Add object id to nvtracker metadata

CMakeLists.txt

@@ -85,6 +85,7 @@ set_source_files_properties(
     src/nv_infer_server_manager.cpp
     src/main.cpp
     src/pipeline_manager.cpp
+    src/nv_tracker_manager.cpp
     PROPERTIES COMPILE_FLAGS "-Wno-missing-field-initializers"
 )
 

data/configuration.json

@@ -17,6 +17,7 @@
         "host": "0.0.0.0"
     },
     "pgie_batch_size": 16,
+    "threshold_body_detection": 0.05,
     "inferserver_pgie_config_file": "../data/inferserver/primary_detector_config.txt",
     "PGIE_NET_WIDTH": 640,
     "PGIE_NET_HEIGHT": 640,

src/nv_infer_server_manager.cpp

@@ -10,6 +10,7 @@ unsigned int NvInferServerManager::PGIE_NET_HEIGHT = 1;
 unsigned int NvInferServerManager::MUXER_OUTPUT_WIDTH = 1;
 unsigned int NvInferServerManager::MUXER_OUTPUT_HEIGHT = 1;
 guint NvInferServerManager::use_device_mem = 0;
+float NvInferServerManager::threshold_body_detection = 0;
 
 const gchar pgie_class_str[PGIE_DETECTED_CLASS_NUM][32] = {"Person"};
 
@@ -28,6 +29,7 @@ NvInferServerManager::NvInferServerManager() {
     PGIE_NET_HEIGHT = config["PGIE_NET_HEIGHT"];
     MUXER_OUTPUT_WIDTH = config["MUXER_OUTPUT_WIDTH"];
     MUXER_OUTPUT_HEIGHT = config["MUXER_OUTPUT_HEIGHT"];
+    threshold_body_detection = config["threshold_body_detection"];
 }
 
 bool NvInferServerManager::create_nv_infer_server(int num_sources) {
@@ -104,7 +106,7 @@ GstPadProbeReturn NvInferServerManager::osd_sink_pad_buffer_probe(
 void NvInferServerManager::attach_probe_to_element(GstElement *nvosd) {
     GstPad *sink_pad = gst_element_get_static_pad(nvosd, "sink");
     if (!sink_pad) {
-        std::cerr << "Unable to get sink pad\n";
+        std::cerr << "Unable to get nvosd sink pad\n";
         return;
     }
 
@@ -141,11 +143,14 @@ GstPadProbeReturn NvInferServerManager::osd_sink_pad_buffer_probe_new(
             if (obj_meta->class_id == PGIE_CLASS_ID_PERSON) {
                 person_count++;
                 num_rects++;
-                std::cout << "x = " << obj_meta->rect_params.left
+                std::cout << "In OSD sink "
+                          << "x = " << obj_meta->rect_params.left
                           << " y = " << obj_meta->rect_params.top
                           << " w = " << obj_meta->rect_params.width
                           << " h = " << obj_meta->rect_params.height
-                          << " score = " << obj_meta->confidence << std::endl;
+                          << " score = " << obj_meta->confidence
+                          << "  Object ID: " << obj_meta->object_id
+                          << std::endl;
             }
         }
         display_meta = nvds_acquire_display_meta_from_pool(batch_meta);
@@ -178,6 +183,7 @@ GstPadProbeReturn NvInferServerManager::osd_sink_pad_buffer_probe_new(
         nvds_add_display_meta_to_frame(frame_meta, display_meta);
     }
     g_print(
+        "In OSD sink "
         "Frame Number = %d "
         "Person Count = %d\n",
         frame_number, person_count);
@@ -290,17 +296,19 @@ GstPadProbeReturn NvInferServerManager::pgie_pad_buffer_probe(
             uint detected_persons = 0;
             float *data = static_cast<float *>(layer.buffer);
             for (unsigned int jkl = 0; jkl < 100; ++jkl) {
-                if (data[jkl * 57 + 4] > 0.05) {
+                if (data[jkl * 57 + 4] > threshold_body_detection) {
                     detected_persons++;
-                    std::cout << "x = " << data[jkl * 57 + 0]
+                    // std::cout << "x = " << data[jkl * 57 + 0]
-                              << " y = " << data[jkl * 57 + 1]
+                    //           << " y = " << data[jkl * 57 + 1]
-                              << " w = " << data[jkl * 57 + 2]
+                    //           << " w = " << data[jkl * 57 + 2]
-                              << " h = " << data[jkl * 57 + 3]
+                    //           << " h = " << data[jkl * 57 + 3]
-                              << " score = " << data[jkl * 57 + 4] << std::endl;
+                    //           << " score = " << data[jkl * 57 + 4] <<
+                    //           std::endl;
                     for (unsigned int mno = 0; mno < 5; ++mno) {
                         float value = data[jkl * 57 + mno];
-                        std::cout << "data[" << jkl << "][" << mno
+                        (void)value;
-                                  << "] = " << value << std::endl;
+                        // std::cout << "data[" << jkl << "][" << mno
+                        //           << "] = " << value << std::endl;
                     }
                 }
             }

src/nv_infer_server_manager.hpp

@@ -22,6 +22,7 @@ class NvInferServerManager {
     static gint frame_number;
     static guint use_device_mem;
     std::string inferserver_pgie_config_file;
+    static float threshold_body_detection;
     NvInferServerManager();
     bool create_nv_infer_server(int);
     ~NvInferServerManager();

src/nv_tracker_manager.cpp

@@ -3,6 +3,11 @@
 #define SET_GPU_ID(object, gpu_id) \
     g_object_set(G_OBJECT(object), "gpu-id", gpu_id, NULL);
 #define GPU_ID 0
+#define MAX_DISPLAY_LEN 64
+#define PGIE_CLASS_ID_PERSON 0
+#define PGIE_DETECTED_CLASS_NUM 1
+
+gint NvTrackerManager::frame_number = 0;
 
