio. */
if (!strncmp (name, "video", 5)) {
/* 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 (gst_caps_features_contains (features, GST_CAPS_FEATURES_NVMM)) {
/* Get the source bin ghost pad */
GstPad *bin_ghost_pad = gst_element_get_static_pad (source_bin, "src");
if (!gst_ghost_pad_set_target (GST_GHOST_PAD (bin_ghost_pad),
decoder_src_pad)) {
g_printerr ("Failed to link decoder src pad to source bin ghost pad\n");
}
gst_object_unref (bin_ghost_pad);
} else {
g_printerr ("Error: Decodebin did not pick nvidia decoder plugin.\n");
}
}
}
static void
decodebin_child_added (GstChildProxy * child_proxy, GObject * object,
gchar * name, gpointer user_data)
{
g_print ("Decodebin child added: %s\n", name);
if (g_strrstr (name, "decodebin") == name) {
g_signal_connect (G_OBJECT (object), "child-added",
G_CALLBACK (decodebin_child_added), user_data);
}
if (g_strrstr (name, "source") == name) {
g_object_set(G_OBJECT(object),"drop-on-latency",true,NULL);
}
}
static GstElement *
create_http_bin (guint index, gchar * uri)
{
GstElement *bin = NULL, *decode_bin = NULL, *souphttpsrc = NULL, *srctee=NULL, *srcqueue=NULL, *nvvidconv = NULL, * cap_filter = NULL, * cap_filter1 = NULL;
GstCaps *caps = NULL;
GstCapsFeatures *feature = NULL;
gchar bin_name[16] = { };
g_snprintf (bin_name, 15, "source-bin-%02d", index);
/* Create a source GstBin to abstract this bin's content from the rest of the
* pipeline */
bin = gst_bin_new (bin_name);
/* 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. */
// if (PERF_MODE) {
// uri_decode_bin = gst_element_factory_make ("nvurisrcbin", "uri-decode-bin");
// g_object_set (G_OBJECT (uri_decode_bin), "file-loop", TRUE, NULL);
// g_object_set (G_OBJECT (uri_decode_bin), "cudadec-memtype", 0, NULL);
// } else {
// uri_decode_bin = gst_element_factory_make ("uridecodebin", "uri-decode-bin");
// }
souphttpsrc = gst_element_factory_make("souphttpsrc","soup-http-src");
if (!bin || !souphttpsrc) {
g_printerr ("One element in source bin could not be created.\n");
return NULL;
}
// g_signal_connect (G_OBJECT (souphttpsrc), "pad-added",
// G_CALLBACK (cb_newpad), bin);
g_object_set (G_OBJECT (souphttpsrc), "location", uri, NULL);
g_object_set (G_OBJECT (souphttpsrc), "is-live", true, NULL);
g_object_set (G_OBJECT (souphttpsrc), "timeout", 5, NULL);
g_object_set (G_OBJECT (souphttpsrc), "retry", 2, NULL);
srctee = gst_element_factory_make ("tee", "srctee");
if (!srctee) {
NVGSTDS_ERR_MSG_V ("Failed to create '%s'", "srctee");
return NULL;
}
srcqueue = gst_element_factory_make ("queue", "srcqueue");
if (!srcqueue) {
NVGSTDS_ERR_MSG_V ("Failed to create '%s'", "srcqueue");
return NULL;
}
decode_bin = gst_element_factory_make ("decodebin", "decode-bin");
if (!decode_bin) {
NVGSTDS_ERR_MSG_V ("Failed to create '%s'", "decode-bin");
return NULL;
}
/* 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 */
g_signal_connect (G_OBJECT (decode_bin), "pad-added",
G_CALLBACK (cb_newpad), bin);
g_signal_connect (G_OBJECT (decode_bin), "child-added",
G_CALLBACK (decodebin_child_added), bin);
cap_filter = gst_element_factory_make ("queue", "cap_filter");
if (!cap_filter) {
NVGSTDS_ERR_MSG_V ("Failed to create '%s'", "cap_filter");
return NULL;
}
nvvidconv = gst_element_factory_make ("nvvideoconvert", "nvvidconv");
if (!nvvidconv) {
NVGSTDS_ERR_MSG_V ("Failed to create '%s'", "nvvidconv");
return NULL;
}
caps = gst_caps_new_empty_simple("video/x-raw");
feature = gst_caps_features_new("memory:NVMM", NULL);
gst_caps_set_features(caps, 0, feature);
cap_filter1 = gst_element_factory_make ("capsfilter", "cap_filter1_nvvidconv");
if (!cap_filter1) {
NVGSTDS_ERR_MSG_V ("Failed to create '%s'", "cap_filter1");
return NULL;
}
g_object_set(G_OBJECT(cap_filter1), "caps", caps, NULL);
gst_caps_unref(caps);
gst_bin_add_many (GST_BIN (bin), souphttpsrc, srctee, srcqueue, decode_bin, cap_filter, nvvidconv, cap_filter1, NULL);
gst_element_link_many(souphttpsrc, srctee, srcqueue, decode_bin, cap_filter, nvvidconv, cap_filter1, NULL);
/* 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. */
if (!gst_element_add_pad (bin, gst_ghost_pad_new_no_target ("src",
GST_PAD_SRC))) {
g_printerr ("Failed to add ghost pad in source bin\n");
return NULL;
}
return bin;
}
static GstElement *
create_source_bin (guint index, gchar * uri)
{
GstElement *bin = NULL, *uri_decode_bin = NULL, *souphttpsrc=NULL;