Displaying bounding box coordinates in sample object detector tracker

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Please provide the following info (tick the boxes after creating this topic):
Software Version
DRIVE OS 6.0.10.0
[1] DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
[1] Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
[1] DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
[1] other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
[1] other

Issue Description
Hi team, In sample object detector tracker, there are final bounding box coordinates which are stored in dwBox2D. Suppose if I want to pass these bounding box coordinates as a input to next pipeline, how can I do it?

3

Dear @akshay.tupkar ,
It means you want to pass the info to another process?

4

Yes @SivaRamaKrishnaNV
Suppose after detecting objects, I want my application to control the vehicle(next pipeline), in that case, how should I pass these?

5

Dear @akshay.tupkar,
Please check sending data(struct) over socket IPC . Please see DriveWorks SDK Reference: IPC
Sample for reference : DriveWorks SDK Reference: Inter-process Communication (IPC) Sample

6

Dear @SivaRamaKrishnaNV
I have some questions about this even after going through sample socket ipc,

  1. Do I need to modify the sample object detector code and vehicleio module code to send bounding box coordinates and receive those coordinates to vehicleio?
  2. How can I use sample_socket_ipc sample to do this?
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Dear @akshay.tupkar,
You can use socket client API calls in object detector process to send some dummy first to other process(where socker server APIs are used) and see if it is received. If it is working good, you can replace the dummy data with bounding box struct.

8

Dear @SivaRamaKrishnaNV
Okay I got it. Will I have to run object detection module and other module simultaneously on two different terminals?right?

9

Dear @SivaRamaKrishnaNV
On one terminal, I have executed vehicleio (server) module with the command " ./sample_vehicleio --role=server --port=49252" and it is waiting for client to connect, On the second terminal, I have executed object detection module(client) with the command
“./sample_object_detector_tracker --role=client --port=49252 --ip=172.25.211.36”, i could see that my dummy string is getting sent but I have encountered an error as "DW_FILE_NOT_FOUND: DNN file could not be found.
I have also tried this with the command
“./sample_object_detector_tracker --input-type=video --video=cars_pedestrians.mp4 --tensorRT_model=/home/nvidia/akshay/driveworks-5.14/ipc/ampere-integrated/tensorRT_model.bin --role=client --port=49252 --ip=172.25.211.36”, it is also throwing an error as
“DW Error DW_TIME_OUT executing DW function:
dwSocketClient_connect(&socketConnectionWrite, ip.c_str(), port, 10000, socketClient)”

10

Please double check the absolute path of the DNN model file.

Is it received at the other process and verified?

Is the server process started first before clients connects and sends data?