trajectory.py

#!/usr/bin/env python3

################################################################################
# SPDX-FileCopyrightText: Copyright (c) 2019-2023 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.
################################################################################

# This program draw the trajectory path of the people walking 
# Use CAse: the location of adviretisement hording can be known
# Use case : Area in the store section with high demand

import sys
sys.path.append('../')
import os
import gi
gi.require_version('Gst', '1.0')
from gi.repository import GLib, Gst
from common.platform_info import PlatformInfo
from common.bus_call import bus_call
import argparse
from ctypes import *

import configparser

import pyds





PGIE_CLASS_ID_VEHICLE = 0
MUXER_BATCH_TIMEOUT_USEC = 33000
roi_list=[(294,156),(510,160),(510,365),(348,428)]
tracker_trajectory={}


def inside_roi(x,y):
    if x>min(roi_list[0][0],roi_list[3][0]) and x<max(roi_list[1][0],roi_list[2][0]) \
        and y>max(roi_list[0][1],roi_list[1][1]) and y<max(roi_list[2][1],roi_list[3][1]):
            return True
    return False

def osd_sink_pad_buffer_probe(pad,info,u_data):
    # global option
    global tracker_trajectory

    gst_buffer = info.get_buffer()
    # print("##############  gst_buffer  #################",gst_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))
    # print("##############  batch_meta  #################",batch_meta)
    l_frame = batch_meta.frame_meta_list

    # print("##############  l_frame  #################",l_frame)


    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)
            # print("###########  frame_meta ####################",frame_meta)
        except StopIteration:
            break

        #Intiallizing object counter with 0.
        frame_number=frame_meta.frame_num
        num_rects = frame_meta.num_obj_meta
        l_obj=frame_meta.obj_meta_list



        while l_obj is not None:
            try:
                obj_meta = pyds.NvDsObjectMeta.cast(l_obj.data)
                obj_meta.rect_params.border_color.set(0.0, 0.0, 1.0, 0.8)
                
                top_left=obj_meta.rect_params.left
                top=obj_meta.rect_params.top
                height=obj_meta.rect_params.height
                width=obj_meta.rect_params.width
                centroid_x,centroid_y=int(top_left+width//2),int(top+height//2)
                
                if frame_number%5==0:
                    if obj_meta.object_id in tracker_trajectory.keys():
                        tracker_trajectory[obj_meta.object_id].append((centroid_x,centroid_y))
                    else:
                        tracker_trajectory[obj_meta.object_id]=[]
                    
                
                
            except StopIteration:
                break
            
            try: 
                l_obj = l_obj.next
            except StopIteration:
                break

        # Acquiring a display meta object. The memory ownership remains in
        # the C code so downstream plugins can still access it. Otherwise
        # the garbage collector will claim it when this probe function exits.
        display_meta=pyds.nvds_acquire_display_meta_from_pool(batch_meta)
        display_meta.num_labels = 1
        py_nvosd_text_params = display_meta.text_params[0]
        # Setting display text to be shown on screen
        # Note that the pyds module allocates a buffer for the string, and the
        # memory will not be claimed by the garbage collector.
        # Reading the display_text field here will return the C address of the
        # allocated string. Use pyds.get_string() to get the string content.
        py_nvosd_text_params.display_text = "Frame Number={}".format(frame_number)

        # Now set the offsets where the string should appear
        py_nvosd_text_params.x_offset = 10
        py_nvosd_text_params.y_offset = 12

        # Font , font-color and font-size
        py_nvosd_text_params.font_params.font_name = "Serif"
        py_nvosd_text_params.font_params.font_size = 36
        # set(red, green, blue, alpha); set to White
        py_nvosd_text_params.font_params.font_color.set(1.0, 1.0, 1.0, 1.0)

        # Text background color
        py_nvosd_text_params.set_bg_clr = 1
        # set(red, green, blue, alpha); set to Black
        py_nvosd_text_params.text_bg_clr.set(0.0, 0.0, 0.0, 1.0)
        # Using pyds.get_string() to get display_text as string
        # print(pyds.get_string(py_nvosd_text_params.display_text))
        