 NvTrackerManager::NvTrackerManager() {
     const auto &config = ConfigManager::get_instance().get_config();
@@ -20,8 +25,98 @@ bool NvTrackerManager::create_nv_tracker() {
     // g_object_set (G_OBJECT (tracker), "enable_batch_process", 1, NULL);
 
     if (!tracker) {
-        g_printerr("\033[1;31m Unable to create Tracker. Exiting. \033[0m\n");
+        g_printerr("Unable to create Tracker.\n");
         return false;
     }
     return true;
-}
+}
+
+// Attach probe to a pad in the pipeline
+void NvTrackerManager::attach_probe_to_element(GstElement *nvosd) {
+    GstPad *sink_pad = gst_element_get_static_pad(nvosd, "src");
+    if (!sink_pad) {
+        std::cerr << "Unable to get nvosd sink pad\n";
+        return;
+    }
+
+    gst_pad_add_probe(sink_pad, GST_PAD_PROBE_TYPE_BUFFER,
+                      tracker_sink_pad_buffer_probe, NULL, NULL);
+    gst_object_unref(sink_pad);
+}
+
+/* This is the buffer probe function that we have registered on the sink pad
+ * of the OSD element. All the infer elements in the pipeline shall attach
+ * their metadata to the GstBuffer, here we will iterate & process the metadata
+ * forex: class ids to strings, counting of class_id objects etc. */
+GstPadProbeReturn NvTrackerManager::tracker_sink_pad_buffer_probe(
+    GstPad *pad, GstPadProbeInfo *info, gpointer u_data) {
+    (void)pad;
+    (void)u_data;
+    GstBuffer *buf = (GstBuffer *)info->data;
+    guint num_rects = 0;
+    guint person_count = 0;
+    NvDsObjectMeta *obj_meta = NULL;
+    NvDsMetaList *l_frame = NULL;
+    NvDsMetaList *l_obj = NULL;
+    NvDsDisplayMeta *display_meta = NULL;
+
+    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);
+        int offset = 0;
+        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_PERSON) {
+                person_count++;
+                num_rects++;
+                std::cout << "In Tracker sink "
+                          << "x = " << obj_meta->rect_params.left
+                          << " y = " << obj_meta->rect_params.top
+                          << " w = " << obj_meta->rect_params.width
+                          << " h = " << obj_meta->rect_params.height
+                          << " score = " << obj_meta->confidence
+                          << " object_id = " << obj_meta->object_id
+                          << std::endl;
+            }
+        }
+        display_meta = nvds_acquire_display_meta_from_pool(batch_meta);
+        NvOSD_TextParams *txt_params = &display_meta->text_params[0];
+        display_meta->num_labels = 1;
+        txt_params->display_text = (gchar *)g_malloc0(MAX_DISPLAY_LEN);
+        offset = snprintf(txt_params->display_text, MAX_DISPLAY_LEN,
+                          "Person = %d ", person_count);
+        (void)offset;
+
+        /* 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 = (gchar *)"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 = 1;
+        txt_params->text_bg_clr.red = 0.0;
+        txt_params->text_bg_clr.green = 0.0;
+        txt_params->text_bg_clr.blue = 0.0;
+        txt_params->text_bg_clr.alpha = 1.0;
+
+        nvds_add_display_meta_to_frame(frame_meta, display_meta);
+    }
+    g_print(
+        "In Tracker sink "
+        "Frame Number = %d "
+        "Person Count = %d\n",
+        frame_number, person_count);
+
+    frame_number++;
+    return GST_PAD_PROBE_OK;
+}

src/nv_tracker_manager.hpp

@@ -4,14 +4,20 @@
 #include <iostream>
 
 #include "config_manager.hpp"
+#include "gstnvdsmeta.h"
 
 class NvTrackerManager {
    private:
    public:
     GstElement *tracker = NULL;
+    static gint frame_number;
     std::string ll_config_file;
     std::string ll_lib_file;
     NvTrackerManager();
     ~NvTrackerManager();
     bool create_nv_tracker();
+    void attach_probe_to_element(GstElement *);
+    static GstPadProbeReturn tracker_sink_pad_buffer_probe(GstPad *,
+                                                           GstPadProbeInfo *,
+                                                           gpointer);
 };

src/pipeline_manager.cpp

@@ -246,8 +246,7 @@ bool PipelineManager::setup_pipeline() {
                                    gstds_example_manager->custom_plugin,
                                    tiler_manager->tiler, nv_osd_manager->nvosd,
                                    sink_manager->sink, NULL)) {
-            g_printerr(
+            g_printerr("Elements could not be linked.\n");
-                "\033[1;31m Elements could not be linked. Exiting.\033[0m\n");
             return false;
         }
     } else {
@@ -273,8 +272,7 @@ bool PipelineManager::setup_pipeline() {
                 nv_osd_manager->nvosd, sink_manager->nvvidconv_postosd,
                 sink_manager->caps, sink_manager->encoder, sink_manager->rtppay,
                 sink_manager->sink, NULL)) {
-            g_printerr(
+            g_printerr("Elements could not be linked.\n");
-                "\033[1;31m Elements could not be linked. Exiting.\033[0m\n");
             return false;
         }
     }
@@ -358,6 +356,8 @@ bool PipelineManager::create_pipeline_elements(int num_sources,
     // gst_object_unref(nvinfer);
 
     nv_tracker_manager->create_nv_tracker();
+    nv_tracker_manager->attach_probe_to_element(
+        nv_tracker_manager->tracker);  // nvinfer Or use "nvtracker" if after
 
     message_handling->create_message_handler(pipeline, g_run_forever, loop);
     setup_pipeline();