Failure to perform Realtime Detection on Jetson Nano

Hi, I’m trying to do realtime detection using YOLOv3 but I keep getting error. Anyone can assist me in solving this problem?

When I run ls -l /dev/video0, it give a feedback.

When I run simple_camera.py from https://github.com/JetsonHacksNano/CSI-Camera, it working too

When I run python3 darknet_video.py, it failure

Error:

My darknet_videp.py code:
from ctypes import *
import random
import os
import cv2
import time
import darknet
import argparse
from threading import Thread, enumerate
from queue import Queue

def parser():
parser = argparse.ArgumentParser(description=“YOLO Object Detection”)
parser.add_argument("–input", type=str, default=0,
help=“video source. If empty, uses webcam 0 stream”)
parser.add_argument("–out_filename", type=str, default="",
help=“inference video name. Not saved if empty”)
parser.add_argument("–weights", default=“yolov4.weights”,
help=“yolo weights path”)
parser.add_argument("–dont_show", action=‘store_true’,
help=“windown inference display. For headless systems”)
parser.add_argument("–ext_output", action=‘store_true’,
help=“display bbox coordinates of detected objects”)
parser.add_argument("–config_file", default="./cfg/yolov4.cfg",
help=“path to config file”)
parser.add_argument("–data_file", default="./cfg/coco.data",
help=“path to data file”)
parser.add_argument("–thresh", type=float, default=.25,
help=“remove detections with confidence below this value”)
return parser.parse_args()

def str2int(video_path):
“”"
argparse returns and string althout webcam uses int (0, 1 …)
Cast to int if needed
“”"
try:
return int(video_path)
except ValueError:
return video_path

def check_arguments_errors(args):
assert 0 < args.thresh < 1, “Threshold should be a float between zero and one (non-inclusive)”
if not os.path.exists(args.config_file):
raise(ValueError(“Invalid config path {}”.format(os.path.abspath(args.config_file))))
if not os.path.exists(args.weights):
raise(ValueError(“Invalid weight path {}”.format(os.path.abspath(args.weights))))
if not os.path.exists(args.data_file):
raise(ValueError(“Invalid data file path {}”.format(os.path.abspath(args.data_file))))
if str2int(args.input) == str and not os.path.exists(args.input):
raise(ValueError(“Invalid video path {}”.format(os.path.abspath(args.input))))

def set_saved_video(input_video, output_video, size):
fourcc = cv2.VideoWriter_fourcc(*“MJPG”)
fps = int(input_video.get(cv2.CAP_PROP_FPS))
video = cv2.VideoWriter(output_video, fourcc, fps, size)
return video

def video_capture(frame_queue, darknet_image_queue):
while cap.isOpened():
ret, frame = cap.read()
if not ret:
break
frame_rgb = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
frame_resized = cv2.resize(frame_rgb, (width, height),
interpolation=cv2.INTER_LINEAR)
frame_queue.put(frame_resized)
darknet.copy_image_from_bytes(darknet_image, frame_resized.tobytes())
darknet_image_queue.put(darknet_image)
cap.release()

def inference(darknet_image_queue, detections_queue, fps_queue):
while cap.isOpened():
darknet_image = darknet_image_queue.get()
prev_time = time.time()
detections = darknet.detect_image(network, class_names, darknet_image, thresh=args.thresh)
detections_queue.put(detections)
fps = int(1/(time.time() - prev_time))
fps_queue.put(fps)
print(“FPS: {}”.format(fps))
darknet.print_detections(detections, args.ext_output)
darknet.free_image(darknet_image)
cap.release()

def drawing(frame_queue, detections_queue, fps_queue):
random.seed(3) # deterministic bbox colors
video = set_saved_video(cap, args.out_filename, (width, height))
while cap.isOpened():
frame_resized = frame_queue.get()
detections = detections_queue.get()
fps = fps_queue.get()
if frame_resized is not None:
image = darknet.draw_boxes(detections, frame_resized, class_colors)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
if args.out_filename is not None:
video.write(image)
if not args.dont_show:
cv2.imshow(‘Inference’, image)
keyCode = cv2.waitKey(30) & 0xFF
if keyCode == 27:
break
cap.release()
video.release()
cv2.destroyAllWindows()

def gstreamer_pipeline(
capture_width=3280,
capture_height=2464,
display_width=820,
display_height=616,
framerate=21,
flip_method=0,
):
return (
"nvarguscamerasrc ! "
"video/x-raw(memory:NVMM), "
"width=(int)%d, height=(int)%d, "
"format=(string)NV12, framerate=(fraction)%d/1 ! "
"nvvidconv flip-method=%d ! "
"video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! "
"videoconvert ! "
“video/x-raw, format=(string)BGR ! appsink”
% (
capture_width,
capture_height,
framerate,
flip_method,
display_width,
display_height,
)
)

if name == ‘main’:
frame_queue = Queue()
darknet_image_queue = Queue(maxsize=1)
detections_queue = Queue(maxsize=1)
fps_queue = Queue(maxsize=1)

args = parser()
check_arguments_errors(args)
network, class_names, class_colors = darknet.load_network(
        args.config_file,
        args.data_file,
        args.weights,
        batch_size=1
    )
# Darknet doesn't accept numpy images.
# Create one with image we reuse for each detect
width = darknet.network_width(network)
height = darknet.network_height(network)
darknet_image = darknet.make_image(width, height, 3)
input_path = str2int(args.input)
#cap = cv2.VideoCapture(input_path)
cap = cv2.VideoCapture(gstreamer_pipeline(), cv2.CAP_GSTREAMER)
Thread(target=video_capture, args=(frame_queue, darknet_image_queue)).start()
Thread(target=inference, args=(darknet_image_queue, detections_queue, fps_queue)).start()
Thread(target=drawing, args=(frame_queue, detections_queue, fps_queue)).start()

Anyone have facing similar problem?

Hi,

It seems that you are facing the same issue of this topic:

So this should be related to the pipeline configuration.
Would you mind to update your pipeline like the following to see if works first?

gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)NV12, framerate=(fraction)30/1' ! nvvidconv flip-method=3 ! 'video/x-raw(memory:NVMM), width=(int)480, height=(int)640, format=(string)I420' ! nvoverlaysink -e

Thanks.

Yes this line is working when I run on command line

Btw, when I replace this command to my code, it shows me the same error

Hi,

We need more information to check this issue.
Would you mind to enable the GST_DEBUG and share the log with us?

$ export GST_DEBUG=4
$ python3 darknet_videp.py

Thanks.

Here’s the error output information.

Thanks

Hi,

Thanks for the error log.
Here are two suggestions for you.

1. Please check if the EOL of your file is UNIX format or not.
This can be verified via notepad++ directly.

2. Since you are using argus camera, please also find this topic for some information:

Thanks.