        

        params_count=0
        for key in tracker_trajectory.keys():
            walk_trajectory_key=[]
            for num_coord in range(len(tracker_trajectory[key])-1):
                if params_count%15==0:
                    params_count=0
                    display_meta=pyds.nvds_acquire_display_meta_from_pool(batch_meta)
                    display_meta.num_labels += 1
                params_count+=1
                walk_trajectory_key.append(display_meta.line_params[params_count])
                walk_trajectory_key[num_coord].x1=tracker_trajectory[key][num_coord][0]
                walk_trajectory_key[num_coord].y1=tracker_trajectory[key][num_coord][1]
                walk_trajectory_key[num_coord].x2=tracker_trajectory[key][num_coord+1][0]
                walk_trajectory_key[num_coord].y2=tracker_trajectory[key][num_coord+1][1]
                walk_trajectory_key[num_coord].line_width=2
                walk_trajectory_key[num_coord].line_color.red=1.0
                walk_trajectory_key[num_coord].line_color.green=0.0
                walk_trajectory_key[num_coord].line_color.blue=0.0
                walk_trajectory_key[num_coord].line_color.alpha=1.0
                # print(f"{key=} {num_coord=} {tracker_trajectory[key][num_coord]=}")
                display_meta.num_lines+=1
        
        
        # pyds_nvosd_line_params=[]
        # number_line=4
        # for i in range(number_line):
        #     pyds_nvosd_line_params.append(display_meta.line_params[i])
        #     pyds_nvosd_line_params[i].x1=roi_list[i][0]
        #     pyds_nvosd_line_params[i].y1=roi_list[i][1]
        #     pyds_nvosd_line_params[i].x2=roi_list[(i+1)%number_line][0]
        #     pyds_nvosd_line_params[i].y2=roi_list[(i+1)%number_line][1]
        #     pyds_nvosd_line_params[i].line_width=6
        #     pyds_nvosd_line_params[i].line_color.red=0.0
        #     pyds_nvosd_line_params[i].line_color.green=1.0
        #     pyds_nvosd_line_params[i].line_color.blue=1.0
        #     pyds_nvosd_line_params[i].line_color.alpha=1.0
        #     display_meta.num_lines+=1       
        pyds.nvds_add_display_meta_to_frame(frame_meta, display_meta)

       
            
        try:
            l_frame=l_frame.next
        except StopIteration:
            break
    
    return Gst.PadProbeReturn.OK	



########################################################################
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.
    print("gstname=", gstname)
    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.
        print("features=", 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)


def create_source_bin(index, uri):
    print(f"Creating source bin for {uri}")

    bin_name = "source-bin-%02d" % index
    nbin = Gst.Bin.new(bin_name)
    if not nbin:
        sys.stderr.write(" Unable to create source bin \n")

    # For local files, we should add "file://" prefix to the URI
    if not uri.startswith("rtsp://") and not uri.startswith("file://"):
        uri = "file://" + os.path.abspath(uri)  # Convert to absolute path and add file:// prefix
    
    print(f"Using URI: {uri}")

    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")
    
    # Set the URI property
    uri_decode_bin.set_property("uri", uri)
    uri_decode_bin.set_property("expose-all-streams", False)
    # uri_decode_bin.set_property("stream-types", 1 << 0)  # Video only
    
    # Connect to the "pad-added" signal
    uri_decode_bin.connect("pad-added", cb_newpad, nbin)
    uri_decode_bin.connect("child-added", decodebin_child_added, nbin)

    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

############################################################################3






def main(args):
    number_sources = len(args)
 

    platform_info = PlatformInfo()
    # Standard GStreamer initialization
    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")


    # 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")
##########################################################################3
    pipeline.add(streammux)
    for i in range(number_sources):
        print("Creating source_bin ", i, " \n ")
        uri_name = args[i]
        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.request_pad_simple(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)
##################################################################################3
    
    # Use nvinfer to run inferencing on decoder'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")
    
    tracker = Gst.ElementFactory.make("nvtracker", "tracker")
    if not tracker:
        sys.stderr.write(" Unable to create tracker \n")
    
    sgie1 = Gst.ElementFactory.make("nvinfer", "secondary1-nvinference-engine")
    if not sgie1:
        sys.stderr.write(" Unable to make sgie1 \n")
    
    sgie2 = Gst.ElementFactory.make("nvinfer", "secondary2-nvinference-engine")
    if not sgie2:
        sys.stderr.write(" Unable to make sgie2 \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 platform_info.is_integrated_gpu():
        print("Creating nv3dsink \n")
        sink = Gst.ElementFactory.make("nv3dsink", "nv3d-sink")
        if not sink:
            sys.stderr.write(" Unable to create nv3dsink \n")
    else:
        if platform_info.is_platform_aarch64():
            print("Creating nv3dsink \n")
            sink = Gst.ElementFactory.make("nv3dsink", "nv3d-sink")
        else:
            print("Creating EGLSink \n")
            sink = Gst.ElementFactory.make("nveglglessink", "nvvideo-renderer")
        if not sink:
            sys.stderr.write(" Unable to create egl sink \n")

   
    if os.environ.get('USE_NEW_NVSTREAMMUX') != 'yes': # Only set these properties if not using new gst-nvstreammux
        streammux.set_property('width', 1920)
        streammux.set_property('height', 1080)
        streammux.set_property('batch-size', number_sources)
        streammux.set_property('batched-push-timeout', MUXER_BATCH_TIMEOUT_USEC)
        streammux.set_property('enable-padding', 1)
        streammux.set_property('nvbuf-memory-type', 3)
    
    pgie.set_property('config-file-path', "dstest2_pgie_config.txt")
    # sgie1.set_property('config-file-path', "dstest2_sgie1_config.txt")
    # sgie2.set_property('config-file-path', "dstest2_sgie2_config.txt")


    #Set properties of tracker
    config = configparser.ConfigParser()
    config.read('dstest2_tracker_config.txt')
    config.sections()

    for key in config['tracker']:
        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)

    print("Adding elements to Pipeline \n")
    
    pipeline.add(pgie)
    pipeline.add(tracker)
    # pipeline.add(sgie1)
    # pipeline.add(sgie2)
    pipeline.add(nvvidconv)
    pipeline.add(nvosd)
    pipeline.add(sink)


    

    # sgie1_sink_pad=sgie1.get_static_pad("sink")
    # if not sgie1_sink_pad:
    #     sys.stderr.write("Unable to get sink pad of sgie1 \n")

    # we link the elements together
    # file-source -> h264-parser -> nvh264-decoder ->
    # nvinfer -> nvvidconv -> nvosd -> video-renderer
    
    
    print("Linking elements in the Pipeline \n")
    streammux.link(pgie)
    pgie.link(tracker)
    tracker.link(nvvidconv)
    nvvidconv.link(nvosd)
    nvosd.link(sink)

    # create an event loop and feed gstreamer bus mesages to it
    loop = GLib.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:
        (" Unable to get sink pad of nvosd \n")

    osdsinkpad.add_probe(Gst.PadProbeType.BUFFER, osd_sink_pad_buffer_probe, 0)
    
    # # Attach the probe to the pgie src pad
    # pgie_src_pad = pgie.get_static_pad("src")
    # if not pgie_src_pad:
    #     sys.stderr.write("Unable to get pgie src pad \n")
    # pgie_src_pad.add_probe(Gst.PadProbeType.BUFFER, pgie_src_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)

def parse_args():
    parser = argparse.ArgumentParser(description='RTSP Output Sample Application Help ')
    parser.add_argument("-i", "--input",
                  help="Path to input H264 elementry stream", nargs="+", default=["a"], required=True)
    parser.add_argument("-g", "--gie", default="nvinfer",
                  help="choose GPU inference engine type nvinfer or nvinferserver , default=nvinfer", choices=['nvinfer','nvinferserver'])
    parser.add_argument("-c", "--codec", default="H264",
                  help="RTSP Streaming Codec H264/H265 , default=H264", choices=['H264','H265'])
    parser.add_argument("-b", "--bitrate", default=4000000,
                  help="Set the encoding bitrate ", type=int)
    parser.add_argument("--rtsp-ts", action="store_true", default=False, dest='rtsp_ts', help="Attach NTP timestamp from RTSP source",
    )
    # Check input arguments
    if len(sys.argv)==1:
        parser.print_help(sys.stderr)
        sys.exit(1)
    args = parser.parse_args()
    global codec
    global bitrate
    global stream_path
    global gie
    global ts_from_rtsp
    gie = args.gie
    codec = args.codec
    bitrate = args.bitrate
    stream_path = args.input
    ts_from_rtsp = args.rtsp_ts
    return stream_path

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